Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738

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2026-08-02 07:56:38 +00:00
parent 6259cf4409
commit 9043c4a9aa
1083 changed files with 121946 additions and 11202 deletions
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@@ -0,0 +1,6 @@
<!doctype html>
<meta charset="utf-8">
<title>RTAB-Map API documentation</title>
<meta http-equiv="refresh" content="0; url=latest/">
<link rel="canonical" href="latest/">
<p>Redirecting to the <a href="latest/">latest API documentation</a>.</p>
@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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> </ul>
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<div class="headertitle"><div class="title">BayesFilter.h</div></div>
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@@ -133,10 +150,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1BayesFilter.html"> 71</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1BayesFilter.html">BayesFilter</a></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span>{</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classrtabmap_1_1BayesFilter.html#a2955edc4b79110b5bd1bd03f1616056e"> 78</a></span> <a class="code hl_function" href="classrtabmap_1_1BayesFilter.html#a2955edc4b79110b5bd1bd03f1616056e">BayesFilter</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classrtabmap_1_1BayesFilter.html#a2955edc4b79110b5bd1bd03f1616056e"> 78</a></span> <a class="code hl_function" href="classrtabmap_1_1BayesFilter.html#a2955edc4b79110b5bd1bd03f1616056e">BayesFilter</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1BayesFilter.html">~BayesFilter</a>();</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1BayesFilter.html#a6d7d48b32c853f46eee9290d5c82cd28"> 85</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1BayesFilter.html#a6d7d48b32c853f46eee9290d5c82cd28">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1BayesFilter.html#a6d7d48b32c853f46eee9290d5c82cd28"> 85</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1BayesFilter.html#a6d7d48b32c853f46eee9290d5c82cd28">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classrtabmap_1_1BayesFilter.html#a7ab8bc28ec172a18a80001585161b238"> 99</a></span> <span class="keyword">const</span> std::map&lt;int, float&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1BayesFilter.html#a7ab8bc28ec172a18a80001585161b238">computePosterior</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory, <span class="keyword">const</span> std::map&lt;int, float&gt; &amp; likelihood);</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> </div>
@@ -197,10 +214,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Memory_html"><div class="ttname"><a href="classrtabmap_1_1Memory.html">rtabmap::Memory</a></div><div class="ttdoc">Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00101">Memory.h:102</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
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<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
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<div id="nav-sync" class="sync"></div>
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class="ui-resizable-handle">
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</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('CameraDepthAI_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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"><a class="el" href="dir_249903c078ca6be5fe8a43d73ba57f0e.html">camera</a></li> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle"><div class="title">CameraDepthAI.h</div></div>
</div><!--header-->
@@ -214,9 +231,13 @@ $(document).ready(function() { init_codefold(0); });
<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="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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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
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<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
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class="ui-resizable-handle">
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<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('CameraEvent_8h_source.html',''); initResizable(); });
/* @license-end */
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<div id="doc-content">
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<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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> </ul>
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<div class="header">
<div class="headertitle"><div class="title">CameraEvent.h</div></div>
</div><!--header-->
@@ -116,9 +133,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#include &quot;rtabmap/core/SensorEvent.h&quot;</span></div>
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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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>CameraEvent.h</b></li>
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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</html>
@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
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<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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/* @license-end */
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<div id="doc-content">
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<div id="MSearchSelectWindow"
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
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<div id="nav-path" class="navpath">
<ul>
<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"><a class="el" href="dir_249903c078ca6be5fe8a43d73ba57f0e.html">camera</a></li> </ul>
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@@ -198,9 +215,13 @@ $(document).ready(function() { init_codefold(0); });
<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="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 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="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 class="headertitle"><div class="title">CameraImages.h</div></div>
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@@ -331,9 +348,13 @@ $(document).ready(function() { init_codefold(0); });
<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="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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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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@@ -27,6 +31,7 @@
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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="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 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 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 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 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="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 id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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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"><a class="el" href="dir_249903c078ca6be5fe8a43d73ba57f0e.html">camera</a></li> </ul>
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<div class="headertitle"><div class="title">CameraRGBDImages.h</div></div>
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@@ -155,9 +172,13 @@ $(document).ready(function() { init_codefold(0); });
<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="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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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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</tr>
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<div class="headertitle"><div class="title">CameraRGBD.h</div></div>
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@@ -127,9 +144,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include &lt;rtabmap/core/camera/CameraSeerSense.h&gt;</span></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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</tr>
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<div class="headertitle"><div class="title">CameraRGB.h</div></div>
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@@ -117,9 +134,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#include &lt;rtabmap/core/camera/CameraImages.h&gt;</span></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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</tr>
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<div class="headertitle"><div class="title">CameraRealSense2.h</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 class="headertitle"><div class="title">CameraStereoImages.h</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 class="headertitle"><div class="title">CameraStereo.h</div></div>
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@@ -124,9 +141,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;rtabmap/core/camera/CameraMyntEye.h&gt;</span></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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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> </ul>
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@@ -116,9 +133,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#include &quot;rtabmap/core/SensorCaptureThread.h&quot;</span></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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</tr>
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@@ -55,6 +60,23 @@ $(function() {
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -179,9 +196,13 @@ $(document).ready(function() { init_codefold(0); });
<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="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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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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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> </ul>
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@@ -167,9 +184,13 @@ $(document).ready(function() { init_codefold(0); });
<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="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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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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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"><a class="el" href="dir_ee30f6c257683889c7b4a28a79d90ef3.html">global_map</a></li> </ul>
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@@ -128,7 +145,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CloudMap.html"> 40</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1CloudMap.html">CloudMap</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1GlobalMap.html">GlobalMap</a></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span>{</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="keyword">public</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="l00046" name="l00046"></a><span class="lineno"> 46</span> </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>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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/* @license-end */
</script>
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onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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> </ul>
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<div class="headertitle"><div class="title">Compression.h</div></div>
</div><!--header-->
@@ -182,9 +199,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="anamespacertabmap_html_abd9d5523210562abd9b5dc8fa9dbeb99"><div class="ttname"><a href="namespacertabmap.html#abd9d5523210562abd9b5dc8fa9dbeb99">rtabmap::compressImage2</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT compressImage2(const cv::Mat &amp;image, const std::string &amp;format=&quot;.png&quot;)</div><div class="ttdoc">Same as compressImage() but returns a CV_8UC1 row matrix.</div></div>
<div class="ttc" id="anamespacertabmap_html_aca82ee9efc46461c648c7ab8999e1d5b"><div class="ttname"><a href="namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b">rtabmap::compressData2</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT compressData2(const cv::Mat &amp;data)</div><div class="ttdoc">Same as compressData() but returns a CV_8UC1 row matrix.</div></div>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
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<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
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<div id="nav-sync" class="sync"></div>
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class="ui-resizable-handle">
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</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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/* @license-end */
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onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
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<div id="nav-path" class="navpath">
<ul>
<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> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle"><div class="title">DBDriverSqlite3.h</div></div>
</div><!--header-->
@@ -131,10 +148,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="foldopen" id="foldopen00070" data-start="{" data-end="};">
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html"> 70</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1DBDriverSqlite3.html">DBDriverSqlite3</a>: <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> {</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#a471f26a35b093bbd5a59766735a94fd1"> 76</a></span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#a471f26a35b093bbd5a59766735a94fd1">DBDriverSqlite3</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#a471f26a35b093bbd5a59766735a94fd1"> 76</a></span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#a471f26a35b093bbd5a59766735a94fd1">DBDriverSqlite3</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1DBDriverSqlite3.html">~DBDriverSqlite3</a>();</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec"> 80</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec"> 80</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#ab1933c0cad6c69c3ae788854731cdeec">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#af9cf8fda0fcc032efb44981d908b4e55"> 85</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#af9cf8fda0fcc032efb44981d908b4e55">isInMemory</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> getUrl().empty() || _dbInMemory;}</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#a0722fcddc772af1cc03a7fe8b410d137"> 90</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#a0722fcddc772af1cc03a7fe8b410d137">setDbInMemory</a>(<span class="keywordtype">bool</span> dbInMemory);</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriverSqlite3.html#ae3c445bedd62088bb20e76eda6cfe64d"> 110</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriverSqlite3.html#ae3c445bedd62088bb20e76eda6cfe64d">setJournalMode</a>(<span class="keywordtype">int</span> journalMode);</div>
