<divclass="line"><aid="l00005"name="l00005"></a><spanclass="lineno"> 5</span><spanclass="comment">Redistribution and use in source and binary forms, with or without</span></div>
<divclass="line"><aid="l00006"name="l00006"></a><spanclass="lineno"> 6</span><spanclass="comment">modification, are permitted provided that the following conditions are met:</span></div>
<divclass="line"><aid="l00007"name="l00007"></a><spanclass="lineno"> 7</span><spanclass="comment"> * Redistributions of source code must retain the above copyright</span></div>
<divclass="line"><aid="l00008"name="l00008"></a><spanclass="lineno"> 8</span><spanclass="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<divclass="line"><aid="l00009"name="l00009"></a><spanclass="lineno"> 9</span><spanclass="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<divclass="line"><aid="l00010"name="l00010"></a><spanclass="lineno"> 10</span><spanclass="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<divclass="line"><aid="l00011"name="l00011"></a><spanclass="lineno"> 11</span><spanclass="comment"> documentation and/or other materials provided with the distribution.</span></div>
<divclass="line"><aid="l00012"name="l00012"></a><spanclass="lineno"> 12</span><spanclass="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<divclass="line"><aid="l00013"name="l00013"></a><spanclass="lineno"> 13</span><spanclass="comment"> names of its contributors may be used to endorse or promote products</span></div>
<divclass="line"><aid="l00014"name="l00014"></a><spanclass="lineno"> 14</span><spanclass="comment"> derived from this software without specific prior written permission.</span></div>
<divclass="line"><aid="l00016"name="l00016"></a><spanclass="lineno"> 16</span><spanclass="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
<divclass="line"><aid="l00017"name="l00017"></a><spanclass="lineno"> 17</span><spanclass="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<divclass="line"><aid="l00018"name="l00018"></a><spanclass="lineno"> 18</span><spanclass="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<divclass="line"><aid="l00019"name="l00019"></a><spanclass="lineno"> 19</span><spanclass="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<divclass="line"><aid="l00020"name="l00020"></a><spanclass="lineno"> 20</span><spanclass="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<divclass="line"><aid="l00021"name="l00021"></a><spanclass="lineno"> 21</span><spanclass="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<divclass="line"><aid="l00022"name="l00022"></a><spanclass="lineno"> 22</span><spanclass="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<divclass="line"><aid="l00023"name="l00023"></a><spanclass="lineno"> 23</span><spanclass="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<divclass="line"><aid="l00024"name="l00024"></a><spanclass="lineno"> 24</span><spanclass="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<divclass="line"><aid="l00025"name="l00025"></a><spanclass="lineno"> 25</span><spanclass="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<divclass="ttc"id="aclassrtabmap_1_1LaserScan_html"><divclass="ttname"><ahref="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><divclass="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><divclass="ttdef"><b>Definition</b><ahref="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><divclass="ttdoc">What one Odometry iteration produced, beyond the pose.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a028f791a3005377516d217608a696556"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a028f791a3005377516d217608a696556">rtabmap::OdometryInfo::newCorners</a></div><divclass="ttdeci">std::vector< cv::Point2f > newCorners</div><divclass="ttdoc">Where those corners were found in the current frame (F2F).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00115">OdometryInfo.h:115</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a08ee9e84949857719b76d082559f3cbc"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a08ee9e84949857719b76d082559f3cbc">rtabmap::OdometryInfo::localScanMap</a></div><divclass="ttdeci">LaserScan localScanMap</div><divclass="ttdoc">Local scan map in the odometry frame (F2M).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00111">OdometryInfo.h:111</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a15a03ce5044cf0c6af77085777c4df7a"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">rtabmap::OdometryInfo::reg</a></div><divclass="ttdeci">RegistrationInfo reg</div><divclass="ttdoc">Registration result: matches, inliers, covariance, ICP indicators and timings.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00077">OdometryInfo.h:77</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a191435796512e2d1b6fd06c36bbc7516"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a191435796512e2d1b6fd06c36bbc7516">rtabmap::OdometryInfo::refCorners</a></div><divclass="ttdeci">std::vector< cv::Point2f > refCorners</div><divclass="ttdoc">Corners of the reference frame (F2F).