model

SLAM.Localization.RGBDInertialLocalizationStep

Base classes

Follow base classes for inherited declarations; this page lists explicit declarations only.

Public declarations

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

Role	Name	Type	Dimensions / attributes / default
input	`pixels`	`Real`	`[featureCapacity,2]`
input	`activeCount`	`Real`
input	`featureScore`	`Real`	`[featureCapacity] = zeros(featureCapacity)`

Modelica declarations and implementation

Show parameters, interfaces and source

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

model RGBDInertialLocalizationStep
  import AdvanceRGBDLocalization = SLAM.Localization.AdvanceRGBDLocalization;
  import RGBDInertialLocalizationInterface = SLAM.Localization.RGBDInertialLocalizationInterface;

  extends RGBDInertialLocalizationInterface;
  input Real pixels[featureCapacity,2];
  input Real activeCount;
  input Real featureScore[featureCapacity] = zeros(featureCapacity);
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) := AdvanceRGBDLocalization(
    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,
    pixels=pixels,
    activeCount=activeCount,
    featureScore=featureScore,depthUnits=depthUnits);
end RGBDInertialLocalizationStep;