#include <Odometry.h>

Inheritance diagram for rtabmap::Odometry:

Public Types
enum	Type { kTypeUndef = -1, kTypeF2M = 0, kTypeF2F = 1, kTypeFovis = 2, kTypeViso2 = 3, kTypeDVO = 4, kTypeORBSLAM2 = 5, kTypeOkvis = 6, kTypeLOAM = 7, kTypeMSCKF = 8 }
Public Member Functions
virtual bool	canProcessRawImages () const
unsigned int	framesProcessed () const
const Transform &	getPose () const
virtual Odometry::Type	getType ()=0
bool	imagesAlreadyRectified () const
bool	isInfoDataFilled () const
double	previousStamp () const
const Transform &	previousVelocityTransform () const
Transform	process (SensorData &data, OdometryInfo *info=0)
Transform	process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
virtual void	reset (const Transform &initialPose=Transform::getIdentity())
virtual	~Odometry ()
Static Public Member Functions
static Odometry *	create (const ParametersMap &parameters)
static Odometry *	create (Type &type, const ParametersMap &parameters=ParametersMap())
Protected Member Functions
	Odometry (const rtabmap::ParametersMap &parameters)
Private Member Functions
virtual Transform	computeTransform (SensorData &data, const Transform &guess=Transform(), OdometryInfo *info=0)=0
void	initKalmanFilter (const Transform &initialPose=Transform::getIdentity(), float vx=0.0f, float vy=0.0f, float vz=0.0f, float vroll=0.0f, float vpitch=0.0f, float vyaw=0.0f)
void	predictKalmanFilter (float dt, float vx=0, float vy=0, float vz=0, float vroll=0, float vpitch=0, float vyaw=0)
void	updateKalmanFilter (float &vx, float &vy, float &vz, float &vroll, float &vpitch, float &vyaw)
Private Attributes
bool	_alignWithGround
bool	_fillInfoData
int	_filteringStrategy
bool	_force3DoF
bool	_holonomic
int	_imageDecimation
bool	_imagesAlreadyRectified
float	_kalmanMeasurementNoise
float	_kalmanProcessNoise
float	_particleLambdaR
float	_particleLambdaT
float	_particleNoiseR
float	_particleNoiseT
int	_particleSize
Transform	_pose
bool	_publishRAMUsage
int	_resetCountdown
int	_resetCurrentCount
float	distanceTravelled_
unsigned int	framesProcessed_
bool	guessFromMotion_
cv::KalmanFilter	kalmanFilter_
std::vector< ParticleFilter * >	particleFilters_
Transform	previousGroundTruthPose_
double	previousStamp_
Transform	previousVelocityTransform_

Detailed Description

Definition at line 42 of file Odometry.h.

Member Enumeration Documentation

enum rtabmap::Odometry::Type

Enumerator:

kTypeUndef
kTypeF2M
kTypeF2F
kTypeFovis
kTypeViso2
kTypeDVO
kTypeORBSLAM2
kTypeOkvis
kTypeLOAM
kTypeMSCKF

Definition at line 45 of file Odometry.h.

Constructor & Destructor Documentation

rtabmap::Odometry::~Odometry ( ) [virtual]

Definition at line 173 of file Odometry.cpp.

rtabmap::Odometry::Odometry ( const rtabmap::ParametersMap & parameters ) [protected]

Definition at line 99 of file Odometry.cpp.

Member Function Documentation

virtual bool rtabmap::Odometry::canProcessRawImages ( ) const [inline, virtual]

Reimplemented in rtabmap::OdometryOkvis, and rtabmap::OdometryMSCKF.

Definition at line 68 of file Odometry.h.

virtual Transform rtabmap::Odometry::computeTransform	(	SensorData &	data,
		const Transform &	guess = `Transform()`,
		OdometryInfo *	info = `0`
	)		`[private, pure virtual]`

Implemented in rtabmap::OdometryF2M, rtabmap::OdometryDVO, rtabmap::OdometryFovis, rtabmap::OdometryLOAM, rtabmap::OdometryF2F, rtabmap::OdometryOkvis, rtabmap::OdometryORBSLAM2, rtabmap::OdometryMSCKF, rtabmap::OdometryViso2, and rtabmap::OdometryMono.

Odometry * rtabmap::Odometry::create ( const ParametersMap & parameters ) [static]

Definition at line 53 of file Odometry.cpp.

Odometry * rtabmap::Odometry::create	(	Odometry::Type &	type,
		const ParametersMap &	parameters = `ParametersMap()`
	)		`[static]`

Definition at line 61 of file Odometry.cpp.

unsigned int rtabmap::Odometry::framesProcessed ( ) const [inline]

Definition at line 75 of file Odometry.h.

const Transform& rtabmap::Odometry::getPose ( ) const [inline]

Definition at line 71 of file Odometry.h.

virtual Odometry::Type rtabmap::Odometry::getType ( ) [pure virtual]

Implemented in rtabmap::OdometryF2M, rtabmap::OdometryDVO, rtabmap::OdometryFovis, rtabmap::OdometryLOAM, rtabmap::OdometryF2F, rtabmap::OdometryORBSLAM2, rtabmap::OdometryOkvis, rtabmap::OdometryMSCKF, and rtabmap::OdometryViso2.

bool rtabmap::Odometry::imagesAlreadyRectified ( ) const [inline]

Definition at line 76 of file Odometry.h.

void rtabmap::Odometry::initKalmanFilter	(	const Transform &	initialPose = `Transform::getIdentity()`,
		float	vx = `0.0f`,
		float	vy = `0.0f`,
		float	vz = `0.0f`,
		float	vroll = `0.0f`,
		float	vpitch = `0.0f`,
		float	vyaw = `0.0f`
	)		`[private]`

Definition at line 601 of file Odometry.cpp.

bool rtabmap::Odometry::isInfoDataFilled ( ) const [inline]

Definition at line 72 of file Odometry.h.

void rtabmap::Odometry::predictKalmanFilter	(	float	dt,
		float *	vx = `0`,
		float *	vy = `0`,
		float *	vz = `0`,
		float *	vroll = `0`,
		float *	vpitch = `0`,
		float *	vyaw = `0`
	)		`[private]`