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00114">OdometryInfo.h:114</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a2231e7c27db459398b6b51fad108f876"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a2231e7c27db459398b6b51fad108f876">rtabmap::OdometryInfo::localMap</a></div><divclass="ttdeci">std::map< int, cv::Point3f > localMap</div><divclass="ttdoc">Local feature map in the odometry frame, by word id (F2M).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00110">OdometryInfo.h:110</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a2c12cf07f29ecbafe6eacfd2e987adb6"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">rtabmap::OdometryInfo::interval</a></div><divclass="ttdeci">double interval</div><divclass="ttdoc">Time since the previous processed frame (s); the divisor for velocities.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00095">OdometryInfo.h:95</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a3353258f68ec539287dcc60cc08f3da7"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a3353258f68ec539287dcc60cc08f3da7">rtabmap::OdometryInfo::statistics</a></div><divclass="ttdeci">std::map< std::string, float > statistics(const Transform &pose=Transform())</div><divclass="ttdoc">Formats the content as the Odometry/... statistics.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a4fe896b703671cf7f57573fa109ffa9a"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a4fe896b703671cf7f57573fa109ffa9a">rtabmap::OdometryInfo::localBundleConstraints</a></div><divclass="ttdeci">int localBundleConstraints</div><divclass="ttdoc">Feature observations kept by the last local bundle adjustment.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00083">OdometryInfo.h:83</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a563234c5e3047350ea3694df0ef95b03"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a563234c5e3047350ea3694df0ef95b03">rtabmap::OdometryInfo::localMapSize</a></div><divclass="ttdeci">int localMapSize</div><divclass="ttdoc">Number of 3D points in the local feature map (F2M).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00079">OdometryInfo.h:79</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a5a6b81745b811070092549a1cfdfebbe"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a5a6b81745b811070092549a1cfdfebbe">rtabmap::OdometryInfo::localKeyFrames</a></div><divclass="ttdeci">int localKeyFrames</div><divclass="ttdoc">Number of key frames forming the local map (F2M).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00081">OdometryInfo.h:81</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a6410510dbdd2e9ce8fb1e7cb60dc3c4e"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a6410510dbdd2e9ce8fb1e7cb60dc3c4e">rtabmap::OdometryInfo::cornerInliers</a></div><divclass="ttdeci">std::vector< int > cornerInliers</div><divclass="ttdoc">Indices in refCorners / newCorners kept as inliers (F2F).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00116">OdometryInfo.h:116</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a669d252c42f5635ecbe0288c1b0e8721"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a669d252c42f5635ecbe0288c1b0e8721">rtabmap::OdometryInfo::distanceTravelled</a></div><divclass="ttdeci">float distanceTravelled</div><divclass="ttdoc">Distance travelled since the odometry was last reset (m).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00101">OdometryInfo.h:101</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a736c2515b2347de6e1c6099a727aea8c"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a736c2515b2347de6e1c6099a727aea8c">rtabmap::OdometryInfo::features</a></div><divclass="ttdeci">int features</div><divclass="ttdoc">Number of features extracted in the current frame.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00078">OdometryInfo.h:78</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a7641b415d9d08f7d267ca25ee564a2a7"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a7641b415d9d08f7d267ca25ee564a2a7">rtabmap::OdometryInfo::gravityRollError</a></div><divclass="ttdeci">double gravityRollError</div><divclass="ttdoc">Absolute roll difference between the estimated pose and the IMU gravity (rad).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00103">OdometryInfo.h:103</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a78ab082f3310ea5ac8b11e54ba3a3014"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a78ab082f3310ea5ac8b11e54ba3a3014">rtabmap::OdometryInfo::localBundleMaxKeyFramesForInlier</a></div><divclass="ttdeci">int localBundleMaxKeyFramesForInlier</div><divclass="ttdoc">Highest number of key frames observing a same inlier.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00088">OdometryInfo.h:88</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a7b005bbc7922cf3c6c352451f65b199d"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a7b005bbc7922cf3c6c352451f65b199d">rtabmap::OdometryInfo::stamp</a></div><divclass="ttdeci">double stamp</div><divclass="ttdoc">Stamp of the processed frame.