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@@ -33,7 +33,7 @@
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<tbody>
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<tr id="projectrow">
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<td id="projectalign">
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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.24.0</span>
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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.24.1</span>
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</div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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</td>
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@@ -141,127 +141,130 @@ $(document).ready(function(){initNavTree('Odometry_8h_source.html',''); initResi
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <rtabmap/core/Transform.h></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <rtabmap/core/SensorData.h></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <rtabmap/core/Parameters.h></span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">class </span>OdometryInfo;</div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">class </span>ParticleFilter;</div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
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<div class="foldopen" id="foldopen00056" data-start="{" data-end="};">
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html"> 56</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>{</div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="keyword">public</span>:</div>
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<div class="foldopen" id="foldopen00060" data-start="{" data-end="};">
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849"> 60</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> {</div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a7e81a250626fd76729fa01fb7b40fde5"> 61</a></span> kTypeUndef = -1, </div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac585174ece227de554ed25a51835d3d0"> 62</a></span> kTypeF2M = 0, </div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a81b73f734f25e9bef50a979ef6d9f662"> 63</a></span> kTypeF2F = 1, </div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849aeb8888885eaa7c907a98537c7a463b8b"> 64</a></span> kTypeFovis = 2, </div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ab788cd11e7f6906987e33c0189a5c367"> 65</a></span> kTypeViso2 = 3, </div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a7fccdbc59d38d39f4de1253063d79a59"> 66</a></span> kTypeDVO = 4, </div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a32b913af77b8df59d89aa226cbdf5e9b"> 67</a></span> kTypeORBSLAM = 5, </div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a175924a6dd1fdfb2e162093c5a2a867b"> 68</a></span> kTypeOkvis = 6, </div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849abf68726d1b5239c24ce447ceafd221aa"> 69</a></span> kTypeLOAM = 7, </div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a1de4ebe3cb3470d17d615e86ac791225"> 70</a></span> kTypeMSCKF = 8, </div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a1e148f21361b3e46d6ea7c83ac35a7a4"> 71</a></span> kTypeVINSFusion = 9,</div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a9e760521384d881e2fafcc008193f65a"> 72</a></span> kTypeOpenVINS = 10, </div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849abb9a5bbb18e4ab77c1dac6cc2fe73a68"> 73</a></span> kTypeFLOAM = 11, </div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ab30949269c652911c3d8c5274ad84041"> 74</a></span> kTypeOpen3D = 12, </div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849aba6f673ce43f5dfe5c1eecb303f55049"> 75</a></span> kTypeCuVSLAM = 13, </div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> kTypeLIOSAM = 14 </div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac13bb66a69e4790bfa574c8a0c6c9975"> 77</a></span> };</div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include <rtabmap/core/ImuMotionPredictor.h></span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">class </span>OdometryInfo;</div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">class </span>ParticleFilter;</div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
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<div class="foldopen" id="foldopen00057" data-start="{" data-end="};">
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html"> 57</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span>{</div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span><span class="keyword">public</span>:</div>
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<div class="foldopen" id="foldopen00061" data-start="{" data-end="};">
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849"> 61</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> {</div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a7e81a250626fd76729fa01fb7b40fde5"> 62</a></span> kTypeUndef = -1, </div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac585174ece227de554ed25a51835d3d0"> 63</a></span> kTypeF2M = 0, </div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a81b73f734f25e9bef50a979ef6d9f662"> 64</a></span> kTypeF2F = 1, </div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849aeb8888885eaa7c907a98537c7a463b8b"> 65</a></span> kTypeFovis = 2, </div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ab788cd11e7f6906987e33c0189a5c367"> 66</a></span> kTypeViso2 = 3, </div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a7fccdbc59d38d39f4de1253063d79a59"> 67</a></span> kTypeDVO = 4, </div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a32b913af77b8df59d89aa226cbdf5e9b"> 68</a></span> kTypeORBSLAM = 5, </div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a175924a6dd1fdfb2e162093c5a2a867b"> 69</a></span> kTypeOkvis = 6, </div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849abf68726d1b5239c24ce447ceafd221aa"> 70</a></span> kTypeLOAM = 7, </div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a1de4ebe3cb3470d17d615e86ac791225"> 71</a></span> kTypeMSCKF = 8, </div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a1e148f21361b3e46d6ea7c83ac35a7a4"> 72</a></span> kTypeVINSFusion = 9,</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a9e760521384d881e2fafcc008193f65a"> 73</a></span> kTypeOpenVINS = 10, </div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849abb9a5bbb18e4ab77c1dac6cc2fe73a68"> 74</a></span> kTypeFLOAM = 11, </div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ab30949269c652911c3d8c5274ad84041"> 75</a></span> kTypeOpen3D = 12, </div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849aba6f673ce43f5dfe5c1eecb303f55049"> 76</a></span> kTypeCuVSLAM = 13, </div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> kTypeLIOSAM = 14 </div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac13bb66a69e4790bfa574c8a0c6c9975"> 78</a></span> };</div>
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</div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627"> 84</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * <a class="code hl_function" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">create</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb"> 90</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> & type, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
