mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-04 00:57:46 +08:00
812 lines
57 KiB
HTML
812 lines
57 KiB
HTML
<!-- HTML header for doxygen 1.9.8-->
|
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
|
|
<head>
|
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
|
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
|
|
<meta name="generator" content="Doxygen 1.9.8"/>
|
|
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
|
<title>RTAB-Map: rtabmap::Odometry Class Reference</title>
|
|
<link href="tabs.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="jquery.js"></script>
|
|
<script type="text/javascript" src="dynsections.js"></script>
|
|
<link href="navtree.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="resize.js"></script>
|
|
<script type="text/javascript" src="navtreedata.js"></script>
|
|
<script type="text/javascript" src="navtree.js"></script>
|
|
<link href="search/search.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript" src="search/searchdata.js"></script>
|
|
<script type="text/javascript" src="search/search.js"></script>
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
|
<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
|
|
<link href="custom.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
|
|
<script type="text/javascript" src="../versions.js"></script>
|
|
<script type="text/javascript" src="version-switcher.js"></script>
|
|
<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
|
|
<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
|
|
</head>
|
|
<body>
|
|
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
|
<div id="titlearea">
|
|
<table cellspacing="0" cellpadding="0">
|
|
<tbody>
|
|
<tr id="projectrow">
|
|
<td id="projectalign">
|
|
<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.13</span>
|
|
</div>
|
|
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
|
|
</td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<!-- end header part -->
|
|
<!-- Generated by Doxygen 1.9.8 -->
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
var searchBox = new SearchBox("searchBox", "search/",'.html');
|
|
/* @license-end */
|
|
</script>
|
|
<script type="text/javascript" src="menudata.js"></script>
|
|
<script type="text/javascript" src="menu.js"></script>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(function() {
|
|
initMenu('',true,false,'search.php','Search');
|
|
$(document).ready(function() { init_search(); });
|
|
});
|
|
/* @license-end */
|
|
</script>
|
|
<div id="main-nav"></div>
|
|
</div><!-- top -->
|
|
<div id="side-nav" class="ui-resizable side-nav-resizable">
|
|
<div id="nav-tree">
|
|
<div id="nav-tree-contents">
|
|
<div id="nav-sync" class="sync"></div>
|
|
</div>
|
|
</div>
|
|
<div id="splitbar" style="-moz-user-select:none;"
|
|
class="ui-resizable-handle">
|
|
</div>
|
|
</div>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(document).ready(function(){initNavTree('classrtabmap_1_1Odometry.html',''); initResizable(); });
|
|
/* @license-end */
|
|
</script>
|
|
<div id="doc-content">
|
|
<!-- window showing the filter options -->
|
|
<div id="MSearchSelectWindow"
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
|
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
|
</div>
|
|
|
|
<!-- iframe showing the search results (closed by default) -->
|
|
<div id="MSearchResultsWindow">
|
|
<div id="MSearchResults">
|
|
<div class="SRPage">
|
|
<div id="SRIndex">
|
|
<div id="SRResults"></div>
|
|
<div class="SRStatus" id="Loading">Loading...</div>
|
|
<div class="SRStatus" id="Searching">Searching...</div>
|
|
<div class="SRStatus" id="NoMatches">No Matches</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div class="header">
|
|
<div class="summary">
|
|
<a href="#pub-types">Public Types</a> |
|
|
<a href="#pub-methods">Public Member Functions</a> |
|
|
<a href="#pub-static-methods">Static Public Member Functions</a> |
|
|
<a href="#pro-methods">Protected Member Functions</a> |
|
|
<a href="classrtabmap_1_1Odometry-members.html">List of all members</a> </div>
|
|
<div class="headertitle"><div class="title">rtabmap::Odometry Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
|
|
</div><!--header-->
|
|
<div class="contents">
|
|
|
|
<p>Abstract base class for visual, lidar and visual-inertial odometry backends.
