rtabmap::OdometryOkvis Class Reference

#include <OdometryOkvis.h>

Inheritance diagram for rtabmap::OdometryOkvis:

Public Member Functions
virtual bool	canProcessAsyncIMU () const
virtual bool	canProcessRawImages () const
virtual Odometry::Type	getType ()
	OdometryOkvis (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
virtual void	reset (const Transform &initialPose=Transform::getIdentity())
virtual	~OdometryOkvis ()
Public Member Functions inherited from rtabmap::Odometry
unsigned int	framesProcessed () const
const Transform &	getPose () const
const Transform &	getVelocityGuess () const
bool	imagesAlreadyRectified () const
bool	isInfoDataFilled () const
double	previousStamp () const
const RTABMAP_DEPRECATED Transform &	previousVelocityTransform () const
Transform	process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
Transform	process (SensorData &data, OdometryInfo *info=0)
virtual	~Odometry ()

Private Member Functions
virtual Transform	computeTransform (SensorData &image, const Transform &guess=Transform(), OdometryInfo *info=0)

Private Attributes
std::string	configFilename_
IMU	lastImu_
ParametersMap	okvisParameters_
Transform	previousPose_

Additional Inherited Members
Public Types inherited from rtabmap::Odometry
enum	Type {   kTypeUndef = -1, kTypeF2M = 0, kTypeF2F = 1, kTypeFovis = 2,   kTypeViso2 = 3, kTypeDVO = 4, kTypeORBSLAM = 5, kTypeOkvis = 6,   kTypeLOAM = 7, kTypeMSCKF = 8, kTypeVINS = 9, kTypeOpenVINS = 10,   kTypeFLOAM = 11, kTypeOpen3D = 12 }
Static Public Member Functions inherited from rtabmap::Odometry
static Odometry *	create (const ParametersMap &parameters=ParametersMap())
static Odometry *	create (Type &type, const ParametersMap &parameters=ParametersMap())
Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > &	imus () const
	Odometry (const rtabmap::ParametersMap &parameters)

Detailed Description

Definition at line 40 of file OdometryOkvis.h.

Constructor & Destructor Documentation

OdometryOkvis()

rtabmap::OdometryOkvis::OdometryOkvis

(

const rtabmap::ParametersMap &

parameters = rtabmap::ParametersMap()

)

Definition at line 132 of file OdometryOkvis.cpp.

~OdometryOkvis()

rtabmap::OdometryOkvis::~OdometryOkvis ( )

virtual

Definition at line 153 of file OdometryOkvis.cpp.

Member Function Documentation

canProcessAsyncIMU()

virtual bool rtabmap::OdometryOkvis::canProcessAsyncIMU ( ) const

inlinevirtual

Reimplemented from rtabmap::Odometry.

Definition at line 49 of file OdometryOkvis.h.

canProcessRawImages()

virtual bool rtabmap::OdometryOkvis::canProcessRawImages ( ) const

inlinevirtual

Reimplemented from rtabmap::Odometry.

Definition at line 48 of file OdometryOkvis.h.

computeTransform()

Transform rtabmap::OdometryOkvis::computeTransform ( SensorData &  image, const Transform &  guess = Transform(), OdometryInfo *  info = 0  )

privatevirtual

Implements rtabmap::Odometry.

Definition at line 185 of file OdometryOkvis.cpp.

getType()

virtual Odometry::Type rtabmap::OdometryOkvis::getType ( )

inlinevirtual

Implements rtabmap::Odometry.

Definition at line 47 of file OdometryOkvis.h.

reset()

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

virtual

Reimplemented from rtabmap::Odometry.

Definition at line 162 of file OdometryOkvis.cpp.

Member Data Documentation

configFilename_

std::string rtabmap::OdometryOkvis::configFilename_

private

Definition at line 55 of file OdometryOkvis.h.

lastImu_

IMU rtabmap::OdometryOkvis::lastImu_

private

Definition at line 63 of file OdometryOkvis.h.

okvisParameters_

ParametersMap rtabmap::OdometryOkvis::okvisParameters_

private

Definition at line 62 of file OdometryOkvis.h.

previousPose_

Transform rtabmap::OdometryOkvis::previousPose_

private

Definition at line 64 of file OdometryOkvis.h.

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

• OdometryOkvis.h
• OdometryOkvis.cpp