Abstract base class for visual, lidar and visual-inertial odometry backends. More...

#include <Odometry.h>

Inheritance diagram for rtabmap::Odometry:

[legend]

Public Types
enum	Type { kTypeUndef = -1 , kTypeF2M = 0 , kTypeF2F = 1 , kTypeFovis = 2 , kTypeViso2 = 3 , kTypeDVO = 4 , kTypeORBSLAM = 5 , kTypeOkvis = 6 , kTypeLOAM = 7 , kTypeMSCKF = 8 , kTypeVINSFusion = 9 , kTypeOpenVINS = 10 , kTypeFLOAM = 11 , kTypeOpen3D = 12 , kTypeCuVSLAM = 13 , kTypeLIOSAM = 14 }
	Odometry backend selected by Parameters::kOdomStrategy(). More...

Public Member Functions
Transform	process (SensorData &data, OdometryInfo *info=0)
	Processes a sensor frame and updates the integrated pose.

Transform	process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
	Processes a sensor frame with an external motion guess.

virtual void	reset (const Transform &initialPose=Transform::getIdentity())
	Resets internal state and sets the initial pose.

virtual Odometry::Type	getType ()=0

virtual bool	canProcessRawImages () const

virtual bool	canProcessAsyncIMU () const

const Transform &	getPose () const

bool	isInfoDataFilled () const

RTABMAP_DEPRECATED const Transform &	previousVelocityTransform () const

const Transform &	getVelocityGuess () const

double	previousStamp () const

unsigned int	framesProcessed () const

bool	imagesAlreadyRectified () const

Static Public Member Functions
static Odometry *	create (const ParametersMap &parameters=ParametersMap())
	Creates an odometry instance from Parameters::kOdomStrategy() in `parameters`.

static Odometry *	create (Type &type, const ParametersMap &parameters=ParametersMap())
	Creates an odometry instance of a given `type`.

Protected Member Functions
const std::map< double, Transform > &	imus () const

	Odometry (const rtabmap::ParametersMap &parameters)
	Constructs the base odometry state from RTAB-Map parameters.

Detailed Description

Abstract base class for visual, lidar and visual-inertial odometry backends.

Odometry estimates the incremental motion between consecutive SensorData frames. Concrete implementations override computeTransform(); the public process() pipeline handles IMU caching, optional motion guesses, filtering (Kalman or particle), image decimation, deskewing and pose integration.

Use create() to instantiate a backend from Parameters::kOdomStrategy().

See also: OdometryThread; OdometryInfo

Definition at line 56 of file Odometry.h.

Member Enumeration Documentation

◆ Type

enum rtabmap::Odometry::Type

Odometry backend selected by Parameters::kOdomStrategy().

Enumerator
kTypeUndef	Undefined / invalid type.
kTypeF2M	Frame-to-map (default).
kTypeF2F	Frame-to-frame.
kTypeFovis	FOVIS stereo visual odometry.
kTypeViso2	libviso2.
kTypeDVO	Dense visual odometry.
kTypeORBSLAM	ORB-SLAM 2/3.
kTypeOkvis	OKVIS.
kTypeLOAM	LOAM lidar odometry.
kTypeMSCKF	MSCKF visual-inertial.
kTypeVINSFusion	VINS-Fusion.
kTypeOpenVINS	OpenVINS.
kTypeFLOAM	FLOAM lidar odometry.
kTypeOpen3D	Open3D RGB-D odometry.
kTypeCuVSLAM	cuVSLAM.
kTypeLIOSAM	LIO-SAM.

Definition at line 60 of file Odometry.h.

Member Function Documentation

◆ create() [1/2]

static Odometry * rtabmap::Odometry::create ( const ParametersMap & parameters = ParametersMap() )

static

Creates an odometry instance from Parameters::kOdomStrategy() in parameters.

Parameters

parameters RTAB-Map parameters (odometry strategy and related options).

Returns: New odometry object (caller owns the pointer). Falls back to kTypeF2M if the type is unknown.

◆ create() [2/2]

static Odometry * rtabmap::Odometry::create	(	Type &	type,
		const ParametersMap &	parameters = `ParametersMap()`
	)

static

Creates an odometry instance of a given type.

Parameters

type	In/out odometry type; updated to kTypeF2M if `type` is unknown.
parameters	RTAB-Map parameters passed to the concrete backend.

◆ process() [1/2]

Transform rtabmap::Odometry::process	(	SensorData &	data,
		OdometryInfo *	info = `0`
	)

Processes a sensor frame and updates the integrated pose.

Parameters

data	Input sensor data (must have `id()` >= 0). May be modified in place (decompression, deskewing).
info	Optional output statistics and debug data.

