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@@ -143,97 +143,125 @@ $(document).ready(function(){initNavTree('ImuMotionPredictor_8h_source.html','')
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;Eigen/Geometry&gt;</span></div> <div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;Eigen/Geometry&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div> <div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;map&gt;</span></div> <div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;map&gt;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div> <div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include &lt;vector&gt;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div> <div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> </div> <div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="foldopen" id="foldopen00065" data-start="{" data-end="};"> <div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html"> 65</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1ImuMotionPredictor.html">ImuMotionPredictor</a></div> <div class="foldopen" id="foldopen00077" data-start="{" data-end="};">
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span>{</div> <div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html"> 77</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1ImuMotionPredictor.html">ImuMotionPredictor</a></div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span><span class="keyword">public</span>:</div> <div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span>{</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb"> 89</a></span> <span class="keyword">explicit</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb">ImuMotionPredictor</a>(</div> <div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keywordtype">double</span> maxPoseInterval = 1.0,</div> <div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb"> 103</a></span> <span class="keyword">explicit</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb">ImuMotionPredictor</a>(</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="keywordtype">double</span> velocityWindow = 0.5,</div> <div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">double</span> maxPoseInterval = 1.0,</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keywordtype">double</span> gravity = 9.80665);</div> <div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">double</span> velocityWindow = 0.5,</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> </div> <div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">double</span> gravity = 9.80665);</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keywordtype">double</span> maxPoseInterval()<span class="keyword"> const </span>{<span class="keywordflow">return</span> maxPoseInterval_;}</div> <div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordtype">double</span> velocityWindow()<span class="keyword"> const </span>{<span class="keywordflow">return</span> velocityWindow_;}</div> <div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">double</span> maxPoseInterval()<span class="keyword"> const </span>{<span class="keywordflow">return</span> maxPoseInterval_;}</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="keywordtype">double</span> gravity()<span class="keyword"> const </span>{<span class="keywordflow">return</span> gravity_;}</div> <div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">double</span> velocityWindow()<span class="keyword"> const </span>{<span class="keywordflow">return</span> velocityWindow_;}</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> </div> <div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4"> 111</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4">gravity</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> gravity_;}</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04"> 108</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04">addImu</a>(<span class="keywordtype">double</span> stamp, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> &amp; imu);</div> <div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#aa84008cbd4087273e8db74d91d89ec10"> 113</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#aa84008cbd4087273e8db74d91d89ec10">isGravityEstimated</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> gravityEstimated_;}</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> </div> <div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a91c329f153da4c479509e406f6eb5112"> 115</a></span> <span class="keywordtype">size_t</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a91c329f153da4c479509e406f6eb5112">gravityWindows</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> gravityWindowsCount_;}</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47"> 116</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47">addPose</a>(<span class="keywordtype">double</span> stamp, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; pose);</div> <div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> </div> <div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04"> 127</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04">addImu</a>(<span class="keywordtype">double</span> stamp, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> &amp; imu);</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a2b8b4cd814ae31ef46899f41992bb1a4"> 119</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a2b8b4cd814ae31ef46899f41992bb1a4">reset</a>();</div> <div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div> <div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47"> 135</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47">addPose</a>(<span class="keywordtype">double</span> stamp, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; pose);</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0"> 129</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0">predict</a>(<span class="keywordtype">double</span> stamp) <span class="keyword">const</span>;</div> <div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> </div> <div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a2b8b4cd814ae31ef46899f41992bb1a4"> 139</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a2b8b4cd814ae31ef46899f41992bb1a4">reset</a>();</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a2c30a766cc8f251b78ed490cb2a275eb"> 132</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a2c30a766cc8f251b78ed490cb2a275eb">hasPose</a>() <span class="keyword">const</span>;</div> <div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a4ddd3b124501b8446869a38b1ab1ff95"> 134</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a4ddd3b124501b8446869a38b1ab1ff95">lastPoseStamp</a>() <span class="keyword">const</span>;</div> <div class="line"><a id="l00149" name="l00149"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0"> 149</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0">predict</a>(<span class="keywordtype">double</span> stamp) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a18e326faaa67a3602eaf3b4df7a906ff"> 136</a></span> Eigen::Vector3d <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a18e326faaa67a3602eaf3b4df7a906ff">velocity</a>() <span class="keyword">const</span>;</div> <div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> </div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a39dc460db30550b24646b312b3329245"> 138</a></span> <span class="keywordtype">size_t</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a39dc460db30550b24646b312b3329245">samples</a>() <span class="keyword">const</span>;</div> <div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a2c30a766cc8f251b78ed490cb2a275eb"> 152</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a2c30a766cc8f251b78ed490cb2a275eb">hasPose</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> </div> <div class="line"><a id="l00154" name="l00154"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a4ddd3b124501b8446869a38b1ab1ff95"> 154</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a4ddd3b124501b8446869a38b1ab1ff95">lastPoseStamp</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span><span class="keyword">private</span>:</div> <div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a18e326faaa67a3602eaf3b4df7a906ff"> 156</a></span> Eigen::Vector3d <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a18e326faaa67a3602eaf3b4df7a906ff">velocity</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="comment">// orientation: of the base frame in the IMU&#39;s world frame; acceleration: of the base in</span></div> <div class="line"><a id="l00158" name="l00158"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ImuMotionPredictor.html#a39dc460db30550b24646b312b3329245"> 158</a></span> <span class="keywordtype">size_t</span> <a class="code hl_function" href="classrtabmap_1_1ImuMotionPredictor.html#a39dc460db30550b24646b312b3329245">samples</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="comment">// that frame, gravity removed</span></div> <div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordtype">void</span> addSample(<span class="keywordtype">double</span> stamp, <span class="keyword">const</span> Eigen::Quaterniond &amp; orientation, <span class="keyword">const</span> Eigen::Vector3d &amp; acceleration);</div> <div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> </div> <div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="comment">// orientation: of the base frame in the IMU&#39;s world frame; acceleration: of the base in</span></div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">struct </span>Sample</div> <div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="comment">// that frame, gravity removed</span></div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> {</div> <div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="comment">// specificForce: in that frame too, including the reaction to gravity (see</span></div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> Eigen::Quaterniond orientation;</div> <div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="comment">// hasAcceleration)</span></div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> Eigen::Vector3d acceleration;</div> <div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">void</span> addSample(<span class="keywordtype">double</span> stamp, <span class="keyword">const</span> Eigen::Quaterniond &amp; orientation,</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> };</div> <div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keyword">const</span> Eigen::Vector3d &amp; specificForce, <span class="keywordtype">bool</span> hasAcceleration);</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> Eigen::Quaterniond orientationAt(<span class="keywordtype">double</span> stamp) <span class="keyword">const</span>;</div> <div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="comment">// Gravity estimation, from the IMU&#39;s own specific force and angular velocity norm</span></div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> Eigen::Vector3d accelerationAt(<span class="keywordtype">double</span> stamp) <span class="keyword">const</span>;</div> <div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">void</span> estimateGravity(<span class="keywordtype">double</span> stamp, <span class="keyword">const</span> Eigen::Vector3d &amp; specificForce, <span class="keywordtype">double</span> angularVelocity);</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keywordtype">void</span> integrate(<span class="keywordtype">double</span> from, <span class="keywordtype">double</span> to, <span class="keyword">const</span> Eigen::Quaterniond &amp; rotation,</div> <div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> </div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> Eigen::Vector3d &amp; velocity, Eigen::Vector3d &amp; position) <span class="keyword">const</span>;</div> <div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keyword">struct </span>Sample</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">void</span> updateIntegration() <span class="keyword">const</span>;</div> <div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> {</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> </div> <div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> Eigen::Quaterniond orientation;</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="comment">// The acceleration integrated from the last pose up to a sample&#39;s stamp, in the</span></div> <div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="comment">// Kept with gravity, which is removed when used: the estimate can change</span></div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="comment">// odometry frame: predicting a stamp then only integrates from the sample before it.</span></div> <div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> Eigen::Vector3d specificForce;</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keyword">struct </span>Integrated</div> <div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">bool</span> hasAcceleration;</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> {</div> <div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> };</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> Eigen::Vector3d acceleration; <span class="comment">// at that stamp</span></div> <div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="comment">// Acceleration of a sample, gravity removed (null without acceleration)</span></div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> Eigen::Vector3d velocity; <span class="comment">// change since the last pose</span></div> <div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> Eigen::Vector3d accelerationOf(<span class="keyword">const</span> Sample &amp; sample) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> Eigen::Vector3d position; <span class="comment">// change since the last pose (without its velocity)</span></div> <div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> Eigen::Quaterniond orientationAt(<span class="keywordtype">double</span> stamp) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> };</div> <div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> Eigen::Vector3d accelerationAt(<span class="keywordtype">double</span> stamp) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> </div> <div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">void</span> integrate(<span class="keywordtype">double</span> from, <span class="keywordtype">double</span> to, <span class="keyword">const</span> Eigen::Quaterniond &amp; rotation,</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span><span class="keyword">private</span>:</div> <div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> Eigen::Vector3d &amp; velocity, Eigen::Vector3d &amp; position) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">double</span> maxPoseInterval_;</div> <div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordtype">void</span> updateIntegration() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">double</span> velocityWindow_;</div> <div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> </div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">double</span> gravity_;</div> <div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="comment">// The acceleration integrated from the last pose up to a sample&#39;s stamp, in the</span></div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> std::map&lt;double, Sample&gt; samples_;</div> <div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="comment">// odometry frame: predicting a stamp then only integrates from the sample before it.