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api/latest/classrtabmap_1_1Odometry.html
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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.0</span>
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.24.1</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a class="el" href="classrtabmap_1_1OdometryInfo.html" title="What one Odometry iteration produced, beyond the pose.">OdometryInfo</a> </dd></dl>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00056">56</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00057">57</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="a6427d44c57fd6b7152b62d5b7cca1849" name="a6427d44c57fd6b7152b62d5b7cca1849"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a6427d44c57fd6b7152b62d5b7cca1849">&#9670;&#160;</a></span>Type</h2>
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<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00060">60</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00061">61</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
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<p>Reimplemented in <a class="el" href="classrtabmap_1_1OdometryMSCKF.html#a06b5b242107ffe5c379ff7ed089d07c6">rtabmap::OdometryMSCKF</a>, <a class="el" href="classrtabmap_1_1OdometryOkvis.html#ad4d4602445081fff30b74d1c7e22dbff">rtabmap::OdometryOkvis</a>, <a class="el" href="classrtabmap_1_1OdometryOpenVINS.html#aed27c46aa9ddc68c59eb09f2b3a9d3d0">rtabmap::OdometryOpenVINS</a>, and <a class="el" href="classrtabmap_1_1OdometryVINSFusion.html#a505ae049f32115a81d4f4258b5fb2134">rtabmap::OdometryVINSFusion</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00117">117</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00118">118</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
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<p>Reimplemented in <a class="el" href="classrtabmap_1_1OdometryLIOSAM.html#a51193d7f42c9b0174c6eedd75d8f4535">rtabmap::OdometryLIOSAM</a>, <a class="el" href="classrtabmap_1_1OdometryMSCKF.html#a4dd9c2358d2e69f397b61746519a923a">rtabmap::OdometryMSCKF</a>, <a class="el" href="classrtabmap_1_1OdometryOkvis.html#a4e94c233112e7105dffa37eb8d33427f">rtabmap::OdometryOkvis</a>, <a class="el" href="classrtabmap_1_1OdometryOpenVINS.html#a7712fe74d5ff65a67fe362010b795e14">rtabmap::OdometryOpenVINS</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM3.html#a2f226f38792f0c8bc146d73985239370">rtabmap::OdometryORBSLAM3</a>, and <a class="el" href="classrtabmap_1_1OdometryVINSFusion.html#a1a3145c62e7b0b43cfb5a94f61d2c9d1">rtabmap::OdometryVINSFusion</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00119">119</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00120">120</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>Current integrated odometry pose. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00122">122</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00123">123</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>True if <a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> debug/statistics fields are filled in <a class="el" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">process()</a>. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00124">124</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00125">125</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>Last estimated velocity used for motion guessing (may be null). </dd></dl>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00128">128</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00129">129</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>Timestamp of the previously processed frame. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00130">130</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00131">131</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>Number of frames processed since the last <a class="el" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">reset()</a>. </dd></dl>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00132">132</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00133">133</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>True if input images are already rectified (see <a class="el" href="classrtabmap_1_1Parameters.html#aaa7af43515eedb88d1e7083e82e59bae">Parameters::kRtabmapImagesAlreadyRectified()</a>). </dd></dl>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00134">134</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00135">135</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd><a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> orientations cached from recent frames (stamp → transform). </dd></dl>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00138">138</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00139">139</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
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