What one Odometry iteration produced, beyond the pose. More...
#include <OdometryInfo.h>
Public Member Functions | |
| OdometryInfo | copyWithoutData () const |
| A copy without the heavy members (features, local map, scan). | |
| std::map< std::string, float > | statistics (const Transform &pose=Transform()) |
Formats the content as the Odometry/... statistics. | |
Public Attributes | |
| bool | lost |
| True when the motion could not be estimated on this frame (transform is then null). | |
| RegistrationInfo | reg |
| Registration result: matches, inliers, covariance, ICP indicators and timings. | |
| int | features |
| Number of features extracted in the current frame. | |
| int | localMapSize |
| Number of 3D points in the local feature map (F2M). | |
| int | localScanMapSize |
| Number of points in the local scan map (F2M). | |
| int | localKeyFrames |
| Number of key frames forming the local map (F2M). | |
| int | localBundleOutliers |
| Features rejected by the last local bundle adjustment. | |
| int | localBundleConstraints |
| Feature observations kept by the last local bundle adjustment. | |
| float | localBundleTime |
| Time spent in the local bundle adjustment (s). | |
| std::map< int, Transform > | localBundlePoses |
| Key frame poses optimized by the local bundle adjustment. | |
| std::map< int, std::vector< CameraModel > > | localBundleModels |
| Camera models of localBundlePoses. | |
| float | localBundleAvgInlierDistance |
| Average distance of the bundle adjustment inliers (m). | |
| int | localBundleMaxKeyFramesForInlier |
| Highest number of key frames observing a same inlier. | |
| std::vector< int > | localBundleOutliersPerCam |
| Outliers of the last local bundle adjustment, per camera. | |
| bool | keyFrameAdded |
| True if this frame became a key frame of the local map. | |
| float | timeDeskewing |
| Time spent deskewing the laser scan (s). | |
| float | timeEstimation |
| Time spent estimating the motion (s). | |
| float | timeParticleFiltering |
| Time spent in the particle filter (s), when enabled. | |
| double | stamp |
| Stamp of the processed frame. | |
| double | interval |
| Time since the previous processed frame (s); the divisor for velocities. | |
| Transform | transform |
| Motion since the previous frame, null when lost. | |
| Transform | transformFiltered |
| transform after Kalman or particle filtering, when enabled. | |
| Transform | transformGroundTruth |
| Ground truth motion since the previous frame, when the data provides it. | |
| Transform | guessVelocity |
| Transform | guess |
| Motion guess given to the front-end (from the velocity model, an external pose or an IMU). | |
| float | distanceTravelled |
| Distance travelled since the odometry was last reset (m). | |
| int | memoryUsage |
| Process memory used (MB), only with Parameters::kRtabmapPublishRAMUsage(). | |
| double | gravityRollError |
| Absolute roll difference between the estimated pose and the IMU gravity (rad). | |
| double | gravityPitchError |
| Absolute pitch difference between the estimated pose and the IMU gravity (rad). | |
| int | type |
| Odometry strategy that produced this, see Parameters::kOdomStrategy(). | |
| std::multimap< int, cv::KeyPoint > | words |
| Keypoints of the current frame, by word id (F2M). | |
| std::map< int, cv::Point3f > | localMap |
| Local feature map in the odometry frame, by word id (F2M). | |
| LaserScan | localScanMap |
| Local scan map in the odometry frame (F2M). | |
| std::vector< cv::Point2f > | refCorners |
| Corners of the reference frame (F2F). | |
| std::vector< cv::Point2f > | newCorners |
| Where those corners were found in the current frame (F2F). | |
| std::vector< int > | cornerInliers |
| Indices in refCorners / newCorners kept as inliers (F2F). | |
Detailed Description
What one Odometry iteration produced, beyond the pose.
Filled by Odometry::process() when a pointer is passed to it, and carried to the rest of the application by OdometryEvent. It holds the incremental motion, the quality indicators used to decide whether the estimate can be trusted, the timings, and the intermediate data a viewer needs to draw what the front-end sees (local map, matched features).
