corelib
include
rtabmap
core
odometry
OdometryORBSLAM2.h
Go to the documentation of this file.
1
/*
2
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3
All rights reserved.
4
5
Redistribution and use in source and binary forms, with or without
6
modification, are permitted provided that the following conditions are met:
7
* Redistributions of source code must retain the above copyright
8
notice, this list of conditions and the following disclaimer.
9
* Redistributions in binary form must reproduce the above copyright
10
notice, this list of conditions and the following disclaimer in the
11
documentation and/or other materials provided with the distribution.
12
* Neither the name of the Universite de Sherbrooke nor the
13
names of its contributors may be used to endorse or promote products
14
derived from this software without specific prior written permission.
15
16
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26
*/
27
28
#ifndef ODOMETRYORBSLAM2_H_
29
#define ODOMETRYORBSLAM2_H_
30
31
#include <
rtabmap/core/Odometry.h
>
32
33
34
class
ORBSLAM2System;
35
36
namespace
rtabmap
{
37
38
class
RTABMAP_CORE_EXPORT
OdometryORBSLAM2
:
public
Odometry
39
{
40
public
:
41
OdometryORBSLAM2
(
const
rtabmap::ParametersMap
& parameters =
rtabmap::ParametersMap
());
42
virtual
~
OdometryORBSLAM2
();
43
44
virtual
void
reset(
const
Transform
& initialPose =
Transform::getIdentity
());
45
virtual
Odometry::Type
getType
() {
return
Odometry::kTypeORBSLAM
;}
46
47
private
:
48
virtual
Transform
computeTransform(
SensorData
& image,
const
Transform
& guess =
Transform
(),
OdometryInfo
* info = 0);
49
50
private
:
51
#if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 2
52
ORBSLAM2System * orbslam_;
53
bool
firstFrame_;
54
Transform
originLocalTransform_;
55
Transform
previousPose_;
56
#endif
57
58
};
59
60
}
61
62
#endif
/* ODOMETRYORBSLAM2_H_ */
rtabmap::SensorData
Definition:
SensorData.h:51
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition:
Transform.cpp:411
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Definition:
Parameters.h:43
rtabmap::OdometryORBSLAM2::getType
virtual Odometry::Type getType()
Definition:
OdometryORBSLAM2.h:45
Odometry.h
rtabmap::OdometryORBSLAM2
Definition:
OdometryORBSLAM2.h:38
rtabmap::Transform
Definition:
Transform.h:41
rtabmap::Odometry::kTypeORBSLAM
@ kTypeORBSLAM
Definition:
Odometry.h:52
rtabmap::Odometry
Definition:
Odometry.h:42
rtabmap::OdometryInfo
Definition:
OdometryInfo.h:40
rtabmap::Odometry::Type
Type
Definition:
Odometry.h:45
rtabmap
Definition:
CameraARCore.cpp:35
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:13