|
|
<a href="classrtabmap_1_1Odometry.html#details">More...</a></p>
|
|
|
|
<p><code>#include <<a class="el" href="Odometry_8h_source.html">Odometry.h</a>></code></p>
|
|
<div class="dynheader">
|
|
Inheritance diagram for rtabmap::Odometry:</div>
|
|
<div class="dyncontent">
|
|
<div class="center"><img src="classrtabmap_1_1Odometry__inherit__graph.png" border="0" usemap="#artabmap_1_1Odometry_inherit__map" alt="Inheritance graph"/></div>
|
|
<map name="artabmap_1_1Odometry_inherit__map" id="artabmap_1_1Odometry_inherit__map">
|
|
<area shape="rect" title="Abstract base class for visual, lidar and visual-inertial odometry backends." alt="" coords="5,400,156,425"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryCuVSLAM.html" title=" " alt="" coords="209,5,422,31"/>
|
|
<area shape="poly" title=" " alt="" coords="80,386,85,317,103,223,118,173,139,124,167,79,202,40,219,29,222,33,206,44,171,82,144,127,123,175,108,224,90,317,85,387"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryDVO.html" title=" " alt="" coords="226,55,405,80"/>
|
|
<area shape="poly" title=" " alt="" coords="81,386,90,325,109,244,125,202,145,161,171,122,202,89,224,76,227,80,206,93,175,126,150,163,130,204,114,246,95,326,86,387"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryF2F.html" title=" " alt="" coords="228,104,403,129"/>
|
|
<area shape="poly" title=" " alt="" coords="83,386,94,333,116,266,132,231,151,197,175,166,202,139,226,125,229,129,206,143,179,169,156,200,137,234,121,268,100,335,88,387"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryF2M.html" title=" " alt="" coords="226,153,405,179"/>
|
|
<area shape="poly" title=" " alt="" coords="86,385,100,342,124,288,157,234,178,209,202,188,224,176,227,180,206,192,182,213,162,237,129,290,105,344,91,387"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryFLOAM.html" title=" " alt="" coords="217,203,413,228"/>
|
|
<area shape="poly" title=" " alt="" coords="90,386,107,352,132,311,163,271,203,237,225,226,227,230,205,242,167,275,136,314,112,354,95,388"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryFovis.html" title=" " alt="" coords="223,252,407,277"/>
|
|
<area shape="poly" title=" " alt="" coords="97,387,140,336,170,309,203,286,229,275,231,280,205,291,173,313,144,339,101,391"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryLIOSAM.html" title=" " alt="" coords="215,301,416,327"/>
|
|
<area shape="poly" title=" " alt="" coords="109,389,152,361,203,336,239,324,240,329,205,340,154,366,112,394"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryLOAM.html" title=" " alt="" coords="221,351,409,376"/>
|
|
<area shape="poly" title=" " alt="" coords="155,395,253,373,255,379,156,400"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryMSCKF.html" title=" " alt="" coords="217,400,413,425"/>
|
|
<area shape="poly" title=" " alt="" coords="169,410,217,410,217,415,169,415"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryMono.html" title=" " alt="" coords="222,449,409,475"/>
|
|
<area shape="poly" title=" " alt="" coords="156,426,255,447,253,452,155,431"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryORBSLAM2.html" title=" " alt="" coords="204,499,427,524"/>
|
|
<area shape="poly" title=" " alt="" coords="112,431,155,458,205,484,245,496,243,501,203,488,152,463,109,436"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryORBSLAM3.html" title=" " alt="" coords="204,548,427,573"/>
|
|
<area shape="poly" title=" " alt="" coords="101,434,144,485,173,511,205,533,235,545,233,550,203,538,170,515,141,489,97,438"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryOkvis.html" title=" " alt="" coords="222,597,409,623"/>
|
|
<area shape="poly" title=" " alt="" coords="95,437,112,470,136,510,168,550,205,582,230,595,228,600,203,587,164,553,132,513,107,473,90,439"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryOpen3D.html" title=" " alt="" coords="214,647,417,672"/>
|
|
<area shape="poly" title=" " alt="" coords="91,438,106,481,129,534,162,587,182,611,206,632,228,644,225,649,202,636,179,615,158,590,124,536,101,483,86,440"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryOpenVINS.html" title=" " alt="" coords="208,696,423,721"/>
|
|
<area shape="poly" title=" " alt="" coords="89,439,100,491,122,557,156,624,179,655,206,681,226,694,223,698,202,685,175,658,152,627,117,559,95,492,83,440"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryVINSFusion.html" title=" " alt="" coords="204,745,427,771"/>
|
|
<area shape="poly" title=" " alt="" coords="87,439,95,499,115,578,130,620,150,661,175,698,206,731,225,743,222,748,202,735,171,702,146,663,125,622,110,580,90,500,81,439"/>
|
|
<area shape="rect" href="classrtabmap_1_1OdometryViso2.html" title=" " alt="" coords="222,795,409,820"/>
|
|
<area shape="poly" title=" " alt="" coords="85,439,91,508,108,600,124,649,144,697,172,742,206,780,224,792,221,797,202,784,167,745,140,700,119,651,103,602,85,509,80,439"/>
|
|
</map>
|
|
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
|
|
<table class="memberdecls">
|
|
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
|
|
Public Types</h2></td></tr>
|
|
<tr class="memitem:a6427d44c57fd6b7152b62d5b7cca1849" id="r_a6427d44c57fd6b7152b62d5b7cca1849"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> { <br />
|
|
  <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a7e81a250626fd76729fa01fb7b40fde5">kTypeUndef</a> = -1
|
|
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac585174ece227de554ed25a51835d3d0">kTypeF2M</a> = 0
|
|
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a81b73f734f25e9bef50a979ef6d9f662">kTypeF2F</a> = 1
|
|
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849aeb8888885eaa7c907a98537c7a463b8b">kTypeFovis</a> = 2
|
|
, <br />
|
|
  <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ab788cd11e7f6906987e33c0189a5c367">kTypeViso2</a> = 3
