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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pro-methods" > Protected Member Functions</ a > |
< a href = "classrtabmap_1_1OdometryThread-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::OdometryThread Class Reference</ div ></ div >
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< p > Runs an < a class = "el" href = "classrtabmap_1_1Odometry.html" > Odometry</ a > front-end in its own thread, driven by events.
< a href = "classrtabmap_1_1OdometryThread.html#details" > More...</ a ></ p >
< p >< code > #include < < a class = "el" href = "OdometryThread_8h_source.html" > OdometryThread.h</ a > > </ code ></ p >
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Inheritance diagram for rtabmap::OdometryThread:</ div >
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Collaboration diagram for rtabmap::OdometryThread:</ div >
< div class = "dyncontent" >
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< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
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< tr class = "memitem:a66435ffb547d7d59faa9224fe030934b" id = "r_a66435ffb547d7d59faa9224fe030934b" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryThread.html#a66435ffb547d7d59faa9224fe030934b" > OdometryThread</ a > (< a class = "el" href = "classrtabmap_1_1Odometry.html" > Odometry</ a > *odometry, unsigned int dataBufferMaxSize=1)</ td ></ tr >
< tr class = "memdesc:a66435ffb547d7d59faa9224fe030934b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Constructor. < br /></ td ></ tr >
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< tr class = "separator:a66435ffb547d7d59faa9224fe030934b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_methods_classUThread" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classUThread')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classUThread.html" > UThread</ a ></ td ></ tr >
< tr class = "memitem:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread" id = "r_a05a92f95e2a8900f27b09ddf907b97be" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a05a92f95e2a8900f27b09ddf907b97be" > UThread</ a > (< a class = "el" href = "classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153" > Priority</ a > priority=kPNormal)</ td ></ tr >
< tr class = "separator:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread" id = "r_a437580d224111e60cbe2626f0e4cb12e" >< td class = "memItemLeft" align = "right" valign = "top" > virtual  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a437580d224111e60cbe2626f0e4cb12e" > ~UThread</ a > ()</ td ></ tr >
< tr class = "separator:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread" id = "r_a051e9adcf24f92b9c8e31acd06bad88c" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a051e9adcf24f92b9c8e31acd06bad88c" > start</ a > ()</ td ></ tr >
< tr class = "separator:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread" id = "r_a8dfefcfd68b453da08ddba9836f35965" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a8dfefcfd68b453da08ddba9836f35965" > kill</ a > ()</ td ></ tr >
< tr class = "separator:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "separator:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "memitem:a2c4554ad881c0532239a0930c2ebfe24 inherit pub_methods_classUThread" id = "r_a2c4554ad881c0532239a0930c2ebfe24" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a2c4554ad881c0532239a0930c2ebfe24" > isIdle</ a > () const</ td ></ tr >
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< tr class = "separator:a3a0d0de0f78eab72512941ccd048477b inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a4f404f03046fa89dced06514f040b2af inherit pub_methods_classUThread" id = "r_a4f404f03046fa89dced06514f040b2af" >< td class = "memItemLeft" align = "right" valign = "top" > Handle  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a4f404f03046fa89dced06514f040b2af" > getThreadHandle</ a > () const</ td ></ tr >
< tr class = "separator:a4f404f03046fa89dced06514f040b2af inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< tr class = "separator:a40e8ea82c06ed20bb6266a6a42a8f51f inherit pub_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_methods_classUThreadC_3_01void_01_4" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classUThreadC_3_01void_01_4')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classUThreadC_3_01void_01_4.html" > UThreadC< void > </ a ></ td ></ tr >
< tr class = "memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id = "r_a724a5919ea1f1e74b69a9073d532e400" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400" > Create</ a > (Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false) const</ td ></ tr >
< tr class = "separator:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" id = "r_a5af5c76be4b8e6b746a77146a3d7021a" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a5af5c76be4b8e6b746a77146a3d7021a" > Create</ a > (unsigned long & ThreadId, Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false) const</ td ></ tr >
< tr class = "separator:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id = "r_a724a5919ea1f1e74b69a9073d532e400" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400" > Create</ a > (Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false) const</ td ></ tr >