Which fields are filled depends on the front-end: the feature-related ones come from OdometryF2M and OdometryF2F, and an ICP-only or external strategy leaves them empty.
- See also
- Odometry
- OdometryEvent
- RegistrationInfo
Definition at line 63 of file OdometryInfo.h.
Member Function Documentation
◆ statistics()
| std::map< std::string, float > rtabmap::OdometryInfo::statistics | ( | const Transform & | pose = Transform() | ) |
Formats the content as the Odometry/... statistics.
- Parameters
-
pose Current pose, added to the output when not null.
- Returns
- Statistic name (with its unit) to value, as published in Statistics.
Member Data Documentation
◆ lost
| bool rtabmap::OdometryInfo::lost |
True when the motion could not be estimated on this frame (transform is then null).
Definition at line 76 of file OdometryInfo.h.
◆ reg
| RegistrationInfo rtabmap::OdometryInfo::reg |
Registration result: matches, inliers, covariance, ICP indicators and timings.
Definition at line 77 of file OdometryInfo.h.
◆ features
| int rtabmap::OdometryInfo::features |
Number of features extracted in the current frame.
Definition at line 78 of file OdometryInfo.h.
◆ localMapSize
| int rtabmap::OdometryInfo::localMapSize |
Number of 3D points in the local feature map (F2M).
Definition at line 79 of file OdometryInfo.h.
◆ localScanMapSize
| int rtabmap::OdometryInfo::localScanMapSize |
Number of points in the local scan map (F2M).
Definition at line 80 of file OdometryInfo.h.
◆ localKeyFrames
| int rtabmap::OdometryInfo::localKeyFrames |
Number of key frames forming the local map (F2M).
Definition at line 81 of file OdometryInfo.h.
◆ localBundleOutliers
| int rtabmap::OdometryInfo::localBundleOutliers |
Features rejected by the last local bundle adjustment.
Definition at line 82 of file OdometryInfo.h.
◆ localBundleConstraints
| int rtabmap::OdometryInfo::localBundleConstraints |
Feature observations kept by the last local bundle adjustment.
Definition at line 83 of file OdometryInfo.h.
◆ localBundleTime
| float rtabmap::OdometryInfo::localBundleTime |
Time spent in the local bundle adjustment (s).
Definition at line 84 of file OdometryInfo.h.
◆ localBundlePoses
| std::map<int, Transform> rtabmap::OdometryInfo::localBundlePoses |
Key frame poses optimized by the local bundle adjustment.
Definition at line 85 of file OdometryInfo.h.
◆ localBundleModels
| std::map<int, std::vector<CameraModel> > rtabmap::OdometryInfo::localBundleModels |
Camera models of localBundlePoses.
Definition at line 86 of file OdometryInfo.h.
◆ localBundleAvgInlierDistance
| float rtabmap::OdometryInfo::localBundleAvgInlierDistance |
Average distance of the bundle adjustment inliers (m).
Definition at line 87 of file OdometryInfo.h.
◆ localBundleMaxKeyFramesForInlier
| int rtabmap::OdometryInfo::localBundleMaxKeyFramesForInlier |
Highest number of key frames observing a same inlier.
Definition at line 88 of file OdometryInfo.h.
◆ localBundleOutliersPerCam
| std::vector<int> rtabmap::OdometryInfo::localBundleOutliersPerCam |
Outliers of the last local bundle adjustment, per camera.
Definition at line 89 of file OdometryInfo.h.
◆ keyFrameAdded
| bool rtabmap::OdometryInfo::keyFrameAdded |
True if this frame became a key frame of the local map.
Definition at line 90 of file OdometryInfo.h.
◆ timeDeskewing
| float rtabmap::OdometryInfo::timeDeskewing |
Time spent deskewing the laser scan (s).
Definition at line 91 of file OdometryInfo.h.
