Public Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::OdometryMono Class Reference

#include <OdometryMono.h>

Inheritance diagram for rtabmap::OdometryMono:
Inheritance graph
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Public Member Functions

virtual Odometry::Type getType ()
 
 OdometryMono (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose)
 
virtual ~OdometryMono ()
 
- Public Member Functions inherited from rtabmap::Odometry
virtual bool canProcessAsyncIMU () const
 
virtual bool canProcessRawImages () const
 
unsigned int framesProcessed () const
 
const TransformgetPose () const
 
const TransformgetVelocityGuess () const
 
bool imagesAlreadyRectified () const
 
bool isInfoDataFilled () const
 
double previousStamp () const
 
Transform process (SensorData &data, OdometryInfo *info=0)
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 
 RTABMAP_DEPRECATED (const Transform &previousVelocityTransform() const, "Use getVelocityGuess() instead.")
 
virtual ~Odometry ()
 

Private Member Functions

virtual Transform computeTransform (SensorData &data, const Transform &guess=Transform(), OdometryInfo *info=0)
 

Private Attributes

Feature2Dfeature2D_
 
std::map< int, cv::Point2f > firstFrameGuessCorners_
 
double flowEps_
 
int flowIterations_
 
int flowMaxLevel_
 
int flowWinSize_
 
float fundMatrixConfidence_
 
float fundMatrixReprojError_
 
float initMinFlow_
 
float initMinTranslation_
 
int iterations_
 
std::multimap< int, LinkkeyFrameLinks_
 
std::map< int, std::vector< CameraModel > > keyFrameModels_
 
std::map< int, TransformkeyFramePoses_
 
float keyFrameThr_
 
std::map< int, std::map< int, cv::Point3f > > keyFrameWords3D_
 
int localHistoryMaxSize_
 
std::map< int, cv::Point3f > localMap_
 
float maxVariance_
 
Memorymemory_
 
int minInliers_
 
float minTranslation_
 
int pnpFlags_
 
int pnpRefineIterations_
 
double pnpReprojError_
 

Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
  kTypeUndef = -1, kTypeF2M = 0, kTypeF2F = 1, kTypeFovis = 2,
  kTypeViso2 = 3, kTypeDVO = 4, kTypeORBSLAM = 5, kTypeOkvis = 6,
  kTypeLOAM = 7, kTypeMSCKF = 8, kTypeVINS = 9, kTypeOpenVINS = 10,
  kTypeFLOAM = 11, kTypeOpen3D = 12
}
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometrycreate (const ParametersMap &parameters=ParametersMap())
 
static Odometrycreate (Type &type, const ParametersMap &parameters=ParametersMap())
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
 Odometry (const rtabmap::ParametersMap &parameters)
 

Detailed Description

Definition at line 39 of file OdometryMono.h.

Constructor & Destructor Documentation

◆ OdometryMono()

rtabmap::OdometryMono::OdometryMono ( const rtabmap::ParametersMap parameters = rtabmap::ParametersMap())

Definition at line 52 of file OdometryMono.cpp.

◆ ~OdometryMono()

rtabmap::OdometryMono::~OdometryMono ( )
virtual

Definition at line 145 of file OdometryMono.cpp.

Member Function Documentation

◆ computeTransform()

Transform rtabmap::OdometryMono::computeTransform ( SensorData data,
const Transform guess = Transform(),
OdometryInfo info = 0 
)
privatevirtual

Implements rtabmap::Odometry.

Definition at line 163 of file OdometryMono.cpp.

◆ getType()

virtual Odometry::Type rtabmap::OdometryMono::getType ( )
inlinevirtual

Implements rtabmap::Odometry.

Definition at line 45 of file OdometryMono.h.

◆ reset()

void rtabmap::OdometryMono::reset ( const Transform initialPose)
virtual

Reimplemented from rtabmap::Odometry.

Definition at line 151 of file OdometryMono.cpp.

Member Data Documentation

◆ feature2D_

Feature2D* rtabmap::OdometryMono::feature2D_
private

Definition at line 61 of file OdometryMono.h.

◆ firstFrameGuessCorners_

std::map<int, cv::Point2f> rtabmap::OdometryMono::firstFrameGuessCorners_
private

Definition at line 71 of file OdometryMono.h.

◆ flowEps_

double rtabmap::OdometryMono::flowEps_
private

Definition at line 53 of file OdometryMono.h.

◆ flowIterations_

int rtabmap::OdometryMono::flowIterations_
private

Definition at line 52 of file OdometryMono.h.

◆ flowMaxLevel_

int rtabmap::OdometryMono::flowMaxLevel_
private

Definition at line 54 of file OdometryMono.h.

◆ flowWinSize_

int rtabmap::OdometryMono::flowWinSize_
private

Definition at line 51 of file OdometryMono.h.

◆ fundMatrixConfidence_

float rtabmap::OdometryMono::fundMatrixConfidence_
private

Definition at line 69 of file OdometryMono.h.

◆ fundMatrixReprojError_

float rtabmap::OdometryMono::fundMatrixReprojError_
private

Definition at line 68 of file OdometryMono.h.

◆ initMinFlow_

float rtabmap::OdometryMono::initMinFlow_
private

Definition at line 65 of file OdometryMono.h.

◆ initMinTranslation_

float rtabmap::OdometryMono::initMinTranslation_
private

Definition at line 66 of file OdometryMono.h.

◆ iterations_

int rtabmap::OdometryMono::iterations_
private

Definition at line 56 of file OdometryMono.h.

◆ keyFrameLinks_

std::multimap<int, Link> rtabmap::OdometryMono::keyFrameLinks_
private

Definition at line 75 of file OdometryMono.h.

◆ keyFrameModels_

std::map<int, std::vector<CameraModel> > rtabmap::OdometryMono::keyFrameModels_
private

Definition at line 76 of file OdometryMono.h.

◆ keyFramePoses_

std::map<int, Transform> rtabmap::OdometryMono::keyFramePoses_
private

Definition at line 74 of file OdometryMono.h.

◆ keyFrameThr_

float rtabmap::OdometryMono::keyFrameThr_
private

Definition at line 78 of file OdometryMono.h.

◆ keyFrameWords3D_

std::map<int, std::map<int, cv::Point3f> > rtabmap::OdometryMono::keyFrameWords3D_
private

Definition at line 73 of file OdometryMono.h.

◆ localHistoryMaxSize_

int rtabmap::OdometryMono::localHistoryMaxSize_
private

Definition at line 64 of file OdometryMono.h.

◆ localMap_

std::map<int, cv::Point3f> rtabmap::OdometryMono::localMap_
private

Definition at line 72 of file OdometryMono.h.

◆ maxVariance_

float rtabmap::OdometryMono::maxVariance_
private

Definition at line 77 of file OdometryMono.h.

◆ memory_

Memory* rtabmap::OdometryMono::memory_
private

Definition at line 63 of file OdometryMono.h.

◆ minInliers_

int rtabmap::OdometryMono::minInliers_
private

Definition at line 55 of file OdometryMono.h.

◆ minTranslation_

float rtabmap::OdometryMono::minTranslation_
private

Definition at line 67 of file OdometryMono.h.

◆ pnpFlags_

int rtabmap::OdometryMono::pnpFlags_
private

Definition at line 58 of file OdometryMono.h.

◆ pnpRefineIterations_

int rtabmap::OdometryMono::pnpRefineIterations_
private

Definition at line 59 of file OdometryMono.h.

◆ pnpReprojError_

double rtabmap::OdometryMono::pnpReprojError_
private

Definition at line 57 of file OdometryMono.h.


The documentation for this class was generated from the following files:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00