< tr class = "separator:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" id = "r_a5af5c76be4b8e6b746a77146a3d7021a" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a5af5c76be4b8e6b746a77146a3d7021a" > Create</ a > (unsigned long & ThreadId, Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false) const</ td ></ tr >
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< tr class = "inherit_header pub_methods_classUEventsHandler" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classUEventsHandler')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classUEventsHandler.html" > UEventsHandler</ a ></ td ></ tr >
< tr class = "memitem:a425f7af2882c980044a310e68ab13877 inherit pub_methods_classUEventsHandler" id = "r_a425f7af2882c980044a310e68ab13877" >< td class = "memItemLeft" align = "right" valign = "top" >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > registerToEventsManager</ b > ()</ td ></ tr >
< tr class = "separator:a425f7af2882c980044a310e68ab13877 inherit pub_methods_classUEventsHandler" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa83926b16066f18dcae9d55997fa11ba inherit pub_methods_classUEventsHandler" id = "r_aa83926b16066f18dcae9d55997fa11ba" >< td class = "memItemLeft" align = "right" valign = "top" >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > unregisterFromEventsManager</ b > ()</ td ></ tr >
< tr class = "separator:aa83926b16066f18dcae9d55997fa11ba inherit pub_methods_classUEventsHandler" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pro-methods" name = "pro-methods" ></ a >
Protected Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a65808dd7148c1e2c49dcf90ef718b5a8" id = "r_a65808dd7148c1e2c49dcf90ef718b5a8" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8" > handleEvent</ a > (< a class = "el" href = "classUEvent.html" > UEvent</ a > *event)</ td ></ tr >
2026-08-02 07:56:38 +00:00
< tr class = "memdesc:a65808dd7148c1e2c49dcf90ef718b5a8" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Receives the events listed in the class description. < br /></ td ></ tr >
2026-08-02 01:36:11 +00:00
< tr class = "separator:a65808dd7148c1e2c49dcf90ef718b5a8" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_methods_classUEventsHandler" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_methods_classUEventsHandler')" >< img src = "closed.png" alt = "-" />   Protected Member Functions inherited from < a class = "el" href = "classUEventsHandler.html" > UEventsHandler</ a ></ td ></ tr >
< tr class = "memitem:abfe2ba3d1fb92e59aff1978cbc21d134 inherit pro_methods_classUEventsHandler" id = "r_abfe2ba3d1fb92e59aff1978cbc21d134" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUEventsHandler.html#abfe2ba3d1fb92e59aff1978cbc21d134" > UEventsHandler</ a > ()</ td ></ tr >
< tr class = "separator:abfe2ba3d1fb92e59aff1978cbc21d134 inherit pro_methods_classUEventsHandler" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a15ac2bf243e938c411fac0dff7db2f51 inherit pro_methods_classUEventsHandler" id = "r_a15ac2bf243e938c411fac0dff7db2f51" >< td class = "memItemLeft" align = "right" valign = "top" > virtual  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUEventsHandler.html#a15ac2bf243e938c411fac0dff7db2f51" > ~UEventsHandler</ a > ()</ td ></ tr >
< tr class = "separator:a15ac2bf243e938c411fac0dff7db2f51 inherit pro_methods_classUEventsHandler" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_methods_classUEventsSender" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_methods_classUEventsSender')" >< img src = "closed.png" alt = "-" />   Protected Member Functions inherited from < a class = "el" href = "classUEventsSender.html" > UEventsSender</ a ></ td ></ tr >
< tr class = "memitem:ab03886c42164f2f9bf89fd3da641526f inherit pro_methods_classUEventsSender" id = "r_ab03886c42164f2f9bf89fd3da641526f" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUEventsSender.html#ab03886c42164f2f9bf89fd3da641526f" > post</ a > (< a class = "el" href = "classUEvent.html" > UEvent</ a > *event, bool async=true) const</ td ></ tr >
< tr class = "separator:ab03886c42164f2f9bf89fd3da641526f inherit pro_methods_classUEventsSender" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "inherited" name = "inherited" ></ a >
Additional Inherited Members</ h2 ></ td ></ tr >
< tr class = "inherit_header pub_types_classUThread" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_types_classUThread')" >< img src = "closed.png" alt = "-" />   Public Types inherited from < a class = "el" href = "classUThread.html" > UThread</ a ></ td ></ tr >
< tr class = "memitem:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread" id = "r_a731ef4dd5a8d15abcc06e7cfa53cd153" >< td class = "memItemLeft" align = "right" valign = "top" > enum   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153" > Priority</ a > { < br />
   < b > kPLow</ b >
, < b > kPBelowNormal</ b >
, < b > kPNormal</ b >
, < b > kPAboveNormal</ b >
, < br />
   < b > kPRealTime</ b >
< br />
}</ td ></ tr >