</span></div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="comment">// Recent odometry poses, to estimate the velocity from (see velocityWindow)</span></div> <div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keyword">struct </span>Integrated</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> std::map&lt;double, rtabmap::Transform&gt; poses_;</div> <div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> {</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div> <div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> Eigen::Vector3d acceleration; <span class="comment">// at that stamp</span></div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="comment">// The last odometry pose and the state predictions start from.</span></div> <div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> Eigen::Vector3d velocity; <span class="comment">// change since the last pose</span></div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keywordtype">double</span> poseStamp_;</div> <div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> Eigen::Vector3d position; <span class="comment">// change since the last pose (without its velocity)</span></div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> pose_;</div> <div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> };</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> Eigen::Vector3d velocity_;</div> <div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="comment">// Rotation from the IMU&#39;s world frame to the odometry frame, at the last pose: the two</span></div> <div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="comment">// are both gravity aligned, but their yaw differ.</span></div> <div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keywordtype">double</span> maxPoseInterval_;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> Eigen::Quaterniond worldToOdom_;</div> <div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keywordtype">double</span> velocityWindow_;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> </div> <div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keywordtype">double</span> gravity_;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="comment">// Built lazily by predict(), from the last pose to the newest sample; cleared when the</span></div> <div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keywordtype">bool</span> gravityEstimated_;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="comment">// pose or the samples it was built from change.</span></div> <div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> std::map&lt;double, Sample&gt; samples_;</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keyword">mutable</span> std::map&lt;double, Integrated&gt; integrated_;</div> <div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> </div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="comment">// Whether the acceleration at the last pose&#39;s stamp (the first entry) is final: it is</span></div> <div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="comment">// Gravity estimation: the samples of the current window, and the gravity measured over</span></div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="comment">// held constant from the newest sample until a sample after that stamp is received.</span></div> <div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="comment">// the last quiet windows</span></div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keyword">mutable</span> <span class="keywordtype">bool</span> integratedStartIsFinal_;</div> <div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keyword">struct </span>StillSample</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span>};</div> <div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> {</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordtype">double</span> stamp;</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> Eigen::Vector3d specificForce; <span class="comment">// in the IMU frame</span></div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordtype">double</span> angularVelocity; <span class="comment">// norm</span></div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> };</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> std::vector&lt;StillSample&gt; stillWindow_;</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> std::vector&lt;double&gt; gravityWindows_;</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">size_t</span> gravityWindowsCount_;</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> <span class="comment">// Recent odometry poses, to estimate the velocity from (see velocityWindow)</span></div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> std::map&lt;double, rtabmap::Transform&gt; poses_;</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> </div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="comment">// The last odometry pose and the state predictions start from.</span></div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">double</span> poseStamp_;</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> pose_;</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> Eigen::Vector3d velocity_;</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="comment">// Rotation from the IMU&#39;s world frame to the odometry frame, at the last pose: the two</span></div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="comment">// are both gravity aligned, but their yaw differ.</span></div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> Eigen::Quaterniond worldToOdom_;</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> </div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="comment">// Built lazily by predict(), from the last pose to the newest sample; cleared when the</span></div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="comment">// pose or the samples it was built from change.</span></div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keyword">mutable</span> std::map&lt;double, Integrated&gt; integrated_;</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="comment">// Whether the acceleration at the last pose&#39;s stamp (the first entry) is final: it is</span></div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="comment">// held constant from the newest sample until a sample after that stamp is received.</span></div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keyword">mutable</span> <span class="keywordtype">bool</span> integratedStartIsFinal_;</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span>};</div>
</div> </div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> </div> <div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> </div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span>}</div> <div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span>}</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> </div> <div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> </div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span><span class="preprocessor">#endif </span><span class="comment">/* RTABMAP_CORE_IMUMOTIONPREDICTOR_H_ */</span><span class="preprocessor"></span></div> <div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span><span class="preprocessor">#endif </span><span class="comment">/* RTABMAP_CORE_IMUMOTIONPREDICTOR_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1IMU_html"><div class="ttname"><a href="classrtabmap_1_1IMU.html">rtabmap::IMU</a></div><div class="ttdoc">Inertial measurement sample (ROS sensor_msgs/Imu-like fields).</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00056">IMU.h:57</a></div></div> <div class="ttc" id="aclassrtabmap_1_1IMU_html"><div class="ttname"><a href="classrtabmap_1_1IMU.html">rtabmap::IMU</a></div><div class="ttdoc">Inertial measurement sample (ROS sensor_msgs/Imu-like fields).</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00056">IMU.h:57</a></div></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_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_1ImuMotionPredictor_html_a18e326faaa67a3602eaf3b4df7a906ff"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a18e326faaa67a3602eaf3b4df7a906ff">rtabmap::ImuMotionPredictor::velocity</a></div><div class="ttdeci">Eigen::Vector3d velocity() const</div><div class="ttdoc">Velocity (m/s) of the base in the odometry frame at the last pose.</div></div> <div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a18e326faaa67a3602eaf3b4df7a906ff"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a18e326faaa67a3602eaf3b4df7a906ff">rtabmap::ImuMotionPredictor::velocity</a></div><div class="ttdeci">Eigen::Vector3d velocity() const</div><div class="ttdoc">Velocity (m/s) of the base in the odometry frame at the last pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a2b8b4cd814ae31ef46899f41992bb1a4"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a2b8b4cd814ae31ef46899f41992bb1a4">rtabmap::ImuMotionPredictor::reset</a></div><div class="ttdeci">void reset()</div><div class="ttdoc">Forgets the poses and the IMU samples.</div></div> <div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a2b8b4cd814ae31ef46899f41992bb1a4"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a2b8b4cd814ae31ef46899f41992bb1a4">rtabmap::ImuMotionPredictor::reset</a></div><div class="ttdeci">void reset()</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a2c30a766cc8f251b78ed490cb2a275eb"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a2c30a766cc8f251b78ed490cb2a275eb">rtabmap::ImuMotionPredictor::hasPose</a></div><div class="ttdeci">bool hasPose() const</div><div class="ttdoc">Whether there is a pose to predict from (none yet, or the last one was null).</div></div> <div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a2c30a766cc8f251b78ed490cb2a275eb"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a2c30a766cc8f251b78ed490cb2a275eb">rtabmap::ImuMotionPredictor::hasPose</a></div><div class="ttdeci">bool hasPose() const</div><div class="ttdoc">Whether there is a pose to predict from (none yet, or the last one was null).</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a3359e2caff4d42fbcd4137b39aa2ae04"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04">rtabmap::ImuMotionPredictor::addImu</a></div><div class="ttdeci">void addImu(double stamp, const IMU &amp;imu)</div><div class="ttdoc">Adds an IMU measurement.</div></div> <div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a3359e2caff4d42fbcd4137b39aa2ae04"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04">rtabmap::ImuMotionPredictor::addImu</a></div><div class="ttdeci">void addImu(double stamp, const IMU &amp;imu)</div><div class="ttdoc">Adds an IMU measurement.</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a39dc460db30550b24646b312b3329245"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a39dc460db30550b24646b312b3329245">rtabmap::ImuMotionPredictor::samples</a></div><div class="ttdeci">size_t samples() const</div><div class="ttdoc">Number of IMU samples kept.</div></div> <div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a39dc460db30550b24646b312b3329245"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a39dc460db30550b24646b312b3329245">rtabmap::ImuMotionPredictor::samples</a></div><div class="ttdeci">size_t samples() const</div><div class="ttdoc">Number of IMU samples kept.</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a4ddd3b124501b8446869a38b1ab1ff95"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a4ddd3b124501b8446869a38b1ab1ff95">rtabmap::ImuMotionPredictor::lastPoseStamp</a></div><div class="ttdeci">double lastPoseStamp() const</div><div class="ttdoc">Stamp of the last pose added, 0 if there is none.</div></div> <div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a4ddd3b124501b8446869a38b1ab1ff95"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a4ddd3b124501b8446869a38b1ab1ff95">rtabmap::ImuMotionPredictor::lastPoseStamp</a></div><div class="ttdeci">double lastPoseStamp() const</div><div class="ttdoc">Stamp of the last pose added, 0 if there is none.</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a53a73e2ebf60ff671828732594adc7c4"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4">rtabmap::ImuMotionPredictor::gravity</a></div><div class="ttdeci">double gravity() const</div><div class="ttdoc">Gravity (m/s^2) removed from the specific force: the one given, or the estimate.</div><div class="ttdef"><b>Definition</b> <a href="ImuMotionPredictor_8h_source.html#l00111">ImuMotionPredictor.h:111</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a765b9d6ae74d6fdcfbcc55e9d28b3feb"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb">rtabmap::ImuMotionPredictor::ImuMotionPredictor</a></div><div class="ttdeci">ImuMotionPredictor(double maxPoseInterval=1.0, double velocityWindow=0.5, double gravity=9.80665)</div></div> <div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a765b9d6ae74d6fdcfbcc55e9d28b3feb"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb">rtabmap::ImuMotionPredictor::ImuMotionPredictor</a></div><div class="ttdeci">ImuMotionPredictor(double maxPoseInterval=1.0, double velocityWindow=0.5, double gravity=9.80665)</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_a91c329f153da4c479509e406f6eb5112"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#a91c329f153da4c479509e406f6eb5112">rtabmap::ImuMotionPredictor::gravityWindows</a></div><div class="ttdeci">size_t gravityWindows() const</div><div class="ttdoc">Number of quiet IMU windows the gravity estimate is from (0: not estimated yet)</div><div class="ttdef"><b>Definition</b> <a href="ImuMotionPredictor_8h_source.html#l00115">ImuMotionPredictor.h:115</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_aa84008cbd4087273e8db74d91d89ec10"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#aa84008cbd4087273e8db74d91d89ec10">rtabmap::ImuMotionPredictor::isGravityEstimated</a></div><div class="ttdeci">bool isGravityEstimated() const</div><div class="ttdoc">Whether the gravity is estimated from the IMU (see the constructor)</div><div class="ttdef"><b>Definition</b> <a href="ImuMotionPredictor_8h_source.html#l00113">ImuMotionPredictor.h:113</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_abb4349e5902040e5440f425e0bc39c47"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47">rtabmap::ImuMotionPredictor::addPose</a></div><div class="ttdeci">void addPose(double stamp, const rtabmap::Transform &amp;pose)</div><div class="ttdoc">Adds an odometry pose, from which the next poses are predicted.</div></div> <div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_abb4349e5902040e5440f425e0bc39c47"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47">rtabmap::ImuMotionPredictor::addPose</a></div><div class="ttdeci">void addPose(double stamp, const rtabmap::Transform &amp;pose)</div><div class="ttdoc">Adds an odometry pose, from which the next poses are predicted.</div></div>
<div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_ac9bd37d201be18aaecfbfdbdbaec6ff0"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0">rtabmap::ImuMotionPredictor::predict</a></div><div class="ttdeci">rtabmap::Transform predict(double stamp) const</div><div class="ttdoc">Predicts the pose of the base frame in the odometry frame.</div></div> <div class="ttc" id="aclassrtabmap_1_1ImuMotionPredictor_html_ac9bd37d201be18aaecfbfdbdbaec6ff0"><div class="ttname"><a href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0">rtabmap::ImuMotionPredictor::predict</a></div><div class="ttdeci">rtabmap::Transform predict(double stamp) const</div><div class="ttdoc">Predicts the pose of the base frame in the odometry frame.</div></div>
