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Odometry: 2D scans + normals support

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matlabbe
2017-08-31 18:01:46 -04:00
parent 7ec58c63e9
commit 4f55b56d6b
7 changed files with 121 additions and 48 deletions
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corelib/include/rtabmap/core/Odometry.h
+2
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@@ -68,6 +68,7 @@ public:
bool isInfoDataFilled() const {return _fillInfoData;}
const Transform & previousVelocityTransform() const {return previousVelocityTransform_;}
double previousStamp() const {return previousStamp_;}
unsigned int framesProcessed() const {return framesProcessed_;}
private:
virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0;
@@ -98,6 +99,7 @@ private:
Transform previousVelocityTransform_;
Transform previousGroundTruthPose_;
float distanceTravelled_;
unsigned int framesProcessed_;
std::vector<ParticleFilter *> particleFilters_;
cv::KalmanFilter kalmanFilter_;