Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::Odometry Class Referenceabstract

#include <Odometry.h>

Inheritance diagram for rtabmap::Odometry:
Inheritance graph
[legend]

Public Types

enum  Type {
  kTypeUndef = -1, kTypeF2M = 0, kTypeF2F = 1, kTypeFovis = 2,
  kTypeViso2 = 3, kTypeDVO = 4, kTypeORBSLAM2 = 5, kTypeOkvis = 6,
  kTypeLOAM = 7, kTypeMSCKF = 8, kTypeVINS = 9
}
 

Public Member Functions

virtual bool canProcessIMU () const
 
virtual bool canProcessRawImages () const
 
unsigned int framesProcessed () const
 
const Transform & getPose () const
 
virtual Odometry::Type getType ()=0
 
const Transform & getVelocityGuess () const
 
bool imagesAlreadyRectified () const
 
bool isInfoDataFilled () const
 
double previousStamp () 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())
 
 RTABMAP_DEPRECATED (const Transform &previousVelocityTransform() const,"Use getVelocityGuess() instead.")
 
virtual ~Odometry ()
 

Static Public Member Functions

static Odometry * create (const ParametersMap &parameters=ParametersMap())
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 

Protected Member Functions

const std::map< double, Transform > & imus () const
 
 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_
 
float guessSmoothingDelay_
 
Transform imuLastTransform_
 
std::map< double, Transform > imus_
 
cv::KalmanFilter kalmanFilter_
 
std::vector< ParticleFilter * > particleFilters_
 
Transform previousGroundTruthPose_
 
double previousStamp_
 
std::list< std::pair< std::vector< float >, double > > previousVelocities_
 
StereoCameraModel stereoModel_
 
Transform velocityGuess_
 

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 
kTypeVINS 

Definition at line 45 of file Odometry.h.

Constructor & Destructor Documentation

rtabmap::Odometry::~Odometry ( )
virtual

Definition at line 183 of file Odometry.cpp.

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

Definition at line 107 of file Odometry.cpp.

Member Function Documentation

virtual bool rtabmap::Odometry::canProcessIMU ( ) const
inlinevirtual

Reimplemented in rtabmap::OdometryF2M, rtabmap::OdometryOkvis, rtabmap::OdometryMSCKF, and rtabmap::OdometryVINS.

Definition at line 70 of file Odometry.h.

virtual bool rtabmap::Odometry::canProcessRawImages ( ) const
inlinevirtual

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

Definition at line 69 of file Odometry.h.

virtual Transform rtabmap::Odometry::computeTransform ( SensorData &  data,
const Transform &  guess = Transform(),
OdometryInfo *  info = 0 
)
privatepure virtual

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

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

Definition at line 54 of file Odometry.cpp.

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

Definition at line 62 of file Odometry.cpp.

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

Definition at line 78 of file Odometry.h.

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

Definition at line 73 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::OdometryMono, rtabmap::OdometryMSCKF, rtabmap::OdometryVINS, and rtabmap::OdometryViso2.

const Transform& rtabmap::Odometry::getVelocityGuess ( ) const
inline

Definition at line 76 of file Odometry.h.

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

Definition at line 79 of file Odometry.h.

const std::map<double, Transform>& rtabmap::Odometry::imus ( ) const
inlineprotected

Definition at line 82 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 744 of file Odometry.cpp.

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

Definition at line 74 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

Definition at line 836 of file Odometry.cpp.

double rtabmap::Odometry::previousStamp ( ) const
inline

Definition at line 77 of file Odometry.h.

Transform rtabmap::Odometry::process ( SensorData &  data,
OdometryInfo *  info = 0 
)

Definition at line 278 of file Odometry.cpp.

