OdometryORBSLAM2.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
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27 
28 #ifndef ODOMETRYORBSLAM2_H_
29 #define ODOMETRYORBSLAM2_H_
30 
31 #include <rtabmap/core/Odometry.h>
32 
33 namespace ORB_SLAM2 {
34 class System;
35 }
36 
37 class ORBSLAM2System;
38 
39 namespace rtabmap {
40 
42 {
43 public:
45  virtual ~OdometryORBSLAM2();
46 
47  virtual void reset(const Transform & initialPose = Transform::getIdentity());
48  virtual Odometry::Type getType() {return Odometry::kTypeORBSLAM2;}
49 
50 private:
51  virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
52 
53 private:
54 #ifdef RTABMAP_ORB_SLAM2
55  ORBSLAM2System * orbslam2_;
56  bool firstFrame_;
57  Transform originLocalTransform_;
58  Transform previousPose_;
59 #endif
60 
61 };
62 
63 }
64 
65 #endif /* ODOMETRYORBSLAM2_H_ */
virtual Odometry::Type getType()
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
#define RTABMAP_EXP
Definition: RtabmapExp.h:38


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