82 const std::map<double, Transform> &
imus()
const {
return imus_;}
88 void predictKalmanFilter(
float dt,
float * vx=0,
float * vy=0,
float * vz=0,
float * vroll=0,
float * vpitch=0,
float * vyaw=0);
89 void updateKalmanFilter(
float & vx,
float & vy,
float & vz,
float & vroll,
float & vpitch,
float & vyaw);
bool _imagesAlreadyRectified
unsigned int framesProcessed() const
float _kalmanMeasurementNoise
cv::KalmanFilter kalmanFilter_
bool isInfoDataFilled() const
bool imagesAlreadyRectified() const
unsigned int framesProcessed_
std::map< std::string, std::string > ParametersMap
float _kalmanProcessNoise
const Transform & getPose() const
double previousStamp() const
virtual bool canProcessRawImages() const
float guessSmoothingDelay_
StereoCameraModel stereoModel_
Transform previousGroundTruthPose_
std::vector< ParticleFilter * > particleFilters_
const Transform & getVelocityGuess() const
virtual bool canProcessIMU() const
RTABMAP_DEPRECATED(typedef SensorData Image,"rtabmap::Image class is renamed to rtabmap::SensorData, use the last one instead.")
const std::map< double, Transform > & imus() const
Transform imuLastTransform_
std::map< double, Transform > imus_
std::list< std::pair< std::vector< float >, double > > previousVelocities_