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00094">OdometryInfo.h:94</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a8aa1c7947217518727a62bb55106a706"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a8aa1c7947217518727a62bb55106a706">rtabmap::OdometryInfo::guess</a></div><divclass="ttdeci">Transform guess</div><divclass="ttdoc">Motion guess given to the front-end (from the velocity model, an external pose or an IMU).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00100">OdometryInfo.h:100</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a91407f56fef27c619e27fdd91003dadf"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a91407f56fef27c619e27fdd91003dadf">rtabmap::OdometryInfo::timeEstimation</a></div><divclass="ttdeci">float timeEstimation</div><divclass="ttdoc">Time spent estimating the motion (s).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00092">OdometryInfo.h:92</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a929c2dc356766dc0f498aa1068ad7ef4"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a929c2dc356766dc0f498aa1068ad7ef4">rtabmap::OdometryInfo::timeDeskewing</a></div><divclass="ttdeci">float timeDeskewing</div><divclass="ttdoc">Time spent deskewing the laser scan (s).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00091">OdometryInfo.h:91</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a9b58bbc659878dc763c6f0201b2ecd28"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a9b58bbc659878dc763c6f0201b2ecd28">rtabmap::OdometryInfo::gravityPitchError</a></div><divclass="ttdeci">double gravityPitchError</div><divclass="ttdoc">Absolute pitch difference between the estimated pose and the IMU gravity (rad).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00104">OdometryInfo.h:104</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a9e40155a67416dcb420f4164e4aa348a"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a9e40155a67416dcb420f4164e4aa348a">rtabmap::OdometryInfo::keyFrameAdded</a></div><divclass="ttdeci">bool keyFrameAdded</div><divclass="ttdoc">True if this frame became a key frame of the local map.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00090">OdometryInfo.h:90</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_a9ec2aadde776985736ac9f3ec2b7cb82"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#a9ec2aadde776985736ac9f3ec2b7cb82">rtabmap::OdometryInfo::localBundleOutliers</a></div><divclass="ttdeci">int localBundleOutliers</div><divclass="ttdoc">Features rejected by the last local bundle adjustment.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00082">OdometryInfo.h:82</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_aa4c3fb893f6dcac1d67eeac6836b4faa"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#aa4c3fb893f6dcac1d67eeac6836b4faa">rtabmap::OdometryInfo::lost</a></div><divclass="ttdeci">bool lost</div><divclass="ttdoc">True when the motion could not be estimated on this frame (transform is then null).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00076">OdometryInfo.h:76</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_aaa91ea67105c8c174245a7b192e868e3"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#aaa91ea67105c8c174245a7b192e868e3">rtabmap::OdometryInfo::localBundleModels</a></div><divclass="ttdeci">std::map< int, std::vector< CameraModel >> localBundleModels</div><divclass="ttdoc">Camera models of localBundlePoses.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00086">OdometryInfo.h:86</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_aae03a73e704e23ea5142de821b618e6e"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#aae03a73e704e23ea5142de821b618e6e">rtabmap::OdometryInfo::timeParticleFiltering</a></div><divclass="ttdeci">float timeParticleFiltering</div><divclass="ttdoc">Time spent in the particle filter (s), when enabled.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00093">OdometryInfo.h:93</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_ab10aab5c7851215060b3ca9a58543206"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#ab10aab5c7851215060b3ca9a58543206">rtabmap::OdometryInfo::localBundleOutliersPerCam</a></div><divclass="ttdeci">std::vector< int > localBundleOutliersPerCam</div><divclass="ttdoc">Outliers of the last local bundle adjustment, per camera.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00089">OdometryInfo.h:89</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_aba971e389867f752f04ecd7b17471f6e"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#aba971e389867f752f04ecd7b17471f6e">rtabmap::OdometryInfo::transformGroundTruth</a></div><divclass="ttdeci">Transform transformGroundTruth</div><divclass="ttdoc">Ground truth motion since the previous frame, when the data provides it.