<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> <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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<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</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="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="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_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_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> <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 &amp;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_a0c2d39ed9b76c2c411a9e62e16e3bce1"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">rtabmap::Odometry::process</a></div><div class="ttdeci">Transform process(SensorData &amp;data, OdometryInfo *info=0)</div><div class="ttdoc">Processes a sensor frame and updates the integrated pose.</div></div>
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@@ -516,7 +516,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> </div> <div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> </div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a62219439aa503751ef54d6476e0ef5c2"> 490</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, Baseline, <span class="keywordtype">double</span>, 0.075, <span class="stringliteral">&quot;When doing bundle adjustment with RGB-D data (mono camera + depth), set a fake baseline (m) so the BA backend treats depth as stereo disparity. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Set to 0 to keep the problem mono (depth observations are ignored). For real stereo data the baseline in the calibration (Tx) is used directly.&quot;</span>);</div> <div class="line"><a id="l00490" name="l00490"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a62219439aa503751ef54d6476e0ef5c2"> 490</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, Baseline, <span class="keywordtype">double</span>, 0.075, <span class="stringliteral">&quot;When doing bundle adjustment with RGB-D data (mono camera + depth), set a fake baseline (m) so the BA backend treats depth as stereo disparity. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Set to 0 to keep the problem mono (depth observations are ignored). For real stereo data the baseline in the calibration (Tx) is used directly.&quot;</span>);</div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aac621d5d3acba7b0d9a9b5dcd52f7d4f"> 491</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, PixelVariance, <span class="keywordtype">double</span>, 1.0, <span class="stringliteral">&quot;Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions.&quot;</span>);</div> <div class="line"><a id="l00491" name="l00491"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aac621d5d3acba7b0d9a9b5dcd52f7d4f"> 491</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, PixelVariance, <span class="keywordtype">double</span>, 1.0, <span class="stringliteral">&quot;Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions.&quot;</span>);</div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a9b2bf1254c87e79d358dd45a27d92254"> 492</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, DisparityVariance, <span class="keywordtype">double</span>, 1.0, <span class="stringliteral">&quot;Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector&#39;s u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher&#39;s effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4).&quot;</span>);</div> <div class="line"><a id="l00492" name="l00492"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a9b2bf1254c87e79d358dd45a27d92254"> 492</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, DisparityVariance, <span class="keywordtype">double</span>, 1.0, <span class="stringliteral">&quot;Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. The lower it is, the more the optimizer trusts the depth. Set higher (e.g. 2-4) if the depth is noisier than the features&#39; u/v precision (stereo block matchers / SGM at long range, narrow-baseline low-resolution stereo). Set lower (e.g. 0.01-0.1) if it is more accurate (ToF / LiDAR-fused depth, measured rather than triangulated), or around 0.1-0.5 for wide-baseline high-resolution stereo.&quot;</span>);</div>
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a29ca5e5f03feb515f565edb0caae230b"> 493</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, RobustKernelDelta, <span class="keywordtype">double</span>, 8, <span class="stringliteral">&quot;Robust kernel delta used for bundle adjustment (0 means don&#39;t use robust kernel). Applies to all BA-capable backends (g2o, GTSAM, Ceres). Observations with chi2 over this threshold will be ignored in the second optimization pass.&quot;</span>);</div> <div class="line"><a id="l00493" name="l00493"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a29ca5e5f03feb515f565edb0caae230b"> 493</a></span> RTABMAP_PARAM(<a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, RobustKernelDelta, <span class="keywordtype">double</span>, 8, <span class="stringliteral">&quot;Robust kernel delta used for bundle adjustment (0 means don&#39;t use robust kernel). Applies to all BA-capable backends (g2o, GTSAM, Ceres). Observations with chi2 over this threshold will be ignored in the second optimization pass.&quot;</span>);</div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> </div> <div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> </div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ad1a81c4592bd2d628badbb53ad767e10"> 495</a></span> RTABMAP_PARAM(GTSAM, <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, <span class="keywordtype">int</span>, 1, <span class="stringliteral">&quot;0=Levenberg 1=GaussNewton 2=Dogleg&quot;</span>);</div> <div class="line"><a id="l00495" name="l00495"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ad1a81c4592bd2d628badbb53ad767e10"> 495</a></span> RTABMAP_PARAM(GTSAM, <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>, <span class="keywordtype">int</span>, 1, <span class="stringliteral">&quot;0=Levenberg 1=GaussNewton 2=Dogleg&quot;</span>);</div>
@@ -539,8 +539,8 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a1c5361e55edddc9fcf941a0e79ca6622"> 512</a></span> RTABMAP_PARAM(Odom, KalmanProcessNoise, <span class="keywordtype">float</span>, 0.001, <span class="stringliteral">&quot;Process noise covariance value.&quot;</span>);</div> <div class="line"><a id="l00512" name="l00512"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a1c5361e55edddc9fcf941a0e79ca6622"> 512</a></span> RTABMAP_PARAM(Odom, KalmanProcessNoise, <span class="keywordtype">float</span>, 0.001, <span class="stringliteral">&quot;Process noise covariance value.&quot;</span>);</div>
<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a1b74baad5e6ec5c35f35522c8941dc18"> 513</a></span> RTABMAP_PARAM(Odom, KalmanMeasurementNoise, <span class="keywordtype">float</span>, 0.01, <span class="stringliteral">&quot;Process measurement covariance value.&quot;</span>);</div> <div class="line"><a id="l00513" name="l00513"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#a1b74baad5e6ec5c35f35522c8941dc18"> 513</a></span> RTABMAP_PARAM(Odom, KalmanMeasurementNoise, <span class="keywordtype">float</span>, 0.01, <span class="stringliteral">&quot;Process measurement covariance value.&quot;</span>);</div>
<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aed75497245cb08a0d126dc4e5abc2c19"> 514</a></span> RTABMAP_PARAM(Odom, GuessMotion, <span class="keywordtype">bool</span>, <span class="keyword">true</span>, <span class="stringliteral">&quot;Guess next transformation from the last motion computed.&quot;</span>);</div> <div class="line"><a id="l00514" name="l00514"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aed75497245cb08a0d126dc4e5abc2c19"> 514</a></span> RTABMAP_PARAM(Odom, GuessMotion, <span class="keywordtype">bool</span>, <span class="keyword">true</span>, <span class="stringliteral">&quot;Guess next transformation from the last motion computed.&quot;</span>);</div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aa8989e225d5b1c560c6900f4cbaf765e"> 515</a></span> RTABMAP_PARAM(Odom, ImuGravity, <span class="keywordtype">float</span>, 9.80665, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Gravity magnitude (m/s^2) removed from the IMU linear acceleration (used with \&quot;%s\&quot; &gt; 0). Standard gravity by default. Set it to what the accelerometer reads at rest to compensate for its scale error, or for another gravity than Earth&#39;s.&quot;</span>, kOdomGuessSmoothingDelay().c_str()));</div> <div class="line"><a id="l00515" name="l00515"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aa8989e225d5b1c560c6900f4cbaf765e"> 515</a></span> RTABMAP_PARAM(Odom, ImuGravity, <span class="keywordtype">float</span>, 9.80665, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Gravity magnitude (m/s^2) removed from the IMU linear acceleration (used with \&quot;%s\&quot; &gt; 0). Standard gravity by default. Set it to what the accelerometer reads at rest to compensate for its scale error, or for another gravity than Earth&#39;s. 0: estimated from the IMU while it is still (gyro and accelerometer quiet over 0.5 s), with standard gravity until then: the robot should then be perfectly still for a moment (e.g., at start), and a steady acceleration without rotation would be taken for gravity.&quot;</span>, kOdomGuessSmoothingDelay().c_str()));</div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ab92e1ac2b4bcdcc6551533aaf19aa4e2"> 516</a></span> RTABMAP_PARAM(Odom, GuessSmoothingDelay, <span class="keywordtype">float</span>, 0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \&quot;%s\&quot; is set or the delay is below the odometry rate. With an IMU giving orientation and linear acceleration, a delay &gt; 0 also enables the IMU acceleration: the velocity is then the displacement over this delay corrected by the acceleration measured since, so that it is the velocity at the last frame rather than a delayed average, and the motion guess and lidar deskewing (\&quot;%s\&quot;) integrate the acceleration from it. Recommended (~0.5 s) with an IMU. With 0, the IMU only gives the orientation. Without IMU, the average is delayed by half this delay: it can make sense for platforms with inertia (e.g., cars at high speed, where one bad frame would otherwise change the predicted velocity a lot), for high frame rates, or when the velocity is used for lidar deskewing, where its noise would feed back into the next poses.&quot;</span>, kOdomFilteringStrategy().c_str(), kOdomDeskewing().c_str()));</div> <div class="line"><a id="l00516" name="l00516"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ab92e1ac2b4bcdcc6551533aaf19aa4e2"> 516</a></span> RTABMAP_PARAM(Odom, GuessSmoothingDelay, <span class="keywordtype">float</span>, 0, <a class="code hl_function" href="UConversion_8h.html#a59ad5e2b3368d3dd19d73a24159388ce">uFormat</a>(<span class="stringliteral">&quot;Guess smoothing delay (s). The velocity is averaged over the last transforms up to this delay, for a smoother velocity prediction. The last velocity is used directly if \&quot;%s\&quot; is set or the delay is below the odometry rate. With an IMU giving orientation and linear acceleration, a delay &gt; 0 also enables the IMU acceleration: the velocity is the displacement over this delay corrected by the acceleration measured since, so it is not delayed, and the motion guess and lidar deskewing (\&quot;%s\&quot;) integrate the acceleration from it (~0.5 s recommended). With 0, the IMU only gives the orientation. Without IMU, the average is delayed by half this delay: useful for platforms with inertia, high frame rates, or lidar deskewing, where the velocity noise would feed back into the next poses.&quot;</span>, kOdomFilteringStrategy().c_str(), kOdomDeskewing().c_str()));</div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aebbba0733b605dffc9d3e09cc6c5f4c8"> 517</a></span> RTABMAP_PARAM(Odom, KeyFrameThr, <span class="keywordtype">float</span>, 0.3, <span class="stringliteral">&quot;[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.&quot;</span>);</div> <div class="line"><a id="l00517" name="l00517"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#aebbba0733b605dffc9d3e09cc6c5f4c8"> 517</a></span> RTABMAP_PARAM(Odom, KeyFrameThr, <span class="keywordtype">float</span>, 0.3, <span class="stringliteral">&quot;[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.&quot;</span>);</div>
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ae37f0155b9c8b516cda895f08b1344ba"> 518</a></span> RTABMAP_PARAM(Odom, VisKeyFrameThr, <span class="keywordtype">int</span>, 150, <span class="stringliteral">&quot;[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.&quot;</span>);</div> <div class="line"><a id="l00518" name="l00518"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ae37f0155b9c8b516cda895f08b1344ba"> 518</a></span> RTABMAP_PARAM(Odom, VisKeyFrameThr, <span class="keywordtype">int</span>, 150, <span class="stringliteral">&quot;[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.&quot;</span>);</div>
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ad6174a0ecd9ac76d8242540c30df4ad5"> 519</a></span> RTABMAP_PARAM(Odom, ScanKeyFrameThr, <span class="keywordtype">float</span>, 0.9, <span class="stringliteral">&quot;[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame&#39;s scan. Setting the value to 0 means that a keyframe is created for each processed frame.&quot;</span>);</div> <div class="line"><a id="l00519" name="l00519"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Parameters.html#ad6174a0ecd9ac76d8242540c30df4ad5"> 519</a></span> RTABMAP_PARAM(Odom, ScanKeyFrameThr, <span class="keywordtype">float</span>, 0.9, <span class="stringliteral">&quot;[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame&#39;s scan. Setting the value to 0 means that a keyframe is created for each processed frame.&quot;</span>);</div>
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<table class="directory"> <table class="directory">
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04">addImu</a>(double stamp, const IMU &amp;imu)</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04">addImu</a>(double stamp, const IMU &amp;imu)</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47">addPose</a>(double stamp, const rtabmap::Transform &amp;pose)</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47">addPose</a>(double stamp, const rtabmap::Transform &amp;pose)</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>gravity</b>() const (defined in <a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4">gravity</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a2c30a766cc8f251b78ed490cb2a275eb">hasPose</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a91c329f153da4c479509e406f6eb5112">gravityWindows</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb">ImuMotionPredictor</a>(double maxPoseInterval=1.0, double velocityWindow=0.5, double gravity=9.80665)</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr> <tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a2c30a766cc8f251b78ed490cb2a275eb">hasPose</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb">ImuMotionPredictor</a>(double maxPoseInterval=1.0, double velocityWindow=0.5, double gravity=9.80665)</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"><span class="mlabel">explicit</span></td></tr>
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#aa84008cbd4087273e8db74d91d89ec10">isGravityEstimated</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a4ddd3b124501b8446869a38b1ab1ff95">lastPoseStamp</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a4ddd3b124501b8446869a38b1ab1ff95">lastPoseStamp</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"></td></tr>
<tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>maxPoseInterval</b>() const (defined in <a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr> <tr bgcolor="#f0f0f0" class="even"><td class="entry"><b>maxPoseInterval</b>() const (defined in <a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a>)</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0">predict</a>(double stamp) const</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"></td></tr> <tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0">predict</a>(double stamp) const</td><td class="entry"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html">rtabmap::ImuMotionPredictor</a></td><td class="entry"></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a> <tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr> Public Member Functions</h2></td></tr>
<tr class="memitem:a765b9d6ae74d6fdcfbcc55e9d28b3feb" id="r_a765b9d6ae74d6fdcfbcc55e9d28b3feb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb">ImuMotionPredictor</a> (double maxPoseInterval=1.0, double velocityWindow=0.5, double gravity=9.80665)</td></tr> <tr class="memitem:a765b9d6ae74d6fdcfbcc55e9d28b3feb" id="r_a765b9d6ae74d6fdcfbcc55e9d28b3feb"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a765b9d6ae74d6fdcfbcc55e9d28b3feb">ImuMotionPredictor</a> (double maxPoseInterval=1.0, double velocityWindow=0.5, double <a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4">gravity</a>=9.80665)</td></tr>
<tr class="separator:a765b9d6ae74d6fdcfbcc55e9d28b3feb"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a765b9d6ae74d6fdcfbcc55e9d28b3feb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7fd44e11cecf9e3b4fb16dff1bca0166" id="r_a7fd44e11cecf9e3b4fb16dff1bca0166"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a7fd44e11cecf9e3b4fb16dff1bca0166">maxPoseInterval</a> () const</td></tr> <tr class="memitem:a7fd44e11cecf9e3b4fb16dff1bca0166" id="r_a7fd44e11cecf9e3b4fb16dff1bca0166"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a7fd44e11cecf9e3b4fb16dff1bca0166">maxPoseInterval</a> () const</td></tr>
<tr class="separator:a7fd44e11cecf9e3b4fb16dff1bca0166"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a7fd44e11cecf9e3b4fb16dff1bca0166"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a49a29f75350d008a54668837561a98bf" id="r_a49a29f75350d008a54668837561a98bf"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a49a29f75350d008a54668837561a98bf">velocityWindow</a> () const</td></tr> <tr class="memitem:a49a29f75350d008a54668837561a98bf" id="r_a49a29f75350d008a54668837561a98bf"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a49a29f75350d008a54668837561a98bf">velocityWindow</a> () const</td></tr>
<tr class="separator:a49a29f75350d008a54668837561a98bf"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a49a29f75350d008a54668837561a98bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a53a73e2ebf60ff671828732594adc7c4" id="r_a53a73e2ebf60ff671828732594adc7c4"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4">gravity</a> () const</td></tr> <tr class="memitem:a53a73e2ebf60ff671828732594adc7c4" id="r_a53a73e2ebf60ff671828732594adc7c4"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4">gravity</a> () const</td></tr>
<tr class="memdesc:a53a73e2ebf60ff671828732594adc7c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gravity (m/s^2) removed from the specific force: the one given, or the estimate. <br /></td></tr>
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<tr class="memitem:aa84008cbd4087273e8db74d91d89ec10" id="r_aa84008cbd4087273e8db74d91d89ec10"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#aa84008cbd4087273e8db74d91d89ec10">isGravityEstimated</a> () const</td></tr>
<tr class="memdesc:aa84008cbd4087273e8db74d91d89ec10"><td class="mdescLeft">&#160;</td><td class="mdescRight">Whether the gravity is estimated from the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> (see the constructor) <br /></td></tr>
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<tr class="memitem:a91c329f153da4c479509e406f6eb5112" id="r_a91c329f153da4c479509e406f6eb5112"><td class="memItemLeft" align="right" valign="top">size_t&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a91c329f153da4c479509e406f6eb5112">gravityWindows</a> () const</td></tr>
<tr class="memdesc:a91c329f153da4c479509e406f6eb5112"><td class="mdescLeft">&#160;</td><td class="mdescRight">Number of quiet <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> windows the gravity estimate is from (0: not estimated yet) <br /></td></tr>
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<tr class="memitem:a3359e2caff4d42fbcd4137b39aa2ae04" id="r_a3359e2caff4d42fbcd4137b39aa2ae04"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04">addImu</a> (double stamp, const <a class="el" href="classrtabmap_1_1IMU.html">IMU</a> &amp;imu)</td></tr> <tr class="memitem:a3359e2caff4d42fbcd4137b39aa2ae04" id="r_a3359e2caff4d42fbcd4137b39aa2ae04"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04">addImu</a> (double stamp, const <a class="el" href="classrtabmap_1_1IMU.html">IMU</a> &amp;imu)</td></tr>
<tr class="memdesc:a3359e2caff4d42fbcd4137b39aa2ae04"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds an <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> measurement. <br /></td></tr> <tr class="memdesc:a3359e2caff4d42fbcd4137b39aa2ae04"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds an <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> measurement. <br /></td></tr>
<tr class="separator:a3359e2caff4d42fbcd4137b39aa2ae04"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a3359e2caff4d42fbcd4137b39aa2ae04"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abb4349e5902040e5440f425e0bc39c47" id="r_abb4349e5902040e5440f425e0bc39c47"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47">addPose</a> (double stamp, const <a class="el" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp;pose)</td></tr> <tr class="memitem:abb4349e5902040e5440f425e0bc39c47" id="r_abb4349e5902040e5440f425e0bc39c47"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#abb4349e5902040e5440f425e0bc39c47">addPose</a> (double stamp, const <a class="el" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp;pose)</td></tr>
<tr class="memdesc:abb4349e5902040e5440f425e0bc39c47"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds an odometry pose, from which the next poses are predicted. <br /></td></tr> <tr class="memdesc:abb4349e5902040e5440f425e0bc39c47"><td class="mdescLeft">&#160;</td><td class="mdescRight">Adds an odometry pose, from which the next poses are predicted. <br /></td></tr>
<tr class="separator:abb4349e5902040e5440f425e0bc39c47"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:abb4349e5902040e5440f425e0bc39c47"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b8b4cd814ae31ef46899f41992bb1a4" id="r_a2b8b4cd814ae31ef46899f41992bb1a4"><td class="memItemLeft" align="right" valign="top"><a id="a2b8b4cd814ae31ef46899f41992bb1a4" name="a2b8b4cd814ae31ef46899f41992bb1a4"></a> <tr class="memitem:a2b8b4cd814ae31ef46899f41992bb1a4" id="r_a2b8b4cd814ae31ef46899f41992bb1a4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a2b8b4cd814ae31ef46899f41992bb1a4">reset</a> ()</td></tr>
void&#160;</td><td class="memItemRight" valign="bottom"><b>reset</b> ()</td></tr>
<tr class="memdesc:a2b8b4cd814ae31ef46899f41992bb1a4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Forgets the poses and the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> samples. <br /></td></tr>
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<tr class="memitem:ac9bd37d201be18aaecfbfdbdbaec6ff0" id="r_ac9bd37d201be18aaecfbfdbdbaec6ff0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0">predict</a> (double stamp) const</td></tr> <tr class="memitem:ac9bd37d201be18aaecfbfdbdbaec6ff0" id="r_ac9bd37d201be18aaecfbfdbdbaec6ff0"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#ac9bd37d201be18aaecfbfdbdbaec6ff0">predict</a> (double stamp) const</td></tr>
<tr class="memdesc:ac9bd37d201be18aaecfbfdbdbaec6ff0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Predicts the pose of the base frame in the odometry frame. <br /></td></tr> <tr class="memdesc:ac9bd37d201be18aaecfbfdbdbaec6ff0"><td class="mdescLeft">&#160;</td><td class="mdescRight">Predicts the pose of the base frame in the odometry frame. <br /></td></tr>
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<p>Between two odometry updates, the pose is propagated with the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>: the orientation is the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>'s own, re-expressed in the odometry frame, and the position is integrated from the velocity at the last odometry update and the gravity-compensated acceleration. That velocity is re-estimated at every odometry update, from the displacement since an odometry pose a short window back (see velocityWindow) corrected by the acceleration measured in between, so the position never drifts for long: only the motion since the last update is predicted.</p> <p>Between two odometry updates, the pose is propagated with the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>: the orientation is the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>'s own, re-expressed in the odometry frame, and the position is integrated from the velocity at the last odometry update and the gravity-compensated acceleration. That velocity is re-estimated at every odometry update, from the displacement since an odometry pose a short window back (see velocityWindow) corrected by the acceleration measured in between, so the position never drifts for long: only the motion since the last update is predicted.</p>
<p>This is what lidar deskewing needs: the pose at every point's time, during a sweep that started after the last pose odometry estimated.</p> <p>This is what lidar deskewing needs: the pose at every point's time, during a sweep that started after the last pose odometry estimated.</p>
<p>The <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> samples are given as they are measured (see <a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04" title="Adds an IMU measurement.">addImu()</a>): the orientation of the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> in its world frame and its specific force, from which gravity is removed here. That world frame must be gravity aligned with +z up, as in ROS (REP-103, e.g. ENU); its yaw doesn't matter. An orientation given in a frame with z down (NED) must be converted first, otherwise gravity is added instead of removed. The lever arm between the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> and the base origin is ignored: its centripetal and tangential accelerations are small over the fraction of a second this predicts.</p> <p>The <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> samples are given as they are measured (see <a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04" title="Adds an IMU measurement.">addImu()</a>): the orientation of the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> in its world frame and its specific force, from which gravity is removed here. That world frame must be gravity aligned with +z up, as in ROS (REP-103, e.g. ENU); its yaw doesn't matter. An orientation given in a frame with z down (NED) must be converted first, otherwise gravity is added instead of removed. The lever arm between the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> and the base origin is ignored: its centripetal and tangential accelerations are small over the fraction of a second this predicts.</p>
<p>The gravity removed can be estimated from the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> itself (see the constructor): an accelerometer can read a few percent off at rest (scale or bias), and that error, integrated as an acceleration, would bias the predicted velocity along gravity. The accelerometer is averaged over the windows where it is quiet: with a gyro and an accelerometer that barely change, the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> is not accelerating (at rest or at constant velocity), so it only measures gravity. The <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> must then be held still (or at constant velocity) for a moment, e.g., before moving: until then, standard gravity is used, and a steady acceleration without rotation would be taken for gravity. Only the error along gravity is corrected, which is all of it for an <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> that stays about level; one changing attitude would need its axes calibrated.</p>
<p>Not thread-safe: a caller sharing it between threads must lock around every call. </p> <p>Not thread-safe: a caller sharing it between threads must lock around every call. </p>
<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00065">65</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p> <p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00077">77</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2> </div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a765b9d6ae74d6fdcfbcc55e9d28b3feb">&#9670;&#160;</a></span>ImuMotionPredictor()</h2> <h2 class="memtitle"><span class="permalink"><a href="#a765b9d6ae74d6fdcfbcc55e9d28b3feb">&#9670;&#160;</a></span>ImuMotionPredictor()</h2>
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<tr><td class="paramname">maxPoseInterval</td><td>odometry poses older (s) than this are not used to estimate the velocity, which is null without one </td></tr> <tr><td class="paramname">maxPoseInterval</td><td>odometry poses older (s) than this are not used to estimate the velocity, which is null without one </td></tr>
<tr><td class="paramname">velocityWindow</td><td>the velocity is estimated from the displacement since the newest pose at least this old (s), corrected by the acceleration measured since, so that it is the velocity at the last pose, not an average. Over a single frame interval, the noise of the odometry poses would be of the order of the velocity itself. 0: the displacement since the previous pose, without acceleration. </td></tr> <tr><td class="paramname">velocityWindow</td><td>the velocity is estimated from the displacement since the newest pose at least this old (s), corrected by the acceleration measured since, so that it is the velocity at the last pose, not an average. Over a single frame interval, the noise of the odometry poses would be of the order of the velocity itself. 0: the displacement since the previous pose, without acceleration. </td></tr>
<tr><td class="paramname">gravity</td><td>magnitude (m/s^2) of the gravity removed from the specific force given to <a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04" title="Adds an IMU measurement.">addImu()</a>, standard gravity by default</td></tr> <tr><td class="paramname">gravity</td><td>magnitude (m/s^2) of the gravity removed from the specific force given to <a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a3359e2caff4d42fbcd4137b39aa2ae04" title="Adds an IMU measurement.">addImu()</a>, standard gravity by default. &lt;= 0: estimated from the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> when it is still (see the class description), with standard gravity until then.</td></tr>
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<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00094">94</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p> <p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00108">108</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00095">95</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p> <p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00109">109</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00096">96</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p> <p>Gravity (m/s^2) removed from the specific force: the one given, or the estimate. </p>
