OdometryLOAM.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
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27 
28 #ifndef ODOMETRYLOAM_H_
29 #define ODOMETRYLOAM_H_
30 
31 #include <rtabmap/core/Odometry.h>
32 
33 #ifdef RTABMAP_LOAM
34 #include <loam_velodyne/BasicScanRegistration.h>
35 #include <loam_velodyne/BasicLaserOdometry.h>
36 #include <loam_velodyne/BasicLaserMapping.h>
37 #include <loam_velodyne/BasicTransformMaintenance.h>
38 #include <loam_velodyne/MultiScanRegistration.h>
39 #endif
40 
41 namespace rtabmap {
42 
44 {
45 public:
47  virtual ~OdometryLOAM();
48 
49  virtual void reset(const Transform & initialPose = Transform::getIdentity());
51 
52 private:
53  virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
54 
55 private:
56 #ifdef RTABMAP_LOAM
57  std::vector<pcl::PointCloud<pcl::PointXYZI> > segmentScanRings(const pcl::PointCloud<pcl::PointXYZ> & laserCloudIn);
58 
59  loam::BasicScanRegistration scanRegistration_;
60  loam::MultiScanMapper scanMapper_;
61  loam::BasicLaserOdometry * laserOdometry_;
62  loam::BasicLaserMapping * laserMapping_;
63  loam::BasicTransformMaintenance transformMaintenance_;
64  Transform lastPose_;
65  float scanPeriod_;
66  float linVar_;
67  float angVar_;
68  bool localMapping_;
69  bool lost_;
70 #endif
71 };
72 
73 }
74 
75 #endif /* ODOMETRYLOAM_H_ */
static Transform getIdentity()
Definition: Transform.cpp:380
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
virtual Odometry::Type getType()
Definition: OdometryLOAM.h:50


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:59