|
|
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a7fccdbc59d38d39f4de1253063d79a59">kTypeDVO</a> = 4
|
|
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a32b913af77b8df59d89aa226cbdf5e9b">kTypeORBSLAM</a> = 5
|
|
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a175924a6dd1fdfb2e162093c5a2a867b">kTypeOkvis</a> = 6
|
|
, <br />
|
|
  <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849abf68726d1b5239c24ce447ceafd221aa">kTypeLOAM</a> = 7
|
|
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a1de4ebe3cb3470d17d615e86ac791225">kTypeMSCKF</a> = 8
|
|
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a1e148f21361b3e46d6ea7c83ac35a7a4">kTypeVINSFusion</a> = 9
|
|
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849a9e760521384d881e2fafcc008193f65a">kTypeOpenVINS</a> = 10
|
|
, <br />
|
|
  <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849abb9a5bbb18e4ab77c1dac6cc2fe73a68">kTypeFLOAM</a> = 11
|
|
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ab30949269c652911c3d8c5274ad84041">kTypeOpen3D</a> = 12
|
|
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849aba6f673ce43f5dfe5c1eecb303f55049">kTypeCuVSLAM</a> = 13
|
|
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac13bb66a69e4790bfa574c8a0c6c9975">kTypeLIOSAM</a> = 14
|
|
<br />
|
|
}</td></tr>
|
|
<tr class="memdesc:a6427d44c57fd6b7152b62d5b7cca1849"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> backend selected by <a class="el" href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a>. <a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">More...</a><br /></td></tr>
|
|
<tr class="separator:a6427d44c57fd6b7152b62d5b7cca1849"><td class="memSeparator" colspan="2"> </td></tr>
|
|
</table><table class="memberdecls">
|
|
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
|
|
Public Member Functions</h2></td></tr>
|
|
<tr class="memitem:a0c2d39ed9b76c2c411a9e62e16e3bce1" id="r_a0c2d39ed9b76c2c411a9e62e16e3bce1"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">process</a> (<a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &data, <a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> *info=0)</td></tr>
|
|
<tr class="memdesc:a0c2d39ed9b76c2c411a9e62e16e3bce1"><td class="mdescLeft"> </td><td class="mdescRight">Processes a sensor frame and updates the integrated pose. <br /></td></tr>
|
|
<tr class="separator:a0c2d39ed9b76c2c411a9e62e16e3bce1"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a4fcbe67de2ec6f23829e3962ee586315" id="r_a4fcbe67de2ec6f23829e3962ee586315"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a4fcbe67de2ec6f23829e3962ee586315">process</a> (<a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &data, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &guess, <a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> *info=0)</td></tr>
|
|
<tr class="memdesc:a4fcbe67de2ec6f23829e3962ee586315"><td class="mdescLeft"> </td><td class="mdescRight">Processes a sensor frame with an external motion guess. <br /></td></tr>
|
|
<tr class="separator:a4fcbe67de2ec6f23829e3962ee586315"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a0ea20c39ae597a21e896b706662bb31c" id="r_a0ea20c39ae597a21e896b706662bb31c"><td class="memItemLeft" align="right" valign="top">virtual void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">reset</a> (const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &initialPose=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
|
|
<tr class="memdesc:a0ea20c39ae597a21e896b706662bb31c"><td class="mdescLeft"> </td><td class="mdescRight">Resets internal state and sets the initial pose. <br /></td></tr>
|
|
<tr class="separator:a0ea20c39ae597a21e896b706662bb31c"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a92685daa2786aff06518c8c4e26b8899" id="r_a92685daa2786aff06518c8c4e26b8899"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Odometry::Type</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a92685daa2786aff06518c8c4e26b8899">getType</a> ()=0</td></tr>
|
|
<tr class="separator:a92685daa2786aff06518c8c4e26b8899"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a69809beb553e6d4cd4a950ce251449e0" id="r_a69809beb553e6d4cd4a950ce251449e0"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a69809beb553e6d4cd4a950ce251449e0">canProcessRawImages</a> () const</td></tr>
|
|
<tr class="separator:a69809beb553e6d4cd4a950ce251449e0"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a7a1c1e4598528a4e94f510b5dabac528" id="r_a7a1c1e4598528a4e94f510b5dabac528"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a7a1c1e4598528a4e94f510b5dabac528">canProcessAsyncIMU</a> () const</td></tr>
|
|
<tr class="separator:a7a1c1e4598528a4e94f510b5dabac528"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a8b45aea55b336f758943b4a6b2ec28ee" id="r_a8b45aea55b336f758943b4a6b2ec28ee"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee">getPose</a> () const</td></tr>
|
|
<tr class="separator:a8b45aea55b336f758943b4a6b2ec28ee"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a3276da70261724ceb03df8e410844a8c" id="r_a3276da70261724ceb03df8e410844a8c"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a3276da70261724ceb03df8e410844a8c">isInfoDataFilled</a> () const</td></tr>
|
|
<tr class="separator:a3276da70261724ceb03df8e410844a8c"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a35d69a27271b798da6640295a98b9785" id="r_a35d69a27271b798da6640295a98b9785"><td class="memItemLeft" align="right" valign="top">RTABMAP_DEPRECATED const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785">previousVelocityTransform</a> () const</td></tr>
|
|
<tr class="separator:a35d69a27271b798da6640295a98b9785"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:aa6ab1c129163771b0d87e3e068a0427e" id="r_aa6ab1c129163771b0d87e3e068a0427e"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e">getVelocityGuess</a> () const</td></tr>
