model

SLAM.Localization.RGBDFastInertialLocalizationStep

Base classes

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Public declarations

Explicit source declarations; dimensions, modifications and defaults are shown as written, without evaluation.

Role	Name	Type	Dimensions / attributes / default
parameter	`selectedFeatureLimit`	`Real`	`= 350.0`
parameter	`absoluteThreshold`	`Real`	`= 18.0`
output	`selectionValid`	`Real`

Modelica declarations and implementation

Show parameters, interfaces and source

Parameters, inputs, outputs, defaults and equations from the source file.

model RGBDFastInertialLocalizationStep
  import AdvanceFastRGBDLocalization = SLAM.Localization.AdvanceFastRGBDLocalization;
  import RGBDInertialLocalizationInterface = SLAM.Localization.RGBDInertialLocalizationInterface;

  extends RGBDInertialLocalizationInterface;
  parameter Real selectedFeatureLimit = 350.0;
  parameter Real absoluteThreshold = 18.0;
  output Real selectionValid;
algorithm
  (nextPosition,
    nextVelocity,
    nextRotation,
    nextAccelBias,
    nextGyroBias,
    nextCovariance,
    nextCrossCovariance,
    nextReferenceCovariance,
    nextReferencePosition,
    nextReferenceRotation,
    nextReferenceAvailable,
    nextReferenceEpoch,
    nextReferenceUsed,
    nextLastUsedEpoch,
    nextReferenceDescriptor,
    nextReferencePoint,
    nextReferenceEnabled,
    nextReferencePixels,
    nextReferenceCount,
    nextReferenceRgbCalibration,
    nextReferenceDepthCalibration,
    nextReferenceNoiseReferenceFx,
    nextReferenceDisparityNoise,
    nextReferenceBaseline,
    nextReferenceOpticalToBody,
    nextReferenceCameraOriginBody,
    predictionAccepted,
    observationAccepted,
    observationRejected,
    captureAccepted,
    captureRejected,
    imageReuseRejected,
    imagePairEligible,
    frameValid,
    referenceGeometryCompatible,
    visualValid,
    matchCount,
    uncertaintyRejectionReason,
    currentDescriptor,
    currentPoint,
    currentEnabled,
    currentCount,
    currentFromReference,
    currentFromReferenceTranslation,
    relativeCovariance,
    mapCandidatePoint,
    mapCandidateEnabled,
    mapCandidateCount,
    nextQuaternion,
    positionCovariance,
    attitudeCovariance,
    confidence,
    features,
    featureEnabled,
    trackingCurrentPixel,
    trackingReferencePixel,
    trackingEnabled,
    selectionValid) := AdvanceFastRGBDLocalization(
    rgb=rgb,
    depth=depth,
    rgbCalibration=rgbCalibration,
    depthCalibration=depthCalibration,
    disparityNoise=disparityNoise,
    noiseReferenceFx=noiseReferenceFx,
    baseline=baseline,
    opticalToBody=opticalToBody,
    cameraOriginBody=cameraOriginBody,
    frameEnabled=frameEnabled,
    imageCaptureRequested=imageCaptureRequested,
    position=position,
    velocity=velocity,
    rotation=rotation,
    accelBias=accelBias,
    gyroBias=gyroBias,
    covariance=covariance,
    crossCovariance=crossCovariance,
    referenceCovariance=referenceCovariance,
    referencePosition=referencePosition,
    referenceRotation=referenceRotation,
    referenceAvailable=referenceAvailable,
    referenceEpoch=referenceEpoch,
    currentEpoch=currentEpoch,
    referenceUsed=referenceUsed,
    lastUsedEpoch=lastUsedEpoch,
    referenceDescriptor=referenceDescriptor,
    referencePoint=referencePoint,
    referenceEnabled=referenceEnabled,
    referencePixels=referencePixels,
    referenceCount=referenceCount,
    referenceRgbCalibration=referenceRgbCalibration,
    referenceDepthCalibration=referenceDepthCalibration,
    referenceNoiseReferenceFx=referenceNoiseReferenceFx,
    referenceDisparityNoise=referenceDisparityNoise,
    referenceBaseline=referenceBaseline,
    referenceOpticalToBody=referenceOpticalToBody,
    referenceCameraOriginBody=referenceCameraOriginBody,
    accel=accel,
    gyro=gyro,
    gravity=gravity,
    h=h,
    density=density,
    selectedFeatureLimit=selectedFeatureLimit,absoluteThreshold=absoluteThreshold,depthUnits=depthUnits);
end RGBDFastInertialLocalizationStep;