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00098">OdometryInfo.h:98</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_abce081943ea566e0dcc1532ce749e276"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#abce081943ea566e0dcc1532ce749e276">rtabmap::OdometryInfo::copyWithoutData</a></div><divclass="ttdeci">OdometryInfo copyWithoutData() const</div><divclass="ttdoc">A copy without the heavy members (features, local map, scan).</div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_ac40ddcfab5cd0c6b9fe34aa5b0143814"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#ac40ddcfab5cd0c6b9fe34aa5b0143814">rtabmap::OdometryInfo::words</a></div><divclass="ttdeci">std::multimap< int, cv::KeyPoint > words</div><divclass="ttdoc">Keypoints of the current frame, by word id (F2M).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00109">OdometryInfo.h:109</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_ac6fbabe2f348c15f87807a928aeda82b"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#ac6fbabe2f348c15f87807a928aeda82b">rtabmap::OdometryInfo::localBundlePoses</a></div><divclass="ttdeci">std::map< int, Transform > localBundlePoses</div><divclass="ttdoc">Key frame poses optimized by the local bundle adjustment.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00085">OdometryInfo.h:85</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_ac786b5953b124a80524a051cfbcb7460"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#ac786b5953b124a80524a051cfbcb7460">rtabmap::OdometryInfo::transformFiltered</a></div><divclass="ttdeci">Transform transformFiltered</div><divclass="ttdoc">transform after Kalman or particle filtering, when enabled.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00097">OdometryInfo.h:97</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_ad0a0b1581cde378c7788e111384d4cfc"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#ad0a0b1581cde378c7788e111384d4cfc">rtabmap::OdometryInfo::localScanMapSize</a></div><divclass="ttdeci">int localScanMapSize</div><divclass="ttdoc">Number of points in the local scan map (F2M).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00080">OdometryInfo.h:80</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_ad0e7d3544c09f38383ec7c130af42b26"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#ad0e7d3544c09f38383ec7c130af42b26">rtabmap::OdometryInfo::localBundleAvgInlierDistance</a></div><divclass="ttdeci">float localBundleAvgInlierDistance</div><divclass="ttdoc">Average distance of the bundle adjustment inliers (m).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00087">OdometryInfo.h:87</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_ad2fa24b41e053e6a2f90dcb0189a901d"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#ad2fa24b41e053e6a2f90dcb0189a901d">rtabmap::OdometryInfo::type</a></div><divclass="ttdeci">int type</div><divclass="ttdoc">Odometry strategy that produced this, see Parameters::kOdomStrategy().</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00106">OdometryInfo.h:106</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_ad4f09afa610091012c2edd7708d722c5"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">rtabmap::OdometryInfo::transform</a></div><divclass="ttdeci">Transform transform</div><divclass="ttdoc">Motion since the previous frame, null when lost.</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00096">OdometryInfo.h:96</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_ad7f7beb7810db1912c20b05e94eafdf3"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#ad7f7beb7810db1912c20b05e94eafdf3">rtabmap::OdometryInfo::memoryUsage</a></div><divclass="ttdeci">int memoryUsage</div><divclass="ttdoc">Process memory used (MB), only with Parameters::kRtabmapPublishRAMUsage().</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00102">OdometryInfo.h:102</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1OdometryInfo_html_adbfce0f63a7eedd0a0557ecf4420dfd0"><divclass="ttname"><ahref="classrtabmap_1_1OdometryInfo.html#adbfce0f63a7eedd0a0557ecf4420dfd0">rtabmap::OdometryInfo::localBundleTime</a></div><divclass="ttdeci">float localBundleTime</div><divclass="ttdoc">Time spent in the local bundle adjustment (s).</div><divclass="ttdef"><b>Definition</b><ahref="OdometryInfo_8h_source.html#l00084">OdometryInfo.h:84</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1RegistrationInfo_html"><divclass="ttname"><ahref="classrtabmap_1_1RegistrationInfo.html">rtabmap::RegistrationInfo</a></div><divclass="ttdoc">Statistics and diagnostics returned by Registration.</div><divclass="ttdef"><b>Definition</b><ahref="RegistrationInfo_8h_source.html#l00047">RegistrationInfo.h:48</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Transform_html"><divclass="ttname"><ahref="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><divclass="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><divclass="ttdef"><b>Definition</b><ahref="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<liclass="footer">Generated by <ahref="https://www.doxygen.org/index.html"><imgclass="footer"src="doxygen.svg"width="104"height="31"alt="doxygen"/></a> 1.9.8 </li>