@@ -166,7 +183,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastDictionarySizeQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalNodesSizeQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalDictionarySizeQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keyword">virtual</span> ParametersMap getLastParametersQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keyword">virtual</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> getLastParametersQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keyword">virtual</span> std::map&lt;std::string, float&gt; getStatisticsQuery(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">double</span> &amp; stamp, std::vector&lt;int&gt; * wmState) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keyword">virtual</span> std::map&lt;int, std::pair&lt;std::map&lt;std::string, float&gt;, <span class="keywordtype">double</span>&gt; &gt; getAllStatisticsQuery() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keyword">virtual</span> std::map&lt;int, std::vector&lt;int&gt; &gt; getAllStatisticsWmStatesQuery() <span class="keyword">const</span>;</div>
@@ -334,10 +351,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></div><div class="ttdoc">Manages a dictionary of visual words for visual place recognition and loop closure detection.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00065">VWDictionary.h:66</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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ac175ef40b7a4acb632232d3d96a1199a"><div class="ttname"><a href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">rtabmap::EnvSensors</a></div><div class="ttdeci">std::map&lt; EnvSensor::Type, EnvSensor &gt; EnvSensors</div><div class="ttdoc">Map of environmental readings keyed by EnvSensor::Type (at most one per type).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00114">EnvSensor.h:114</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
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class="ui-resizable-handle">
</div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('DBDriver_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
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<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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> </ul>
</div>
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<div class="header">
<div class="headertitle"><div class="title">DBDriver.h</div></div>
</div><!--header-->
@@ -123,7 +140,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;opencv2/core/core.hpp&gt;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include &quot;rtabmap/utilite/UMutex.h&quot;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include &quot;rtabmap/utilite/UThreadNode.h&quot;</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include &quot;<a class="code" href="UThreadNode_8h.html">rtabmap/utilite/UThreadNode.h</a>&quot;</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include &quot;rtabmap/core/Parameters.h&quot;</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include &quot;rtabmap/core/SensorData.h&quot;</span></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include &lt;rtabmap/core/Statistics.h&gt;</span></div>
@@ -141,12 +158,12 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html"> 71</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThreadNode</a></div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span>{</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9"> 79</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9">create</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9"> 79</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a1f75e440b35243ccad645052bc4a12f9">create</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">~DBDriver</a>();</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a3c73e045d9bdf8cad1c58efc9d930427"> 85</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a3c73e045d9bdf8cad1c58efc9d930427">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a3c73e045d9bdf8cad1c58efc9d930427"> 85</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a3c73e045d9bdf8cad1c58efc9d930427">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a0ecd6182f404d8e6822b66a54f1d248a"> 90</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a0ecd6182f404d8e6822b66a54f1d248a">isInMemory</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _url.empty();}</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a79365611bce06aeda0d078641be89cab"> 92</a></span> <span class="keyword">const</span> std::string &amp; <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a79365611bce06aeda0d078641be89cab">getUrl</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _url;}</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1"> 94</a></span> <span class="keyword">const</span> std::string &amp; <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a456bc49e8e60e0c754078a4b09e3f1a1">getTargetVersion</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _targetVersion;}</div>
@@ -179,7 +196,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811"> 156</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a3a02d595356e2dd0ed8b8933a6c4e811">updateDepthImage</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> cv::Mat &amp; image, <span class="keyword">const</span> std::string &amp; format);</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b"> 162</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a7d167e53d447d77dd3fe35665f8a661b">updateLaserScan</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; scan);</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">void</span> addInfoAfterRun(<span class="keywordtype">int</span> stMemSize, <span class="keywordtype">int</span> lastSignAdded, <span class="keywordtype">int</span> processMemUsed, <span class="keywordtype">int</span> databaseMemUsed, <span class="keywordtype">int</span> dictionarySize, <span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">void</span> addInfoAfterRun(<span class="keywordtype">int</span> stMemSize, <span class="keywordtype">int</span> lastSignAdded, <span class="keywordtype">int</span> processMemUsed, <span class="keywordtype">int</span> databaseMemUsed, <span class="keywordtype">int</span> dictionarySize, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832"> 176</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a4dbccd0dabf72da724488692b1713832">addStatistics</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> &amp; statistics, <span class="keywordtype">bool</span> saveWmState) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170"> 182</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a8323a53d20e4ade6b1c7b268c473a170">savePreviewImage</a>(<span class="keyword">const</span> cv::Mat &amp; image) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#aa1423596308a8baf123ecbc7fdfc1e82"> 184</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#aa1423596308a8baf123ecbc7fdfc1e82">loadPreviewImage</a>() <span class="keyword">const</span>;</div>
@@ -226,7 +243,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"> 251</span> <span class="keywordtype">int</span> getLastDictionarySize() <span class="keyword">const</span>; <span class="comment">// working memory</span></div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="keywordtype">int</span> getTotalNodesSize() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keywordtype">int</span> getTotalDictionarySize() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> ParametersMap getLastParameters() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> getLastParameters() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> std::map&lt;std::string, float&gt; getStatistics(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">double</span> &amp; stamp, std::vector&lt;int&gt; * wmState=0) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> std::map&lt;int, std::pair&lt;std::map&lt;std::string, float&gt;, <span class="keywordtype">double</span>&gt; &gt; getAllStatistics() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> std::map&lt;int, std::vector&lt;int&gt; &gt; getAllStatisticsWmStates() <span class="keyword">const</span>;</div>
@@ -262,7 +279,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="keywordtype">void</span> getNodeIdByLabel(<span class="keyword">const</span> std::string &amp; label, <span class="keywordtype">int</span> &amp; <span class="keywordtype">id</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keywordtype">void</span> getAllLabels(std::map&lt;int, std::string&gt; &amp; labels) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e"> 318</a></span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e">DBDriver</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e"> 318</a></span> <a class="code hl_function" href="classrtabmap_1_1DBDriver.html#a5f90eb62bb559d42611dbe7ffe11328e">DBDriver</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> </div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> connectDatabaseQuery(<span class="keyword">const</span> std::string &amp; url, <span class="keywordtype">bool</span> overwritten = <span class="keyword">false</span>, <span class="keywordtype">bool</span> readOnly = <span class="keyword">false</span>) = 0;</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> disconnectDatabaseQuery(<span class="keywordtype">bool</span> save = <span class="keyword">true</span>, <span class="keyword">const</span> std::string &amp; outputUrl = <span class="stringliteral">&quot;&quot;</span>) = 0;</div>
@@ -284,7 +301,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getLastDictionarySizeQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalNodesSizeQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <span class="keyword">virtual</span> <span class="keywordtype">int</span> getTotalDictionarySizeQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keyword">virtual</span> ParametersMap getLastParametersQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> <span class="keyword">virtual</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> getLastParametersQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span> <span class="keyword">virtual</span> std::map&lt;std::string, float&gt; getStatisticsQuery(<span class="keywordtype">int</span> nodeId, <span class="keywordtype">double</span> &amp; stamp, std::vector&lt;int&gt; * wmState) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keyword">virtual</span> std::map&lt;int, std::pair&lt;std::map&lt;std::string, float&gt;, <span class="keywordtype">double</span>&gt; &gt; getAllStatisticsQuery() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span> <span class="keyword">virtual</span> std::map&lt;int, std::vector&lt;int&gt; &gt; getAllStatisticsWmStatesQuery() <span class="keyword">const</span> = 0;</div>
@@ -398,6 +415,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span>}</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> </div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span><span class="preprocessor">#endif </span><span class="comment">/* DBDRIVER_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>
<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>
<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>
@@ -447,10 +465,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1VisualWord_html"><div class="ttname"><a href="classrtabmap_1_1VisualWord.html">rtabmap::VisualWord</a></div><div class="ttdoc">Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.</div><div class="ttdef"><b>Definition</b> <a href="VisualWord_8h_source.html#l00049">VisualWord.h:50</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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ac175ef40b7a4acb632232d3d96a1199a"><div class="ttname"><a href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">rtabmap::EnvSensors</a></div><div class="ttdeci">std::map&lt; EnvSensor::Type, EnvSensor &gt; EnvSensors</div><div class="ttdoc">Map of environmental readings keyed by EnvSensor::Type (at most one per type).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00114">EnvSensor.h:114</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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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>DBDriver.h</b></li>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
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<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('DBReader_8h_source.html',''); initResizable(); });
/* @license-end */
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onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
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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> </ul>
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<div class="header">
<div class="headertitle"><div class="title">DBReader.h</div></div>
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@@ -232,9 +249,13 @@ $(document).ready(function() { init_codefold(0); });
<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="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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@@ -27,6 +31,7 @@
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@@ -133,15 +150,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa7c238626943b1254027ed1b5454ae101"> 65</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa7c238626943b1254027ed1b5454ae101">kAmbientRelativeHumidity</a>, </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa88e60173d5f413f4ab490a99c034453e"> 67</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa88e60173d5f413f4ab490a99c034453e">kCustomSensor1</a> = 100, </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> kCustomSensor2,</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> kCustomSensor3,</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> kCustomSensor4,</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> kCustomSensor5,</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> kCustomSensor6,</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> kCustomSensor7,</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> kCustomSensor8,</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> kCustomSensor9</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> };</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa9bb90358c0c69177bb8a918cd38aee8a"> 68</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa9bb90358c0c69177bb8a918cd38aee8a">kCustomSensor2</a>, </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa7bcfccab26830a87edcf9dbf7d7b166b"> 69</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa7bcfccab26830a87edcf9dbf7d7b166b">kCustomSensor3</a>, </div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa53762a7b85a4a07845e8c447e0ba19e7"> 70</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa53762a7b85a4a07845e8c447e0ba19e7">kCustomSensor4</a>, </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fafd5342a456a7e150c2d7598a7b297c92"> 71</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fafd5342a456a7e150c2d7598a7b297c92">kCustomSensor5</a>, </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30faef0358209e8fe8218ab939fa9ab4a693"> 72</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30faef0358209e8fe8218ab939fa9ab4a693">kCustomSensor6</a>, </div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30faeb1ce734601c915d6a411c76ff4bb8f8"> 73</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30faeb1ce734601c915d6a411c76ff4bb8f8">kCustomSensor7</a>, </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa24c103c2769770dd36d87e0567be9140"> 74</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa24c103c2769770dd36d87e0567be9140">kCustomSensor8</a>, </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <a class="code hl_enumvalue" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa669f9ca8a243a813b981ff2b672b0f89">kCustomSensor9</a> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa669f9ca8a243a813b981ff2b672b0f89"> 76</a></span> };</div>
