#include <Odometry.h>

Inheritance diagram for rtabmap::Odometry:

[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 }

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

inlinevirtual

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`
	)

privatepure 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

Definition at line 693 of file Odometry.cpp.

double rtabmap::Odometry::previousStamp ( ) const

inline

Definition at line 74 of file Odometry.h.

const Transform& rtabmap::Odometry::previousVelocityTransform ( ) const

inline

Definition at line 73 of file Odometry.h.

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

Definition at line 235 of file Odometry.cpp.

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

Definition at line 240 of file Odometry.cpp.

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

virtual

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

Definition at line 182 of file Odometry.cpp.

void rtabmap::Odometry::updateKalmanFilter	(	float &	vx,
		float &	vy,
		float &	vz,
		float &	vroll,
		float &	vpitch,
		float &	vyaw
	)

private

Definition at line 779 of file Odometry.cpp.

Member Data Documentation

bool rtabmap::Odometry::_alignWithGround

private

Definition at line 100 of file Odometry.h.

bool rtabmap::Odometry::_fillInfoData

private

Definition at line 96 of file Odometry.h.

int rtabmap::Odometry::_filteringStrategy

private

Definition at line 90 of file Odometry.h.

bool rtabmap::Odometry::_force3DoF

private

Definition at line 87 of file Odometry.h.

bool rtabmap::Odometry::_holonomic

private

Definition at line 88 of file Odometry.h.

int rtabmap::Odometry::_imageDecimation

private

Definition at line 99 of file Odometry.h.

bool rtabmap::Odometry::_imagesAlreadyRectified

private

Definition at line 102 of file Odometry.h.

float rtabmap::Odometry::_kalmanMeasurementNoise

private

Definition at line 98 of file Odometry.h.

float rtabmap::Odometry::_kalmanProcessNoise

private

Definition at line 97 of file Odometry.h.

float rtabmap::Odometry::_particleLambdaR

private

Definition at line 95 of file Odometry.h.

float rtabmap::Odometry::_particleLambdaT

private

Definition at line 93 of file Odometry.h.

float rtabmap::Odometry::_particleNoiseR

private

Definition at line 94 of file Odometry.h.

float rtabmap::Odometry::_particleNoiseT

private

Definition at line 92 of file Odometry.h.

int rtabmap::Odometry::_particleSize

private

Definition at line 91 of file Odometry.h.

Transform rtabmap::Odometry::_pose

private

Definition at line 103 of file Odometry.h.

bool rtabmap::Odometry::_publishRAMUsage

private

Definition at line 101 of file Odometry.h.

int rtabmap::Odometry::_resetCountdown

private

Definition at line 86 of file Odometry.h.

int rtabmap::Odometry::_resetCurrentCount

private

Definition at line 104 of file Odometry.h.

float rtabmap::Odometry::distanceTravelled_

private

Definition at line 108 of file Odometry.h.

unsigned int rtabmap::Odometry::framesProcessed_

private

Definition at line 109 of file Odometry.h.

bool rtabmap::Odometry::guessFromMotion_

private

Definition at line 89 of file Odometry.h.

cv::KalmanFilter rtabmap::Odometry::kalmanFilter_

private

Definition at line 112 of file Odometry.h.

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

private

Definition at line 111 of file Odometry.h.

Transform rtabmap::Odometry::previousGroundTruthPose_

private

Definition at line 107 of file Odometry.h.

double rtabmap::Odometry::previousStamp_

private

Definition at line 105 of file Odometry.h.

Transform rtabmap::Odometry::previousVelocityTransform_

private

Definition at line 106 of file Odometry.h.

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

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation