2014-12-14 16:44:13 -05:00
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Header header
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#class rtabmap::OdometryInfo
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#{
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# bool lost;
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# int matches;
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# int inliers;
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# float variance;
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# int features;
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# int localMapSize;
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# float time;
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2015-01-23 15:18:06 -05:00
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#
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# int type; // 0=BOW, 1=Optical Flow, 2=ICP
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#
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# // BOW odometry
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# std::multimap<int, cv::KeyPoint> words;
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# std::vector<int> wordMatches;
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# std::vector<int> wordInliers;
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#
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# // Optical Flow odometry
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2015-04-24 10:35:50 -04:00
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# std::vector<cv::Point2f> refCorners;
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# std::vector<cv::Point2f> newCorners;
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2015-01-23 15:18:06 -05:00
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# std::vector<int> cornerInliers;
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2014-12-14 16:44:13 -05:00
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#}
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bool lost
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int32 matches
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int32 inliers
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float32 variance
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int32 features
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int32 localMapSize
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2016-08-08 14:37:32 -04:00
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int32 localScanMapSize
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2015-06-16 17:42:56 -04:00
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float32 timeEstimation
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float32 timeParticleFiltering
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float32 stamp
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float32 interval
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float32 distanceTravelled
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2015-01-23 15:18:06 -05:00
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int32 type
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int32[] wordsKeys
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KeyPoint[] wordsValues
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int32[] wordMatches
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int32[] wordInliers
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2016-03-09 17:31:57 -05:00
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int32[] localMapKeys
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Point3f[] localMapValues
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2015-01-23 15:18:06 -05:00
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2015-04-24 10:35:50 -04:00
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Point2f[] refCorners
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Point2f[] newCorners
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2015-01-23 15:18:06 -05:00
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int32[] cornerInliers
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2015-06-16 17:42:56 -04:00
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geometry_msgs/Transform transform
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geometry_msgs/Transform transformFiltered
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2016-08-08 14:37:32 -04:00
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# compressed local scan map data
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# use rtabmap::util3d::uncompressData() from "rtabmap/core/util3d.h"
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uint8[] localScanMap
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