<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00111">111</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aa84008cbd4087273e8db74d91d89ec10">&#9670;&#160;</a></span>isGravityEstimated()</h2>
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<p>Whether the gravity is estimated from the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> (see the constructor) </p>
<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00113">113</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
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<p>Number of quiet <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> windows the gravity estimate is from (0: not estimated yet) </p>
<p class="definition">Definition at line <a class="el" href="ImuMotionPredictor_8h_source.html#l00115">115</a> of file <a class="el" href="ImuMotionPredictor_8h_source.html">ImuMotionPredictor.h</a>.</p>
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<p>Forgets the poses and the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> samples. The gravity estimate is kept: it is the sensor's. </p>
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<tr class="memdesc:acf07e9b146003000fd39ea09472e0418"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of parameter Optimizer/PixelVariance , as a string: double . <br /></td></tr> <tr class="memdesc:acf07e9b146003000fd39ea09472e0418"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of parameter Optimizer/PixelVariance , as a string: double . <br /></td></tr>
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<tr class="memitem:a1a6053a3f56ee705dd2d880e9394542d" id="r_a1a6053a3f56ee705dd2d880e9394542d"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a1a6053a3f56ee705dd2d880e9394542d">kOptimizerDisparityVariance</a> ()</td></tr> <tr class="memitem:a1a6053a3f56ee705dd2d880e9394542d" id="r_a1a6053a3f56ee705dd2d880e9394542d"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a1a6053a3f56ee705dd2d880e9394542d">kOptimizerDisparityVariance</a> ()</td></tr>
<tr class="memdesc:a1a6053a3f56ee705dd2d880e9394542d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Key of parameter Optimizer/DisparityVariance : "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4)." Default value: 1.0 ( double ). <br /></td></tr> <tr class="memdesc:a1a6053a3f56ee705dd2d880e9394542d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Key of parameter Optimizer/DisparityVariance : "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. The lower it is, the more the optimizer trusts the depth. Set higher (e.g. 2-4) if the depth is noisier than the features' u/v precision (stereo block matchers / SGM at long range, narrow-baseline low-resolution stereo). Set lower (e.g. 0.01-0.1) if it is more accurate (ToF / LiDAR-fused depth, measured rather than triangulated), or around 0.1-0.5 for wide-baseline high-resolution stereo." Default value: 1.0 ( double ). <br /></td></tr>
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<tr class="memdesc:a9b2bf1254c87e79d358dd45a27d92254"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default value of parameter Optimizer/DisparityVariance : 1.0 . <br /></td></tr> <tr class="memdesc:a9b2bf1254c87e79d358dd45a27d92254"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default value of parameter Optimizer/DisparityVariance : 1.0 . <br /></td></tr>
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<tr class="memdesc:a25f8b0caf74b406a8ee38c4bfa6fc83f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of parameter Odom/GuessMotion , as a string: bool . <br /></td></tr> <tr class="memdesc:a25f8b0caf74b406a8ee38c4bfa6fc83f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of parameter Odom/GuessMotion , as a string: bool . <br /></td></tr>
<tr class="separator:a25f8b0caf74b406a8ee38c4bfa6fc83f"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a25f8b0caf74b406a8ee38c4bfa6fc83f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa5a167189629eabf46a21ab52b3b24c1" id="r_aa5a167189629eabf46a21ab52b3b24c1"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#aa5a167189629eabf46a21ab52b3b24c1">kOdomImuGravity</a> ()</td></tr> <tr class="memitem:aa5a167189629eabf46a21ab52b3b24c1" id="r_aa5a167189629eabf46a21ab52b3b24c1"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#aa5a167189629eabf46a21ab52b3b24c1">kOdomImuGravity</a> ()</td></tr>
<tr class="memdesc:aa5a167189629eabf46a21ab52b3b24c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Key of parameter Odom/ImuGravity : uFormat("Gravity magnitude (m/s^2) removed from the IMU linear acceleration (used with \"%s\" &gt; 0). Standard gravity by default. Set it to what the accelerometer reads at rest to compensate for its scale error, or for another gravity than Earth's.", <a class="el" href="classrtabmap_1_1Parameters.html#aabd0b7d996517264f6ce43db1aa6ed05" title="Key of parameter Odom/GuessSmoothingDelay : uFormat(&quot;Guess smoothing delay (s). Estimated velocity is...">kOdomGuessSmoothingDelay()</a>.c_str()) Default value: 9.80665 ( float ). <br /></td></tr> <tr class="memdesc:aa5a167189629eabf46a21ab52b3b24c1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Key of parameter Odom/ImuGravity : uFormat("Gravity magnitude (m/s^2) removed from the IMU linear acceleration (used with \"%s\" &gt; 0). Standard gravity by default. Set it to what the accelerometer reads at rest to compensate for its scale error, or for another gravity than Earth's. 0: estimated from the IMU while it is still (gyro and accelerometer quiet over 0.5 s), with standard gravity until then: the robot should then be perfectly still for a moment (e.g., at start), and a steady acceleration without rotation would be taken for gravity.", <a class="el" href="classrtabmap_1_1Parameters.html#aabd0b7d996517264f6ce43db1aa6ed05" title="Key of parameter Odom/GuessSmoothingDelay : uFormat(&quot;Guess smoothing delay (s). The velocity is avera...">kOdomGuessSmoothingDelay()</a>.c_str()) Default value: 9.80665 ( float ). <br /></td></tr>
<tr class="separator:aa5a167189629eabf46a21ab52b3b24c1"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aa5a167189629eabf46a21ab52b3b24c1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa8989e225d5b1c560c6900f4cbaf765e" id="r_aa8989e225d5b1c560c6900f4cbaf765e"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#aa8989e225d5b1c560c6900f4cbaf765e">defaultOdomImuGravity</a> ()</td></tr> <tr class="memitem:aa8989e225d5b1c560c6900f4cbaf765e" id="r_aa8989e225d5b1c560c6900f4cbaf765e"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#aa8989e225d5b1c560c6900f4cbaf765e">defaultOdomImuGravity</a> ()</td></tr>
<tr class="memdesc:aa8989e225d5b1c560c6900f4cbaf765e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default value of parameter Odom/ImuGravity : 9.80665 . <br /></td></tr> <tr class="memdesc:aa8989e225d5b1c560c6900f4cbaf765e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default value of parameter Odom/ImuGravity : 9.80665 . <br /></td></tr>
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<tr class="memdesc:ad99f9bae5ced320768203bc0c1f9f972"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of parameter Odom/ImuGravity , as a string: float . <br /></td></tr> <tr class="memdesc:ad99f9bae5ced320768203bc0c1f9f972"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of parameter Odom/ImuGravity , as a string: float . <br /></td></tr>
<tr class="separator:ad99f9bae5ced320768203bc0c1f9f972"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:ad99f9bae5ced320768203bc0c1f9f972"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aabd0b7d996517264f6ce43db1aa6ed05" id="r_aabd0b7d996517264f6ce43db1aa6ed05"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#aabd0b7d996517264f6ce43db1aa6ed05">kOdomGuessSmoothingDelay</a> ()</td></tr> <tr class="memitem:aabd0b7d996517264f6ce43db1aa6ed05" id="r_aabd0b7d996517264f6ce43db1aa6ed05"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#aabd0b7d996517264f6ce43db1aa6ed05">kOdomGuessSmoothingDelay</a> ()</td></tr>
<tr class="memdesc:aabd0b7d996517264f6ce43db1aa6ed05"><td class="mdescLeft">&#160;</td><td class="mdescRight">Key of parameter Odom/GuessSmoothingDelay : uFormat("Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \"%s\" is set or the delay is below the odometry rate. With an IMU giving orientation and linear acceleration, a delay &gt; 0 also enables the IMU acceleration: the velocity is then the displacement over this delay corrected by the acceleration measured since, so that it is the velocity at the last frame rather than a delayed average, and the motion guess and lidar deskewing (\"%s\") integrate the acceleration from it. Recommended (~0.5 s) with an IMU. With 0, the IMU only gives the orientation. Without IMU, the average is delayed by half this delay: it can make sense for platforms with inertia (e.g., cars at high speed, where one bad frame would otherwise change the predicted velocity a lot), for high frame rates, or when the velocity is used for lidar deskewing, where its noise would feed back into the next poses.", <a class="el" href="classrtabmap_1_1Parameters.html#a15b57b97754e10867ffb5e8682de5431" title="Key of parameter Odom/FilteringStrategy : &quot;0=No filtering 1=Kalman filtering 2=Particle filtering....">kOdomFilteringStrategy()</a>.c_str(), <a class="el" href="classrtabmap_1_1Parameters.html#a5a45711027dd93b66a34e72c20aa2208" title="Key of parameter Odom/Deskewing : uFormat(&quot;Lidar deskewing. If input lidar has time channel,...">kOdomDeskewing()</a>.c_str()) Default value: 0 ( float ). <br /></td></tr> <tr class="memdesc:aabd0b7d996517264f6ce43db1aa6ed05"><td class="mdescLeft">&#160;</td><td class="mdescRight">Key of parameter Odom/GuessSmoothingDelay : uFormat("Guess smoothing delay (s). The velocity is averaged over the last transforms up to this delay, for a smoother velocity prediction. The last velocity is used directly if \"%s\" is set or the delay is below the odometry rate. With an IMU giving orientation and linear acceleration, a delay &gt; 0 also enables the IMU acceleration: the velocity is the displacement over this delay corrected by the acceleration measured since, so it is not delayed, and the motion guess and lidar deskewing (\"%s\") integrate the acceleration from it (~0.5 s recommended). With 0, the IMU only gives the orientation. Without IMU, the average is delayed by half this delay: useful for platforms with inertia, high frame rates, or lidar deskewing, where the velocity noise would feed back into the next poses.", <a class="el" href="classrtabmap_1_1Parameters.html#a15b57b97754e10867ffb5e8682de5431" title="Key of parameter Odom/FilteringStrategy : &quot;0=No filtering 1=Kalman filtering 2=Particle filtering....">kOdomFilteringStrategy()</a>.c_str(), <a class="el" href="classrtabmap_1_1Parameters.html#a5a45711027dd93b66a34e72c20aa2208" title="Key of parameter Odom/Deskewing : uFormat(&quot;Lidar deskewing. If input lidar has time channel,...">kOdomDeskewing()</a>.c_str()) Default value: 0 ( float ). <br /></td></tr>
<tr class="separator:aabd0b7d996517264f6ce43db1aa6ed05"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aabd0b7d996517264f6ce43db1aa6ed05"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab92e1ac2b4bcdcc6551533aaf19aa4e2" id="r_ab92e1ac2b4bcdcc6551533aaf19aa4e2"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#ab92e1ac2b4bcdcc6551533aaf19aa4e2">defaultOdomGuessSmoothingDelay</a> ()</td></tr> <tr class="memitem:ab92e1ac2b4bcdcc6551533aaf19aa4e2" id="r_ab92e1ac2b4bcdcc6551533aaf19aa4e2"><td class="memItemLeft" align="right" valign="top">static float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#ab92e1ac2b4bcdcc6551533aaf19aa4e2">defaultOdomGuessSmoothingDelay</a> ()</td></tr>
<tr class="memdesc:ab92e1ac2b4bcdcc6551533aaf19aa4e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default value of parameter Odom/GuessSmoothingDelay : 0 . <br /></td></tr> <tr class="memdesc:ab92e1ac2b4bcdcc6551533aaf19aa4e2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default value of parameter Odom/GuessSmoothingDelay : 0 . <br /></td></tr>
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<tr class="memdesc:aa4fae465d9dbe30d6dc967021db3ea5a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of parameter Odom/AlignWithGround , as a string: bool . <br /></td></tr> <tr class="memdesc:aa4fae465d9dbe30d6dc967021db3ea5a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Type of parameter Odom/AlignWithGround , as a string: bool . <br /></td></tr>
<tr class="separator:aa4fae465d9dbe30d6dc967021db3ea5a"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:aa4fae465d9dbe30d6dc967021db3ea5a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5a45711027dd93b66a34e72c20aa2208" id="r_a5a45711027dd93b66a34e72c20aa2208"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a5a45711027dd93b66a34e72c20aa2208">kOdomDeskewing</a> ()</td></tr> <tr class="memitem:a5a45711027dd93b66a34e72c20aa2208" id="r_a5a45711027dd93b66a34e72c20aa2208"><td class="memItemLeft" align="right" valign="top">static std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a5a45711027dd93b66a34e72c20aa2208">kOdomDeskewing</a> ()</td></tr>
<tr class="memdesc:a5a45711027dd93b66a34e72c20aa2208"><td class="mdescLeft">&#160;</td><td class="mdescRight">Key of parameter Odom/Deskewing : uFormat("Lidar deskewing. If input lidar has time channel, it will be deskewed. With an IMU, the pose of every point is predicted from the previous frame: orientation from the IMU, translation from the velocity (with the IMU acceleration if \"%s\" &gt; 0). Without IMU, with a constant motion model (or the guess if provided).", <a class="el" href="classrtabmap_1_1Parameters.html#aabd0b7d996517264f6ce43db1aa6ed05" title="Key of parameter Odom/GuessSmoothingDelay : uFormat(&quot;Guess smoothing delay (s). Estimated velocity is...">kOdomGuessSmoothingDelay()</a>.c_str()) Default value: true ( bool ). <br /></td></tr> <tr class="memdesc:a5a45711027dd93b66a34e72c20aa2208"><td class="mdescLeft">&#160;</td><td class="mdescRight">Key of parameter Odom/Deskewing : uFormat("Lidar deskewing. If input lidar has time channel, it will be deskewed. With an IMU, the pose of every point is predicted from the previous frame: orientation from the IMU, translation from the velocity (with the IMU acceleration if \"%s\" &gt; 0). Without IMU, with a constant motion model (or the guess if provided).", <a class="el" href="classrtabmap_1_1Parameters.html#aabd0b7d996517264f6ce43db1aa6ed05" title="Key of parameter Odom/GuessSmoothingDelay : uFormat(&quot;Guess smoothing delay (s). The velocity is avera...">kOdomGuessSmoothingDelay()</a>.c_str()) Default value: true ( bool ). <br /></td></tr>
<tr class="separator:a5a45711027dd93b66a34e72c20aa2208"><td class="memSeparator" colspan="2">&#160;</td></tr> <tr class="separator:a5a45711027dd93b66a34e72c20aa2208"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3a8263972a698faa1da37e4f2007a8d3" id="r_a3a8263972a698faa1da37e4f2007a8d3"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a3a8263972a698faa1da37e4f2007a8d3">defaultOdomDeskewing</a> ()</td></tr> <tr class="memitem:a3a8263972a698faa1da37e4f2007a8d3" id="r_a3a8263972a698faa1da37e4f2007a8d3"><td class="memItemLeft" align="right" valign="top">static bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html#a3a8263972a698faa1da37e4f2007a8d3">defaultOdomDeskewing</a> ()</td></tr>
<tr class="memdesc:a3a8263972a698faa1da37e4f2007a8d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default value of parameter Odom/Deskewing : true . <br /></td></tr> <tr class="memdesc:a3a8263972a698faa1da37e4f2007a8d3"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default value of parameter Odom/Deskewing : true . <br /></td></tr>
