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31 #include <rtabmap/core/rtabmap_core_export.h>
86 const std::map<double, Transform> &
imus()
const {
return imus_;}
91 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);
92 void predictKalmanFilter(
float dt,
float * vx=0,
float * vy=0,
float * vz=0,
float * vroll=0,
float * vpitch=0,
float * vyaw=0);
93 void updateKalmanFilter(
float & vx,
float & vy,
float & vz,
float & vroll,
float & vpitch,
float & vyaw);
ADT create(const Signature &signature)
RTABMAP_DEPRECATED(typedef SensorData Image, "rtabmap::Image class is renamed to rtabmap::SensorData, use the last one instead.")
std::list< std::pair< std::vector< float >, double > > previousVelocities_
unsigned int framesProcessed_
std::map< std::string, std::string > ParametersMap
double previousStamp() const
std::map< double, Transform > imus_
virtual bool canProcessAsyncIMU() const
const Transform & getPose() const
Transform imuLastTransform_
Transform previousGroundTruthPose_
std::vector< StereoCameraModel > stereoModels_
const Transform & getVelocityGuess() const
const std::map< double, Transform > & imus() const
unsigned int framesProcessed() const
float _kalmanProcessNoise
std::vector< ParticleFilter * > particleFilters_
float _kalmanMeasurementNoise
float guessSmoothingDelay_
std::vector< CameraModel > models_
unsigned int _imageDecimation
bool imagesAlreadyRectified() const
bool _imagesAlreadyRectified
cv::KalmanFilter kalmanFilter_
bool isInfoDataFilled() const
virtual bool canProcessRawImages() const
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:13