< tr class = "separator:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_types_classUThreadC_3_01void_01_4" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_types_classUThreadC_3_01void_01_4')" >< img src = "closed.png" alt = "-" />   Public Types inherited from < a class = "el" href = "classUThreadC_3_01void_01_4.html" > UThreadC< void > </ a ></ td ></ tr >
< tr class = "memitem:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" id = "r_a0ffb19a834ba3271ed3c9f650f119664" >< td class = "memItemLeft" align = "right" valign = "top" > typedef THREAD_HANDLE  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a0ffb19a834ba3271ed3c9f650f119664" > Handle</ a ></ td ></ tr >
< tr class = "separator:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" id = "r_a14b685cdf9b6529a5e31f0f021c4cfd9" >< td class = "memItemLeft" align = "right" valign = "top" > typedef void(*  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a14b685cdf9b6529a5e31f0f021c4cfd9" > Handler</ a > ) ()</ td ></ tr >
< tr class = "separator:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" id = "r_a0ffb19a834ba3271ed3c9f650f119664" >< td class = "memItemLeft" align = "right" valign = "top" > typedef THREAD_HANDLE  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a0ffb19a834ba3271ed3c9f650f119664" > Handle</ a ></ td ></ tr >
< tr class = "separator:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" id = "r_a14b685cdf9b6529a5e31f0f021c4cfd9" >< td class = "memItemLeft" align = "right" valign = "top" > typedef void(*  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a14b685cdf9b6529a5e31f0f021c4cfd9" > Handler</ a > ) ()</ td ></ tr >
< tr class = "separator:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_static_methods_classUThread" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_static_methods_classUThread')" >< img src = "closed.png" alt = "-" />   Static Public Member Functions inherited from < a class = "el" href = "classUThread.html" > UThread</ a ></ td ></ tr >
< tr class = "memitem:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread" id = "r_a6fa5e2358a86c5185371fd14305021aa" >< td class = "memItemLeft" align = "right" valign = "top" > static unsigned long  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThread.html#a6fa5e2358a86c5185371fd14305021aa" > currentThreadId</ a > ()</ td ></ tr >
< tr class = "separator:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_static_methods_classUThreadC_3_01void_01_4" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_static_methods_classUThreadC_3_01void_01_4')" >< img src = "closed.png" alt = "-" />   Static Public Member Functions inherited from < a class = "el" href = "classUThreadC_3_01void_01_4.html" > UThreadC< void > </ a ></ td ></ tr >
< tr class = "memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a17eb99ec0990246c0c7161e6bec84c74" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74" > Create</ a > (const Handler & Function, Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false)</ td ></ tr >
< tr class = "separator:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1584a3a80d86181ff66784cf0f8c2392 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a1584a3a80d86181ff66784cf0f8c2392" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a1584a3a80d86181ff66784cf0f8c2392" > Join</ a > (Handle H)</ td ></ tr >
< tr class = "separator:a1584a3a80d86181ff66784cf0f8c2392 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aec2af3352538bb8e45916c468e6960dc inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_aec2af3352538bb8e45916c468e6960dc" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#aec2af3352538bb8e45916c468e6960dc" > Kill</ a > (Handle H)</ td ></ tr >
< tr class = "separator:aec2af3352538bb8e45916c468e6960dc inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a591f5bfcea463cfaa2249bbcdd3ab522 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a591f5bfcea463cfaa2249bbcdd3ab522" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a591f5bfcea463cfaa2249bbcdd3ab522" > Detach</ a > (Handle H)</ td ></ tr >
< tr class = "separator:a591f5bfcea463cfaa2249bbcdd3ab522 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a17eb99ec0990246c0c7161e6bec84c74" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74" > Create</ a > (const Handler & Function, Handle *const & H=0, const bool & CreateDetached=false, const unsigned int & StackSize=0, const bool & CancelEnable=false, const bool & CancelAsync=false)</ td ></ tr >
< tr class = "separator:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1d704989d9a19f552ac0387c143cad95 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a1d704989d9a19f552ac0387c143cad95" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a1d704989d9a19f552ac0387c143cad95" > Join</ a > (const Handle & H)</ td ></ tr >
< tr class = "separator:a1d704989d9a19f552ac0387c143cad95 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a4a83aaa66db8ee6f07482130091690e3" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a4a83aaa66db8ee6f07482130091690e3" > Kill</ a > (const Handle & H)</ td ></ tr >
< tr class = "separator:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4" id = "r_a094155ec7163e19480ed2181ef8032ed" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a094155ec7163e19480ed2181ef8032ed" > Detach</ a > (const Handle & H)</ td ></ tr >