|
|
<tr class="separator:aa6ab1c129163771b0d87e3e068a0427e"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a36aa5447b7791c88a2799c99923be393" id="r_a36aa5447b7791c88a2799c99923be393"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a36aa5447b7791c88a2799c99923be393">previousStamp</a> () const</td></tr>
|
|
<tr class="separator:a36aa5447b7791c88a2799c99923be393"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a7476b9fffee225ef396804ef59084659" id="r_a7476b9fffee225ef396804ef59084659"><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a7476b9fffee225ef396804ef59084659">framesProcessed</a> () const</td></tr>
|
|
<tr class="separator:a7476b9fffee225ef396804ef59084659"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ac9ae854d14d44d82e1f20e8a4791b9c4" id="r_ac9ae854d14d44d82e1f20e8a4791b9c4"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#ac9ae854d14d44d82e1f20e8a4791b9c4">imagesAlreadyRectified</a> () const</td></tr>
|
|
<tr class="separator:ac9ae854d14d44d82e1f20e8a4791b9c4"><td class="memSeparator" colspan="2"> </td></tr>
|
|
</table><table class="memberdecls">
|
|
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
|
|
Static Public Member Functions</h2></td></tr>
|
|
<tr class="memitem:ac8992df0b92a86c10fe8e8da2b5f3627" id="r_ac8992df0b92a86c10fe8e8da2b5f3627"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">create</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
|
|
<tr class="memdesc:ac8992df0b92a86c10fe8e8da2b5f3627"><td class="mdescLeft"> </td><td class="mdescRight">Creates an odometry instance from <a class="el" href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a> in <code>parameters</code>. <br /></td></tr>
|
|
<tr class="separator:ac8992df0b92a86c10fe8e8da2b5f3627"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a1240aaf3a92a75b4c3c9ded9117144bb" id="r_a1240aaf3a92a75b4c3c9ded9117144bb"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> * </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb">create</a> (<a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> &type, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
|
|
<tr class="memdesc:a1240aaf3a92a75b4c3c9ded9117144bb"><td class="mdescLeft"> </td><td class="mdescRight">Creates an odometry instance of a given <code>type</code>. <br /></td></tr>
|
|
<tr class="separator:a1240aaf3a92a75b4c3c9ded9117144bb"><td class="memSeparator" colspan="2"> </td></tr>
|
|
</table><table class="memberdecls">
|
|
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
|
|
Protected Member Functions</h2></td></tr>
|
|
<tr class="memitem:a6c9ed388da42499d2244bb98c8ff0e8d" id="r_a6c9ed388da42499d2244bb98c8ff0e8d"><td class="memItemLeft" align="right" valign="top">const std::map< double, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">imus</a> () const</td></tr>
|
|
<tr class="separator:a6c9ed388da42499d2244bb98c8ff0e8d"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:af2d9cf4c207d6628b0890064a385856b" id="r_af2d9cf4c207d6628b0890064a385856b"><td class="memItemLeft" align="right" valign="top"><a id="af2d9cf4c207d6628b0890064a385856b" name="af2d9cf4c207d6628b0890064a385856b"></a>
|
|
 </td><td class="memItemRight" valign="bottom"><b>Odometry</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &parameters)</td></tr>
|
|
<tr class="memdesc:af2d9cf4c207d6628b0890064a385856b"><td class="mdescLeft"> </td><td class="mdescRight">Constructs the base odometry state from RTAB-Map parameters. <br /></td></tr>
|
|
<tr class="separator:af2d9cf4c207d6628b0890064a385856b"><td class="memSeparator" colspan="2"> </td></tr>
|
|
</table>
|
|
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
|
<div class="textblock"><p>Abstract base class for visual, lidar and visual-inertial odometry backends. </p>
|
|
<p><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> estimates the incremental motion between consecutive <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> frames. Concrete implementations override <code>computeTransform()</code>; the public <a class="el" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">process()</a> pipeline handles <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> caching, optional motion guesses, filtering (Kalman or particle), image decimation, deskewing and pose integration.</p>
|
|
<p>Use <a class="el" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">create()</a> to instantiate a backend from <a class="el" href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a>.</p>
|
|
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1OdometryThread.html" title="Runs an Odometry front-end in its own thread, driven by events.">OdometryThread</a> </dd>
|
|
<dd>
|
|
<a class="el" href="classrtabmap_1_1OdometryInfo.html" title="What one Odometry iteration produced, beyond the pose.">OdometryInfo</a> </dd></dl>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00056">56</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
|
|
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
|
|
<a id="a6427d44c57fd6b7152b62d5b7cca1849" name="a6427d44c57fd6b7152b62d5b7cca1849"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a6427d44c57fd6b7152b62d5b7cca1849">◆ </a></span>Type</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">enum <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> backend selected by <a class="el" href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a>. </p>
|
|
<table class="fieldtable">
|
|
