OdometryMono.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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8  notice, this list of conditions and the following disclaimer.
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10  notice, this list of conditions and the following disclaimer in the
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27 
28 #ifndef ODOMETRYMONO_H_
29 #define ODOMETRYMONO_H_
30 
31 #include <rtabmap/core/Odometry.h>
32 #include <rtabmap/core/Link.h>
33 
34 namespace rtabmap {
35 
36 class Memory;
37 class Feature2D;
38 
40 {
41 public:
43  virtual ~OdometryMono();
44  virtual void reset(const Transform & initialPose);
45  virtual Odometry::Type getType() {return kTypeUndef;}
46 
47 private:
48  virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
49 private:
50  //Parameters:
53  double flowEps_;
58  int pnpFlags_;
60 
62 
65  float initMinFlow_;
70 
71  std::map<int, cv::Point2f> firstFrameGuessCorners_;
72  std::map<int, cv::Point3f> localMap_;
73  std::map<int, std::map<int, cv::Point3f> > keyFrameWords3D_;
74  std::map<int, Transform> keyFramePoses_;
75  std::multimap<int, Link> keyFrameLinks_;
76  std::map<int, std::vector<CameraModel> > keyFrameModels_;
77  float maxVariance_;
78  float keyFrameThr_;
79 };
80 
81 }
82 
83 #endif /* ODOMETRYMONO_H_ */
std::map< int, cv::Point2f > firstFrameGuessCorners_
Definition: OdometryMono.h:71
Feature2D * feature2D_
Definition: OdometryMono.h:61
data
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
virtual Odometry::Type getType()
Definition: OdometryMono.h:45
std::map< int, Transform > keyFramePoses_
Definition: OdometryMono.h:74
std::map< int, std::vector< CameraModel > > keyFrameModels_
Definition: OdometryMono.h:76
std::map< int, std::map< int, cv::Point3f > > keyFrameWords3D_
Definition: OdometryMono.h:73
std::multimap< int, Link > keyFrameLinks_
Definition: OdometryMono.h:75
std::map< int, cv::Point3f > localMap_
Definition: OdometryMono.h:72


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:29