</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span><span class="keyword">public</span>:</div>
@@ -183,12 +200,20 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1bbcf9a834523dd2e91ef1ab8d31d5e4"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1bbcf9a834523dd2e91ef1ab8d31d5e4">rtabmap::EnvSensor::stamp</a></div><div class="ttdeci">const double &amp; stamp() const</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00105">EnvSensor.h:105</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30f"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">rtabmap::EnvSensor::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Environmental sensor channel identifier.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00059">EnvSensor.h:59</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fa1bc42ead6237eb515f301b39e162dee2"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa1bc42ead6237eb515f301b39e162dee2">rtabmap::EnvSensor::kWifiSignalStrength</a></div><div class="ttdeci">@ kWifiSignalStrength</div><div class="ttdoc">Wi‑Fi signal strength (dBm).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00061">EnvSensor.h:61</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fa24c103c2769770dd36d87e0567be9140"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa24c103c2769770dd36d87e0567be9140">rtabmap::EnvSensor::kCustomSensor8</a></div><div class="ttdeci">@ kCustomSensor8</div><div class="ttdoc">User-defined sensor slot 8.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00074">EnvSensor.h:74</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fa2659626ccc2aa59e2d83a57f34e400f0"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa2659626ccc2aa59e2d83a57f34e400f0">rtabmap::EnvSensor::kAmbientAirPressure</a></div><div class="ttdeci">@ kAmbientAirPressure</div><div class="ttdoc">Ambient air pressure (hPa).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00063">EnvSensor.h:63</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fa53762a7b85a4a07845e8c447e0ba19e7"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa53762a7b85a4a07845e8c447e0ba19e7">rtabmap::EnvSensor::kCustomSensor4</a></div><div class="ttdeci">@ kCustomSensor4</div><div class="ttdoc">User-defined sensor slot 4.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00070">EnvSensor.h:70</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fa669f9ca8a243a813b981ff2b672b0f89"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa669f9ca8a243a813b981ff2b672b0f89">rtabmap::EnvSensor::kCustomSensor9</a></div><div class="ttdeci">@ kCustomSensor9</div><div class="ttdoc">User-defined sensor slot 9.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00076">EnvSensor.h:75</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fa7bcfccab26830a87edcf9dbf7d7b166b"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa7bcfccab26830a87edcf9dbf7d7b166b">rtabmap::EnvSensor::kCustomSensor3</a></div><div class="ttdeci">@ kCustomSensor3</div><div class="ttdoc">User-defined sensor slot 3.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00069">EnvSensor.h:69</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fa7c238626943b1254027ed1b5454ae101"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa7c238626943b1254027ed1b5454ae101">rtabmap::EnvSensor::kAmbientRelativeHumidity</a></div><div class="ttdeci">@ kAmbientRelativeHumidity</div><div class="ttdoc">Relative humidity (%).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00065">EnvSensor.h:65</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fa88e60173d5f413f4ab490a99c034453e"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa88e60173d5f413f4ab490a99c034453e">rtabmap::EnvSensor::kCustomSensor1</a></div><div class="ttdeci">@ kCustomSensor1</div><div class="ttdoc">User-defined sensor slot 1.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00067">EnvSensor.h:67</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fa8eee701051a2603e162a65d4948a64d8"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa8eee701051a2603e162a65d4948a64d8">rtabmap::EnvSensor::kAmbientLight</a></div><div class="ttdeci">@ kAmbientLight</div><div class="ttdoc">Ambient illuminance (lx).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00064">EnvSensor.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fa9bb90358c0c69177bb8a918cd38aee8a"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa9bb90358c0c69177bb8a918cd38aee8a">rtabmap::EnvSensor::kCustomSensor2</a></div><div class="ttdeci">@ kCustomSensor2</div><div class="ttdoc">User-defined sensor slot 2.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00068">EnvSensor.h:68</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fa9e348acef07abec64edef43b58ea1b83"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fa9e348acef07abec64edef43b58ea1b83">rtabmap::EnvSensor::kAmbientTemperature</a></div><div class="ttdeci">@ kAmbientTemperature</div><div class="ttdoc">Ambient temperature (°C).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00062">EnvSensor.h:62</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fad06ac95d82e3fceb18e1f3dfd190931a"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fad06ac95d82e3fceb18e1f3dfd190931a">rtabmap::EnvSensor::kUndefined</a></div><div class="ttdeci">@ kUndefined</div><div class="ttdoc">Uninitialized / unknown channel.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00060">EnvSensor.h:60</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30faeb1ce734601c915d6a411c76ff4bb8f8"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30faeb1ce734601c915d6a411c76ff4bb8f8">rtabmap::EnvSensor::kCustomSensor7</a></div><div class="ttdeci">@ kCustomSensor7</div><div class="ttdoc">User-defined sensor slot 7.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00073">EnvSensor.h:73</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30faef0358209e8fe8218ab939fa9ab4a693"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30faef0358209e8fe8218ab939fa9ab4a693">rtabmap::EnvSensor::kCustomSensor6</a></div><div class="ttdeci">@ kCustomSensor6</div><div class="ttdoc">User-defined sensor slot 6.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00072">EnvSensor.h:72</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a1ed69864df2cd8e11429358ba817b30fafd5342a456a7e150c2d7598a7b297c92"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30fafd5342a456a7e150c2d7598a7b297c92">rtabmap::EnvSensor::kCustomSensor5</a></div><div class="ttdeci">@ kCustomSensor5</div><div class="ttdoc">User-defined sensor slot 5.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00071">EnvSensor.h:71</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a27b343c9be68fd326c10157102bb750f"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a27b343c9be68fd326c10157102bb750f">rtabmap::EnvSensor::value</a></div><div class="ttdeci">const double &amp; value() const</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00103">EnvSensor.h:103</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a512758b1afef465b24ce24de8a705dc9"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a512758b1afef465b24ce24de8a705dc9">rtabmap::EnvSensor::EnvSensor</a></div><div class="ttdeci">EnvSensor()</div><div class="ttdoc">Default constructor: kUndefined type, zero value and stamp.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00080">EnvSensor.h:80</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_a8b2f05e0297750a60ccd05c56f141a1b"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#a8b2f05e0297750a60ccd05c56f141a1b">rtabmap::EnvSensor::EnvSensor</a></div><div class="ttdeci">EnvSensor(const Type &amp;type, const double &amp;value, const double &amp;stamp=0)</div><div class="ttdoc">Constructs a reading with the given type, value, and optional stamp.</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00092">EnvSensor.h:92</a></div></div>
@@ -196,9 +221,13 @@ $(document).ready(function() { init_codefold(0); });
<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_ac175ef40b7a4acb632232d3d96a1199a"><div class="ttname"><a href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">rtabmap::EnvSensors</a></div><div class="ttdeci">std::map&lt; EnvSensor::Type, EnvSensor &gt; EnvSensors</div><div class="ttdoc">Map of environmental readings keyed by EnvSensor::Type (at most one per type).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00114">EnvSensor.h:114</a></div></div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -137,10 +154,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classrtabmap_1_1EpipolarGeometry.html"> 49</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1EpipolarGeometry.html">EpipolarGeometry</a></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span>{</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <a class="code hl_class" href="classrtabmap_1_1EpipolarGeometry.html">EpipolarGeometry</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <a class="code hl_class" href="classrtabmap_1_1EpipolarGeometry.html">EpipolarGeometry</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1EpipolarGeometry.html">~EpipolarGeometry</a>();</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <span class="keywordtype">bool</span> check(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * ssA, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * ssB);</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keywordtype">int</span> getMatchCountMinAccepted()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _matchCountMinAccepted;}</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordtype">double</span> getRansacParam1()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _ransacParam1;}</div>
@@ -342,10 +359,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1EpipolarGeometry_html_adfcc58ee756cb99887c6d8807bc7104c"><div class="ttname"><a href="classrtabmap_1_1EpipolarGeometry.html#adfcc58ee756cb99887c6d8807bc7104c">rtabmap::EpipolarGeometry::findPairsAll</a></div><div class="ttdeci">static int findPairsAll(const std::multimap&lt; int, T &gt; &amp;wordsA, const std::multimap&lt; int, T &gt; &amp;wordsB, std::list&lt; std::pair&lt; int, std::pair&lt; T, T &gt; &gt; &gt; &amp;pairs, bool ignoreNegativeIds=true)</div><div class="ttdef"><b>Definition</b> <a href="EpipolarGeometry_8h_source.html#l00197">EpipolarGeometry.h:197</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -281,8 +298,8 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> }</div>
</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> </div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Feature2D.html#a58ac3dff96e882f0e4bbbf8a8ffc435d"> 212</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a> * <a class="code hl_function" href="classrtabmap_1_1Feature2D.html#a58ac3dff96e882f0e4bbbf8a8ffc435d">create</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Feature2D.html#ab9deec7c0e26722736aeeaeb5541ac3a"> 214</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a> * <a class="code hl_function" href="classrtabmap_1_1Feature2D.html#ab9deec7c0e26722736aeeaeb5541ac3a">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> type, <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Feature2D.html#a58ac3dff96e882f0e4bbbf8a8ffc435d"> 212</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a> * <a class="code hl_function" href="classrtabmap_1_1Feature2D.html#a58ac3dff96e882f0e4bbbf8a8ffc435d">create</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Feature2D.html#ab9deec7c0e26722736aeeaeb5541ac3a"> 214</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a> * <a class="code hl_function" href="classrtabmap_1_1Feature2D.html#ab9deec7c0e26722736aeeaeb5541ac3a">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> type, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> </div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Feature2D.html#a6020550480c25d36f0b4255629e75ee2"> 217</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Feature2D.html#a6020550480c25d36f0b4255629e75ee2">isAvailable</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> type);</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> </div>
@@ -343,21 +360,21 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data,</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="keyword">const</span> std::vector&lt;cv::KeyPoint&gt; &amp; keypoints) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> </div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> <span class="keyword">virtual</span> <span class="keyword">const</span> ParametersMap &amp; getParameters()<span class="keyword"> const </span>{<span class="keywordflow">return</span> parameters_;}</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; getParameters()<span class="keyword"> const </span>{<span class="keywordflow">return</span> parameters_;}</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> </div>
<div class="line"><a id="l00294" name="l00294"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Feature2D.html#a8d330b2b7db059f59c257cde6c9b6a99"> 294</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Feature2D.html#a8d330b2b7db059f59c257cde6c9b6a99">isGpuAvailable</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="keyword">false</span>;}</div>
<div class="line"><a id="l00295" name="l00295"></a><span class="lineno"> 295</span> </div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> </div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> <span class="keyword">virtual</span> std::vector&lt;cv::KeyPoint&gt; generateKeypointsImpl(<span class="keyword">const</span> cv::Mat &amp; image, <span class="keyword">const</span> cv::Rect &amp; roi, <span class="keyword">const</span> cv::Mat &amp; mask = cv::Mat()) = 0;</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <span class="keyword">virtual</span> cv::Mat generateDescriptorsImpl(<span class="keyword">const</span> cv::Mat &amp; image, std::vector&lt;cv::KeyPoint&gt; &amp; keypoints) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> </div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> ParametersMap parameters_;</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keywordtype">int</span> maxFeatures_;</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keywordtype">bool</span> SSC_;</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keywordtype">float</span> _maxDepth; <span class="comment">// 0=inf</span></div>
@@ -377,10 +394,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SURF.html"> 320</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1SURF.html">SURF</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a></div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span>{</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> <a class="code hl_class" href="classrtabmap_1_1SURF.html">SURF</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> <a class="code hl_class" href="classrtabmap_1_1SURF.html">SURF</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1SURF.html">~SURF</a>();</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> </div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureSurf;}</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SURF.html#a1150923dbf7e1bfd066dba0c3b22db57"> 328</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SURF.html#a1150923dbf7e1bfd066dba0c3b22db57">isGpuAvailable</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> </div>
