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Refactored OdometryBOW class

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@1846 f169173b-cf89-36c8-b27e-44dbe73f0c83
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matlabbe
2014-10-08 00:32:43 +00:00
parent ae57ea6ae5
commit a3f7415821
4 changed files with 74 additions and 107 deletions
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9
corelib/include/rtabmap/core/Odometry.h
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@@ -69,7 +69,7 @@ public:
float getMaxDepth() const {return _maxDepth;}
float geLinearUpdate() const {return _linearUpdate;}
float getAngularUpdate() const {return _angularUpdate;}
int getLocalHistory() const {return _localHistory;}
int getLocalHistoryMaxSize() const {return _localHistoryMaxSize;}
private:
virtual Transform computeTransform(const SensorData & image, int * quality = 0, int * features = 0, int * localMapSize = 0) = 0;
@@ -84,7 +84,7 @@ private:
float _linearUpdate;
float _angularUpdate;
int _resetCountdown;
int _localHistory;
int _localHistoryMaxSize;
Transform _pose;
int _resetCurrentCount;
@@ -101,8 +101,7 @@ public:
virtual ~OdometryBOW();
virtual void reset();
const std::multimap<int, std::pair<int, pcl::PointXYZ> > & getLocalMap() const {return localMap_;}
std::multimap<int,pcl::PointXYZ> getLocalMeansMap() const;
const std::multimap<int, pcl::PointXYZ> & getLocalMap() const {return localMap_;}
const Memory * getMemory() const {return _memory;}
private:
@@ -110,7 +109,7 @@ private:
private:
Memory * _memory;
std::multimap<int, std::pair<int, pcl::PointXYZ> > localMap_;
std::multimap<int, pcl::PointXYZ> localMap_;
};
class RTABMAP_EXP OdometryICP : public Odometry