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https://github.com/introlab/rtabmap.git
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matlabbe
89e3e10d89
* Config: Using cmake targets * fixed RTABMAP_DEPRECATED build error * fixed melodic build * cleanup * Fixed qhull exported library error * Update svg depend private * removed g2o from public interface * Fixed Windows with external project * removed some required dep * Fixed nsis error (also fixed unspecified components) * updated workflow rules
108 lines
3.8 KiB
C++
108 lines
3.8 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef LINK_H_
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#define LINK_H_
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#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
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#include <rtabmap/core/Transform.h>
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#include <opencv2/core/core.hpp>
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namespace rtabmap {
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class RTABMAP_CORE_EXPORT Link
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{
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public:
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enum Type {
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kNeighbor,
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kGlobalClosure,
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kLocalSpaceClosure,
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kLocalTimeClosure,
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kUserClosure,
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kVirtualClosure,
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kNeighborMerged,
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kPosePrior, // Absolute pose in /world frame, From == To
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kLandmark, // Transform /base_link -> /landmark, "From" is node observing the landmark "To" (landmark is negative id)
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kGravity, // Orientation of the base frame accordingly to gravity (From == To)
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kEnd,
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kSelfRefLink = 97, // Include kPosePrior and kGravity (all links where From=To)
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kAllWithLandmarks = 98,
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kAllWithoutLandmarks = 99,
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kUndef = 99};
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static std::string typeName(Type type);
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Link();
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Link(int from,
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int to,
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Type type,
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const Transform & transform,
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const cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1), // information matrix: inverse of covariance matrix
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const cv::Mat & userData = cv::Mat());
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bool isValid() const {return from_ != 0 && to_ != 0 && !transform_.isNull() && type_!=kUndef;}
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int from() const {return from_;}
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int to() const {return to_;}
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const Transform & transform() const {return transform_;}
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Type type() const {return type_;}
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std::string typeName() const {return typeName(type_);}
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const cv::Mat & infMatrix() const {return infMatrix_;}
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double rotVariance(bool minimum = true) const;
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double transVariance(bool minimum = true) const;
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void setFrom(int from) {from_ = from;}
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void setTo(int to) {to_ = to;}
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void setTransform(const Transform & transform) {transform_ = transform;}
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void setType(Type type) {type_ = type;}
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void setInfMatrix(const cv::Mat & infMatrix);
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const cv::Mat & userDataRaw() const {return _userDataRaw;}
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const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
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void uncompressUserData();
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cv::Mat uncompressUserDataConst() const;
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Link merge(const Link & link, Type outputType) const;
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Link inverse() const;
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private:
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int from_;
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int to_;
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Transform transform_;
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Type type_;
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cv::Mat infMatrix_; // Information matrix = covariance matrix ^ -1
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// user data
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cv::Mat _userDataCompressed; // compressed data
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cv::Mat _userDataRaw;
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};
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}
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#endif /* LINK_H_ */
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