@@ -406,10 +423,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SIFT.html"> 348</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1SIFT.html">SIFT</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a></div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span>{</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <a class="code hl_class" href="classrtabmap_1_1SIFT.html">SIFT</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> <a class="code hl_class" href="classrtabmap_1_1SIFT.html">SIFT</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"> 352</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1SIFT.html">~SIFT</a>();</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> </div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureSift;}</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SIFT.html#ad089f68ffc9ef1b42b5a9c2d5a5ecd81"> 356</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SIFT.html#ad089f68ffc9ef1b42b5a9c2d5a5ecd81">isGpuAvailable</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> </div>
@@ -442,10 +459,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ORB.html"> 383</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1ORB.html">ORB</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a></div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span>{</div>
<div class="line"><a id="l00385" name="l00385"></a><span class="lineno"> 385</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <a class="code hl_class" href="classrtabmap_1_1ORB.html">ORB</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"> 386</span> <a class="code hl_class" href="classrtabmap_1_1ORB.html">ORB</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1ORB.html">~ORB</a>();</div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> </div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureOrb;}</div>
<div class="line"><a id="l00391" name="l00391"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ORB.html#a7b5e3e7cc41dd04e517c5332f04d3a0a"> 391</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1ORB.html#a7b5e3e7cc41dd04e517c5332f04d3a0a">isGpuAvailable</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00392" name="l00392"></a><span class="lineno"> 392</span> </div>
@@ -475,10 +492,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FAST.html"> 415</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1FAST.html">FAST</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a></div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span>{</div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <a class="code hl_class" href="classrtabmap_1_1FAST.html">FAST</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <a class="code hl_class" href="classrtabmap_1_1FAST.html">FAST</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1FAST.html">~FAST</a>();</div>
<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> </div>
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureUndef;}</div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FAST.html#a1418ac4de2bdf5815df888a4d1f50b2e"> 423</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1FAST.html#a1418ac4de2bdf5815df888a4d1f50b2e">isGpuAvailable</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> </div>
@@ -513,10 +530,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00452" name="l00452"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FAST__BRIEF.html"> 452</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1FAST__BRIEF.html">FAST_BRIEF</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1FAST.html">FAST</a></div>
<div class="line"><a id="l00453" name="l00453"></a><span class="lineno"> 453</span>{</div>
<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"> 454</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> <a class="code hl_class" href="classrtabmap_1_1FAST__BRIEF.html">FAST_BRIEF</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> <a class="code hl_class" href="classrtabmap_1_1FAST__BRIEF.html">FAST_BRIEF</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00456" name="l00456"></a><span class="lineno"> 456</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1FAST__BRIEF.html">~FAST_BRIEF</a>();</div>
<div class="line"><a id="l00457" name="l00457"></a><span class="lineno"> 457</span> </div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00458" name="l00458"></a><span class="lineno"> 458</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"> 459</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureFastBrief;}</div>
<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> </div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span><span class="keyword">private</span>:</div>
@@ -533,10 +550,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"><a class="line" href="classrtabmap_1_1FAST__FREAK.html"> 471</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1FAST__FREAK.html">FAST_FREAK</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1FAST.html">FAST</a></div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span>{</div>
<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"> 473</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> <a class="code hl_class" href="classrtabmap_1_1FAST__FREAK.html">FAST_FREAK</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> <a class="code hl_class" href="classrtabmap_1_1FAST__FREAK.html">FAST_FREAK</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"> 475</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1FAST__FREAK.html">~FAST_FREAK</a>();</div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> </div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"> 477</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"> 478</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureFastFreak;}</div>
<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> </div>
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span><span class="keyword">private</span>:</div>
@@ -556,10 +573,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GFTT.html"> 493</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1GFTT.html">GFTT</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a></div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span>{</div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> <a class="code hl_class" href="classrtabmap_1_1GFTT.html">GFTT</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> <a class="code hl_class" href="classrtabmap_1_1GFTT.html">GFTT</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1GFTT.html">~GFTT</a>();</div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> </div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GFTT.html#a05151f04cf624576783837dc48ddf744"> 500</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1GFTT.html#a05151f04cf624576783837dc48ddf744">isGpuAvailable</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> </div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span><span class="keyword">private</span>:</div>
@@ -582,10 +599,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GFTT__BRIEF.html"> 518</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1GFTT__BRIEF.html">GFTT_BRIEF</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1GFTT.html">GFTT</a></div>
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span>{</div>
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> <a class="code hl_class" href="classrtabmap_1_1GFTT__BRIEF.html">GFTT_BRIEF</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> <a class="code hl_class" href="classrtabmap_1_1GFTT__BRIEF.html">GFTT_BRIEF</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1GFTT__BRIEF.html">~GFTT_BRIEF</a>();</div>
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> </div>
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureGfttBrief;}</div>
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> </div>
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span><span class="keyword">private</span>:</div>
@@ -602,10 +619,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GFTT__FREAK.html"> 537</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1GFTT__FREAK.html">GFTT_FREAK</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1GFTT.html">GFTT</a></div>
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span>{</div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <a class="code hl_class" href="classrtabmap_1_1GFTT__FREAK.html">GFTT_FREAK</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <a class="code hl_class" href="classrtabmap_1_1GFTT__FREAK.html">GFTT_FREAK</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1GFTT__FREAK.html">~GFTT_FREAK</a>();</div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> </div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureGfttFreak;}</div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> </div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span><span class="keyword">private</span>:</div>
@@ -625,10 +642,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SURF__FREAK.html"> 559</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1SURF__FREAK.html">SURF_FREAK</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1SURF.html">SURF</a></div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span>{</div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> <a class="code hl_class" href="classrtabmap_1_1SURF__FREAK.html">SURF_FREAK</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> <a class="code hl_class" href="classrtabmap_1_1SURF__FREAK.html">SURF_FREAK</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1SURF__FREAK.html">~SURF_FREAK</a>();</div>
<div class="line"><a id="l00564" name="l00564"></a><span class="lineno"> 564</span> </div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"> 565</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureSurfFreak;}</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> </div>
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span><span class="keyword">private</span>:</div>
@@ -648,10 +665,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GFTT__ORB.html"> 581</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1GFTT__ORB.html">GFTT_ORB</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1GFTT.html">GFTT</a></div>
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span>{</div>
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> <a class="code hl_class" href="classrtabmap_1_1GFTT__ORB.html">GFTT_ORB</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> <a class="code hl_class" href="classrtabmap_1_1GFTT__ORB.html">GFTT_ORB</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1GFTT__ORB.html">~GFTT_ORB</a>();</div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> </div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureGfttOrb;}</div>
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> </div>
<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"> 590</span><span class="keyword">private</span>:</div>
@@ -666,10 +683,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"><a class="line" href="classrtabmap_1_1BRISK.html"> 598</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1BRISK.html">BRISK</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a></div>
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno"> 599</span>{</div>
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno"> 600</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"> 601</span> <a class="code hl_class" href="classrtabmap_1_1BRISK.html">BRISK</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"> 601</span> <a class="code hl_class" href="classrtabmap_1_1BRISK.html">BRISK</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1BRISK.html">~BRISK</a>();</div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span> </div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureBrisk;}</div>
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> </div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span><span class="keyword">private</span>:</div>
@@ -689,10 +706,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"><a class="line" href="classrtabmap_1_1KAZE.html"> 620</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1KAZE.html">KAZE</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a></div>
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span>{</div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> <a class="code hl_class" href="classrtabmap_1_1KAZE.html">KAZE</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> <a class="code hl_class" href="classrtabmap_1_1KAZE.html">KAZE</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1KAZE.html">~KAZE</a>();</div>
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"> 625</span> </div>
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{ <span class="keywordflow">return</span> kFeatureKaze; }</div>
<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span> </div>
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span><span class="keyword">private</span>:</div>
@@ -717,10 +734,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00647" name="l00647"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ORBOctree.html"> 647</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1ORBOctree.html">ORBOctree</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a></div>
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"> 648</span>{</div>
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span> <a class="code hl_class" href="classrtabmap_1_1ORBOctree.html">ORBOctree</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span> <a class="code hl_class" href="classrtabmap_1_1ORBOctree.html">ORBOctree</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1ORBOctree.html">~ORBOctree</a>();</div>
<div class="line"><a id="l00652" name="l00652"></a><span class="lineno"> 652</span> </div>
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"> 653</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"> 653</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00654" name="l00654"></a><span class="lineno"> 654</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureOrbOctree;}</div>
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"> 655</span> </div>
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span><span class="keyword">private</span>:</div>
@@ -744,10 +761,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00673" name="l00673"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SuperPointTorch.html"> 673</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1SuperPointTorch.html">SuperPointTorch</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a></div>
<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"> 674</span>{</div>
<div class="line"><a id="l00675" name="l00675"></a><span class="lineno"> 675</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> <a class="code hl_class" href="classrtabmap_1_1SuperPointTorch.html">SuperPointTorch</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> <a class="code hl_class" href="classrtabmap_1_1SuperPointTorch.html">SuperPointTorch</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00677" name="l00677"></a><span class="lineno"> 677</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1SuperPointTorch.html">~SuperPointTorch</a>();</div>
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"> 678</span> </div>
<div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"> 680</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{ <span class="keywordflow">return</span> kFeatureSuperPointTorch; }</div>
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SuperPointTorch.html#aee69f6089f657449d3813b440abbaa25"> 681</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SuperPointTorch.html#aee69f6089f657449d3813b440abbaa25">isGpuAvailable</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span> </div>
@@ -769,10 +786,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SuperPointRpautrat.html"> 697</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1SuperPointRpautrat.html">SuperPointRpautrat</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a></div>
<div class="line"><a id="l00698" name="l00698"></a><span class="lineno"> 698</span>{</div>