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<p>Key of parameter Optimizer/DisparityVariance : "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4)." Default value: 1.0 ( double ). </p> <p>Key of parameter Optimizer/DisparityVariance : "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. The lower it is, the more the optimizer trusts the depth. Set higher (e.g. 2-4) if the depth is noisier than the features' u/v precision (stereo block matchers / SGM at long range, narrow-baseline low-resolution stereo). Set lower (e.g. 0.01-0.1) if it is more accurate (ToF / LiDAR-fused depth, measured rather than triangulated), or around 0.1-0.5 for wide-baseline high-resolution stereo." Default value: 1.0 ( double ). </p>
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00492">492</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00492">492</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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<p>Key of parameter Odom/ImuGravity : uFormat("Gravity magnitude (m/s^2) removed from the IMU linear acceleration (used with \"%s\" &gt; 0). Standard gravity by default. Set it to what the accelerometer reads at rest to compensate for its scale error, or for another gravity than Earth's.", <a class="el" href="classrtabmap_1_1Parameters.html#aabd0b7d996517264f6ce43db1aa6ed05" title="Key of parameter Odom/GuessSmoothingDelay : uFormat(&quot;Guess smoothing delay (s). Estimated velocity is...">kOdomGuessSmoothingDelay()</a>.c_str()) Default value: 9.80665 ( float ). </p> <p>Key of parameter Odom/ImuGravity : uFormat("Gravity magnitude (m/s^2) removed from the IMU linear acceleration (used with \"%s\" &gt; 0). Standard gravity by default. Set it to what the accelerometer reads at rest to compensate for its scale error, or for another gravity than Earth's. 0: estimated from the IMU while it is still (gyro and accelerometer quiet over 0.5 s), with standard gravity until then: the robot should then be perfectly still for a moment (e.g., at start), and a steady acceleration without rotation would be taken for gravity.", <a class="el" href="classrtabmap_1_1Parameters.html#aabd0b7d996517264f6ce43db1aa6ed05" title="Key of parameter Odom/GuessSmoothingDelay : uFormat(&quot;Guess smoothing delay (s). The velocity is avera...">kOdomGuessSmoothingDelay()</a>.c_str()) Default value: 9.80665 ( float ). </p>
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00515">515</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00515">515</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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<p>Key of parameter Odom/GuessSmoothingDelay : uFormat("Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \"%s\" is set or the delay is below the odometry rate. With an IMU giving orientation and linear acceleration, a delay &gt; 0 also enables the IMU acceleration: the velocity is then the displacement over this delay corrected by the acceleration measured since, so that it is the velocity at the last frame rather than a delayed average, and the motion guess and lidar deskewing (\"%s\") integrate the acceleration from it. Recommended (~0.5 s) with an IMU. With 0, the IMU only gives the orientation. Without IMU, the average is delayed by half this delay: it can make sense for platforms with inertia (e.g., cars at high speed, where one bad frame would otherwise change the predicted velocity a lot), for high frame rates, or when the velocity is used for lidar deskewing, where its noise would feed back into the next poses.", <a class="el" href="classrtabmap_1_1Parameters.html#a15b57b97754e10867ffb5e8682de5431" title="Key of parameter Odom/FilteringStrategy : &quot;0=No filtering 1=Kalman filtering 2=Particle filtering....">kOdomFilteringStrategy()</a>.c_str(), <a class="el" href="classrtabmap_1_1Parameters.html#a5a45711027dd93b66a34e72c20aa2208" title="Key of parameter Odom/Deskewing : uFormat(&quot;Lidar deskewing. If input lidar has time channel,...">kOdomDeskewing()</a>.c_str()) Default value: 0 ( float ). </p> <p>Key of parameter Odom/GuessSmoothingDelay : uFormat("Guess smoothing delay (s). The velocity is averaged over the last transforms up to this delay, for a smoother velocity prediction. The last velocity is used directly if \"%s\" is set or the delay is below the odometry rate. With an IMU giving orientation and linear acceleration, a delay &gt; 0 also enables the IMU acceleration: the velocity is the displacement over this delay corrected by the acceleration measured since, so it is not delayed, and the motion guess and lidar deskewing (\"%s\") integrate the acceleration from it (~0.5 s recommended). With 0, the IMU only gives the orientation. Without IMU, the average is delayed by half this delay: useful for platforms with inertia, high frame rates, or lidar deskewing, where the velocity noise would feed back into the next poses.", <a class="el" href="classrtabmap_1_1Parameters.html#a15b57b97754e10867ffb5e8682de5431" title="Key of parameter Odom/FilteringStrategy : &quot;0=No filtering 1=Kalman filtering 2=Particle filtering....">kOdomFilteringStrategy()</a>.c_str(), <a class="el" href="classrtabmap_1_1Parameters.html#a5a45711027dd93b66a34e72c20aa2208" title="Key of parameter Odom/Deskewing : uFormat(&quot;Lidar deskewing. If input lidar has time channel,...">kOdomDeskewing()</a>.c_str()) Default value: 0 ( float ). </p>
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00516">516</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00516">516</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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<p>Key of parameter Odom/Deskewing : uFormat("Lidar deskewing. If input lidar has time channel, it will be deskewed. With an IMU, the pose of every point is predicted from the previous frame: orientation from the IMU, translation from the velocity (with the IMU acceleration if \"%s\" &gt; 0). Without IMU, with a constant motion model (or the guess if provided).", <a class="el" href="classrtabmap_1_1Parameters.html#aabd0b7d996517264f6ce43db1aa6ed05" title="Key of parameter Odom/GuessSmoothingDelay : uFormat(&quot;Guess smoothing delay (s). Estimated velocity is...">kOdomGuessSmoothingDelay()</a>.c_str()) Default value: true ( bool ). </p> <p>Key of parameter Odom/Deskewing : uFormat("Lidar deskewing. If input lidar has time channel, it will be deskewed. With an IMU, the pose of every point is predicted from the previous frame: orientation from the IMU, translation from the velocity (with the IMU acceleration if \"%s\" &gt; 0). Without IMU, with a constant motion model (or the guess if provided).", <a class="el" href="classrtabmap_1_1Parameters.html#aabd0b7d996517264f6ce43db1aa6ed05" title="Key of parameter Odom/GuessSmoothingDelay : uFormat(&quot;Guess smoothing delay (s). The velocity is avera...">kOdomGuessSmoothingDelay()</a>.c_str()) Default value: true ( bool ). </p>
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00522">522</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p> <p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00522">522</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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<li>Camera()&#160;:&#160;<a class="el" href="classrtabmap_1_1Camera.html#aaae7434ffa5e54f5006355779d335dd3">rtabmap::Camera</a></li> <li>Camera()&#160;:&#160;<a class="el" href="classrtabmap_1_1Camera.html#aaae7434ffa5e54f5006355779d335dd3">rtabmap::Camera</a></li>
<li>camera()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#ad6750f6280bdcbb386a051ba9cc36857">rtabmap::SensorCaptureThread</a></li> <li>camera()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#ad6750f6280bdcbb386a051ba9cc36857">rtabmap::SensorCaptureThread</a></li>
<li>cameraIndex&#160;:&#160;<a class="el" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">rtabmap::FeatureBA</a></li> <li>cameraIndex&#160;:&#160;<a class="el" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">rtabmap::FeatureBA</a></li>
<li>CameraModel()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a4810e60f3af95b73a61879aa97201695">rtabmap::CameraModel</a></li> <li>CameraModel()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#adad6652a711eecc9a50e544f14d276cd">rtabmap::CameraModel</a></li>
<li>cameraModels()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">rtabmap::SensorData</a></li> <li>cameraModels()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">rtabmap::SensorData</a></li>
<li>cameraName&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f4c2fb07970cb40bf2fe7ad19743d23">rtabmap::SensorCaptureInfo</a>, <a class="el" href="classrtabmap_1_1SensorEvent.html#adaf11817f3e0338ab63b1e8fee4a3c01">rtabmap::SensorEvent</a></li> <li>cameraName&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f4c2fb07970cb40bf2fe7ad19743d23">rtabmap::SensorCaptureInfo</a>, <a class="el" href="classrtabmap_1_1SensorEvent.html#adaf11817f3e0338ab63b1e8fee4a3c01">rtabmap::SensorEvent</a></li>
<li>canParseString()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#af44657c8360a79a67e538f25027df639">rtabmap::Transform</a></li> <li>canParseString()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#af44657c8360a79a67e538f25027df639">rtabmap::Transform</a></li>
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<li>cache()&#160;:&#160;<a class="el" href="classrtabmap_1_1GlobalMap.html#a632f06ccce72bce66a9fd38d37f23b80">rtabmap::GlobalMap</a></li> <li>cache()&#160;:&#160;<a class="el" href="classrtabmap_1_1GlobalMap.html#a632f06ccce72bce66a9fd38d37f23b80">rtabmap::GlobalMap</a></li>
<li>Camera()&#160;:&#160;<a class="el" href="classrtabmap_1_1Camera.html#aaae7434ffa5e54f5006355779d335dd3">rtabmap::Camera</a></li> <li>Camera()&#160;:&#160;<a class="el" href="classrtabmap_1_1Camera.html#aaae7434ffa5e54f5006355779d335dd3">rtabmap::Camera</a></li>
<li>camera()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#ad6750f6280bdcbb386a051ba9cc36857">rtabmap::SensorCaptureThread</a></li> <li>camera()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#ad6750f6280bdcbb386a051ba9cc36857">rtabmap::SensorCaptureThread</a></li>
<li>CameraModel()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#adad6652a711eecc9a50e544f14d276cd">rtabmap::CameraModel</a></li> <li>CameraModel()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a4810e60f3af95b73a61879aa97201695">rtabmap::CameraModel</a></li>
<li>cameraModels()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">rtabmap::SensorData</a></li> <li>cameraModels()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">rtabmap::SensorData</a></li>
<li>cameraName()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorEvent.html#adaf11817f3e0338ab63b1e8fee4a3c01">rtabmap::SensorEvent</a></li> <li>cameraName()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorEvent.html#adaf11817f3e0338ab63b1e8fee4a3c01">rtabmap::SensorEvent</a></li>
<li>canParseString()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#af44657c8360a79a67e538f25027df639">rtabmap::Transform</a></li> <li>canParseString()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#af44657c8360a79a67e538f25027df639">rtabmap::Transform</a></li>
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@@ -138,7 +138,7 @@ $(document).ready(function(){initNavTree('functions_func_g.html',''); initResiza
<li>getDistanceSquared()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#ae311741cc884ca8f5343bc2710b96a0b">rtabmap::Transform</a></li> <li>getDistanceSquared()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#ae311741cc884ca8f5343bc2710b96a0b">rtabmap::Transform</a></li>
<li>getEstimationType()&#160;:&#160;<a class="el" href="classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31">rtabmap::RegistrationVis</a></li> <li>getEstimationType()&#160;:&#160;<a class="el" href="classrtabmap_1_1RegistrationVis.html#a951c79dd9be75b896c551e5213c0ee31">rtabmap::RegistrationVis</a></li>
<li>getEulerAngles()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#adf2345af30927b656ceca938ec4d0525">rtabmap::Transform</a></li> <li>getEulerAngles()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#adf2345af30927b656ceca938ec4d0525">rtabmap::Transform</a></li>
<li>getExtension()&#160;:&#160;<a class="el" href="classUFile.html#aa937b9f20ef2e51091845c5108ded154">UFile</a></li> <li>getExtension()&#160;:&#160;<a class="el" href="classUFile.html#ac630657b2f15288df6ecddec029b42c6">UFile</a></li>
<li>getFeature2D()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#ab094dfa40b0fe37cb12552a6ba081d6b">rtabmap::Memory</a></li> <li>getFeature2D()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#ab094dfa40b0fe37cb12552a6ba081d6b">rtabmap::Memory</a></li>
<li>getFileNames()&#160;:&#160;<a class="el" href="classUDirectory.html#aa16e64be3cc238eec871bddaf6dbc289">UDirectory</a></li> <li>getFileNames()&#160;:&#160;<a class="el" href="classUDirectory.html#aa16e64be3cc238eec871bddaf6dbc289">UDirectory</a></li>
<li>getForwardWMPoses()&#160;:&#160;<a class="el" href="classrtabmap_1_1Rtabmap.html#a8400ccecd090cb438d16178930fe0872">rtabmap::Rtabmap</a></li> <li>getForwardWMPoses()&#160;:&#160;<a class="el" href="classrtabmap_1_1Rtabmap.html#a8400ccecd090cb438d16178930fe0872">rtabmap::Rtabmap</a></li>
@@ -146,7 +146,7 @@ $(document).ready(function(){initNavTree('functions_func_g.html',''); initResiza
<li>getGoalReachedRadius()&#160;:&#160;<a class="el" href="classrtabmap_1_1Rtabmap.html#a6098155788f6e9ccaa636e26f8881c07">rtabmap::Rtabmap</a></li> <li>getGoalReachedRadius()&#160;:&#160;<a class="el" href="classrtabmap_1_1Rtabmap.html#a6098155788f6e9ccaa636e26f8881c07">rtabmap::Rtabmap</a></li>
<li>getGPS()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#aca3bdb688c64dd62672f2385ce6de594">rtabmap::Memory</a></li> <li>getGPS()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#aca3bdb688c64dd62672f2385ce6de594">rtabmap::Memory</a></li>
<li>getGraph()&#160;:&#160;<a class="el" href="classrtabmap_1_1Rtabmap.html#a456fa0c95770f052d78f6d9f745fa1e3">rtabmap::Rtabmap</a></li> <li>getGraph()&#160;:&#160;<a class="el" href="classrtabmap_1_1Rtabmap.html#a456fa0c95770f052d78f6d9f745fa1e3">rtabmap::Rtabmap</a></li>
<li>getGridMax()&#160;:&#160;<a class="el" href="classrtabmap_1_1GlobalMap.html#a060366742fc8f51deaf7dd75b66615c7">rtabmap::GlobalMap</a></li> <li>getGridMax()&#160;:&#160;<a class="el" href="classrtabmap_1_1GlobalMap.html#aa840b2e62893de929f952b8511df6164">rtabmap::GlobalMap</a></li>
<li>getGridMin()&#160;:&#160;<a class="el" href="classrtabmap_1_1GlobalMap.html#aaf028c4c070aa8568eaaf3dae4b926ee">rtabmap::GlobalMap</a></li> <li>getGridMin()&#160;:&#160;<a class="el" href="classrtabmap_1_1GlobalMap.html#aaf028c4c070aa8568eaaf3dae4b926ee">rtabmap::GlobalMap</a></li>
<li>getGroundTruthPose()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#a89dd9b0aea5595e929b23ded82cd8ff1">rtabmap::Memory</a>, <a class="el" href="classrtabmap_1_1Signature.html#a5d5f3aa41c0d9404654ebc5628a5189c">rtabmap::Signature</a></li> <li>getGroundTruthPose()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#a89dd9b0aea5595e929b23ded82cd8ff1">rtabmap::Memory</a>, <a class="el" href="classrtabmap_1_1Signature.html#a5d5f3aa41c0d9404654ebc5628a5189c">rtabmap::Signature</a></li>
<li>getGroundTruths()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#ac61afdb7694d54b5e3d146be427638b2">rtabmap::Memory</a></li> <li>getGroundTruths()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#ac61afdb7694d54b5e3d146be427638b2">rtabmap::Memory</a></li>
@@ -292,7 +292,9 @@ $(document).ready(function(){initNavTree('functions_func_g.html',''); initResiza