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<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">~Odometry</a>();</div>
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<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1"> 101</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">process</a>(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & data, <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0);</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a4fcbe67de2ec6f23829e3962ee586315"> 108</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a4fcbe67de2ec6f23829e3962ee586315">process</a>(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & data, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & guess, <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0);</div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c"> 113</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & initialPose = Transform::getIdentity());</div>
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||||
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a92685daa2786aff06518c8c4e26b8899"> 115</a></span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Odometry::Type</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a92685daa2786aff06518c8c4e26b8899">getType</a>() = 0;</div>
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<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0"> 117</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0">canProcessRawImages</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">false</span>;}</div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528"> 119</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528">canProcessAsyncIMU</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">false</span>;}</div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee"> 122</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee">getPose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pose;}</div>
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||||
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c"> 124</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c">isInfoDataFilled</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _fillInfoData;}</div>
|
||||
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785"> 126</a></span> RTABMAP_DEPRECATED <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785">previousVelocityTransform</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e"> 128</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e">getVelocityGuess</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> velocityGuess_;}</div>
|
||||
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393"> 130</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393">previousStamp</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> previousStamp_;}</div>
|
||||
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659"> 132</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659">framesProcessed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> framesProcessed_;}</div>
|
||||
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4"> 134</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4">imagesAlreadyRectified</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imagesAlreadyRectified;}</div>
|
||||
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> </div>
|
||||
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span><span class="keyword">protected</span>:</div>
|
||||
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d"> 138</a></span> <span class="keyword">const</span> std::map<double, Transform> & <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">imus</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> imus_;}</div>
|
||||
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> </div>
|
||||
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b"> 141</a></span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b">Odometry</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> & parameters);</div>
|
||||
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
|
||||
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> computeTransform(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & data, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & guess = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0) = 0;</div>
|
||||
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> </div>
|
||||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">void</span> initKalmanFilter(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & initialPose = Transform::getIdentity(), <span class="keywordtype">float</span> vx=0.0f, <span class="keywordtype">float</span> vy=0.0f, <span class="keywordtype">float</span> vz=0.0f, <span class="keywordtype">float</span> vroll=0.0f, <span class="keywordtype">float</span> vpitch=0.0f, <span class="keywordtype">float</span> vyaw=0.0f);</div>
|
||||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">void</span> predictKalmanFilter(<span class="keywordtype">float</span> dt, <span class="keywordtype">float</span> * vx=0, <span class="keywordtype">float</span> * vy=0, <span class="keywordtype">float</span> * vz=0, <span class="keywordtype">float</span> * vroll=0, <span class="keywordtype">float</span> * vpitch=0, <span class="keywordtype">float</span> * vyaw=0);</div>
|
||||
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">void</span> updateKalmanFilter(<span class="keywordtype">float</span> & vx, <span class="keywordtype">float</span> & vy, <span class="keywordtype">float</span> & vz, <span class="keywordtype">float</span> & vroll, <span class="keywordtype">float</span> & vpitch, <span class="keywordtype">float</span> & vyaw);</div>
|
||||
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> </div>
|
||||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">int</span> _resetCountdown;</div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">bool</span> _force3DoF;</div>
|
||||
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">bool</span> _holonomic;</div>
|
||||
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">bool</span> guessFromMotion_;</div>
|
||||
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">float</span> guessSmoothingDelay_;</div>
|
||||
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">int</span> _filteringStrategy;</div>
|
||||
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">int</span> _particleSize;</div>
|
||||
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">float</span> _particleNoiseT;</div>
|
||||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">float</span> _particleLambdaT;</div>
|
||||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">float</span> _particleNoiseR;</div>
|
||||
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">float</span> _particleLambdaR;</div>
|
||||
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">bool</span> _fillInfoData;</div>
|
||||
