OdometryOkvis.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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27 
28 #ifndef ODOMETRYOKVIS_H_
29 #define ODOMETRYOKVIS_H_
30 
31 #include <rtabmap/core/Odometry.h>
32 
33 namespace okvis {
34  class ThreadedKFVio;
35 }
36 
37 namespace rtabmap {
38 
39 class OkvisCallbackHandler;
41 {
42 public:
44  virtual ~OdometryOkvis();
45 
46  virtual void reset(const Transform & initialPose = Transform::getIdentity());
47  virtual Odometry::Type getType() {return Odometry::kTypeOkvis;}
48  virtual bool canProcessRawImages() const {return true;}
49  virtual bool canProcessIMU() const {return true;}
50 
51 private:
52  virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
53 
54 private:
55  std::string configFilename_;
56 #ifdef RTABMAP_OKVIS
57  OkvisCallbackHandler * okvisCallbackHandler_;
58  okvis::ThreadedKFVio * okvisEstimator_;
59  int imagesProcessed_;
60  bool initGravity_;
61 #endif
63  IMU lastImu_; // only used for initialization
65 };
66 
67 }
68 
69 #endif /* ODOMETRYOKVIS_H_ */
virtual bool canProcessIMU() const
Definition: OdometryOkvis.h:49
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
virtual bool canProcessRawImages() const
Definition: OdometryOkvis.h:48
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
virtual Odometry::Type getType()
Definition: OdometryOkvis.h:47
std::string configFilename_
Definition: OdometryOkvis.h:55
ParametersMap okvisParameters_
Definition: OdometryOkvis.h:62


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:59