<li>globalPoseCovariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97">rtabmap::SensorData</a></li> <li>globalPoseCovariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97">rtabmap::SensorData</a></li>
<li>GPS()&#160;:&#160;<a class="el" href="classrtabmap_1_1GPS.html#a4ea914df744ae5a9ff60eff6bb2c734d">rtabmap::GPS</a></li> <li>GPS()&#160;:&#160;<a class="el" href="classrtabmap_1_1GPS.html#a4ea914df744ae5a9ff60eff6bb2c734d">rtabmap::GPS</a></li>
<li>gps()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957">rtabmap::SensorData</a></li> <li>gps()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957">rtabmap::SensorData</a></li>
<li>gravity()&#160;:&#160;<a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4">rtabmap::ImuMotionPredictor</a></li>
<li>gravitySigma()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7">rtabmap::Optimizer</a></li> <li>gravitySigma()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7">rtabmap::Optimizer</a></li>
<li>gravityWindows()&#160;:&#160;<a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a91c329f153da4c479509e406f6eb5112">rtabmap::ImuMotionPredictor</a></li>
<li>gridCellSize()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">rtabmap::SensorData</a></li> <li>gridCellSize()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">rtabmap::SensorData</a></li>
<li>gridEmptyCellsCompressed()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3">rtabmap::SensorData</a></li> <li>gridEmptyCellsCompressed()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3">rtabmap::SensorData</a></li>
<li>gridEmptyCellsRaw()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe">rtabmap::SensorData</a></li> <li>gridEmptyCellsRaw()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe">rtabmap::SensorData</a></li>
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@@ -143,6 +143,7 @@ $(document).ready(function(){initNavTree('functions_func_i.html',''); initResiza
<li>isGpuAvailable()&#160;:&#160;<a class="el" href="classrtabmap_1_1FAST.html#a1418ac4de2bdf5815df888a4d1f50b2e">rtabmap::FAST</a>, <a class="el" href="classrtabmap_1_1Feature2D.html#a8d330b2b7db059f59c257cde6c9b6a99">rtabmap::Feature2D</a>, <a class="el" href="classrtabmap_1_1GFTT.html#a05151f04cf624576783837dc48ddf744">rtabmap::GFTT</a>, <a class="el" href="classrtabmap_1_1ORB.html#a7b5e3e7cc41dd04e517c5332f04d3a0a">rtabmap::ORB</a>, <a class="el" href="classrtabmap_1_1SIFT.html#ad089f68ffc9ef1b42b5a9c2d5a5ecd81">rtabmap::SIFT</a>, <a class="el" href="classrtabmap_1_1SuperPointRpautrat.html#ac041c8738dc391661ba21331bf78d344">rtabmap::SuperPointRpautrat</a>, <a class="el" href="classrtabmap_1_1SuperPointTorch.html#aee69f6089f657449d3813b440abbaa25">rtabmap::SuperPointTorch</a>, <a class="el" href="classrtabmap_1_1SURF.html#a1150923dbf7e1bfd066dba0c3b22db57">rtabmap::SURF</a></li> <li>isGpuAvailable()&#160;:&#160;<a class="el" href="classrtabmap_1_1FAST.html#a1418ac4de2bdf5815df888a4d1f50b2e">rtabmap::FAST</a>, <a class="el" href="classrtabmap_1_1Feature2D.html#a8d330b2b7db059f59c257cde6c9b6a99">rtabmap::Feature2D</a>, <a class="el" href="classrtabmap_1_1GFTT.html#a05151f04cf624576783837dc48ddf744">rtabmap::GFTT</a>, <a class="el" href="classrtabmap_1_1ORB.html#a7b5e3e7cc41dd04e517c5332f04d3a0a">rtabmap::ORB</a>, <a class="el" href="classrtabmap_1_1SIFT.html#ad089f68ffc9ef1b42b5a9c2d5a5ecd81">rtabmap::SIFT</a>, <a class="el" href="classrtabmap_1_1SuperPointRpautrat.html#ac041c8738dc391661ba21331bf78d344">rtabmap::SuperPointRpautrat</a>, <a class="el" href="classrtabmap_1_1SuperPointTorch.html#aee69f6089f657449d3813b440abbaa25">rtabmap::SuperPointTorch</a>, <a class="el" href="classrtabmap_1_1SURF.html#a1150923dbf7e1bfd066dba0c3b22db57">rtabmap::SURF</a></li>
<li>isGpuEnabled()&#160;:&#160;<a class="el" href="classrtabmap_1_1Stereo.html#ac1db900d4dbca15de73a81d32f0be179">rtabmap::Stereo</a>, <a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e">rtabmap::StereoOpticalFlow</a></li> <li>isGpuEnabled()&#160;:&#160;<a class="el" href="classrtabmap_1_1Stereo.html#ac1db900d4dbca15de73a81d32f0be179">rtabmap::Stereo</a>, <a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e">rtabmap::StereoOpticalFlow</a></li>
<li>isGraphReduced()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#a790e24b6cb0fb3ec2ed198121a6211c1">rtabmap::Memory</a></li> <li>isGraphReduced()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#a790e24b6cb0fb3ec2ed198121a6211c1">rtabmap::Memory</a></li>
<li>isGravityEstimated()&#160;:&#160;<a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#aa84008cbd4087273e8db74d91d89ec10">rtabmap::ImuMotionPredictor</a></li>
<li>isGridFromDepth()&#160;:&#160;<a class="el" href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a">rtabmap::LocalGridMaker</a></li> <li>isGridFromDepth()&#160;:&#160;<a class="el" href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a">rtabmap::LocalGridMaker</a></li>
<li>isIdentity()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#ae0636052ce31698d4d45afe4492ffab9">rtabmap::Transform</a></li> <li>isIdentity()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#ae0636052ce31698d4d45afe4492ffab9">rtabmap::Transform</a></li>
<li>isIdle()&#160;:&#160;<a class="el" href="classUThread.html#a2c4554ad881c0532239a0930c2ebfe24">UThread</a></li> <li>isIdle()&#160;:&#160;<a class="el" href="classUThread.html#a2c4554ad881c0532239a0930c2ebfe24">UThread</a></li>
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@@ -118,7 +118,7 @@ $(document).ready(function(){initNavTree('functions_func_s.html',''); initResiza
<li>SensorCaptureInfo()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09">rtabmap::SensorCaptureInfo</a></li> <li>SensorCaptureInfo()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09">rtabmap::SensorCaptureInfo</a></li>
<li>SensorCaptureThread()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">rtabmap::SensorCaptureThread</a></li> <li>SensorCaptureThread()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">rtabmap::SensorCaptureThread</a></li>
<li>SensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff">rtabmap::SensorData</a></li> <li>SensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff">rtabmap::SensorData</a></li>
<li>sensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1Signature.html#a0e7b1874613a7438ec1b2d9aa2634da8">rtabmap::Signature</a></li> <li>sensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1Signature.html#a24c257c2ff3fe156910ac82c41de8738">rtabmap::Signature</a></li>
<li>SensorEvent()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorEvent.html#aa6c0584b85a70fe240f745c759948591">rtabmap::SensorEvent</a></li> <li>SensorEvent()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorEvent.html#aa6c0584b85a70fe240f745c759948591">rtabmap::SensorEvent</a></li>
<li>separator()&#160;:&#160;<a class="el" href="classUDirectory.html#a66750846a899e436808d4eadbcafced0">UDirectory</a></li> <li>separator()&#160;:&#160;<a class="el" href="classUDirectory.html#a66750846a899e436808d4eadbcafced0">UDirectory</a></li>
<li>serialize()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a5724619c7ac8c796fd8c63660e398082">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a4eab6254ef808719ca2d0543c89e0722">rtabmap::StereoCameraModel</a></li> <li>serialize()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a5724619c7ac8c796fd8c63660e398082">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a4eab6254ef808719ca2d0543c89e0722">rtabmap::StereoCameraModel</a></li>
preview/pr-1791/api/latest/functions_func_t.html
+1 -1
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@@ -129,7 +129,7 @@ $(document).ready(function(){initNavTree('functions_func_t.html',''); initResiza
<li>toUShort()&#160;:&#160;<a class="el" href="classUVariant.html#a5e6282c19acb4de5a29f55143d451f60">UVariant</a></li> <li>toUShort()&#160;:&#160;<a class="el" href="classUVariant.html#a5e6282c19acb4de5a29f55143d451f60">UVariant</a></li>
<li>toUShortArray()&#160;:&#160;<a class="el" href="classUVariant.html#a40b1bccc560ab55190d3608ea0115bb2">UVariant</a></li> <li>toUShortArray()&#160;:&#160;<a class="el" href="classUVariant.html#a40b1bccc560ab55190d3608ea0115bb2">UVariant</a></li>
<li>transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">rtabmap::Link</a></li> <li>transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">rtabmap::Link</a></li>
<li>Transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#ac3654d3f6802d4b0c17b6110d1eda71a">rtabmap::Transform</a></li> <li>Transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#a9b89b8bbe9cd75986bcb1ba6ceb5b9cd">rtabmap::Transform</a></li>
<li>translation()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#aeeb0bbe0e84a9e46f63086c3ff4d4e0e">rtabmap::Transform</a></li> <li>translation()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#aeeb0bbe0e84a9e46f63086c3ff4d4e0e">rtabmap::Transform</a></li>
<li>translationMatrix()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#a6a7bb81847554509d1128238860c047e">rtabmap::Transform</a></li> <li>translationMatrix()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#a6a7bb81847554509d1128238860c047e">rtabmap::Transform</a></li>
<li>transVariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">rtabmap::Link</a></li> <li>transVariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">rtabmap::Link</a></li>
preview/pr-1791/api/latest/functions_g.html
+3 -1
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@@ -147,7 +147,7 @@ $(document).ready(function(){initNavTree('functions_g.html',''); initResizable()
<li>getGPS()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#aca3bdb688c64dd62672f2385ce6de594">rtabmap::Memory</a></li> <li>getGPS()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#aca3bdb688c64dd62672f2385ce6de594">rtabmap::Memory</a></li>
<li>getGraph()&#160;:&#160;<a class="el" href="classrtabmap_1_1Rtabmap.html#a456fa0c95770f052d78f6d9f745fa1e3">rtabmap::Rtabmap</a></li> <li>getGraph()&#160;:&#160;<a class="el" href="classrtabmap_1_1Rtabmap.html#a456fa0c95770f052d78f6d9f745fa1e3">rtabmap::Rtabmap</a></li>
<li>getGridMax()&#160;:&#160;<a class="el" href="classrtabmap_1_1GlobalMap.html#aa840b2e62893de929f952b8511df6164">rtabmap::GlobalMap</a></li> <li>getGridMax()&#160;:&#160;<a class="el" href="classrtabmap_1_1GlobalMap.html#aa840b2e62893de929f952b8511df6164">rtabmap::GlobalMap</a></li>
<li>getGridMin()&#160;:&#160;<a class="el" href="classrtabmap_1_1GlobalMap.html#aaf028c4c070aa8568eaaf3dae4b926ee">rtabmap::GlobalMap</a></li> <li>getGridMin()&#160;:&#160;<a class="el" href="classrtabmap_1_1GlobalMap.html#a37adbbb0e80ba76cfa080cec9811cca3">rtabmap::GlobalMap</a></li>
<li>getGroundTruthPose()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#a89dd9b0aea5595e929b23ded82cd8ff1">rtabmap::Memory</a>, <a class="el" href="classrtabmap_1_1Signature.html#a5d5f3aa41c0d9404654ebc5628a5189c">rtabmap::Signature</a></li> <li>getGroundTruthPose()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#a89dd9b0aea5595e929b23ded82cd8ff1">rtabmap::Memory</a>, <a class="el" href="classrtabmap_1_1Signature.html#a5d5f3aa41c0d9404654ebc5628a5189c">rtabmap::Signature</a></li>
<li>getGroundTruths()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#ac61afdb7694d54b5e3d146be427638b2">rtabmap::Memory</a></li> <li>getGroundTruths()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#ac61afdb7694d54b5e3d146be427638b2">rtabmap::Memory</a></li>
<li>getHighestHypothesisId()&#160;:&#160;<a class="el" href="classrtabmap_1_1Rtabmap.html#ab11a50751ab17717f567934e7cb2c450">rtabmap::Rtabmap</a></li> <li>getHighestHypothesisId()&#160;:&#160;<a class="el" href="classrtabmap_1_1Rtabmap.html#ab11a50751ab17717f567934e7cb2c450">rtabmap::Rtabmap</a></li>
@@ -292,9 +292,11 @@ $(document).ready(function(){initNavTree('functions_g.html',''); initResizable()
<li>globalPoseCovariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97">rtabmap::SensorData</a></li> <li>globalPoseCovariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97">rtabmap::SensorData</a></li>
<li>GPS()&#160;:&#160;<a class="el" href="classrtabmap_1_1GPS.html#a4ea914df744ae5a9ff60eff6bb2c734d">rtabmap::GPS</a></li> <li>GPS()&#160;:&#160;<a class="el" href="classrtabmap_1_1GPS.html#a4ea914df744ae5a9ff60eff6bb2c734d">rtabmap::GPS</a></li>
<li>gps()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957">rtabmap::SensorData</a></li> <li>gps()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957">rtabmap::SensorData</a></li>
<li>gravity()&#160;:&#160;<a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a53a73e2ebf60ff671828732594adc7c4">rtabmap::ImuMotionPredictor</a></li>
<li>gravityPitchError&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#a9b58bbc659878dc763c6f0201b2ecd28">rtabmap::OdometryInfo</a></li> <li>gravityPitchError&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#a9b58bbc659878dc763c6f0201b2ecd28">rtabmap::OdometryInfo</a></li>
<li>gravityRollError&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#a7641b415d9d08f7d267ca25ee564a2a7">rtabmap::OdometryInfo</a></li> <li>gravityRollError&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#a7641b415d9d08f7d267ca25ee564a2a7">rtabmap::OdometryInfo</a></li>
<li>gravitySigma()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7">rtabmap::Optimizer</a></li> <li>gravitySigma()&#160;:&#160;<a class="el" href="classrtabmap_1_1Optimizer.html#aceb68e0f692b81c4a978e46f804515d7">rtabmap::Optimizer</a></li>
<li>gravityWindows()&#160;:&#160;<a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#a91c329f153da4c479509e406f6eb5112">rtabmap::ImuMotionPredictor</a></li>
<li>gridCellSize()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">rtabmap::SensorData</a></li> <li>gridCellSize()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">rtabmap::SensorData</a></li>
<li>gridEmptyCellsCompressed()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3">rtabmap::SensorData</a></li> <li>gridEmptyCellsCompressed()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3">rtabmap::SensorData</a></li>
<li>gridEmptyCellsRaw()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe">rtabmap::SensorData</a></li> <li>gridEmptyCellsRaw()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe">rtabmap::SensorData</a></li>
preview/pr-1791/api/latest/functions_i.html
+1
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@@ -161,6 +161,7 @@ $(document).ready(function(){initNavTree('functions_i.html',''); initResizable()
<li>isGpuAvailable()&#160;:&#160;<a class="el" href="classrtabmap_1_1FAST.html#a1418ac4de2bdf5815df888a4d1f50b2e">rtabmap::FAST</a>, <a class="el" href="classrtabmap_1_1Feature2D.html#a8d330b2b7db059f59c257cde6c9b6a99">rtabmap::Feature2D</a>, <a class="el" href="classrtabmap_1_1GFTT.html#a05151f04cf624576783837dc48ddf744">rtabmap::GFTT</a>, <a class="el" href="classrtabmap_1_1ORB.html#a7b5e3e7cc41dd04e517c5332f04d3a0a">rtabmap::ORB</a>, <a class="el" href="classrtabmap_1_1SIFT.html#ad089f68ffc9ef1b42b5a9c2d5a5ecd81">rtabmap::SIFT</a>, <a class="el" href="classrtabmap_1_1SuperPointRpautrat.html#ac041c8738dc391661ba21331bf78d344">rtabmap::SuperPointRpautrat</a>, <a class="el" href="classrtabmap_1_1SuperPointTorch.html#aee69f6089f657449d3813b440abbaa25">rtabmap::SuperPointTorch</a>, <a class="el" href="classrtabmap_1_1SURF.html#a1150923dbf7e1bfd066dba0c3b22db57">rtabmap::SURF</a></li> <li>isGpuAvailable()&#160;:&#160;<a class="el" href="classrtabmap_1_1FAST.html#a1418ac4de2bdf5815df888a4d1f50b2e">rtabmap::FAST</a>, <a class="el" href="classrtabmap_1_1Feature2D.html#a8d330b2b7db059f59c257cde6c9b6a99">rtabmap::Feature2D</a>, <a class="el" href="classrtabmap_1_1GFTT.html#a05151f04cf624576783837dc48ddf744">rtabmap::GFTT</a>, <a class="el" href="classrtabmap_1_1ORB.html#a7b5e3e7cc41dd04e517c5332f04d3a0a">rtabmap::ORB</a>, <a class="el" href="classrtabmap_1_1SIFT.html#ad089f68ffc9ef1b42b5a9c2d5a5ecd81">rtabmap::SIFT</a>, <a class="el" href="classrtabmap_1_1SuperPointRpautrat.html#ac041c8738dc391661ba21331bf78d344">rtabmap::SuperPointRpautrat</a>, <a class="el" href="classrtabmap_1_1SuperPointTorch.html#aee69f6089f657449d3813b440abbaa25">rtabmap::SuperPointTorch</a>, <a class="el" href="classrtabmap_1_1SURF.html#a1150923dbf7e1bfd066dba0c3b22db57">rtabmap::SURF</a></li>