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849a7e81a250626fd76729fa01fb7b40fde5" name="a6427d44c57fd6b7152b62d5b7cca1849a7e81a250626fd76729fa01fb7b40fde5"></a>kTypeUndef </td><td class="fielddoc"><p>Undefined / invalid type. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849ac585174ece227de554ed25a51835d3d0" name="a6427d44c57fd6b7152b62d5b7cca1849ac585174ece227de554ed25a51835d3d0"></a>kTypeF2M </td><td class="fielddoc"><p>Frame-to-map (default). </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849a81b73f734f25e9bef50a979ef6d9f662" name="a6427d44c57fd6b7152b62d5b7cca1849a81b73f734f25e9bef50a979ef6d9f662"></a>kTypeF2F </td><td class="fielddoc"><p>Frame-to-frame. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849aeb8888885eaa7c907a98537c7a463b8b" name="a6427d44c57fd6b7152b62d5b7cca1849aeb8888885eaa7c907a98537c7a463b8b"></a>kTypeFovis </td><td class="fielddoc"><p>FOVIS stereo visual odometry. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849ab788cd11e7f6906987e33c0189a5c367" name="a6427d44c57fd6b7152b62d5b7cca1849ab788cd11e7f6906987e33c0189a5c367"></a>kTypeViso2 </td><td class="fielddoc"><p>libviso2. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849a7fccdbc59d38d39f4de1253063d79a59" name="a6427d44c57fd6b7152b62d5b7cca1849a7fccdbc59d38d39f4de1253063d79a59"></a>kTypeDVO </td><td class="fielddoc"><p>Dense visual odometry. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849a32b913af77b8df59d89aa226cbdf5e9b" name="a6427d44c57fd6b7152b62d5b7cca1849a32b913af77b8df59d89aa226cbdf5e9b"></a>kTypeORBSLAM </td><td class="fielddoc"><p>ORB-SLAM 2/3. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849a175924a6dd1fdfb2e162093c5a2a867b" name="a6427d44c57fd6b7152b62d5b7cca1849a175924a6dd1fdfb2e162093c5a2a867b"></a>kTypeOkvis </td><td class="fielddoc"><p>OKVIS. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849abf68726d1b5239c24ce447ceafd221aa" name="a6427d44c57fd6b7152b62d5b7cca1849abf68726d1b5239c24ce447ceafd221aa"></a>kTypeLOAM </td><td class="fielddoc"><p>LOAM lidar odometry. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849a1de4ebe3cb3470d17d615e86ac791225" name="a6427d44c57fd6b7152b62d5b7cca1849a1de4ebe3cb3470d17d615e86ac791225"></a>kTypeMSCKF </td><td class="fielddoc"><p>MSCKF visual-inertial. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849a1e148f21361b3e46d6ea7c83ac35a7a4" name="a6427d44c57fd6b7152b62d5b7cca1849a1e148f21361b3e46d6ea7c83ac35a7a4"></a>kTypeVINSFusion </td><td class="fielddoc"><p>VINS-Fusion. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849a9e760521384d881e2fafcc008193f65a" name="a6427d44c57fd6b7152b62d5b7cca1849a9e760521384d881e2fafcc008193f65a"></a>kTypeOpenVINS </td><td class="fielddoc"><p>OpenVINS. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849abb9a5bbb18e4ab77c1dac6cc2fe73a68" name="a6427d44c57fd6b7152b62d5b7cca1849abb9a5bbb18e4ab77c1dac6cc2fe73a68"></a>kTypeFLOAM </td><td class="fielddoc"><p>FLOAM lidar odometry. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849ab30949269c652911c3d8c5274ad84041" name="a6427d44c57fd6b7152b62d5b7cca1849ab30949269c652911c3d8c5274ad84041"></a>kTypeOpen3D </td><td class="fielddoc"><p>Open3D RGB-D odometry. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849aba6f673ce43f5dfe5c1eecb303f55049" name="a6427d44c57fd6b7152b62d5b7cca1849aba6f673ce43f5dfe5c1eecb303f55049"></a>kTypeCuVSLAM </td><td class="fielddoc"><p>cuVSLAM. </p>
|
|
</td></tr>
|
|
<tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849ac13bb66a69e4790bfa574c8a0c6c9975" name="a6427d44c57fd6b7152b62d5b7cca1849ac13bb66a69e4790bfa574c8a0c6c9975"></a>kTypeLIOSAM </td><td class="fielddoc"><p>LIO-SAM. </p>
|
|
</td></tr>
|
|
</table>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00060">60</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<h2 class="groupheader">Member Function Documentation</h2>
|
|
<a id="ac8992df0b92a86c10fe8e8da2b5f3627" name="ac8992df0b92a86c10fe8e8da2b5f3627"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#ac8992df0b92a86c10fe8e8da2b5f3627">◆ </a></span>create() <span class="overload">[1/2]</span></h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">static <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> * rtabmap::Odometry::create </td>
|
|
<td>(</td>
|
|
<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & </td>
|
|
<td class="paramname"><em>parameters</em> = <code><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()</code></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">static</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Creates an odometry instance from <a class="el" href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a> in <code>parameters</code>. </p>
|
|
<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">parameters</td><td>RTAB-Map parameters (odometry strategy and related options). </td></tr>
|
|
</table>
|
|
</dd>
|
|
</dl>
|
|
<dl class="section return"><dt>Returns</dt><dd>New odometry object (caller owns the pointer). Falls back to <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac585174ece227de554ed25a51835d3d0">kTypeF2M</a> if the type is unknown. </dd></dl>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a1240aaf3a92a75b4c3c9ded9117144bb" name="a1240aaf3a92a75b4c3c9ded9117144bb"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a1240aaf3a92a75b4c3c9ded9117144bb">◆ </a></span>create() <span class="overload">[2/2]</span></h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">static <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> * rtabmap::Odometry::create </td>
|
|
<td>(</td>
|
|
<td class="paramtype"><a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> & </td>
|
|
<td class="paramname"><em>type</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> & </td>
|
|
<td class="paramname"><em>parameters</em> = <code><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()</code> </td>
|
|
</tr>
|
|
<tr>
|
|
<td></td>
|
|
<td>)</td>
|
|
<td></td><td></td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">static</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Creates an odometry instance of a given <code>type</code>. </p>