◆ timeEstimation
| float rtabmap::OdometryInfo::timeEstimation |
Time spent estimating the motion (s).
Definition at line 92 of file OdometryInfo.h.
◆ timeParticleFiltering
| float rtabmap::OdometryInfo::timeParticleFiltering |
Time spent in the particle filter (s), when enabled.
Definition at line 93 of file OdometryInfo.h.
◆ stamp
| double rtabmap::OdometryInfo::stamp |
Stamp of the processed frame.
Definition at line 94 of file OdometryInfo.h.
◆ interval
| double rtabmap::OdometryInfo::interval |
Time since the previous processed frame (s); the divisor for velocities.
Definition at line 95 of file OdometryInfo.h.
◆ transform
| Transform rtabmap::OdometryInfo::transform |
Motion since the previous frame, null when lost.
Definition at line 96 of file OdometryInfo.h.
◆ transformFiltered
| Transform rtabmap::OdometryInfo::transformFiltered |
transform after Kalman or particle filtering, when enabled.
Definition at line 97 of file OdometryInfo.h.
◆ transformGroundTruth
| Transform rtabmap::OdometryInfo::transformGroundTruth |
Ground truth motion since the previous frame, when the data provides it.
Definition at line 98 of file OdometryInfo.h.
◆ guessVelocity
| Transform rtabmap::OdometryInfo::guessVelocity |
- Deprecated:
- Use guess and interval instead.
Definition at line 99 of file OdometryInfo.h.
◆ guess
| Transform rtabmap::OdometryInfo::guess |
Motion guess given to the front-end (from the velocity model, an external pose or an IMU).
Definition at line 100 of file OdometryInfo.h.
◆ distanceTravelled
| float rtabmap::OdometryInfo::distanceTravelled |
Distance travelled since the odometry was last reset (m).
Definition at line 101 of file OdometryInfo.h.
◆ memoryUsage
| int rtabmap::OdometryInfo::memoryUsage |
Process memory used (MB), only with Parameters::kRtabmapPublishRAMUsage().
Definition at line 102 of file OdometryInfo.h.
◆ gravityRollError
| double rtabmap::OdometryInfo::gravityRollError |
Absolute roll difference between the estimated pose and the IMU gravity (rad).
Definition at line 103 of file OdometryInfo.h.
◆ gravityPitchError
| double rtabmap::OdometryInfo::gravityPitchError |
Absolute pitch difference between the estimated pose and the IMU gravity (rad).
Definition at line 104 of file OdometryInfo.h.
◆ type
| int rtabmap::OdometryInfo::type |
Odometry strategy that produced this, see Parameters::kOdomStrategy().
Definition at line 106 of file OdometryInfo.h.
◆ words
| std::multimap<int, cv::KeyPoint> rtabmap::OdometryInfo::words |
Keypoints of the current frame, by word id (F2M).
Definition at line 109 of file OdometryInfo.h.
◆ localMap
| std::map<int, cv::Point3f> rtabmap::OdometryInfo::localMap |
Local feature map in the odometry frame, by word id (F2M).
Definition at line 110 of file OdometryInfo.h.
◆ localScanMap
| LaserScan rtabmap::OdometryInfo::localScanMap |
Local scan map in the odometry frame (F2M).
Definition at line 111 of file OdometryInfo.h.
◆ refCorners
| std::vector<cv::Point2f> rtabmap::OdometryInfo::refCorners |
Corners of the reference frame (F2F).
Definition at line 114 of file OdometryInfo.h.
◆ newCorners
| std::vector<cv::Point2f> rtabmap::OdometryInfo::newCorners |
Where those corners were found in the current frame (F2F).
Definition at line 115 of file OdometryInfo.h.
◆ cornerInliers
| std::vector<int> rtabmap::OdometryInfo::cornerInliers |
Indices in refCorners / newCorners kept as inliers (F2F).
Definition at line 116 of file OdometryInfo.h.
The documentation for this class was generated from the following file:
- corelib/include/rtabmap/core/OdometryInfo.h