<li>isGpuEnabled()&#160;:&#160;<a class="el" href="classrtabmap_1_1Stereo.html#ac1db900d4dbca15de73a81d32f0be179">rtabmap::Stereo</a>, <a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e">rtabmap::StereoOpticalFlow</a></li> <li>isGpuEnabled()&#160;:&#160;<a class="el" href="classrtabmap_1_1Stereo.html#ac1db900d4dbca15de73a81d32f0be179">rtabmap::Stereo</a>, <a class="el" href="classrtabmap_1_1StereoOpticalFlow.html#abc4c02bc672566fc2dd3f7331b84944e">rtabmap::StereoOpticalFlow</a></li>
<li>isGraphReduced()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#a790e24b6cb0fb3ec2ed198121a6211c1">rtabmap::Memory</a></li> <li>isGraphReduced()&#160;:&#160;<a class="el" href="classrtabmap_1_1Memory.html#a790e24b6cb0fb3ec2ed198121a6211c1">rtabmap::Memory</a></li>
<li>isGravityEstimated()&#160;:&#160;<a class="el" href="classrtabmap_1_1ImuMotionPredictor.html#aa84008cbd4087273e8db74d91d89ec10">rtabmap::ImuMotionPredictor</a></li>
<li>isGridFromDepth()&#160;:&#160;<a class="el" href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a">rtabmap::LocalGridMaker</a></li> <li>isGridFromDepth()&#160;:&#160;<a class="el" href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a">rtabmap::LocalGridMaker</a></li>
<li>isIdentity()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#ae0636052ce31698d4d45afe4492ffab9">rtabmap::Transform</a></li> <li>isIdentity()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#ae0636052ce31698d4d45afe4492ffab9">rtabmap::Transform</a></li>
<li>isIdle()&#160;:&#160;<a class="el" href="classUThread.html#a2c4554ad881c0532239a0930c2ebfe24">UThread</a></li> <li>isIdle()&#160;:&#160;<a class="el" href="classUThread.html#a2c4554ad881c0532239a0930c2ebfe24">UThread</a></li>
preview/pr-1791/api/latest/functions_s.html
+2 -2
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@@ -118,8 +118,8 @@ $(document).ready(function(){initNavTree('functions_s.html',''); initResizable()
<li>SensorCaptureInfo()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09">rtabmap::SensorCaptureInfo</a></li> <li>SensorCaptureInfo()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09">rtabmap::SensorCaptureInfo</a></li>
<li>SensorCaptureThread()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">rtabmap::SensorCaptureThread</a></li> <li>SensorCaptureThread()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">rtabmap::SensorCaptureThread</a></li>
<li>SensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff">rtabmap::SensorData</a></li> <li>SensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff">rtabmap::SensorData</a></li>
<li>sensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1Signature.html#a0e7b1874613a7438ec1b2d9aa2634da8">rtabmap::Signature</a></li> <li>sensorData()&#160;:&#160;<a class="el" href="classrtabmap_1_1Signature.html#a24c257c2ff3fe156910ac82c41de8738">rtabmap::Signature</a></li>
<li>SensorEvent()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorEvent.html#aef6624e43c3f7f29684072782a377e20">rtabmap::SensorEvent</a></li> <li>SensorEvent()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorEvent.html#aa6c0584b85a70fe240f745c759948591">rtabmap::SensorEvent</a></li>
<li>separator()&#160;:&#160;<a class="el" href="classUDirectory.html#a66750846a899e436808d4eadbcafced0">UDirectory</a></li> <li>separator()&#160;:&#160;<a class="el" href="classUDirectory.html#a66750846a899e436808d4eadbcafced0">UDirectory</a></li>
<li>serialize()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a5724619c7ac8c796fd8c63660e398082">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a4eab6254ef808719ca2d0543c89e0722">rtabmap::StereoCameraModel</a></li> <li>serialize()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a5724619c7ac8c796fd8c63660e398082">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a4eab6254ef808719ca2d0543c89e0722">rtabmap::StereoCameraModel</a></li>
<li>serializeData()&#160;:&#160;<a class="el" href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685">rtabmap::Statistics</a></li> <li>serializeData()&#160;:&#160;<a class="el" href="classrtabmap_1_1Statistics.html#ab34cfba17216b060f57e106d7c169685">rtabmap::Statistics</a></li>
preview/pr-1791/api/latest/functions_t.html
+6 -7
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@@ -143,7 +143,7 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
<li>toUShort()&#160;:&#160;<a class="el" href="classUVariant.html#a5e6282c19acb4de5a29f55143d451f60">UVariant</a></li> <li>toUShort()&#160;:&#160;<a class="el" href="classUVariant.html#a5e6282c19acb4de5a29f55143d451f60">UVariant</a></li>
<li>toUShortArray()&#160;:&#160;<a class="el" href="classUVariant.html#a40b1bccc560ab55190d3608ea0115bb2">UVariant</a></li> <li>toUShortArray()&#160;:&#160;<a class="el" href="classUVariant.html#a40b1bccc560ab55190d3608ea0115bb2">UVariant</a></li>
<li>transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">rtabmap::Link</a>, <a class="el" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">rtabmap::OdometryInfo</a></li> <li>transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">rtabmap::Link</a>, <a class="el" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">rtabmap::OdometryInfo</a></li>
<li>Transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#a1023adcd1e5d65647e6eda50160c3474">rtabmap::Transform</a></li> <li>Transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#af434ccbc426920a1b35ecbf4eec226e7">rtabmap::Transform</a></li>
<li>transformFiltered&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#ac786b5953b124a80524a051cfbcb7460">rtabmap::OdometryInfo</a></li> <li>transformFiltered&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#ac786b5953b124a80524a051cfbcb7460">rtabmap::OdometryInfo</a></li>
<li>transformGroundTruth&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#aba971e389867f752f04ecd7b17471f6e">rtabmap::OdometryInfo</a></li> <li>transformGroundTruth&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#aba971e389867f752f04ecd7b17471f6e">rtabmap::OdometryInfo</a></li>
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preview/pr-1791/api/latest/parameters.html
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@@ -726,7 +726,7 @@ Optimizer</h1>
<tr class="markdownTableRowEven"> <tr class="markdownTableRowEven">
<td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerPixelVariance"></a><a class="el" href="classrtabmap_1_1Parameters.html#af8ad0ad86c152e736820805aad2203c7">Optimizer/PixelVariance</a> </td><td class="markdownTableBodyNone">double </td><td class="markdownTableBodyNone"><code>1.0</code> </td><td class="markdownTableBodyNone">Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions. </td></tr> <td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerPixelVariance"></a><a class="el" href="classrtabmap_1_1Parameters.html#af8ad0ad86c152e736820805aad2203c7">Optimizer/PixelVariance</a> </td><td class="markdownTableBodyNone">double </td><td class="markdownTableBodyNone"><code>1.0</code> </td><td class="markdownTableBodyNone">Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions. </td></tr>
<tr class="markdownTableRowOdd"> <tr class="markdownTableRowOdd">
<td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerDisparityVariance"></a><a class="el" href="classrtabmap_1_1Parameters.html#a1a6053a3f56ee705dd2d880e9394542d">Optimizer/DisparityVariance</a> </td><td class="markdownTableBodyNone">double </td><td class="markdownTableBodyNone"><code>1.0</code> </td><td class="markdownTableBodyNone">Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4). </td></tr> <td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerDisparityVariance"></a><a class="el" href="classrtabmap_1_1Parameters.html#a1a6053a3f56ee705dd2d880e9394542d">Optimizer/DisparityVariance</a> </td><td class="markdownTableBodyNone">double </td><td class="markdownTableBodyNone"><code>1.0</code> </td><td class="markdownTableBodyNone">Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. The lower it is, the more the optimizer trusts the depth. Set higher (e.g. 2-4) if the depth is noisier than the features' u/v precision (stereo block matchers / SGM at long range, narrow-baseline low-resolution stereo). Set lower (e.g. 0.01-0.1) if it is more accurate (ToF / LiDAR-fused depth, measured rather than triangulated), or around 0.1-0.5 for wide-baseline high-resolution stereo. </td></tr>
<tr class="markdownTableRowEven"> <tr class="markdownTableRowEven">
<td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerRobustKernelDelta"></a><a class="el" href="classrtabmap_1_1Parameters.html#a5900adc0a8a2d5bf42963e4e5bee7855">Optimizer/RobustKernelDelta</a> </td><td class="markdownTableBodyNone">double </td><td class="markdownTableBodyNone"><code>8</code> </td><td class="markdownTableBodyNone">Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Applies to all BA-capable backends (g2o, GTSAM, Ceres). Observations with chi2 over this threshold will be ignored in the second optimization pass. </td></tr> <td class="markdownTableBodyNone"><a class="anchor" id="param_OptimizerRobustKernelDelta"></a><a class="el" href="classrtabmap_1_1Parameters.html#a5900adc0a8a2d5bf42963e4e5bee7855">Optimizer/RobustKernelDelta</a> </td><td class="markdownTableBodyNone">double </td><td class="markdownTableBodyNone"><code>8</code> </td><td class="markdownTableBodyNone">Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Applies to all BA-capable backends (g2o, GTSAM, Ceres). Observations with chi2 over this threshold will be ignored in the second optimization pass. </td></tr>
</table> </table>
@@ -793,9 +793,9 @@ Odom</h1>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_OdomGuessMotion"></a><a class="el" href="classrtabmap_1_1Parameters.html#aa8aacc8ff9b434b5a48ab7eabe5c63a6">Odom/GuessMotion</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>true</code> </td><td class="markdownTableBodyNone">Guess next transformation from the last motion computed. </td></tr> <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomGuessMotion"></a><a class="el" href="classrtabmap_1_1Parameters.html#aa8aacc8ff9b434b5a48ab7eabe5c63a6">Odom/GuessMotion</a> </td><td class="markdownTableBodyNone">bool </td><td class="markdownTableBodyNone"><code>true</code> </td><td class="markdownTableBodyNone">Guess next transformation from the last motion computed. </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_OdomImuGravity"></a><a class="el" href="classrtabmap_1_1Parameters.html#aa5a167189629eabf46a21ab52b3b24c1">Odom/ImuGravity</a> </td><td class="markdownTableBodyNone">float </td><td class="markdownTableBodyNone"><code>9.80665</code> </td><td class="markdownTableBodyNone">Gravity magnitude (m/s^2) removed from the IMU linear acceleration (used with <a class="el" href="parameters.html#param_OdomGuessSmoothingDelay">Odom/GuessSmoothingDelay</a> &gt; 0). Standard gravity by default. Set it to what the accelerometer reads at rest to compensate for its scale error, or for another gravity than Earth's. </td></tr> <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomImuGravity"></a><a class="el" href="classrtabmap_1_1Parameters.html#aa5a167189629eabf46a21ab52b3b24c1">Odom/ImuGravity</a> </td><td class="markdownTableBodyNone">float </td><td class="markdownTableBodyNone"><code>9.80665</code> </td><td class="markdownTableBodyNone">Gravity magnitude (m/s^2) removed from the IMU linear acceleration (used with <a class="el" href="parameters.html#param_OdomGuessSmoothingDelay">Odom/GuessSmoothingDelay</a> &gt; 0). Standard gravity by default. Set it to what the accelerometer reads at rest to compensate for its scale error, or for another gravity than Earth's. 0: estimated from the IMU while it is still (gyro and accelerometer quiet over 0.5 s), with standard gravity until then: the robot should then be perfectly still for a moment (e.g., at start), and a steady acceleration without rotation would be taken for gravity. </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_OdomGuessSmoothingDelay"></a><a class="el" href="classrtabmap_1_1Parameters.html#aabd0b7d996517264f6ce43db1aa6ed05">Odom/GuessSmoothingDelay</a> </td><td class="markdownTableBodyNone">float </td><td class="markdownTableBodyNone"><code>0</code> </td><td class="markdownTableBodyNone">Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if <a class="el" href="parameters.html#param_OdomFilteringStrategy">Odom/FilteringStrategy</a> is set or the delay is below the odometry rate. With an IMU giving orientation and linear acceleration, a delay &gt; 0 also enables the IMU acceleration: the velocity is then the displacement over this delay corrected by the acceleration measured since, so that it is the velocity at the last frame rather than a delayed average, and the motion guess and lidar deskewing (<a class="el" href="parameters.html#param_OdomDeskewing">Odom/Deskewing</a>) integrate the acceleration from it. Recommended (~0.5 s) with an IMU. With 0, the IMU only gives the orientation. Without IMU, the average is delayed by half this delay: it can make sense for platforms with inertia (e.g., cars at high speed, where one bad frame would otherwise change the predicted velocity a lot), for high frame rates, or when the velocity is used for lidar deskewing, where its noise would feed back into the next poses. </td></tr> <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomGuessSmoothingDelay"></a><a class="el" href="classrtabmap_1_1Parameters.html#aabd0b7d996517264f6ce43db1aa6ed05">Odom/GuessSmoothingDelay</a> </td><td class="markdownTableBodyNone">float </td><td class="markdownTableBodyNone"><code>0</code> </td><td class="markdownTableBodyNone">Guess smoothing delay (s). The velocity is averaged over the last transforms up to this delay, for a smoother velocity prediction. The last velocity is used directly if <a class="el" href="parameters.html#param_OdomFilteringStrategy">Odom/FilteringStrategy</a> is set or the delay is below the odometry rate. With an IMU giving orientation and linear acceleration, a delay &gt; 0 also enables the IMU acceleration: the velocity is the displacement over this delay corrected by the acceleration measured since, so it is not delayed, and the motion guess and lidar deskewing (<a class="el" href="parameters.html#param_OdomDeskewing">Odom/Deskewing</a>) integrate the acceleration from it (~0.5 s recommended). With 0, the IMU only gives the orientation. Without IMU, the average is delayed by half this delay: useful for platforms with inertia, high frame rates, or lidar deskewing, where the velocity noise would feed back into the next poses. </td></tr>
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<td class="markdownTableBodyNone"><a class="anchor" id="param_OdomKeyFrameThr"></a><a class="el" href="classrtabmap_1_1Parameters.html#a09dc498e4a45882548ee3fd0096437b2">Odom/KeyFrameThr</a> </td><td class="markdownTableBodyNone">float </td><td class="markdownTableBodyNone"><code>0.3</code> </td><td class="markdownTableBodyNone">[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame. </td></tr> <td class="markdownTableBodyNone"><a class="anchor" id="param_OdomKeyFrameThr"></a><a class="el" href="classrtabmap_1_1Parameters.html#a09dc498e4a45882548ee3fd0096437b2">Odom/KeyFrameThr</a> </td><td class="markdownTableBodyNone">float </td><td class="markdownTableBodyNone"><code>0.3</code> </td><td class="markdownTableBodyNone">[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame. </td></tr>
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