|
|
<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">type</td><td>In/out odometry type; updated to <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac585174ece227de554ed25a51835d3d0">kTypeF2M</a> if <code>type</code> is unknown. </td></tr>
|
|
<tr><td class="paramname">parameters</td><td>RTAB-Map parameters passed to the concrete backend. </td></tr>
|
|
</table>
|
|
</dd>
|
|
</dl>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a0c2d39ed9b76c2c411a9e62e16e3bce1" name="a0c2d39ed9b76c2c411a9e62e16e3bce1"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a0c2d39ed9b76c2c411a9e62e16e3bce1">◆ </a></span>process() <span class="overload">[1/2]</span></h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> rtabmap::Odometry::process </td>
|
|
<td>(</td>
|
|
<td class="paramtype"><a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> & </td>
|
|
<td class="paramname"><em>data</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype"><a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * </td>
|
|
<td class="paramname"><em>info</em> = <code>0</code> </td>
|
|
</tr>
|
|
<tr>
|
|
<td></td>
|
|
<td>)</td>
|
|
<td></td><td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Processes a sensor frame and updates the integrated pose. </p>
|
|
<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">data</td><td>Input sensor data (must have <code>id()</code> >= 0). May be modified in place (decompression, deskewing). </td></tr>
|
|
<tr><td class="paramname">info</td><td>Optional output statistics and debug data. </td></tr>
|
|
</table>
|
|
</dd>
|
|
</dl>
|
|
<dl class="section return"><dt>Returns</dt><dd>Updated integrated pose (<a class="el" href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee">getPose()</a>) after the frame is processed, or a null transform if odometry is lost. The incremental transform is available in <code><a class="el" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5" title="Motion since the previous frame, null when lost.">OdometryInfo::transform</a></code> when <code>info</code> is provided. </dd></dl>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a4fcbe67de2ec6f23829e3962ee586315" name="a4fcbe67de2ec6f23829e3962ee586315"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a4fcbe67de2ec6f23829e3962ee586315">◆ </a></span>process() <span class="overload">[2/2]</span></h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> rtabmap::Odometry::process </td>
|
|
<td>(</td>
|
|
<td class="paramtype"><a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> & </td>
|
|
<td class="paramname"><em>data</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td>
|
|
<td class="paramname"><em>guess</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype"><a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * </td>
|
|
<td class="paramname"><em>info</em> = <code>0</code> </td>
|
|
</tr>
|
|
<tr>
|
|
<td></td>
|
|
<td>)</td>
|
|
<td></td><td></td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Processes a sensor frame with an external motion guess. </p>
|
|
<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">data</td><td>Input sensor data. </td></tr>
|
|
<tr><td class="paramname">guess</td><td>Optional prior on the incremental transform (used by the backend when supported). </td></tr>
|
|
<tr><td class="paramname">info</td><td>Optional output statistics and debug data. </td></tr>
|
|
</table>
|
|
</dd>
|
|
</dl>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a0ea20c39ae597a21e896b706662bb31c" name="a0ea20c39ae597a21e896b706662bb31c"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a0ea20c39ae597a21e896b706662bb31c">◆ </a></span>reset()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">virtual void rtabmap::Odometry::reset </td>
|
|
<td>(</td>
|
|
<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td>
|
|
<td class="paramname"><em>initialPose</em> = <code><a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>()</code></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">virtual</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<p>Resets internal state and sets the initial pose. </p>
|
|
<dl class="params"><dt>Parameters</dt><dd>
|
|
<table class="params">
|
|
<tr><td class="paramname">initialPose</td><td>Starting pose (must not be null). Z/roll/pitch may be cleared if <a class="el" href="classrtabmap_1_1Parameters.html#adeb11e4b89634351a54bab99b3aeb68c">Parameters::kRegForce3DoF()</a> is enabled. </td></tr>
|
|
</table>
|
|
</dd>
|
|
</dl>
|
|
|
|
<p>Reimplemented in <a class="el" href="classrtabmap_1_1OdometryMono.html#a9574ccc748b5c4f664c059d460742457">rtabmap::OdometryMono</a>, <a class="el" href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742">rtabmap::OdometryCuVSLAM</a>, <a class="el" href="classrtabmap_1_1OdometryDVO.html#aa20fb31a7bf255caa1f13b0b69b2ee65">rtabmap::OdometryDVO</a>, <a class="el" href="classrtabmap_1_1OdometryF2F.html#a7fb0eb46ed5b40e15299bc40b5cd4eb5">rtabmap::OdometryF2F</a>, <a class="el" href="classrtabmap_1_1OdometryF2M.html#a7a4b7219e339bbea7761601027f192d2">rtabmap::OdometryF2M</a>, <a class="el" href="classrtabmap_1_1OdometryFLOAM.html#a85105e691f68317b2816566cb7440e46">rtabmap::OdometryFLOAM</a>, <a class="el" href="classrtabmap_1_1OdometryFovis.html#a0175e1e923673028f1d647aaa185447c">rtabmap::OdometryFovis</a>, <a class="el" href="classrtabmap_1_1OdometryLIOSAM.html#a7f72dbc28081ae774303dbf2d8cb5535">rtabmap::OdometryLIOSAM</a>, <a class="el" href="classrtabmap_1_1OdometryLOAM.html#a6acc7b4f164a8915ada550ba7c23ac0e">rtabmap::OdometryLOAM</a>, <a class="el" href="classrtabmap_1_1OdometryMSCKF.html#a3be4ada7eebf234c87a3127a85988d97">rtabmap::OdometryMSCKF</a>, <a class="el" href="classrtabmap_1_1OdometryOkvis.html#a81f51ca0b6f3b48f9e6a6e0e2d7b7118">rtabmap::OdometryOkvis</a>, <a