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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="headertitle"><div class="title">RtabmapThread.h</div></div>
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<div class="contents">
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
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<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
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<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
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<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef RTABMAPTHREAD_H_</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define RTABMAPTHREAD_H_</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include "rtabmap/core/rtabmap_core_export.h"</span> <span class="comment">// DLL export/import defines</span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <<a class="code" href="UThreadNode_8h.html">rtabmap/utilite/UThreadNode.h</a>></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <rtabmap/utilite/UEventsHandler.h></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <rtabmap/utilite/USemaphore.h></span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include <rtabmap/utilite/UMutex.h></span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include "rtabmap/core/RtabmapEvent.h"</span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include "rtabmap/core/SensorData.h"</span></div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include "rtabmap/core/Parameters.h"</span></div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include "rtabmap/core/OdometryEvent.h"</span></div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include <queue></span></div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="keyword">class </span><a class="code hl_class" href="classUTimer.html">UTimer</a>;</div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> </div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="keyword">class </span>Rtabmap;</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
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<div class="foldopen" id="foldopen00104" data-start="{" data-end="};">
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<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html"> 104</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a> :</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThreadNode</a>,</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keyword">public</span> <a class="code hl_class" href="classUEventsHandler.html">UEventsHandler</a></div>
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<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span>{</div>
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<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span><span class="keyword">public</span>:</div>
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<div class="foldopen" id="foldopen00110" data-start="{" data-end="};">
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<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5fae"> 110</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5fae">State</a> {</div>
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<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5faea733e80c5ec27718bd9551646f99d352c"> 111</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5faea733e80c5ec27718bd9551646f99d352c">kStateDetecting</a>, </div>
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<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> kStateProcessCommand </div>
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<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5faeab07a30b69b21efdccbb6c040a5208001"> 113</a></span> };</div>
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</div>
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<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> </div>
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<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a5c5752b0b0a0e05e8e97308c74f9b955"> 126</a></span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#a5c5752b0b0a0e05e8e97308c74f9b955">RtabmapThread</a>(<a class="code hl_class" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> * <a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a>);</div>
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<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1RtabmapThread.html">~RtabmapThread</a>();</div>
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<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
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<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#aea5c7a61adab9ed8382066806420bfac"> 130</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#aea5c7a61adab9ed8382066806420bfac">clearBufferedData</a>();</div>
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<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a8ff95633544be0d87c1dc977cb52a064"> 138</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#a8ff95633544be0d87c1dc977cb52a064">setDetectorRate</a>(<span class="keywordtype">float</span> rate);</div>
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<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#ab9b4e64c65264f12bfeb1814aff59cbe"> 145</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#ab9b4e64c65264f12bfeb1814aff59cbe">setDataBufferSize</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> bufferSize);</div>
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<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a78271ce60d00219c4fdd86813136a116"> 152</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#a78271ce60d00219c4fdd86813136a116">createIntermediateNodes</a>(<span class="keywordtype">bool</span> enabled);</div>
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<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
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<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#ac788245b9aa70ebc9e7148fad3b92ed1"> 155</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#ac788245b9aa70ebc9e7148fad3b92ed1">getDetectorRate</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _rate;}</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a9aa2f05308498abcba0f01b2df25cac0"> 157</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#a9aa2f05308498abcba0f01b2df25cac0">getDataBufferSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _dataBufferMaxSize;}</div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a3dffee6fb4ae760c140144fd47923643"> 159</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#a3dffee6fb4ae760c140144fd47923643">getCreateIntermediateNodes</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _createIntermediateNodes;}</div>
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<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> </div>
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<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574"> 171</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574">close</a>(<span class="keywordtype">bool</span> databaseSaved, <span class="keyword">const</span> std::string & databasePath = <span class="stringliteral">""</span>);</div>