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">float</span> _kalmanProcessNoise;</div>
|
||||
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">float</span> _kalmanMeasurementNoise;</div>
|
||||
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _imageDecimation;</div>
|
||||
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">bool</span> _alignWithGround;</div>
|
||||
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">bool</span> _publishRAMUsage;</div>
|
||||
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">bool</span> _imagesAlreadyRectified;</div>
|
||||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">bool</span> _deskewing;</div>
|
||||
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _pose;</div>
|
||||
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keywordtype">int</span> _resetCurrentCount;</div>
|
||||
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordtype">double</span> previousStamp_;</div>
|
||||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> std::list<std::pair<std::vector<float>, <span class="keywordtype">double</span>> > previousVelocities_;</div>
|
||||
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> velocityGuess_;</div>
|
||||
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> imuLastTransform_;</div>
|
||||
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> previousGroundTruthPose_;</div>
|
||||
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keywordtype">float</span> distanceTravelled_;</div>
|
||||
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> framesProcessed_;</div>
|
||||
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> </div>
|
||||
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> std::vector<ParticleFilter *> particleFilters_;</div>
|
||||
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> cv::KalmanFilter kalmanFilter_;</div>
|
||||
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> std::vector<StereoCameraModel> stereoModels_;</div>
|
||||
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> std::vector<CameraModel> models_;</div>
|
||||
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> std::map<double, Transform> imus_;</div>
|
||||
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span>};</div>
|
||||
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> </div>
|
||||
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627"> 85</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * <a class="code hl_function" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">create</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
|
||||
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb"> 91</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> & type, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
|
||||
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
|
||||
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">~Odometry</a>();</div>
|
||||
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1"> 102</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">process</a>(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & data, <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0);</div>
|
||||
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a4fcbe67de2ec6f23829e3962ee586315"> 109</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a4fcbe67de2ec6f23829e3962ee586315">process</a>(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & data, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & guess, <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0);</div>
|
||||
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c"> 114</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & initialPose = Transform::getIdentity());</div>
|
||||
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a92685daa2786aff06518c8c4e26b8899"> 116</a></span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Odometry::Type</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a92685daa2786aff06518c8c4e26b8899">getType</a>() = 0;</div>
|
||||
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0"> 118</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0">canProcessRawImages</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">false</span>;}</div>
|
||||
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528"> 120</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528">canProcessAsyncIMU</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">false</span>;}</div>
|
||||
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
|
||||
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee"> 123</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee">getPose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pose;}</div>
|
||||
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c"> 125</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c">isInfoDataFilled</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _fillInfoData;}</div>
|
||||
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785"> 127</a></span> RTABMAP_DEPRECATED <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785">previousVelocityTransform</a>() <span class="keyword">const</span>;</div>
|
||||
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e"> 129</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e">getVelocityGuess</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> velocityGuess_;}</div>
|
||||
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393"> 131</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393">previousStamp</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> previousStamp_;}</div>
|
||||
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659"> 133</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659">framesProcessed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> framesProcessed_;}</div>
|
||||
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4"> 135</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4">imagesAlreadyRectified</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imagesAlreadyRectified;}</div>
|
||||
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
|
||||
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span><span class="keyword">protected</span>:</div>
|
||||
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d"> 139</a></span> <span class="keyword">const</span> std::map<double, Transform> & <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">imus</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> imus_;}</div>
|
||||
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
|
||||
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b"> 142</a></span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b">Odometry</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> & parameters);</div>
|
||||
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> </div>
|
||||
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> computeTransform(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> & data, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & guess = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0) = 0;</div>
|
||||
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