<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"> 699</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span> <a class="code hl_class" href="classrtabmap_1_1SuperPointRpautrat.html">SuperPointRpautrat</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span> <a class="code hl_class" href="classrtabmap_1_1SuperPointRpautrat.html">SuperPointRpautrat</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"> 701</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1SuperPointRpautrat.html">~SuperPointRpautrat</a>();</div>
<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"> 702</span> </div>
<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"> 704</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{ <span class="keywordflow">return</span> kFeatureSuperPointRpautrat; }</div>
<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SuperPointRpautrat.html#ac041c8738dc391661ba21331bf78d344"> 705</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SuperPointRpautrat.html#ac041c8738dc391661ba21331bf78d344">isGpuAvailable</a>() <span class="keyword">const override</span>;</div>
<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"> 706</span> </div>
@@ -796,10 +813,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GFTT__DAISY.html"> 723</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1GFTT__DAISY.html">GFTT_DAISY</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1GFTT.html">GFTT</a></div>
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"> 724</span>{</div>
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> <a class="code hl_class" href="classrtabmap_1_1GFTT__DAISY.html">GFTT_DAISY</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> <a class="code hl_class" href="classrtabmap_1_1GFTT__DAISY.html">GFTT_DAISY</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"> 727</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1GFTT__DAISY.html">~GFTT_DAISY</a>();</div>
<div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> </div>
<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"> 729</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"> 729</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"> 730</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureGfttDaisy;}</div>
<div class="line"><a id="l00731" name="l00731"></a><span class="lineno"> 731</span> </div>
<div class="line"><a id="l00732" name="l00732"></a><span class="lineno"> 732</span><span class="keyword">private</span>:</div>
@@ -821,10 +838,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00747" name="l00747"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SURF__DAISY.html"> 747</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1SURF__DAISY.html">SURF_DAISY</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1SURF.html">SURF</a></div>
<div class="line"><a id="l00748" name="l00748"></a><span class="lineno"> 748</span>{</div>
<div class="line"><a id="l00749" name="l00749"></a><span class="lineno"> 749</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00750" name="l00750"></a><span class="lineno"> 750</span> <a class="code hl_class" href="classrtabmap_1_1SURF__DAISY.html">SURF_DAISY</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00750" name="l00750"></a><span class="lineno"> 750</span> <a class="code hl_class" href="classrtabmap_1_1SURF__DAISY.html">SURF_DAISY</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00751" name="l00751"></a><span class="lineno"> 751</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1SURF__DAISY.html">~SURF_DAISY</a>();</div>
<div class="line"><a id="l00752" name="l00752"></a><span class="lineno"> 752</span> </div>
<div class="line"><a id="l00753" name="l00753"></a><span class="lineno"> 753</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00753" name="l00753"></a><span class="lineno"> 753</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) <span class="keyword">override</span>;</div>
<div class="line"><a id="l00754" name="l00754"></a><span class="lineno"> 754</span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">Feature2D::Type</a> getType()<span class="keyword"> const override </span>{<span class="keywordflow">return</span> kFeatureSurfDaisy;}</div>
<div class="line"><a id="l00755" name="l00755"></a><span class="lineno"> 755</span> </div>
<div class="line"><a id="l00756" name="l00756"></a><span class="lineno"> 756</span><span class="keyword">private</span>:</div>
@@ -887,10 +904,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SuperPointTorch_html"><div class="ttname"><a href="classrtabmap_1_1SuperPointTorch.html">rtabmap::SuperPointTorch</a></div><div class="ttdoc">SuperPoint via LibTorch (RTAB-Map must be built with libtorch support).</div><div class="ttdef"><b>Definition</b> <a href="Features2d_8h_source.html#l00673">Features2d.h:674</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SuperPointTorch_html_aee69f6089f657449d3813b440abbaa25"><div class="ttname"><a href="classrtabmap_1_1SuperPointTorch.html#aee69f6089f657449d3813b440abbaa25">rtabmap::SuperPointTorch::isGpuAvailable</a></div><div class="ttdeci">virtual bool isGpuAvailable() const override</div><div class="ttdoc">Returns true when a GPU/CUDA code path could be used by this detector on this host: i....</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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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<ul>
<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>Features2d.h</b></li>
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
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<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
</div>
</div>
<div id="splitbar" style="-moz-user-select:none;"
class="ui-resizable-handle">
</div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('FlannIndex_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
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<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle"><div class="title">FlannIndex.h</div></div>
</div><!--header-->
@@ -220,9 +237,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1FlannIndex_html"><div class="ttname"><a href="classrtabmap_1_1FlannIndex.html">rtabmap::FlannIndex</a></div><div class="ttdef"><b>Definition</b> <a href="FlannIndex_8h_source.html#l00037">FlannIndex.h:38</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#l00039">BayesFilter.h:39</a></div></div>
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
<ul>
<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>FlannIndex.h</b></li>
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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+29 -8
View File
@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
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<div id="nav-sync" class="sync"></div>
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
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<div id="nav-path" class="navpath">
<ul>
<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> </ul>
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</div><!-- top -->
<div class="header">
<div class="headertitle"><div class="title">GPS.h</div></div>
</div><!--header-->
@@ -182,9 +199,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html">rtabmap::GeodeticCoords</a></div><div class="ttdoc">WGS84 geodetic latitude, longitude and altitude with coordinate conversions.</div><div class="ttdef"><b>Definition</b> <a href="GeodeticCoords_8h_source.html#l00061">GeodeticCoords.h:62</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#l00039">BayesFilter.h:39</a></div></div>
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
<ul>
<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>GPS.h</b></li>
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
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<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
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class="ui-resizable-handle">
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</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('GainCompensator_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle"><div class="title">GainCompensator.h</div></div>
</div><!--header-->
@@ -196,9 +213,13 @@ $(document).ready(function() { init_codefold(0); });
<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="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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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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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>GainCompensator.h</b></li>
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
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<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
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<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('GeodeticCoords_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
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onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle"><div class="title">GeodeticCoords.h</div></div>
</div><!--header-->
@@ -190,9 +207,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1GeodeticCoords_html_afe3c631b5f01246840f8591fc8dc834e"><div class="ttname"><a href="classrtabmap_1_1GeodeticCoords.html#afe3c631b5f01246840f8591fc8dc834e">rtabmap::GeodeticCoords::setAltitude</a></div><div class="ttdeci">void setAltitude(const double &amp;value)</div><div class="ttdoc">Sets altitude in meters.</div><div class="ttdef"><b>Definition</b> <a href="GeodeticCoords_8h_source.html#l00086">GeodeticCoords.h:86</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#l00039">BayesFilter.h:39</a></div></div>
</div><!-- fragment --></div><!-- contents -->
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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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>GeodeticCoords.h</b></li>
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
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<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
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<div id="nav-sync" class="sync"></div>
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class="ui-resizable-handle">
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</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('GlobalDescriptorExtractor_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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> </ul>
</div>
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<div class="header">
<div class="headertitle"><div class="title">GlobalDescriptorExtractor.h</div></div>
</div><!--header-->
@@ -141,19 +158,19 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> }</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> }</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> </div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptorExtractor.html">GlobalDescriptorExtractor</a> * create(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptorExtractor.html">GlobalDescriptorExtractor</a> * create(GlobalDescriptorExtractor::Type type, <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap()); <span class="comment">// for convenience</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptorExtractor.html">GlobalDescriptorExtractor</a> * create(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptorExtractor.html">GlobalDescriptorExtractor</a> * create(GlobalDescriptorExtractor::Type type, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()); <span class="comment">// for convenience</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> </div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptorExtractor.html">~GlobalDescriptorExtractor</a>();</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptor.html">GlobalDescriptor</a> extract(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters) {}</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) {}</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keyword">virtual</span> GlobalDescriptorExtractor::Type getType() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptorExtractor.html">GlobalDescriptorExtractor</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptorExtractor.html">GlobalDescriptorExtractor</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span>};</div>
</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
@@ -164,10 +181,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1GlobalDescriptor_html"><div class="ttname"><a href="classrtabmap_1_1GlobalDescriptor.html">rtabmap::GlobalDescriptor</a></div><div class="ttdef"><b>Definition</b> <a href="GlobalDescriptor_8h_source.html#l00035">GlobalDescriptor.h:36</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
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</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -149,9 +166,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1GlobalDescriptor_html"><div class="ttname"><a href="classrtabmap_1_1GlobalDescriptor.html">rtabmap::GlobalDescriptor</a></div><div class="ttdef"><b>Definition</b> <a href="GlobalDescriptor_8h_source.html#l00035">GlobalDescriptor.h:36</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#l00039">BayesFilter.h:39</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
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<ul>
<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> </ul>
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@@ -163,7 +180,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a20031690daf7a7e9195ae97abf46522b"> 112</a></span> <span class="keyword">virtual</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a20031690daf7a7e9195ae97abf46522b">getMemoryUsed</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a03581caaa2a313b131726af4e4a6b714"> 120</a></span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a03581caaa2a313b131726af4e4a6b714">GlobalMap</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> * cache, <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#a03581caaa2a313b131726af4e4a6b714"> 120</a></span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#a03581caaa2a313b131726af4e4a6b714">GlobalMap</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> * cache, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f"> 123</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GlobalMap.html#ae622850e2447bf1cc3e99ee9dcd4b65f">assemble</a>(<span class="keyword">const</span> std::list&lt;std::pair&lt;int, Transform&gt; &gt; &amp; newPoses) = 0;</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> </div>
@@ -218,10 +235,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1LocalGridCache_html"><div class="ttname"><a href="classrtabmap_1_1LocalGridCache.html">rtabmap::LocalGridCache</a></div><div class="ttdoc">Cache of LocalGrid entries keyed by map node id.</div><div class="ttdef"><b>Definition</b> <a href="LocalGrid_8h_source.html#l00097">LocalGrid.h:98</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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+215 -168
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
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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> </ul>
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<div class="headertitle"><div class="title">Graph.h</div></div>
</div><!--header-->