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<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
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<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span><span class="keyword">protected</span>:</div>
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<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09"> 183</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09">handleEvent</a>(<a class="code hl_class" href="classUEvent.html">UEvent</a> * anEvent);</div>
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<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> </div>
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<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopBegin();</div>
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<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
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<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopKill();</div>
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<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keywordtype">void</span> process();</div>
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<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keywordtype">void</span> addData(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> & odomEvent);</div>
|
||
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<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordtype">bool</span> getData(<a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> & data);</div>
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<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keywordtype">void</span> pushNewState(<a class="code hl_enumeration" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5fae">State</a> newState, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1RtabmapEventCmd.html">RtabmapEventCmd</a> & cmdEvent = <a class="code hl_class" href="classrtabmap_1_1RtabmapEventCmd.html">RtabmapEventCmd</a>(RtabmapEventCmd::kCmdUndef));</div>
|
||
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<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordtype">void</span> publishMap(<span class="keywordtype">bool</span> optimized, <span class="keywordtype">bool</span> full, <span class="keywordtype">bool</span> graphOnly) <span class="keyword">const</span>;</div>
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||
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<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> </div>
|
||
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<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span><span class="keyword">private</span>:</div>
|
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<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _stateMutex;</div>
|
||
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<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> std::queue<State> _state;</div>
|
||
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<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> std::queue<RtabmapEventCmd> _stateParam;</div>
|
||
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> </div>
|
||
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<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> std::list<OdometryEvent> _dataBuffer;</div>
|
||
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<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> std::list<double> _newMapEvents;</div>
|
||
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<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dataMutex;</div>
|
||
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _dataAdded;</div>
|
||
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _dataBufferMaxSize;</div>
|
||
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordtype">float</span> _rate;</div>
|
||
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keywordtype">bool</span> _createIntermediateNodes;</div>
|
||
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|
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordtype">double</span> _previousStamp;</div>
|
||
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|
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> </div>
|
||
|
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<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <a class="code hl_class" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> * _rtabmap;</div>
|
||
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|
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordtype">bool</span> _paused;</div>
|
||
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<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> lastPose_;</div>
|
||
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|
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> cv::Mat covariance_;</div>
|
||
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<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
|
||
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<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> cv::Mat _userData;</div>
|
||
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<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _userDataMutex;</div>
|
||
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<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span>};</div>
|
||
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</div>
|
||
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<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> </div>
|
||
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<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span>} <span class="comment">/* namespace rtabmap */</span></div>
|
||
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<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span><span class="preprocessor">#endif </span><span class="comment">/* RTABMAPTHREAD_H_ */</span><span class="preprocessor"></span></div>
|
||
|
|
<div class="ttc" id="aUThreadNode_8h_html"><div class="ttname"><a href="UThreadNode_8h.html">UThreadNode.h</a></div><div class="ttdoc">Backward-compatible alias header for UThread.</div></div>
|
||
|
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<div class="ttc" id="aclassUEvent_html"><div class="ttname"><a href="classUEvent.html">UEvent</a></div><div class="ttdef"><b>Definition</b> <a href="UEvent_8h_source.html#l00057">UEvent.h:57</a></div></div>
|
||
|
|
<div class="ttc" id="aclassUEventsHandler_html"><div class="ttname"><a href="classUEventsHandler.html">UEventsHandler</a></div><div class="ttdef"><b>Definition</b> <a href="UEventsHandler_8h_source.html#l00128">UEventsHandler.h:128</a></div></div>
|
||
|
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<div class="ttc" id="aclassUMutex_html"><div class="ttname"><a href="classUMutex.html">UMutex</a></div><div class="ttdef"><b>Definition</b> <a href="UMutex_8h_source.html#l00054">UMutex.h:55</a></div></div>