|
||||
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">void</span> initKalmanFilter(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & initialPose = Transform::getIdentity(), <span class="keywordtype">float</span> vx=0.0f, <span class="keywordtype">float</span> vy=0.0f, <span class="keywordtype">float</span> vz=0.0f, <span class="keywordtype">float</span> vroll=0.0f, <span class="keywordtype">float</span> vpitch=0.0f, <span class="keywordtype">float</span> vyaw=0.0f);</div>
|
||||
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">void</span> predictKalmanFilter(<span class="keywordtype">float</span> dt, <span class="keywordtype">float</span> * vx=0, <span class="keywordtype">float</span> * vy=0, <span class="keywordtype">float</span> * vz=0, <span class="keywordtype">float</span> * vroll=0, <span class="keywordtype">float</span> * vpitch=0, <span class="keywordtype">float</span> * vyaw=0);</div>
|
||||
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">void</span> updateKalmanFilter(<span class="keywordtype">float</span> & vx, <span class="keywordtype">float</span> & vy, <span class="keywordtype">float</span> & vz, <span class="keywordtype">float</span> & vroll, <span class="keywordtype">float</span> & vpitch, <span class="keywordtype">float</span> & vyaw);</div>
|
||||
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> </div>
|
||||
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span><span class="keyword">private</span>:</div>
|
||||
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">int</span> _resetCountdown;</div>
|
||||
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">bool</span> _force3DoF;</div>
|
||||
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">bool</span> _holonomic;</div>
|
||||
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">bool</span> guessFromMotion_;</div>
|
||||
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">float</span> guessSmoothingDelay_;</div>
|
||||
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">int</span> _filteringStrategy;</div>
|
||||
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">int</span> _particleSize;</div>
|
||||
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">float</span> _particleNoiseT;</div>
|
||||
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">float</span> _particleLambdaT;</div>
|
||||
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">float</span> _particleNoiseR;</div>
|
||||
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">float</span> _particleLambdaR;</div>
|
||||
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">bool</span> _fillInfoData;</div>
|
||||
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">float</span> _kalmanProcessNoise;</div>
|
||||
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keywordtype">float</span> _kalmanMeasurementNoise;</div>
|
||||
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _imageDecimation;</div>
|
||||
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">bool</span> _alignWithGround;</div>
|
||||
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">bool</span> _publishRAMUsage;</div>
|
||||
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">bool</span> _imagesAlreadyRectified;</div>
|
||||
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keywordtype">bool</span> _deskewing;</div>
|
||||
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _pose;</div>
|
||||
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordtype">int</span> _resetCurrentCount;</div>
|
||||
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordtype">double</span> previousStamp_;</div>
|
||||
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> std::list<std::pair<std::vector<float>, <span class="keywordtype">double</span>> > previousVelocities_;</div>
|
||||
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> velocityGuess_;</div>
|
||||
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> imuLastTransform_;</div>
|
||||
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> previousGroundTruthPose_;</div>
|
||||
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="keywordtype">float</span> distanceTravelled_;</div>
|
||||
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> framesProcessed_;</div>
|
||||
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> </div>
|
||||
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> std::vector<ParticleFilter *> particleFilters_;</div>
|
||||
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> cv::KalmanFilter kalmanFilter_;</div>
|
||||
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> std::vector<StereoCameraModel> stereoModels_;</div>
|
||||
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> std::vector<CameraModel> models_;</div>
|
||||
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> std::map<double, Transform> imus_;</div>
|
||||
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <a class="code hl_class" href="classrtabmap_1_1ImuMotionPredictor.html">ImuMotionPredictor</a> imuMotionPredictor_; <span class="comment">// fed when IMU is received (motion guess and deskewing)</span></div>
|
||||
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span>};</div>
|
||||
</div>
|
||||
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
|
||||
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span>} <span class="comment">/* namespace rtabmap */</span></div>
|
||||
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRY_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> </div>
|
||||
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span>} <span class="comment">/* namespace rtabmap */</span></div>
|
||||
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRY_H_ */</span><span class="preprocessor"></span></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></div><div class="ttdoc">Predicts the pose of the base frame from the last odometry pose and the IMU.</div><div class="ttdef"><b>Definition</b> <a href="ImuMotionPredictor_8h_source.html#l00077">ImuMotionPredictor.h:78</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00057">Odometry.h:58</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a0c2d39ed9b76c2c411a9e62e16e3bce1"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">rtabmap::Odometry::process</a></div><div class="ttdeci">Transform process(SensorData &data, OdometryInfo *info=0)</div><div class="ttdoc">Processes a sensor frame and updates the integrated pose.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a0ea20c39ae597a21e896b706662bb31c"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">rtabmap::Odometry::reset</a></div><div class="ttdeci">virtual void reset(const Transform &initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a1240aaf3a92a75b4c3c9ded9117144bb"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb">rtabmap::Odometry::create</a></div><div class="ttdeci">static Odometry * create(Type &type, const ParametersMap &parameters=ParametersMap())</div><div class="ttdoc">Creates an odometry instance of a given type.