< tr class = "separator:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_static_methods_classUThreadC_3_01void_01_4" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_static_methods_classUThreadC_3_01void_01_4')" >< img src = "closed.png" alt = "-" />   Static Protected Member Functions inherited from < a class = "el" href = "classUThreadC_3_01void_01_4.html" > UThreadC< void > </ a ></ td ></ tr >
< tr class = "memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_afc1715cfa1d5ae88f57ba2fe983bb9e5" >< td class = "memItemLeft" align = "right" valign = "top" > static void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5" > Exit</ a > ()</ td ></ tr >
< tr class = "separator:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_a5dc3a0223030adcc0c6e3ef829efc824" >< td class = "memItemLeft" align = "right" valign = "top" > static void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824" > TestCancel</ a > ()</ td ></ tr >
< tr class = "separator:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_a33cd70cb0291ebd0a95016e89b4d5b6c" >< td class = "memItemLeft" align = "right" valign = "top" > static Handle  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a33cd70cb0291ebd0a95016e89b4d5b6c" > Self</ a > ()</ td ></ tr >
< tr class = "separator:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_afc1715cfa1d5ae88f57ba2fe983bb9e5" >< td class = "memItemLeft" align = "right" valign = "top" > static void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5" > Exit</ a > ()</ td ></ tr >
< tr class = "separator:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_a5dc3a0223030adcc0c6e3ef829efc824" >< td class = "memItemLeft" align = "right" valign = "top" > static void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824" > TestCancel</ a > ()</ td ></ tr >
< tr class = "separator:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afed28b5b5bb00d4addbb0cd7f2ce0ce2 inherit pro_static_methods_classUThreadC_3_01void_01_4" id = "r_afed28b5b5bb00d4addbb0cd7f2ce0ce2" >< td class = "memItemLeft" align = "right" valign = "top" > static int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classUThreadC_3_01void_01_4.html#afed28b5b5bb00d4addbb0cd7f2ce0ce2" > Self</ a > ()</ td ></ tr >
< tr class = "separator:afed28b5b5bb00d4addbb0cd7f2ce0ce2 inherit pro_static_methods_classUThreadC_3_01void_01_4" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
2026-08-02 07:56:38 +00:00
< div class = "textblock" >< p > Runs an < a class = "el" href = "classrtabmap_1_1Odometry.html" > Odometry</ a > front-end in its own thread, driven by events. </ p >
< p > The thread owns the < a class = "el" href = "classrtabmap_1_1Odometry.html" > Odometry</ a > object and calls < a class = "el" href = "classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1" > Odometry::process()</ a > on the frames it receives, so that a slow odometry update does not block the sensor thread. It sits in the middle of the event-based pipeline: < a class = "el" href = "classrtabmap_1_1SensorCaptureThread.html" > SensorCaptureThread</ a > → < a class = "el" href = "classrtabmap_1_1OdometryThread.html" title = "Runs an Odometry front-end in its own thread, driven by events." > OdometryThread</ a > → < a class = "el" href = "classrtabmap_1_1RtabmapThread.html" > RtabmapThread</ a > .</ p >
< p >< b > Input events</ b > (handled in < a class = "el" href = "classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8" > handleEvent()</ a > , i.e. in the caller's thread):</ p >< ul >
< li >< a class = "el" href = "classrtabmap_1_1SensorEvent.html" > SensorEvent</ a > — a frame to process. It is rejected with an error if it carries neither a laser scan nor an image with its calibration (an < a class = "el" href = "classrtabmap_1_1OdometryMono.html" > OdometryMono</ a > front-end accepts RGB alone).</ li >
< li >< a class = "el" href = "classrtabmap_1_1IMUEvent.html" > IMUEvent</ a > — an < a class = "el" href = "classrtabmap_1_1IMU.html" title = "Inertial measurement sample (ROS sensor_msgs/Imu-like fields)." > IMU</ a > sample, kept in a separate buffer.</ li >
< li >< a class = "el" href = "classrtabmap_1_1OdometryResetEvent.html" > OdometryResetEvent</ a > — resets the odometry to the pose it carries (identity if null) and drops everything buffered. Unlike the others, it is handled even before the thread is started.</ li >
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< p >< b > Output event</ b > : one < a class = "el" href = "classrtabmap_1_1OdometryEvent.html" > OdometryEvent</ a > per processed frame, carrying the data, the integrated pose and the < a class = "el" href = "classrtabmap_1_1OdometryInfo.html" > OdometryInfo</ a > . A null pose means odometry is lost; that is what < a class = "el" href = "classrtabmap_1_1RtabmapThread.html" > RtabmapThread</ a > reads to start a new map.</ p >
