<areashape="rect"href="classrtabmap_1_1Transform.html"title="Represents a 3D rigid body transformation (rotation + translation)."alt=""coords="219,5,370,31"/>
<areashape="rect"href="classrtabmap_1_1LaserScan.html"title="Represents 2D or 3D laser scan data with support for multiple point data formats."alt=""coords="394,5,545,31"/>
<trclass="memdesc:abce081943ea566e0dcc1532ce749e276"><tdclass="mdescLeft"> </td><tdclass="mdescRight">A copy without the heavy members (features, local map, scan). <br/></td></tr>
<trclass="memdesc:a3353258f68ec539287dcc60cc08f3da7"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Formats the content as the <code>Odometry/...</code> statistics. <br/></td></tr>
<trclass="memdesc:aa4c3fb893f6dcac1d67eeac6836b4faa"><tdclass="mdescLeft"> </td><tdclass="mdescRight">True when the motion could not be estimated on this frame (<aclass="el"href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">transform</a> is then null). <br/></td></tr>
<trclass="memdesc:a15a03ce5044cf0c6af77085777c4df7a"><tdclass="mdescLeft"> </td><tdclass="mdescRight"><aclass="el"href="classrtabmap_1_1Registration.html"title="Abstract base for registering two observations (visual, ICP, or both).">Registration</a> result: matches, inliers, covariance, ICP indicators and timings. <br/></td></tr>
<trclass="memdesc:a736c2515b2347de6e1c6099a727aea8c"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Number of features extracted in the current frame. <br/></td></tr>
<trclass="memdesc:a563234c5e3047350ea3694df0ef95b03"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Number of 3D points in the local feature map (F2M). <br/></td></tr>
<trclass="memdesc:ad0a0b1581cde378c7788e111384d4cfc"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Number of points in the local scan map (F2M). <br/></td></tr>
<trclass="memdesc:a5a6b81745b811070092549a1cfdfebbe"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Number of key frames forming the local map (F2M). <br/></td></tr>
<trclass="memdesc:a9ec2aadde776985736ac9f3ec2b7cb82"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Features rejected by the last local bundle adjustment. <br/></td></tr>
<trclass="memdesc:a4fe896b703671cf7f57573fa109ffa9a"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Feature observations kept by the last local bundle adjustment. <br/></td></tr>
<trclass="memdesc:adbfce0f63a7eedd0a0557ecf4420dfd0"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Time spent in the local bundle adjustment (s). <br/></td></tr>
<trclass="memdesc:ac6fbabe2f348c15f87807a928aeda82b"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Key frame poses optimized by the local bundle adjustment. <br/></td></tr>
<trclass="memdesc:aaa91ea67105c8c174245a7b192e868e3"><tdclass="mdescLeft"> </td><tdclass="mdescRight"><aclass="el"href="classrtabmap_1_1Camera.html">Camera</a> models of <aclass="el"href="classrtabmap_1_1OdometryInfo.html#ac6fbabe2f348c15f87807a928aeda82b">localBundlePoses</a>. <br/></td></tr>
<trclass="memdesc:ad0e7d3544c09f38383ec7c130af42b26"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Average distance of the bundle adjustment inliers (m). <br/></td></tr>
<trclass="memdesc:a78ab082f3310ea5ac8b11e54ba3a3014"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Highest number of key frames observing a same inlier. <br/></td></tr>
<trclass="memitem:ab10aab5c7851215060b3ca9a58543206"id="r_ab10aab5c7851215060b3ca9a58543206"><tdclass="memItemLeft"align="right"valign="top">std::vector< int > </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="classrtabmap_1_1OdometryInfo.html#ab10aab5c7851215060b3ca9a58543206">localBundleOutliersPerCam</a></td></tr>
<trclass="memdesc:ab10aab5c7851215060b3ca9a58543206"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Outliers of the last local bundle adjustment, per camera. <br/></td></tr>
<trclass="memdesc:a9e40155a67416dcb420f4164e4aa348a"><tdclass="mdescLeft"> </td><tdclass="mdescRight">True if this frame became a key frame of the local map. <br/></td></tr>
<trclass="memdesc:aae03a73e704e23ea5142de821b618e6e"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Time spent in the particle filter (s), when enabled. <br/></td></tr>
<trclass="memdesc:a7b005bbc7922cf3c6c352451f65b199d"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Stamp of the processed frame. <br/></td></tr>
<trclass="memdesc:a2c12cf07f29ecbafe6eacfd2e987adb6"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Time since the previous processed frame (s); the divisor for velocities. <br/></td></tr>
<trclass="memdesc:ad4f09afa610091012c2edd7708d722c5"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Motion since the previous frame, null when <aclass="el"href="classrtabmap_1_1OdometryInfo.html#aa4c3fb893f6dcac1d67eeac6836b4faa">lost</a>. <br/></td></tr>
<trclass="memdesc:ac786b5953b124a80524a051cfbcb7460"><tdclass="mdescLeft"> </td><tdclass="mdescRight"><aclass="el"href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">transform</a> after Kalman or particle filtering, when enabled. <br/></td></tr>
<trclass="memdesc:aba971e389867f752f04ecd7b17471f6e"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Ground truth motion since the previous frame, when the data provides it. <br/></td></tr>
<trclass="memdesc:a8aa1c7947217518727a62bb55106a706"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Motion guess given to the front-end (from the velocity model, an external pose or an <aclass="el"href="classrtabmap_1_1IMU.html"title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>). <br/></td></tr>
<trclass="memdesc:a669d252c42f5635ecbe0288c1b0e8721"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Distance travelled since the odometry was last reset (m). <br/></td></tr>
