OdometryMSCKF.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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27 
28 #ifndef ODOMETRYMSCKF_H_
29 #define ODOMETRYMSCKF_H_
30 
31 #include <rtabmap/core/Odometry.h>
32 
33 namespace rtabmap {
34 
35 class ImageProcessorNoROS;
36 class MsckfVioNoROS;
37 
38 class RTABMAP_CORE_EXPORT OdometryMSCKF : public Odometry
39 {
40 public:
42  virtual ~OdometryMSCKF();
43 
44  virtual void reset(const Transform & initialPose = Transform::getIdentity());
46  virtual bool canProcessRawImages() const {return true;}
47  virtual bool canProcessAsyncIMU() const {return true;}
48 
49 private:
50  virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
51 
52 private:
53 #ifdef RTABMAP_MSCKF_VIO
54  ImageProcessorNoROS * imageProcessor_;
55  MsckfVioNoROS * msckf_;
56  IMU lastImu_;
57  ParametersMap parameters_;
58  Transform fixPoseRotation_;
59  Transform previousPose_;
60  bool initGravity_;
61 #endif
62 };
63 
64 }
65 
66 #endif /* ODOMETRYMSCKF_H_ */
rtabmap::SensorData
Definition: SensorData.h:51
rtabmap::OdometryMSCKF
Definition: OdometryMSCKF.h:38
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:411
rtabmap::OdometryMSCKF::canProcessRawImages
virtual bool canProcessRawImages() const
Definition: OdometryMSCKF.h:46
rtabmap::Odometry::kTypeMSCKF
@ kTypeMSCKF
Definition: Odometry.h:55
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
Odometry.h
rtabmap::IMU
Definition: IMU.h:19
rtabmap::OdometryMSCKF::getType
virtual Odometry::Type getType()
Definition: OdometryMSCKF.h:45
rtabmap::Transform
Definition: Transform.h:41
rtabmap::Odometry
Definition: Odometry.h:42
rtabmap::OdometryInfo
Definition: OdometryInfo.h:40
rtabmap::Odometry::Type
Type
Definition: Odometry.h:45
rtabmap::OdometryMSCKF::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition: OdometryMSCKF.h:47
rtabmap
Definition: CameraARCore.cpp:35


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:13