Transform rtabmap::Odometry::process ( SensorData &  data,
const Transform &  guess,
OdometryInfo *  info = 0 
)

Definition at line 283 of file Odometry.cpp.

void rtabmap::Odometry::reset ( const Transform &  initialPose = Transform::getIdentity())
virtual

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

Definition at line 191 of file Odometry.cpp.

rtabmap::Odometry::RTABMAP_DEPRECATED ( const Transform &previousVelocityTransform()  const,
"Use getVelocityGuess() instead."   
)
void rtabmap::Odometry::updateKalmanFilter ( float &  vx,
float &  vy,
float &  vz,
float &  vroll,
float &  vpitch,
float &  vyaw 
)
private

Definition at line 922 of file Odometry.cpp.

Member Data Documentation

bool rtabmap::Odometry::_alignWithGround
private

Definition at line 107 of file Odometry.h.

bool rtabmap::Odometry::_fillInfoData
private

Definition at line 103 of file Odometry.h.

int rtabmap::Odometry::_filteringStrategy
private

Definition at line 97 of file Odometry.h.

bool rtabmap::Odometry::_force3DoF
private

Definition at line 93 of file Odometry.h.

bool rtabmap::Odometry::_holonomic
private

Definition at line 94 of file Odometry.h.

int rtabmap::Odometry::_imageDecimation
private

Definition at line 106 of file Odometry.h.

bool rtabmap::Odometry::_imagesAlreadyRectified
private

Definition at line 109 of file Odometry.h.

float rtabmap::Odometry::_kalmanMeasurementNoise
private

Definition at line 105 of file Odometry.h.

float rtabmap::Odometry::_kalmanProcessNoise
private

Definition at line 104 of file Odometry.h.

float rtabmap::Odometry::_particleLambdaR
private

Definition at line 102 of file Odometry.h.

float rtabmap::Odometry::_particleLambdaT
private

Definition at line 100 of file Odometry.h.

float rtabmap::Odometry::_particleNoiseR
private

Definition at line 101 of file Odometry.h.

float rtabmap::Odometry::_particleNoiseT
private

Definition at line 99 of file Odometry.h.

int rtabmap::Odometry::_particleSize
private

Definition at line 98 of file Odometry.h.

Transform rtabmap::Odometry::_pose
private

Definition at line 110 of file Odometry.h.

bool rtabmap::Odometry::_publishRAMUsage
private

Definition at line 108 of file Odometry.h.

int rtabmap::Odometry::_resetCountdown
private

Definition at line 92 of file Odometry.h.

int rtabmap::Odometry::_resetCurrentCount
private

Definition at line 111 of file Odometry.h.

float rtabmap::Odometry::distanceTravelled_
private

Definition at line 117 of file Odometry.h.

unsigned int rtabmap::Odometry::framesProcessed_
private

Definition at line 118 of file Odometry.h.

bool rtabmap::Odometry::guessFromMotion_
private

Definition at line 95 of file Odometry.h.

float rtabmap::Odometry::guessSmoothingDelay_
private

Definition at line 96 of file Odometry.h.

Transform rtabmap::Odometry::imuLastTransform_
private

Definition at line 115 of file Odometry.h.

std::map<double, Transform> rtabmap::Odometry::imus_
private

Definition at line 123 of file Odometry.h.

cv::KalmanFilter rtabmap::Odometry::kalmanFilter_
private

Definition at line 121 of file Odometry.h.

std::vector<ParticleFilter *> rtabmap::Odometry::particleFilters_
private

Definition at line 120 of file Odometry.h.

Transform rtabmap::Odometry::previousGroundTruthPose_
private

Definition at line 116 of file Odometry.h.

double rtabmap::Odometry::previousStamp_
private

Definition at line 112 of file Odometry.h.

std::list<std::pair<std::vector<float>, double> > rtabmap::Odometry::previousVelocities_
private

Definition at line 113 of file Odometry.h.

StereoCameraModel rtabmap::Odometry::stereoModel_
private

Definition at line 122 of file Odometry.h.

Transform rtabmap::Odometry::velocityGuess_
private

Definition at line 114 of file Odometry.h.

The documentation for this class was generated from the following files:

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:09