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Preview for PR #1791 1fdc7f2cfc

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2026-10-11 01:40:05 +00:00
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commit 82c0771fdf
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preview/pr-1791/api/latest/Odometry_8h_source.html
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@@ -209,43 +209,42 @@ $(document).ready(function(){initNavTree('Odometry_8h_source.html',''); initResi
<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">bool</span> guessImuAcceleration_;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">float</span> guessSmoothingDelay_;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">int</span> _filteringStrategy;</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">int</span> _particleSize;</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">float</span> _particleNoiseT;</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">float</span> _particleLambdaT;</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">float</span> _particleNoiseR;</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">float</span> _particleLambdaR;</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">bool</span> _fillInfoData;</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="keywordtype">float</span> _kalmanProcessNoise;</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">float</span> _kalmanMeasurementNoise;</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _imageDecimation;</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">bool</span> _alignWithGround;</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keywordtype">bool</span> _publishRAMUsage;</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keywordtype">bool</span> _imagesAlreadyRectified;</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keywordtype">bool</span> _deskewing;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _pose;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordtype">int</span> _resetCurrentCount;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">double</span> previousStamp_;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> std::list&lt;std::pair&lt;std::vector&lt;float&gt;, <span class="keywordtype">double</span>&gt; &gt; previousVelocities_;</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> velocityGuess_;</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> imuLastTransform_;</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> previousGroundTruthPose_;</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keywordtype">float</span> distanceTravelled_;</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> framesProcessed_;</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> </div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> std::vector&lt;ParticleFilter *&gt; particleFilters_;</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> cv::KalmanFilter kalmanFilter_;</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> std::vector&lt;StereoCameraModel&gt; stereoModels_;</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> std::vector&lt;CameraModel&gt; models_;</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> std::map&lt;double, Transform&gt; imus_;</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <a class="code hl_class" href="classrtabmap_1_1ImuMotionPredictor.html">ImuMotionPredictor</a> imuMotionPredictor_; <span class="comment">// used with Odom/GuessImuAcceleration only</span></div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span>};</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&lt;std::pair&lt;std::vector&lt;float&gt;, <span class="keywordtype">double</span>&gt; &gt; 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&lt;ParticleFilter *&gt; 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&lt;StereoCameraModel&gt; stereoModels_;</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> std::vector&lt;CameraModel&gt; models_;</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> std::map&lt;double, Transform&gt; 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="l00196" name="l00196"></a><span class="lineno"> 196</span> </div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</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#l00065">ImuMotionPredictor.h:66</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#l00057">Odometry.h:58</a></div></div>