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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.11</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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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>
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a0d6a1985391a45de4fe208e58c51b9d2"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a0d6a1985391a45de4fe208e58c51b9d2">rtabmap::Transform::isNull</a></div><div class="ttdeci">bool isNull() const</div><div class="ttdoc">Checks whether the transform is null (all zeros).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html_a8ea4368f2018d751d2733038081d56a2"><div class="ttname"><a href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">rtabmap::Transform::getIdentity</a></div><div class="ttdeci">static Transform getIdentity()</div><div class="ttdoc">Returns identity transform.</div></div>
<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>
<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#l00042">BayesFilter.h:42</a></div></div>
</div><!-- fragment --><p>Throttling is the caller's job here: <a class="el" href="classrtabmap_1_1Rtabmap.html#ad7f085b6ae0fd3c7077c500c028fd5c3" title="Main RTAB-Map iteration: ingests one sensor frame and updates the map.">rtabmap::Rtabmap::process()</a> maps every frame it is given. <a class="el" href="classrtabmap_1_1RtabmapThread.html" title="Runs a Rtabmap instance in its own thread, driven by events.">rtabmap::RtabmapThread</a> does this same stamp comparison internally, from <a class="el" href="classrtabmap_1_1Parameters.html#ab4330bb97358203a6e229a7e7d3b3160">Rtabmap/DetectionRate</a>, so the threaded pipeline only needs the parameter to be set.</p>
<p>Odometry drifts and the graph gets re-optimized, so the odometry pose is not a map pose. <a class="el" href="classrtabmap_1_1Statistics.html#a775992631cd8d976a94ea6c1560dad0d" title="Returns the map correction transform.">rtabmap::Statistics::mapCorrection()</a> is what reconciles the two, and since it only changes on a map update it can be applied to every incoming frame &ndash; which is how the pose stays available at full rate while the map is built at 1 Hz. This is the transform published as <code>/map</code> &rarr; <code>/odom</code> by the ROS wrapper, and what the <code>MapBuilder</code> of each example composes with the live odometry pose to place the clouds. It is also readable outside the statistics, as <a class="el" href="classrtabmap_1_1Rtabmap.html#a7b71f70a20f1ef42a65fa9571e254711">rtabmap::Rtabmap::getMapCorrection()</a>.</p>
<p>Complete programs live under <a href="https://github.com/introlab/rtabmap/tree/master/examples"><code>examples/</code></a> in the source tree:</p>