@@ -127,41 +144,41 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">class </span>Memory;</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacegraph.html">graph</a> {</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="keyword">namespace </span>graph {</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT exportPoses(</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#af5622dec3112ea0b5154056bde132d46"> 80</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#af5622dec3112ea0b5154056bde132d46">exportPoses</a>(</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keyword">const</span> std::string &amp; filePath,</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordtype">int</span> format,</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; constraints = std::multimap&lt;int, Link&gt;(),</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="keyword">const</span> std::map&lt;int, double&gt; &amp; stamps = std::map&lt;int, double&gt;(),</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT importPoses(</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a5c0eb890db7dba1c353d57595ccbdc6e"> 110</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5c0eb890db7dba1c353d57595ccbdc6e">importPoses</a>(</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keyword">const</span> std::string &amp; filePath,</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">int</span> format,</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> std::multimap&lt;int, Link&gt; * constraints = 0,</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> std::map&lt;int, double&gt; * stamps = 0);</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT exportGPS(</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2"> 123</a></span><span class="keywordtype">bool</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2">exportGPS</a>(</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keyword">const</span> std::string &amp; filePath,</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keyword">const</span> std::map&lt;int, GPS&gt; &amp; gpsValues,</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> rgba = 0xFFFFFFFF);</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT calcKittiSequenceErrors(</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a3c9effdb0d7c235dc1b8d7e3f8487c67"> 144</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3c9effdb0d7c235dc1b8d7e3f8487c67">calcKittiSequenceErrors</a>(</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">const</span> std::vector&lt;Transform&gt; &amp;poses_gt,</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keyword">const</span> std::vector&lt;Transform&gt; &amp;poses_result,</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordtype">float</span> &amp; t_err,</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keywordtype">float</span> &amp; r_err);</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> </div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT calcRelativeErrors (</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a83c41a7cdd595ae6f76d3f1c5140c215"> 167</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a83c41a7cdd595ae6f76d3f1c5140c215">calcRelativeErrors</a> (</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keyword">const</span> std::vector&lt;Transform&gt; &amp;poses_gt,</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keyword">const</span> std::vector&lt;Transform&gt; &amp;poses_result,</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">float</span> &amp; t_err,</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">float</span> &amp; r_err);</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span>Transform RTABMAP_CORE_EXPORT calcRMSE(</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a5c36e32a4acd10ac3cdbbf7d73591f88"> 208</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5c36e32a4acd10ac3cdbbf7d73591f88">calcRMSE</a>(</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp;groundTruth,</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp;poses,</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">float</span> &amp; translational_rmse,</div>
@@ -190,174 +207,200 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span>};</div>
</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> </div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span><a class="code hl_struct" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html">MaxGraphErrors</a> RTABMAP_CORE_EXPORT computeMaxGraphErrors(</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a4691b760dfafe6d93de514c96fa55e0e"> 265</a></span><a class="code hl_struct" href="structrtabmap_1_1graph_1_1MaxGraphErrors.html">MaxGraphErrors</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a4691b760dfafe6d93de514c96fa55e0e">computeMaxGraphErrors</a>(</div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <span class="keywordtype">bool</span> for3DoF = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> </div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span>std::vector&lt;double&gt; RTABMAP_CORE_EXPORT getMaxOdomInf(<span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links);</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a6c009c4c819abe37ec2ca6d041edd92b"> 280</a></span>std::vector&lt;double&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a6c009c4c819abe37ec2ca6d041edd92b">getMaxOdomInf</a>(<span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links);</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> </div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"> 296</span>std::multimap&lt;int, Link&gt;::iterator RTABMAP_CORE_EXPORT findLink(</div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec"> 296</a></span>std::multimap&lt;int, Link&gt;::iterator RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">findLink</a>(</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00298" name="l00298"></a><span class="lineno"> 298</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00299" name="l00299"></a><span class="lineno"> 299</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00300" name="l00300"></a><span class="lineno"> 300</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef);</div>
<div class="line"><a id="l00303" name="l00303"></a><span class="lineno"> 303</span>std::multimap&lt;int, std::pair&lt;int, Link::Type&gt; &gt;::iterator RTABMAP_CORE_EXPORT findLink(</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"> 304</span> std::multimap&lt;<span class="keywordtype">int</span>, std::pair&lt;int, Link::Type&gt; &gt; &amp; links,</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef);</div>
<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span>std::multimap&lt;int, int&gt;::iterator RTABMAP_CORE_EXPORT findLink(</div>
<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> std::multimap&lt;int, int&gt; &amp; links,</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span>std::multimap&lt;int, Link&gt;::const_iterator RTABMAP_CORE_EXPORT findLink(</div>
<div class="line"><a id="l00317" name="l00317"></a><span class="lineno"> 317</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00318" name="l00318"></a><span class="lineno"> 318</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"> 319</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef);</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span>std::multimap&lt;int, std::pair&lt;int, Link::Type&gt; &gt;::const_iterator RTABMAP_CORE_EXPORT findLink(</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <span class="keyword">const</span> std::multimap&lt;<span class="keywordtype">int</span>, std::pair&lt;int, Link::Type&gt; &gt; &amp; links,</div>
<div class="line"><a id="l00325" name="l00325"></a><span class="lineno"> 325</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00326" name="l00326"></a><span class="lineno"> 326</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"> 327</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = Link::kUndef);</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span>std::multimap&lt;int, int&gt;::const_iterator RTABMAP_CORE_EXPORT findLink(</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keyword">const</span> std::multimap&lt;int, int&gt; &amp; links,</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> </div>
<div class="line"><a id="l00347" name="l00347"></a><span class="lineno"> 347</span>std::list&lt;Link&gt; RTABMAP_CORE_EXPORT findLinks(</div>
<div class="line"><a id="l00348" name="l00348"></a><span class="lineno"> 348</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00349" name="l00349"></a><span class="lineno"> 349</span> <span class="keywordtype">int</span> from);</div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"> 350</span> </div>
<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span>std::multimap&lt;int, Link&gt; RTABMAP_CORE_EXPORT filterDuplicateLinks(</div>
<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links);</div>
<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> </div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span>std::multimap&lt;int, Link&gt; RTABMAP_CORE_EXPORT filterLinks(</div>
<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> filteredType,</div>
<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keywordtype">bool</span> inverted = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span>std::map&lt;int, Link&gt; RTABMAP_CORE_EXPORT filterLinks(</div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keyword">const</span> std::map&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"> 301</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">Link::kUndef</a>);</div>
<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#ad91079c9cdd934c8ba8927d3c52b40e5"> 304</a></span>std::multimap&lt;int, std::pair&lt;int, Link::Type&gt; &gt;::iterator RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">findLink</a>(</div>
<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> std::multimap&lt;<span class="keywordtype">int</span>, std::pair&lt;int, Link::Type&gt; &gt; &amp; links,</div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">Link::kUndef</a>);</div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a06ed3112247c13dcf494665c1d9df327"> 312</a></span>std::multimap&lt;int, int&gt;::iterator RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">findLink</a>(</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> std::multimap&lt;int, int&gt; &amp; links,</div>
<div class="line"><a id="l00314" name="l00314"></a><span class="lineno"> 314</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00315" name="l00315"></a><span class="lineno"> 315</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00316" name="l00316"></a><span class="lineno"> 316</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00319" name="l00319"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a7695c60c6bb375057586449674d42eea"> 319</a></span>std::multimap&lt;int, Link&gt;::const_iterator RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">findLink</a>(</div>
<div class="line"><a id="l00320" name="l00320"></a><span class="lineno"> 320</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00321" name="l00321"></a><span class="lineno"> 321</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00322" name="l00322"></a><span class="lineno"> 322</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00323" name="l00323"></a><span class="lineno"> 323</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00324" name="l00324"></a><span class="lineno"> 324</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">Link::kUndef</a>);</div>
<div class="line"><a id="l00327" name="l00327"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a8200ae3a6bd27ee2cee4b71d85ace3e9"> 327</a></span>std::multimap&lt;int, std::pair&lt;int, Link::Type&gt; &gt;::const_iterator RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">findLink</a>(</div>
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> <span class="keyword">const</span> std::multimap&lt;<span class="keywordtype">int</span>, std::pair&lt;int, Link::Type&gt; &gt; &amp; links,</div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> type = <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">Link::kUndef</a>);</div>
<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#aecdcc01682092f4c89257d070aa2a437"> 335</a></span>std::multimap&lt;int, int&gt;::const_iterator RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">findLink</a>(</div>
<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> <span class="keyword">const</span> std::multimap&lt;int, int&gt; &amp; links,</div>
<div class="line"><a id="l00337" name="l00337"></a><span class="lineno"> 337</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00338" name="l00338"></a><span class="lineno"> 338</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00339" name="l00339"></a><span class="lineno"> 339</span> <span class="keywordtype">bool</span> checkBothWays = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> </div>
<div class="line"><a id="l00352" name="l00352"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a308c9331cd3dd36a776517e64b33bd82"> 352</a></span>std::list&lt;Link&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a308c9331cd3dd36a776517e64b33bd82">findLinks</a>(</div>
<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"> 353</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keywordtype">int</span> from);</div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> </div>
<div class="line"><a id="l00365" name="l00365"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a5d11e3cccfeca97d570c528858863dd2"> 365</a></span>std::multimap&lt;int, Link&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5d11e3cccfeca97d570c528858863dd2">filterDuplicateLinks</a>(</div>
<div class="line"><a id="l00366" name="l00366"></a><span class="lineno"> 366</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links);</div>
<div class="line"><a id="l00367" name="l00367"></a><span class="lineno"> 367</span> </div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300"> 380</a></span>std::multimap&lt;int, Link&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300">filterLinks</a>(</div>
<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> filteredType,</div>
<div class="line"><a id="l00383" name="l00383"></a><span class="lineno"> 383</span> <span class="keywordtype">bool</span> inverted = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00384" name="l00384"></a><span class="lineno"> 384</span> </div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT frustumPosesFiltering(</div>
<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; cameraPose,</div>
<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="keywordtype">float</span> horizontalFOV = 45.0f,</div>
<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> <span class="keywordtype">float</span> verticalFOV = 45.0f,</div>
<div class="line"><a id="l00405" name="l00405"></a><span class="lineno"> 405</span> <span class="keywordtype">float</span> nearClipPlaneDistance = 0.1f,</div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"> 406</span> <span class="keywordtype">float</span> farClipPlaneDistance = 100.0f,</div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keywordtype">bool</span> negative = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> </div>
<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT radiusPosesFiltering(</div>
<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> <span class="keywordtype">float</span> angle,</div>
<div class="line"><a id="l00427" name="l00427"></a><span class="lineno"> 427</span> <span class="keywordtype">bool</span> keepLatest = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"> 428</span> </div>
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"> 440</span>std::multimap&lt;int, int&gt; RTABMAP_CORE_EXPORT radiusPosesClustering(</div>