Returns: Updated integrated pose (getPose()) after the frame is processed, or a null transform if odometry is lost. The incremental transform is available in OdometryInfo::transform when info is provided.

◆ process() [2/2]

Transform rtabmap::Odometry::process	(	SensorData &	data,
		const Transform &	guess,
		OdometryInfo *	info = `0`
	)

Processes a sensor frame with an external motion guess.

Parameters

data	Input sensor data.
guess	Optional prior on the incremental transform (used by the backend when supported).
info	Optional output statistics and debug data.

◆ reset()

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

virtual

Resets internal state and sets the initial pose.

Parameters

initialPose Starting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.

Reimplemented in rtabmap::OdometryMono, rtabmap::OdometryCuVSLAM, rtabmap::OdometryDVO, rtabmap::OdometryF2F, rtabmap::OdometryF2M, rtabmap::OdometryFLOAM, rtabmap::OdometryFovis, rtabmap::OdometryLIOSAM, rtabmap::OdometryLOAM, rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpen3D, rtabmap::OdometryOpenVINS, rtabmap::OdometryORBSLAM2, rtabmap::OdometryORBSLAM3, rtabmap::OdometryVINSFusion, and rtabmap::OdometryViso2.

◆ getType()

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

pure virtual

Returns: Concrete odometry backend type.

Implemented in rtabmap::OdometryCuVSLAM, rtabmap::OdometryDVO, rtabmap::OdometryF2F, rtabmap::OdometryF2M, rtabmap::OdometryFLOAM, rtabmap::OdometryFovis, rtabmap::OdometryLIOSAM, rtabmap::OdometryLOAM, rtabmap::OdometryMono, rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpen3D, rtabmap::OdometryOpenVINS, rtabmap::OdometryORBSLAM2, rtabmap::OdometryORBSLAM3, rtabmap::OdometryVINSFusion, and rtabmap::OdometryViso2.

◆ canProcessRawImages()

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

inlinevirtual

Returns: True if the backend can process unrectified camera images.

Reimplemented in rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpenVINS, and rtabmap::OdometryVINSFusion.

Definition at line 117 of file Odometry.h.

◆ canProcessAsyncIMU()

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

inlinevirtual

Returns: True if the backend processes IMU asynchronously outside process().

Reimplemented in rtabmap::OdometryLIOSAM, rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpenVINS, rtabmap::OdometryORBSLAM3, and rtabmap::OdometryVINSFusion.

Definition at line 119 of file Odometry.h.

◆ getPose()

const Transform & rtabmap::Odometry::getPose ( ) const

inline

Returns: Current integrated odometry pose.

Definition at line 122 of file Odometry.h.

◆ isInfoDataFilled()

bool rtabmap::Odometry::isInfoDataFilled ( ) const

inline

Returns: True if OdometryInfo debug/statistics fields are filled in process().

Definition at line 124 of file Odometry.h.

◆ previousVelocityTransform()

RTABMAP_DEPRECATED const Transform & rtabmap::Odometry::previousVelocityTransform ( ) const

Deprecated:: Use getVelocityGuess() instead.

◆ getVelocityGuess()

const Transform & rtabmap::Odometry::getVelocityGuess ( ) const

inline

Returns: Last estimated velocity used for motion guessing (may be null).

Definition at line 128 of file Odometry.h.

◆ previousStamp()

double rtabmap::Odometry::previousStamp ( ) const

inline

Returns: Timestamp of the previously processed frame.

Definition at line 130 of file Odometry.h.

◆ framesProcessed()

unsigned int rtabmap::Odometry::framesProcessed ( ) const

inline

Returns: Number of frames processed since the last reset().

Definition at line 132 of file Odometry.h.

◆ imagesAlreadyRectified()

bool rtabmap::Odometry::imagesAlreadyRectified ( ) const

inline

Returns: True if input images are already rectified (see Parameters::kRtabmapImagesAlreadyRectified()).

Definition at line 134 of file Odometry.h.

◆ imus()

const std::map< double, Transform > & rtabmap::Odometry::imus ( ) const

inlineprotected

Returns: IMU orientations cached from recent frames (stamp → transform).

Definition at line 138 of file Odometry.h.

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

corelib/include/rtabmap/core/Odometry.h

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Member Enumeration Documentation

◆ Type

Member Function Documentation

◆ create() [1/2]

◆ create() [2/2]

◆ process() [1/2]

◆ process() [2/2]

◆ reset()

◆ getType()

◆ canProcessRawImages()

◆ canProcessAsyncIMU()

◆ getPose()

◆ isInfoDataFilled()

◆ previousVelocityTransform()

◆ getVelocityGuess()

◆ previousStamp()

◆ framesProcessed()

◆ imagesAlreadyRectified()

◆ imus()