class="el" href="classrtabmap_1_1OdometryOpen3D.html#a21fecb34185676d02d92c7ad18f13970">rtabmap::OdometryOpen3D</a>, <a class="el" href="classrtabmap_1_1OdometryOpenVINS.html#abbf8f6be20990f3e39ad23325d72b41b">rtabmap::OdometryOpenVINS</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM2.html#ab127fac7aae296a68a9bf68ab02ffbbc">rtabmap::OdometryORBSLAM2</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM3.html#a57626265fa4c23fab95140ca9c1f8f93">rtabmap::OdometryORBSLAM3</a>, <a class="el" href="classrtabmap_1_1OdometryVINSFusion.html#aa2fdb97067ad27d76c6315125a513ed3">rtabmap::OdometryVINSFusion</a>, and <a class="el" href="classrtabmap_1_1OdometryViso2.html#ad442b8186b72e220feace5fb0b0fec5c">rtabmap::OdometryViso2</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a92685daa2786aff06518c8c4e26b8899" name="a92685daa2786aff06518c8c4e26b8899"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a92685daa2786aff06518c8c4e26b8899">◆ </a></span>getType()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">virtual <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Odometry::Type</a> rtabmap::Odometry::getType </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">pure virtual</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<dl class="section return"><dt>Returns</dt><dd>Concrete odometry backend type. </dd></dl>
|
|
|
|
<p>Implemented in <a class="el" href="classrtabmap_1_1OdometryCuVSLAM.html#a68801df22a6803dabf7a064b99e04898">rtabmap::OdometryCuVSLAM</a>, <a class="el" href="classrtabmap_1_1OdometryDVO.html#a8475f5a8b1ba4e288ba58daf6284acc9">rtabmap::OdometryDVO</a>, <a class="el" href="classrtabmap_1_1OdometryF2F.html#af0e2f40a3dd28b9e1e84159bcf9df323">rtabmap::OdometryF2F</a>, <a class="el" href="classrtabmap_1_1OdometryF2M.html#aa0244571578fd8604470d8c21af01611">rtabmap::OdometryF2M</a>, <a class="el" href="classrtabmap_1_1OdometryFLOAM.html#a311c8b022d0a2dc6219b97a8e2b40d84">rtabmap::OdometryFLOAM</a>, <a class="el" href="classrtabmap_1_1OdometryFovis.html#a415b08f31a2ab8ff503c84623df71f0d">rtabmap::OdometryFovis</a>, <a class="el" href="classrtabmap_1_1OdometryLIOSAM.html#aea8d8aea35772e3b81ba3f74c6eb3415">rtabmap::OdometryLIOSAM</a>, <a class="el" href="classrtabmap_1_1OdometryLOAM.html#a0833118684e4f836ec668b735f81da0d">rtabmap::OdometryLOAM</a>, <a class="el" href="classrtabmap_1_1OdometryMono.html#ada54391f88a0704c4fab2d9a2b370a15">rtabmap::OdometryMono</a>, <a class="el" href="classrtabmap_1_1OdometryMSCKF.html#a81657f9c46e39bfa48e1d0021c5af8ea">rtabmap::OdometryMSCKF</a>, <a class="el" href="classrtabmap_1_1OdometryOkvis.html#ab93efd88da4ff30e4ee4a0ec525347d8">rtabmap::OdometryOkvis</a>, <a class="el" href="classrtabmap_1_1OdometryOpen3D.html#a79c86c26bd892619797d6266243bb8d6">rtabmap::OdometryOpen3D</a>, <a class="el" href="classrtabmap_1_1OdometryOpenVINS.html#a79898924aa5af5d59ce10028e876e387">rtabmap::OdometryOpenVINS</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM2.html#a8773eea08df092d237e17af96ff6d096">rtabmap::OdometryORBSLAM2</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM3.html#a6a4161d9be51ff66e3571ba912655029">rtabmap::OdometryORBSLAM3</a>, <a class="el" href="classrtabmap_1_1OdometryVINSFusion.html#ac7e841322ccadfcfdec61cc3b698754a">rtabmap::OdometryVINSFusion</a>, and <a class="el" href="classrtabmap_1_1OdometryViso2.html#ae9bf8422bbf6d2c880098b828b5d6187">rtabmap::OdometryViso2</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a69809beb553e6d4cd4a950ce251449e0" name="a69809beb553e6d4cd4a950ce251449e0"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a69809beb553e6d4cd4a950ce251449e0">◆ </a></span>canProcessRawImages()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">virtual bool rtabmap::Odometry::canProcessRawImages </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<dl class="section return"><dt>Returns</dt><dd>True if the backend can process unrectified camera images. </dd></dl>
|
|
|
|
<p>Reimplemented in <a class="el" href="classrtabmap_1_1OdometryMSCKF.html#a06b5b242107ffe5c379ff7ed089d07c6">rtabmap::OdometryMSCKF</a>, <a class="el" href="classrtabmap_1_1OdometryOkvis.html#ad4d4602445081fff30b74d1c7e22dbff">rtabmap::OdometryOkvis</a>, <a class="el" href="classrtabmap_1_1OdometryOpenVINS.html#aed27c46aa9ddc68c59eb09f2b3a9d3d0">rtabmap::OdometryOpenVINS</a>, and <a class="el" href="classrtabmap_1_1OdometryVINSFusion.html#a505ae049f32115a81d4f4258b5fb2134">rtabmap::OdometryVINSFusion</a>.</p>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00117">117</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a7a1c1e4598528a4e94f510b5dabac528" name="a7a1c1e4598528a4e94f510b5dabac528"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a7a1c1e4598528a4e94f510b5dabac528">◆ </a></span>canProcessAsyncIMU()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">virtual bool rtabmap::Odometry::canProcessAsyncIMU </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<dl class="section return"><dt>Returns</dt><dd>True if the backend processes <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> asynchronously outside <a class="el" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">process()</a>. </dd></dl>
|
|
|
|