|
||
|
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<div class="ttc" id="aclassUSemaphore_html"><div class="ttname"><a href="classUSemaphore.html">USemaphore</a></div><div class="ttdef"><b>Definition</b> <a href="USemaphore_8h_source.html#l00055">USemaphore.h:56</a></div></div>
|
||
|
|
<div class="ttc" id="aclassUThread_html"><div class="ttname"><a href="classUThread.html">UThread</a></div><div class="ttdef"><b>Definition</b> <a href="UThread_8h_source.html#l00086">UThread.h:87</a></div></div>
|
||
|
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<div class="ttc" id="aclassUTimer_html"><div class="ttname"><a href="classUTimer.html">UTimer</a></div><div class="ttdef"><b>Definition</b> <a href="UTimer_8h_source.html#l00046">UTimer.h:47</a></div></div>
|
||
|
|
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html">rtabmap::OdometryEvent</a></div><div class="ttdoc">One processed frame with the pose the odometry integrated for it.</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00056">OdometryEvent.h:57</a></div></div>
|
||
|
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<div class="ttc" id="aclassrtabmap_1_1RtabmapEventCmd_html"><div class="ttname"><a href="classrtabmap_1_1RtabmapEventCmd.html">rtabmap::RtabmapEventCmd</a></div><div class="ttdoc">Command sent to RtabmapThread, with its parameters.</div><div class="ttdef"><b>Definition</b> <a href="RtabmapEvent_8h_source.html#l00067">RtabmapEvent.h:68</a></div></div>
|
||
|
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html">rtabmap::RtabmapThread</a></div><div class="ttdoc">Runs a Rtabmap instance in its own thread, driven by events.</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00104">RtabmapThread.h:107</a></div></div>
|
||
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a037a7b9aaacca152e0f087920e8a5fae"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5fae">rtabmap::RtabmapThread::State</a></div><div class="ttdeci">State</div><div class="ttdoc">What the main loop does on its next wake-up.</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00110">RtabmapThread.h:110</a></div></div>
|
||
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a037a7b9aaacca152e0f087920e8a5faea733e80c5ec27718bd9551646f99d352c"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5faea733e80c5ec27718bd9551646f99d352c">rtabmap::RtabmapThread::kStateDetecting</a></div><div class="ttdeci">@ kStateDetecting</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00111">RtabmapThread.h:111</a></div></div>
|
||
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a3dffee6fb4ae760c140144fd47923643"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a3dffee6fb4ae760c140144fd47923643">rtabmap::RtabmapThread::getCreateIntermediateNodes</a></div><div class="ttdeci">bool getCreateIntermediateNodes() const</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00159">RtabmapThread.h:159</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a5c5752b0b0a0e05e8e97308c74f9b955"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a5c5752b0b0a0e05e8e97308c74f9b955">rtabmap::RtabmapThread::RtabmapThread</a></div><div class="ttdeci">RtabmapThread(Rtabmap *rtabmap)</div><div class="ttdoc">Constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a78271ce60d00219c4fdd86813136a116"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a78271ce60d00219c4fdd86813136a116">rtabmap::RtabmapThread::createIntermediateNodes</a></div><div class="ttdeci">void createIntermediateNodes(bool enabled)</div><div class="ttdoc">Keeps the frames skipped by setDetectorRate() as intermediate nodes.</div></div>
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||
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a8ff95633544be0d87c1dc977cb52a064"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a8ff95633544be0d87c1dc977cb52a064">rtabmap::RtabmapThread::setDetectorRate</a></div><div class="ttdeci">void setDetectorRate(float rate)</div><div class="ttdoc">Sets the maximum rate at which frames are processed (Hz, 0 = unlimited).</div></div>
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||
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a9aa2f05308498abcba0f01b2df25cac0"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a9aa2f05308498abcba0f01b2df25cac0">rtabmap::RtabmapThread::getDataBufferSize</a></div><div class="ttdeci">unsigned int getDataBufferSize() const</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00157">RtabmapThread.h:157</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_aabea5cf86e55d6669d41b0b569dac574"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574">rtabmap::RtabmapThread::close</a></div><div class="ttdeci">void close(bool databaseSaved, const std::string &databasePath="")</div><div class="ttdoc">Joins the thread and closes rtabmap. This will delete rtabmap object if set.</div></div>
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||
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_ab2556f7773329963038d876c86e97d09"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09">rtabmap::RtabmapThread::handleEvent</a></div><div class="ttdeci">virtual bool handleEvent(UEvent *anEvent)</div><div class="ttdoc">Receives the events listed in the class description.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_ab9b4e64c65264f12bfeb1814aff59cbe"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#ab9b4e64c65264f12bfeb1814aff59cbe">rtabmap::RtabmapThread::setDataBufferSize</a></div><div class="ttdeci">void setDataBufferSize(unsigned int bufferSize)</div><div class="ttdoc">Sets how many frames may wait in the buffer (0 = unlimited).</div></div>
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_ac788245b9aa70ebc9e7148fad3b92ed1"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#ac788245b9aa70ebc9e7148fad3b92ed1">rtabmap::RtabmapThread::getDetectorRate</a></div><div class="ttdeci">float getDetectorRate() const</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00155">RtabmapThread.h:155</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_aea5c7a61adab9ed8382066806420bfac"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#aea5c7a61adab9ed8382066806420bfac">rtabmap::RtabmapThread::clearBufferedData</a></div><div class="ttdeci">void clearBufferedData()</div><div class="ttdoc">Drops the buffered frames, the pending user data and the odometry state.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html">rtabmap::Rtabmap</a></div><div class="ttdoc">Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00193">Rtabmap.h:194</a></div></div>
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||
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<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
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<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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</div><!-- fragment --></div><!-- contents -->
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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li><li class="navelem"><b>RtabmapThread.h</b></li>
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