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a3276da70261724ceb03df8e410844a8c"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c">rtabmap::Odometry::isInfoDataFilled</a></div><div class="ttdeci">bool isInfoDataFilled() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00124">Odometry.h:124</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a3276da70261724ceb03df8e410844a8c"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c">rtabmap::Odometry::isInfoDataFilled</a></div><div class="ttdeci">bool isInfoDataFilled() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00125">Odometry.h:125</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a35d69a27271b798da6640295a98b9785"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785">rtabmap::Odometry::previousVelocityTransform</a></div><div class="ttdeci">RTABMAP_DEPRECATED const Transform & previousVelocityTransform() const</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a36aa5447b7791c88a2799c99923be393"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393">rtabmap::Odometry::previousStamp</a></div><div class="ttdeci">double previousStamp() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00130">Odometry.h:130</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a36aa5447b7791c88a2799c99923be393"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393">rtabmap::Odometry::previousStamp</a></div><div class="ttdeci">double previousStamp() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00131">Odometry.h:131</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a4fcbe67de2ec6f23829e3962ee586315"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a4fcbe67de2ec6f23829e3962ee586315">rtabmap::Odometry::process</a></div><div class="ttdeci">Transform process(SensorData &data, const Transform &guess, OdometryInfo *info=0)</div><div class="ttdoc">Processes a sensor frame with an external motion guess.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a69809beb553e6d4cd4a950ce251449e0"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0">rtabmap::Odometry::canProcessRawImages</a></div><div class="ttdeci">virtual bool canProcessRawImages() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00117">Odometry.h:117</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6c9ed388da42499d2244bb98c8ff0e8d"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">rtabmap::Odometry::imus</a></div><div class="ttdeci">const std::map< double, Transform > & imus() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00138">Odometry.h:138</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a7476b9fffee225ef396804ef59084659"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659">rtabmap::Odometry::framesProcessed</a></div><div class="ttdeci">unsigned int framesProcessed() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00132">Odometry.h:132</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a7a1c1e4598528a4e94f510b5dabac528"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528">rtabmap::Odometry::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00119">Odometry.h:119</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a8b45aea55b336f758943b4a6b2ec28ee"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee">rtabmap::Odometry::getPose</a></div><div class="ttdeci">const Transform & getPose() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00122">Odometry.h:122</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00061">Odometry.h:61</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a69809beb553e6d4cd4a950ce251449e0"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0">rtabmap::Odometry::canProcessRawImages</a></div><div class="ttdeci">virtual bool canProcessRawImages() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00118">Odometry.h:118</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6c9ed388da42499d2244bb98c8ff0e8d"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">rtabmap::Odometry::imus</a></div><div class="ttdeci">const std::map< double, Transform > & imus() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00139">Odometry.h:139</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a7476b9fffee225ef396804ef59084659"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659">rtabmap::Odometry::framesProcessed</a></div><div class="ttdeci">unsigned int framesProcessed() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00133">Odometry.h:133</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a7a1c1e4598528a4e94f510b5dabac528"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528">rtabmap::Odometry::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00120">Odometry.h:120</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a8b45aea55b336f758943b4a6b2ec28ee"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee">rtabmap::Odometry::getPose</a></div><div class="ttdeci">const Transform & getPose() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00123">Odometry.h:123</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a92685daa2786aff06518c8c4e26b8899"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a92685daa2786aff06518c8c4e26b8899">rtabmap::Odometry::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()=0</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html_aa6ab1c129163771b0d87e3e068a0427e"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e">rtabmap::Odometry::getVelocityGuess</a></div><div class="ttdeci">const Transform & getVelocityGuess() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00128">Odometry.h:128</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html_aa6ab1c129163771b0d87e3e068a0427e"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e">rtabmap::Odometry::getVelocityGuess</a></div><div class="ttdeci">const Transform & getVelocityGuess() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00129">Odometry.h:129</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html_ac8992df0b92a86c10fe8e8da2b5f3627"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">rtabmap::Odometry::create</a></div><div class="ttdeci">static Odometry * create(const ParametersMap &parameters=ParametersMap())</div><div class="ttdoc">Creates an odometry instance from Parameters::kOdomStrategy() in parameters.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html_ac9ae854d14d44d82e1f20e8a4791b9c4"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4">rtabmap::Odometry::imagesAlreadyRectified</a></div><div class="ttdeci">bool imagesAlreadyRectified() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00134">Odometry.h:134</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html_ac9ae854d14d44d82e1f20e8a4791b9c4"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4">rtabmap::Odometry::imagesAlreadyRectified</a></div><div class="ttdeci">bool imagesAlreadyRectified() const</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00135">Odometry.h:135</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Odometry_html_af2d9cf4c207d6628b0890064a385856b"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b">rtabmap::Odometry::Odometry</a></div><div class="ttdeci">Odometry(const rtabmap::ParametersMap &parameters)</div><div class="ttdoc">Constructs the base odometry state from RTAB-Map parameters.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
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