< p >< b > Buffering.</ b > The frame buffer holds < code > dataBufferMaxSize</ code > frames and drops the oldest when full, so with the default size of 1 the odometry always works on the freshest frame rather than falling behind. < a class = "el" href = "classrtabmap_1_1IMU.html" title = "Inertial measurement sample (ROS sensor_msgs/Imu-like fields)." > IMU</ a > samples are buffered apart and fed to the odometry up to the stamp of the frame about to be processed, so that tightly-coupled back-ends see them in order. A frame whose stamp falls outside the buffered < a class = "el" href = "classrtabmap_1_1IMU.html" title = "Inertial measurement sample (ROS sensor_msgs/Imu-like fields)." > IMU</ a > window is skipped with a warning: with an asynchronous < a class = "el" href = "classrtabmap_1_1IMU.html" title = "Inertial measurement sample (ROS sensor_msgs/Imu-like fields)." > IMU</ a > , it must be published faster (less delay) than the camera or lidar.</ p >
< p > When the incoming < a class = "el" href = "classrtabmap_1_1SensorEvent.html" > SensorEvent</ a > already carries an odometry pose (a robot publishing its own odometry), the motion between two consecutive such poses is passed to < a class = "el" href = "classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1" > Odometry::process()</ a > as a guess.</ p >
< dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classrtabmap_1_1Odometry.html" title = "Abstract base class for visual, lidar and visual-inertial odometry backends." > Odometry</ a > </ dd >
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< a class = "el" href = "classrtabmap_1_1RtabmapThread.html" title = "Runs a Rtabmap instance in its own thread, driven by events." > RtabmapThread</ a > </ dd >
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< a class = "el" href = "classrtabmap_1_1SensorCaptureThread.html" title = "Thread-based sensor data capture and event posting for RTAB-Map." > SensorCaptureThread</ a > </ dd ></ dl >
< p class = "definition" > Definition at line < a class = "el" href = "OdometryThread_8h_source.html#l00080" > 80</ a > of file < a class = "el" href = "OdometryThread_8h_source.html" > OdometryThread.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Constructor & Destructor Documentation</ h2 >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a66435ffb547d7d59faa9224fe030934b" > ◆  </ a ></ span > OdometryThread()</ h2 >
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< td class = "memname" > rtabmap::OdometryThread::OdometryThread </ td >
< td > (</ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1Odometry.html" > Odometry</ a > *  </ td >
< td class = "paramname" >< em > odometry</ em > , </ td >
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< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > unsigned int  </ td >
< td class = "paramname" >< em > dataBufferMaxSize</ em > = < code > 1</ code >   </ td >
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< td ></ td >
< td > )</ td >
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< p > Constructor. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
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< tr >< td class = "paramname" > odometry</ td >< td > The odometry to run; must not be null. The thread takes ownership and deletes it in the destructor. </ td ></ tr >
< tr >< td class = "paramname" > dataBufferMaxSize</ td >< td > Maximum number of frames waiting to be processed (0 = unlimited). Beyond that the oldest frame is dropped, keeping the odometry on recent data. </ td ></ tr >
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< h2 class = "groupheader" > Member Function Documentation</ h2 >
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< a id = "a65808dd7148c1e2c49dcf90ef718b5a8" name = "a65808dd7148c1e2c49dcf90ef718b5a8" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a65808dd7148c1e2c49dcf90ef718b5a8" > ◆  </ a ></ span > handleEvent()</ h2 >
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< td class = "memname" > virtual bool rtabmap::OdometryThread::handleEvent </ td >
< td > (</ td >
< td class = "paramtype" >< a class = "el" href = "classUEvent.html" > UEvent</ a > *  </ td >
< td class = "paramname" >< em > event</ em ></ td >< td > )</ td >
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< span class = "mlabels" >< span class = "mlabel" > protected</ span >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p > Receives the events listed in the class description. </ p >
< p > Runs in the posting thread: frames and < a class = "el" href = "classrtabmap_1_1IMU.html" title = "Inertial measurement sample (ROS sensor_msgs/Imu-like fields)." > IMU</ a > samples are only buffered here, the odometry itself runs in the thread's main loop. Data events are ignored until the thread is started, an < a class = "el" href = "classrtabmap_1_1OdometryResetEvent.html" > OdometryResetEvent</ a > is not.</ p >
< dl class = "section return" >< dt > Returns</ dt >< dd > Always false, so the event keeps being dispatched to other handlers. </ dd ></ dl >
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< p > Implements < a class = "el" href = "classUEventsHandler.html#a0d43b582c19f01196a513f66d3618d8d" > UEventsHandler</ a > .</ p >
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< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/< a class = "el" href = "OdometryThread_8h_source.html" > OdometryThread.h</ a ></ li >
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