<trclass="memdesc:ad7f7beb7810db1912c20b05e94eafdf3"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Process memory used (MB), only with <aclass="el"href="classrtabmap_1_1Parameters.html#ad3b28ede4e665edf57689abb7e445438">Parameters::kRtabmapPublishRAMUsage()</a>. <br/></td></tr>
<trclass="memdesc:a7641b415d9d08f7d267ca25ee564a2a7"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Absolute roll difference between the estimated pose and the <aclass="el"href="classrtabmap_1_1IMU.html"title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> gravity (rad). <br/></td></tr>
<trclass="memdesc:a9b58bbc659878dc763c6f0201b2ecd28"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Absolute pitch difference between the estimated pose and the <aclass="el"href="classrtabmap_1_1IMU.html"title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> gravity (rad). <br/></td></tr>
<trclass="memdesc:ad2fa24b41e053e6a2f90dcb0189a901d"><tdclass="mdescLeft"> </td><tdclass="mdescRight"><aclass="el"href="classrtabmap_1_1Odometry.html"title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> strategy that produced this, see <aclass="el"href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a>. <br/></td></tr>
<trclass="memdesc:ac40ddcfab5cd0c6b9fe34aa5b0143814"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Keypoints of the current frame, by word id (F2M). <br/></td></tr>
<trclass="memdesc:a2231e7c27db459398b6b51fad108f876"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Local feature map in the odometry frame, by word id (F2M). <br/></td></tr>
<trclass="memdesc:a08ee9e84949857719b76d082559f3cbc"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Local scan map in the odometry frame (F2M). <br/></td></tr>
<trclass="memdesc:a191435796512e2d1b6fd06c36bbc7516"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Corners of the reference frame (F2F). <br/></td></tr>
<trclass="memdesc:a028f791a3005377516d217608a696556"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Where those corners were found in the current frame (F2F). <br/></td></tr>
<trclass="memitem:a6410510dbdd2e9ce8fb1e7cb60dc3c4e"id="r_a6410510dbdd2e9ce8fb1e7cb60dc3c4e"><tdclass="memItemLeft"align="right"valign="top">std::vector< int > </td><tdclass="memItemRight"valign="bottom"><aclass="el"href="classrtabmap_1_1OdometryInfo.html#a6410510dbdd2e9ce8fb1e7cb60dc3c4e">cornerInliers</a></td></tr>
<trclass="memdesc:a6410510dbdd2e9ce8fb1e7cb60dc3c4e"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Indices in <aclass="el"href="classrtabmap_1_1OdometryInfo.html#a191435796512e2d1b6fd06c36bbc7516">refCorners</a> / <aclass="el"href="classrtabmap_1_1OdometryInfo.html#a028f791a3005377516d217608a696556">newCorners</a> kept as inliers (F2F). <br/></td></tr>
<divclass="textblock"><p>What one <aclass="el"href="classrtabmap_1_1Odometry.html">Odometry</a> iteration produced, beyond the pose. </p>
<p>Filled by <aclass="el"href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">Odometry::process()</a> when a pointer is passed to it, and carried to the rest of the application by <aclass="el"href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a>. It holds the incremental motion, the quality indicators used to decide whether the estimate can be trusted, the timings, and the intermediate data a viewer needs to draw what the front-end sees (local map, matched features).</p>
<p>Which fields are filled depends on the front-end: the feature-related ones come from <aclass="el"href="classrtabmap_1_1OdometryF2M.html">OdometryF2M</a> and <aclass="el"href="classrtabmap_1_1OdometryF2F.html">OdometryF2F</a>, and an ICP-only or external strategy leaves them empty.</p>
<dlclass="section see"><dt>See also</dt><dd><aclass="el"href="classrtabmap_1_1Odometry.html"title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a></dd>
<dd>
<aclass="el"href="classrtabmap_1_1OdometryEvent.html"title="One processed frame with the pose the odometry integrated for it.">OdometryEvent</a></dd>
<dd>
<aclass="el"href="classrtabmap_1_1RegistrationInfo.html"title="Statistics and diagnostics returned by Registration.">RegistrationInfo</a></dd></dl>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00063">63</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
</div><h2class="groupheader">Member Function Documentation</h2>
<p>Formats the content as the <code>Odometry/...</code> statistics. </p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">pose</td><td>Current pose, added to the output when not null. </td></tr>
</table>
</dd>
</dl>
<dlclass="section return"><dt>Returns</dt><dd>Statistic name (with its unit) to value, as published in <aclass="el"href="classrtabmap_1_1Statistics.html">Statistics</a>. </dd></dl>
</div>
</div>
<h2class="groupheader">Member Data Documentation</h2>
<p>True when the motion could not be estimated on this frame (<aclass="el"href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">transform</a> is then null). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00076">76</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p><aclass="el"href="classrtabmap_1_1Registration.html"title="Abstract base for registering two observations (visual, ICP, or both).">Registration</a> result: matches, inliers, covariance, ICP indicators and timings. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00077">77</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Number of features extracted in the current frame. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00078">78</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Number of 3D points in the local feature map (F2M). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00079">79</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Number of points in the local scan map (F2M). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00080">80</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Number of key frames forming the local map (F2M). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00081">81</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Features rejected by the last local bundle adjustment. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00082">82</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Feature observations kept by the last local bundle adjustment. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00083">83</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Time spent in the local bundle adjustment (s). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00084">84</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Key frame poses optimized by the local bundle adjustment. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00085">85</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p><aclass="el"href="classrtabmap_1_1Camera.html">Camera</a> models of <aclass="el"href="classrtabmap_1_1OdometryInfo.html#ac6fbabe2f348c15f87807a928aeda82b">localBundlePoses</a>. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00086">86</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Average distance of the bundle adjustment inliers (m). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00087">87</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Highest number of key frames observing a same inlier. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00088">88</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Outliers of the last local bundle adjustment, per camera. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00089">89</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>True if this frame became a key frame of the local map. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00090">90</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00091">91</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00092">92</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Time spent in the particle filter (s), when enabled. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00093">93</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00094">94</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Time since the previous processed frame (s); the divisor for velocities. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00095">95</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Motion since the previous frame, null when <aclass="el"href="classrtabmap_1_1OdometryInfo.html#aa4c3fb893f6dcac1d67eeac6836b4faa">lost</a>. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00096">96</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p><aclass="el"href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">transform</a> after Kalman or particle filtering, when enabled. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00097">97</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Ground truth motion since the previous frame, when the data provides it. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00098">98</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00099">99</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Motion guess given to the front-end (from the velocity model, an external pose or an <aclass="el"href="classrtabmap_1_1IMU.html"title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00100">100</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Distance travelled since the odometry was last reset (m). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00101">101</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Process memory used (MB), only with <aclass="el"href="classrtabmap_1_1Parameters.html#ad3b28ede4e665edf57689abb7e445438">Parameters::kRtabmapPublishRAMUsage()</a>. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00102">102</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Absolute roll difference between the estimated pose and the <aclass="el"href="classrtabmap_1_1IMU.html"title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> gravity (rad). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00103">103</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Absolute pitch difference between the estimated pose and the <aclass="el"href="classrtabmap_1_1IMU.html"title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> gravity (rad). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00104">104</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p><aclass="el"href="classrtabmap_1_1Odometry.html"title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> strategy that produced this, see <aclass="el"href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a>. </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00106">106</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Keypoints of the current frame, by word id (F2M). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00109">109</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Local feature map in the odometry frame, by word id (F2M). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00110">110</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Local scan map in the odometry frame (F2M). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00111">111</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00114">114</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Where those corners were found in the current frame (F2F). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00115">115</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
<p>Indices in <aclass="el"href="classrtabmap_1_1OdometryInfo.html#a191435796512e2d1b6fd06c36bbc7516">refCorners</a> / <aclass="el"href="classrtabmap_1_1OdometryInfo.html#a028f791a3005377516d217608a696556">newCorners</a> kept as inliers (F2F). </p>
<pclass="definition">Definition at line <aclass="el"href="OdometryInfo_8h_source.html#l00116">116</a> of file <aclass="el"href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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