<p>Reimplemented in <a class="el" href="classrtabmap_1_1OdometryLIOSAM.html#a51193d7f42c9b0174c6eedd75d8f4535">rtabmap::OdometryLIOSAM</a>, <a class="el" href="classrtabmap_1_1OdometryMSCKF.html#a4dd9c2358d2e69f397b61746519a923a">rtabmap::OdometryMSCKF</a>, <a class="el" href="classrtabmap_1_1OdometryOkvis.html#a4e94c233112e7105dffa37eb8d33427f">rtabmap::OdometryOkvis</a>, <a class="el" href="classrtabmap_1_1OdometryOpenVINS.html#a7712fe74d5ff65a67fe362010b795e14">rtabmap::OdometryOpenVINS</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM3.html#a2f226f38792f0c8bc146d73985239370">rtabmap::OdometryORBSLAM3</a>, and <a class="el" href="classrtabmap_1_1OdometryVINSFusion.html#a1a3145c62e7b0b43cfb5a94f61d2c9d1">rtabmap::OdometryVINSFusion</a>.</p>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00119">119</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a8b45aea55b336f758943b4a6b2ec28ee" name="a8b45aea55b336f758943b4a6b2ec28ee"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a8b45aea55b336f758943b4a6b2ec28ee">◆ </a></span>getPose()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & rtabmap::Odometry::getPose </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<dl class="section return"><dt>Returns</dt><dd>Current integrated odometry pose. </dd></dl>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00122">122</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a3276da70261724ceb03df8e410844a8c" name="a3276da70261724ceb03df8e410844a8c"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a3276da70261724ceb03df8e410844a8c">◆ </a></span>isInfoDataFilled()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">bool rtabmap::Odometry::isInfoDataFilled </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<dl class="section return"><dt>Returns</dt><dd>True if <a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> debug/statistics fields are filled in <a class="el" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">process()</a>. </dd></dl>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00124">124</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a35d69a27271b798da6640295a98b9785" name="a35d69a27271b798da6640295a98b9785"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a35d69a27271b798da6640295a98b9785">◆ </a></span>previousVelocityTransform()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">RTABMAP_DEPRECATED const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & rtabmap::Odometry::previousVelocityTransform </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000008">Deprecated:</a></b></dt><dd>Use <a class="el" href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e">getVelocityGuess()</a> instead. </dd></dl>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="aa6ab1c129163771b0d87e3e068a0427e" name="aa6ab1c129163771b0d87e3e068a0427e"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#aa6ab1c129163771b0d87e3e068a0427e">◆ </a></span>getVelocityGuess()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & rtabmap::Odometry::getVelocityGuess </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<dl class="section return"><dt>Returns</dt><dd>Last estimated velocity used for motion guessing (may be null). </dd></dl>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00128">128</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a36aa5447b7791c88a2799c99923be393" name="a36aa5447b7791c88a2799c99923be393"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a36aa5447b7791c88a2799c99923be393">◆ </a></span>previousStamp()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">double rtabmap::Odometry::previousStamp </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<dl class="section return"><dt>Returns</dt><dd>Timestamp of the previously processed frame. </dd></dl>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00130">130</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a7476b9fffee225ef396804ef59084659" name="a7476b9fffee225ef396804ef59084659"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a7476b9fffee225ef396804ef59084659">◆ </a></span>framesProcessed()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">unsigned int rtabmap::Odometry::framesProcessed </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<dl class="section return"><dt>Returns</dt><dd>Number of frames processed since the last <a class="el" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">reset()</a>. </dd></dl>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00132">132</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="ac9ae854d14d44d82e1f20e8a4791b9c4" name="ac9ae854d14d44d82e1f20e8a4791b9c4"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#ac9ae854d14d44d82e1f20e8a4791b9c4">◆ </a></span>imagesAlreadyRectified()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">bool rtabmap::Odometry::imagesAlreadyRectified </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<dl class="section return"><dt>Returns</dt><dd>True if input images are already rectified (see <a class="el" href="classrtabmap_1_1Parameters.html#aaa7af43515eedb88d1e7083e82e59bae">Parameters::kRtabmapImagesAlreadyRectified()</a>). </dd></dl>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00134">134</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a6c9ed388da42499d2244bb98c8ff0e8d" name="a6c9ed388da42499d2244bb98c8ff0e8d"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a6c9ed388da42499d2244bb98c8ff0e8d">◆ </a></span>imus()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">const std::map< double, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > & rtabmap::Odometry::imus </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> orientations cached from recent frames (stamp → transform). </dd></dl>
|
|
|
|
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00138">138</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<hr/>The documentation for this class was generated from the following file:<ul>
|
|
<li>corelib/include/rtabmap/core/<a class="el" href="Odometry_8h_source.html">Odometry.h</a></li>
|
|
</ul>
|
|
</div><!-- contents -->
|
|
</div><!-- doc-content -->
|
|
<!-- start footer part -->
|
|
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
|
<ul>
|
|
<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a></li>
|
|
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
|
|
</ul>
|
|
</div>
|
|
</body>
|
|
</html>
|