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keywordtype">float</span> angle);</div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> </div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span><span class="keywordtype">void</span> reduceGraph(</div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> std::multimap&lt;int, int&gt; &amp; hyperNodes,</div>
<div class="line"><a id="l00465" name="l00465"></a><span class="lineno"> 465</span> std::multimap&lt;int, Link&gt; &amp; hyperLinks);</div>
<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"> 466</span> </div>
<div class="line"><a id="l00480" name="l00480"></a><span class="lineno"> 480</span>std::list&lt;std::pair&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT computePath(</div>
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"> 481</span> <span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> <span class="keyword">const</span> std::multimap&lt;int, int&gt; &amp; links,</div>
<div class="line"><a id="l00483" name="l00483"></a><span class="lineno"> 483</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00484" name="l00484"></a><span class="lineno"> 484</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"> 485</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> </div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span>std::list&lt;int&gt; RTABMAP_CORE_EXPORT computePath(</div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> <span class="keywordtype">bool</span> useSameCostForAllLinks = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> </div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span>std::list&lt;std::pair&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT computePath(</div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <span class="keywordtype">int</span> fromId,</div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <span class="keywordtype">int</span> toId,</div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory,</div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> <span class="keywordtype">float</span> linearVelocity = 0.0f,</div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keywordtype">float</span> angularVelocity = 0.0f,</div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> <span class="keywordtype">bool</span> ignoreDirectLinks = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> </div>
<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT findNearestNode(</div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span> <span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; targetPose,</div>
<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span> <span class="keywordtype">float</span> * distance = 0);</div>
<div class="line"><a id="l00563" name="l00563"></a><span class="lineno"> 563</span> </div>
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span>std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT findNearestNodes(</div>
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span>std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT findNearestNodes(</div>
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose,</div>
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT findNearestPoses(</div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT findNearestPoses(</div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose,</div>
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"> 615</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> </div>
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT findNearestNodes(<span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; nodes, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; targetPose, <span class="keywordtype">int</span> k);</div>
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT getNodesInRadius(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius);</div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT getNodesInRadius(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius);</div>
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span>RTABMAP_DEPRECATED std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT getPosesInRadius(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div>
<div class="line"><a id="l00626" name="l00626"></a><span class="lineno"> 626</span>RTABMAP_DEPRECATED std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT getPosesInRadius(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div>
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"> 627</span> </div>
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT computePathLength(</div>
<div class="line"><a id="l00637" name="l00637"></a><span class="lineno"> 637</span> <span class="keyword">const</span> std::vector&lt;std::pair&lt;int, Transform&gt; &gt; &amp; path);</div>
<div class="line"><a id="l00638" name="l00638"></a><span class="lineno"> 638</span> </div>
<div class="line"><a id="l00648" name="l00648"></a><span class="lineno"> 648</span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT computePathLength(</div>
<div class="line"><a id="l00649" name="l00649"></a><span class="lineno"> 649</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; path);</div>
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"> 650</span> </div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span>std::list&lt;std::map&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT getPaths(</div>
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> std::map&lt;int, Transform&gt; poses,</div>
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links);</div>
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> </div>
<div class="line"><a id="l00674" name="l00674"></a><span class="lineno"> 674</span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT computeMinMax(<span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00675" name="l00675"></a><span class="lineno"> 675</span> cv::Vec3f &amp; min,</div>
<div class="line"><a id="l00676" name="l00676"></a><span class="lineno"> 676</span> cv::Vec3f &amp; max);</div>
<div class="line"><a id="l00677" name="l00677"></a><span class="lineno"> 677</span> </div>
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"> 678</span>} <span class="comment">/* namespace graph */</span></div>
<div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> </div>
<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"> 680</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"> 681</span><span class="preprocessor">#endif </span><span class="comment">/* GRAPH_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a id="l00386" name="l00386"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#af4dffb2a3eced519378d18bca8fa4419"> 386</a></span>std::map&lt;int, Link&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300">filterLinks</a>(</div>
<div class="line"><a id="l00387" name="l00387"></a><span class="lineno"> 387</span> <span class="keyword">const</span> std::map&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00388" name="l00388"></a><span class="lineno"> 388</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Link::Type</a> filteredType,</div>
<div class="line"><a id="l00389" name="l00389"></a><span class="lineno"> 389</span> <span class="keywordtype">bool</span> inverted = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00390" name="l00390"></a><span class="lineno"> 390</span> </div>
<div class="line"><a id="l00406" name="l00406"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a8213a5876c86611ee4c832981eb1e7de"> 406</a></span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a8213a5876c86611ee4c832981eb1e7de">frustumPosesFiltering</a>(</div>
<div class="line"><a id="l00407" name="l00407"></a><span class="lineno"> 407</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00408" name="l00408"></a><span class="lineno"> 408</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; cameraPose,</div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"> 409</span> <span class="keywordtype">float</span> horizontalFOV = 45.0f,</div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="keywordtype">float</span> verticalFOV = 45.0f,</div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> <span class="keywordtype">float</span> nearClipPlaneDistance = 0.1f,</div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> <span class="keywordtype">float</span> farClipPlaneDistance = 100.0f,</div>
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> <span class="keywordtype">bool</span> negative = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> </div>
<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a1906b8b4ad4b7ffc955d22c4996b1506"> 429</a></span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a1906b8b4ad4b7ffc955d22c4996b1506">radiusPosesFiltering</a>(</div>
<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"> 430</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"> 431</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"> 432</span> <span class="keywordtype">float</span> angle,</div>
<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"> 433</span> <span class="keywordtype">bool</span> keepLatest = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> </div>
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#acaf3e4ffcfc830747c3c3cb02a8ea155"> 446</a></span>std::multimap&lt;int, int&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#acaf3e4ffcfc830747c3c3cb02a8ea155">radiusPosesClustering</a>(</div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> <span class="keywordtype">float</span> angle);</div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> </div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#aabda884597e6b8df053d04ee56cfaf6f"> 467</a></span><span class="keywordtype">void</span> <a class="code hl_function" href="namespacertabmap_1_1graph.html#aabda884597e6b8df053d04ee56cfaf6f">reduceGraph</a>(</div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"> 469</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> std::multimap&lt;int, int&gt; &amp; hyperNodes,</div>
<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"> 471</span> std::multimap&lt;int, Link&gt; &amp; hyperLinks);</div>
<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> </div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea"> 486</a></span>std::list&lt;std::pair&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">computePath</a>(</div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> <span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> <span class="keyword">const</span> std::multimap&lt;int, int&gt; &amp; links,</div>
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> </div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#ae21d02d613df461d6163f9d9a3db7ad2"> 506</a></span>std::list&lt;int&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">computePath</a>(</div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> <span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> <span class="keywordtype">bool</span> useSameCostForAllLinks = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> </div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a1ec6b9506985624f31fb2091219cb142"> 545</a></span>std::list&lt;std::pair&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">computePath</a>(</div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keywordtype">int</span> fromId,</div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> <span class="keywordtype">int</span> toId,</div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">Memory</a> * memory,</div>
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> <span class="keywordtype">bool</span> lookInDatabase = <span class="keyword">true</span>,</div>
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> <span class="keywordtype">bool</span> updateNewCosts = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> <span class="keywordtype">float</span> linearVelocity = 0.0f,</div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> <span class="keywordtype">float</span> angularVelocity = 0.0f,</div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> <span class="keywordtype">bool</span> ignoreDirectLinks = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> </div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c"> 565</a></span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c">findNearestNode</a>(</div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> <span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; targetPose,</div>
<div class="line"><a id="l00568" name="l00568"></a><span class="lineno"> 568</span> <span class="keywordtype">float</span> * distance = 0);</div>
<div class="line"><a id="l00569" name="l00569"></a><span class="lineno"> 569</span> </div>
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157"> 584</a></span>std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes</a>(</div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00588" name="l00588"></a><span class="lineno"> 588</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00589" name="l00589"></a><span class="lineno"> 589</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00599" name="l00599"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a70a5f4b17aa3bb54cad151c9f290ff7f"> 599</a></span>std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes</a>(</div>
<div class="line"><a id="l00600" name="l00600"></a><span class="lineno"> 600</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose,</div>
<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"> 601</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf"> 609</a></span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">findNearestPoses</a>(</div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> <span class="keywordtype">int</span> nodeId,</div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00612" name="l00612"></a><span class="lineno"> 612</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00613" name="l00613"></a><span class="lineno"> 613</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00614" name="l00614"></a><span class="lineno"> 614</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a236de727a38e51699fe73ff61b459d95"> 617</a></span>std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">findNearestPoses</a>(</div>
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose,</div>
<div class="line"><a id="l00619" name="l00619"></a><span class="lineno"> 619</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00620" name="l00620"></a><span class="lineno"> 620</span> <span class="keywordtype">float</span> radius,</div>
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"> 621</span> <span class="keywordtype">float</span> angle = 0.0f,</div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> <span class="keywordtype">int</span> k=0);</div>
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> </div>
<div class="line"><a id="l00625" name="l00625"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a52dbbfb5099e97699f2ead9139891a5f"> 625</a></span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes</a>(<span class="keyword">const</span> std::map&lt;int, rtabmap::Transform&gt; &amp; nodes, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">rtabmap::Transform</a> &amp; targetPose, <span class="keywordtype">int</span> k);</div>
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e"> 627</a></span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e">getNodesInRadius</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius);</div>
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a4f7f712868babb4cc74f7fe2cc366620"> 629</a></span>RTABMAP_DEPRECATED std::map&lt;int, float&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e">getNodesInRadius</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius);</div>
<div class="line"><a id="l00631" name="l00631"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043"> 631</a></span>RTABMAP_DEPRECATED std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043">getPosesInRadius</a>(<span class="keywordtype">int</span> nodeId, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div>
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a0851e81af5d331032ec790a10bb4302f"> 633</a></span>RTABMAP_DEPRECATED std::map&lt;int, Transform&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043">getPosesInRadius</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; targetPose, <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; nodes, <span class="keywordtype">float</span> radius, <span class="keywordtype">float</span> angle = 0.0f);</div>
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> </div>
<div class="line"><a id="l00643" name="l00643"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39"> 643</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">computePathLength</a>(</div>
<div class="line"><a id="l00644" name="l00644"></a><span class="lineno"> 644</span> <span class="keyword">const</span> std::vector&lt;std::pair&lt;int, Transform&gt; &gt; &amp; path);</div>
<div class="line"><a id="l00645" name="l00645"></a><span class="lineno"> 645</span> </div>
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a14376d7f2365ab41e5c361876c999277"> 655</a></span><span class="keywordtype">float</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">computePathLength</a>(</div>
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> <span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; path);</div>
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> </div>
<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094"> 670</a></span>std::list&lt;std::map&lt;int, Transform&gt; &gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094">getPaths</a>(</div>
<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> std::map&lt;int, Transform&gt; poses,</div>
<div class="line"><a id="l00672" name="l00672"></a><span class="lineno"> 672</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links);</div>
<div class="line"><a id="l00673" name="l00673"></a><span class="lineno"> 673</span> </div>
<div class="line"><a id="l00681" name="l00681"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410"> 681</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410">computeMinMax</a>(<span class="keyword">const</span> std::map&lt;int, Transform&gt; &amp; poses,</div>
<div class="line"><a id="l00682" name="l00682"></a><span class="lineno"> 682</span> cv::Vec3f &amp; min,</div>
<div class="line"><a id="l00683" name="l00683"></a><span class="lineno"> 683</span> cv::Vec3f &amp; max);</div>
<div class="line"><a id="l00684" name="l00684"></a><span class="lineno"> 684</span> </div>
<div class="line"><a id="l00685" name="l00685"></a><span class="lineno"> 685</span>} <span class="comment">/* namespace graph */</span></div>
<div class="line"><a id="l00686" name="l00686"></a><span class="lineno"> 686</span> </div>
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"> 687</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00688" name="l00688"></a><span class="lineno"> 688</span><span class="preprocessor">#endif </span><span class="comment">/* GRAPH_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91e"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">rtabmap::Link::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Link category and filter sentinels.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00064">Link.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4">rtabmap::Link::kUndef</a></div><div class="ttdeci">@ kUndef</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00080">Link.h:79</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Memory_html"><div class="ttname"><a href="classrtabmap_1_1Memory.html">rtabmap::Memory</a></div><div class="ttdoc">Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00101">Memory.h:102</a></div></div>
<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="anamespacegraph_html"><div class="ttname"><a href="namespacegraph.html">graph</a></div><div class="ttdoc">Pose-graph I/O, trajectory metrics, link utilities, and path planning.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a0a04ab5289c258725555d6c18a076094"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a0a04ab5289c258725555d6c18a076094">rtabmap::graph::getPaths</a></div><div class="ttdeci">std::list&lt; std::map&lt; int, Transform &gt; &gt; RTABMAP_CORE_EXPORT getPaths(std::map&lt; int, Transform &gt; poses, const std::multimap&lt; int, Link &gt; &amp;links)</div><div class="ttdoc">Splits poses into chains connected only by neighbor links.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a1906b8b4ad4b7ffc955d22c4996b1506"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a1906b8b4ad4b7ffc955d22c4996b1506">rtabmap::graph::radiusPosesFiltering</a></div><div class="ttdeci">std::map&lt; int, Transform &gt; RTABMAP_CORE_EXPORT radiusPosesFiltering(const std::map&lt; int, Transform &gt; &amp;poses, float radius, float angle, bool keepLatest=true)</div><div class="ttdoc">Subsamples poses that are spatially (and optionally angularly) redundant.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a308c9331cd3dd36a776517e64b33bd82"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a308c9331cd3dd36a776517e64b33bd82">rtabmap::graph::findLinks</a></div><div class="ttdeci">std::list&lt; Link &gt; RTABMAP_CORE_EXPORT findLinks(const std::multimap&lt; int, Link &gt; &amp;links, int from)</div><div class="ttdoc">Lists all links incident on node from.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a39f8c9011cb5b7652003df9275c88410"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a39f8c9011cb5b7652003df9275c88410">rtabmap::graph::computeMinMax</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT computeMinMax(const std::map&lt; int, Transform &gt; &amp;poses, cv::Vec3f &amp;min, cv::Vec3f &amp;max)</div><div class="ttdoc">Axis-aligned bounding box of pose positions.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a3c9effdb0d7c235dc1b8d7e3f8487c67"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a3c9effdb0d7c235dc1b8d7e3f8487c67">rtabmap::graph::calcKittiSequenceErrors</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT calcKittiSequenceErrors(const std::vector&lt; Transform &gt; &amp;poses_gt, const std::vector&lt; Transform &gt; &amp;poses_result, float &amp;t_err, float &amp;r_err)</div><div class="ttdoc">KITTI odometry benchmark error over fixed trajectory segments.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a3cd2009752bc8e39ec00f7f08cfd4a39"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a3cd2009752bc8e39ec00f7f08cfd4a39">rtabmap::graph::computePathLength</a></div><div class="ttdeci">float RTABMAP_CORE_EXPORT computePathLength(const std::vector&lt; std::pair&lt; int, Transform &gt; &gt; &amp;path)</div><div class="ttdoc">Path length along an ordered list of poses.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a3d6e74a018b07cd52151e3e168f6384c"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a3d6e74a018b07cd52151e3e168f6384c">rtabmap::graph::findNearestNode</a></div><div class="ttdeci">int RTABMAP_CORE_EXPORT findNearestNode(const std::map&lt; int, rtabmap::Transform &gt; &amp;poses, const rtabmap::Transform &amp;targetPose, float *distance=0)</div><div class="ttdoc">Id of the nearest pose to targetPose.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a4691b760dfafe6d93de514c96fa55e0e"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a4691b760dfafe6d93de514c96fa55e0e">rtabmap::graph::computeMaxGraphErrors</a></div><div class="ttdeci">MaxGraphErrors RTABMAP_CORE_EXPORT computeMaxGraphErrors(const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;links, bool for3DoF=false)</div><div class="ttdoc">Finds the worst pose-graph constraint residuals after optimization.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a592918d54b32d6f13236de85958da300"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a592918d54b32d6f13236de85958da300">rtabmap::graph::filterLinks</a></div><div class="ttdeci">std::multimap&lt; int, Link &gt; RTABMAP_CORE_EXPORT filterLinks(const std::multimap&lt; int, Link &gt; &amp;links, Link::Type filteredType, bool inverted=false)</div><div class="ttdoc">Filters links by type or self-reference.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a5c0eb890db7dba1c353d57595ccbdc6e"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a5c0eb890db7dba1c353d57595ccbdc6e">rtabmap::graph::importPoses</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT importPoses(const std::string &amp;filePath, int format, std::map&lt; int, Transform &gt; &amp;poses, std::multimap&lt; int, Link &gt; *constraints=0, std::map&lt; int, double &gt; *stamps=0)</div><div class="ttdoc">Loads poses (and optional constraints) from disk.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a5c36e32a4acd10ac3cdbbf7d73591f88"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a5c36e32a4acd10ac3cdbbf7d73591f88">rtabmap::graph::calcRMSE</a></div><div class="ttdeci">Transform RTABMAP_CORE_EXPORT calcRMSE(const std::map&lt; int, Transform &gt; &amp;groundTruth, const std::map&lt; int, Transform &gt; &amp;poses, float &amp;translational_rmse, float &amp;translational_mean, float &amp;translational_median, float &amp;translational_std, float &amp;translational_min, float &amp;translational_max, float &amp;rotational_rmse, float &amp;rotational_mean, float &amp;rotational_median, float &amp;rotational_std, float &amp;rotational_min, float &amp;rotational_max, bool align2D=false)</div><div class="ttdoc">Absolute trajectory error (ATE) with Sim(3)-style alignment (TUM RGB-D tool).</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a5d11e3cccfeca97d570c528858863dd2"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a5d11e3cccfeca97d570c528858863dd2">rtabmap::graph::filterDuplicateLinks</a></div><div class="ttdeci">std::multimap&lt; int, Link &gt; RTABMAP_CORE_EXPORT filterDuplicateLinks(const std::multimap&lt; int, Link &gt; &amp;links)</div><div class="ttdoc">Removes duplicate undirected links.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a5ec6c3883f73181d9458c5905c0aa0ea"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a5ec6c3883f73181d9458c5905c0aa0ea">rtabmap::graph::computePath</a></div><div class="ttdeci">std::list&lt; std::pair&lt; int, Transform &gt; &gt; RTABMAP_CORE_EXPORT computePath(const std::map&lt; int, rtabmap::Transform &gt; &amp;poses, const std::multimap&lt; int, int &gt; &amp;links, int from, int to, bool updateNewCosts=false)</div><div class="ttdoc">A* shortest path on a pose graph with Euclidean edge costs.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a6c009c4c819abe37ec2ca6d041edd92b"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a6c009c4c819abe37ec2ca6d041edd92b">rtabmap::graph::getMaxOdomInf</a></div><div class="ttdeci">std::vector&lt; double &gt; RTABMAP_CORE_EXPORT getMaxOdomInf(const std::multimap&lt; int, Link &gt; &amp;links)</div><div class="ttdoc">Maximum information-matrix diagonal over odometry neighbor links.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a8213a5876c86611ee4c832981eb1e7de"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a8213a5876c86611ee4c832981eb1e7de">rtabmap::graph::frustumPosesFiltering</a></div><div class="ttdeci">std::map&lt; int, Transform &gt; RTABMAP_CORE_EXPORT frustumPosesFiltering(const std::map&lt; int, Transform &gt; &amp;poses, const Transform &amp;cameraPose, float horizontalFOV=45.0f, float verticalFOV=45.0f, float nearClipPlaneDistance=0.1f, float farClipPlaneDistance=100.0f, bool negative=false)</div><div class="ttdoc">Keeps poses inside (or outside) a camera frustum.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a83c41a7cdd595ae6f76d3f1c5140c215"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a83c41a7cdd595ae6f76d3f1c5140c215">rtabmap::graph::calcRelativeErrors</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT calcRelativeErrors(const std::vector&lt; Transform &gt; &amp;poses_gt, const std::vector&lt; Transform &gt; &amp;poses_result, float &amp;t_err, float &amp;r_err)</div><div class="ttdoc">Mean frame-to-frame relative pose error (RPE-style, one step).</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a8cd823f440a4512407ef78d76ff1dbbf"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">rtabmap::graph::findNearestPoses</a></div><div class="ttdeci">std::map&lt; int, Transform &gt; RTABMAP_CORE_EXPORT findNearestPoses(int nodeId, const std::map&lt; int, Transform &gt; &amp;poses, float radius, float angle=0.0f, int k=0)</div><div class="ttdoc">Like findNearestNodes(int,const std::map&lt;int,Transform&gt;&amp;,float,float,int) but returns full Transform ...</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a92dfe14b22f897e11bf5bf3f7a7c9157"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">rtabmap::graph::findNearestNodes</a></div><div class="ttdeci">std::map&lt; int, float &gt; RTABMAP_CORE_EXPORT findNearestNodes(int nodeId, const std::map&lt; int, Transform &gt; &amp;poses, float radius, float angle=0.0f, int k=0)</div><div class="ttdoc">Spatial neighbors of a node (KD-tree radius or k-NN search).</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_a96a6c2e8348e3d9cfd8b1770d17da9b2"><div class="ttname"><a href="namespacertabmap_1_1graph.html#a96a6c2e8348e3d9cfd8b1770d17da9b2">rtabmap::graph::exportGPS</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT exportGPS(const std::string &amp;filePath, const std::map&lt; int, GPS &gt; &amp;gpsValues, unsigned int rgba=0xFFFFFFFF)</div><div class="ttdoc">Exports GPS samples to a PLY point cloud.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_aaa0b06795dea514ad1d5fdd4626d32ec"><div class="ttname"><a href="namespacertabmap_1_1graph.html#aaa0b06795dea514ad1d5fdd4626d32ec">rtabmap::graph::findLink</a></div><div class="ttdeci">std::multimap&lt; int, Link &gt;::iterator RTABMAP_CORE_EXPORT findLink(std::multimap&lt; int, Link &gt; &amp;links, int from, int to, bool checkBothWays=true, Link::Type type=Link::kUndef)</div><div class="ttdoc">Finds the first link from from to to in a multimap keyed by source id.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_aabda884597e6b8df053d04ee56cfaf6f"><div class="ttname"><a href="namespacertabmap_1_1graph.html#aabda884597e6b8df053d04ee56cfaf6f">rtabmap::graph::reduceGraph</a></div><div class="ttdeci">void reduceGraph(const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;links, std::multimap&lt; int, int &gt; &amp;hyperNodes, std::multimap&lt; int, Link &gt; &amp;hyperLinks)</div><div class="ttdoc">Reduces a pose graph into hyper-nodes and hyper-links.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_acaf3e4ffcfc830747c3c3cb02a8ea155"><div class="ttname"><a href="namespacertabmap_1_1graph.html#acaf3e4ffcfc830747c3c3cb02a8ea155">rtabmap::graph::radiusPosesClustering</a></div><div class="ttdeci">std::multimap&lt; int, int &gt; RTABMAP_CORE_EXPORT radiusPosesClustering(const std::map&lt; int, Transform &gt; &amp;poses, float radius, float angle)</div><div class="ttdoc">Radius-neighbor clustering of poses.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_ae487257302634dff8248188e2ed69043"><div class="ttname"><a href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043">rtabmap::graph::getPosesInRadius</a></div><div class="ttdeci">RTABMAP_DEPRECATED std::map&lt; int, Transform &gt; RTABMAP_CORE_EXPORT getPosesInRadius(int nodeId, const std::map&lt; int, Transform &gt; &amp;nodes, float radius, float angle=0.0f)</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_af5622dec3112ea0b5154056bde132d46"><div class="ttname"><a href="namespacertabmap_1_1graph.html#af5622dec3112ea0b5154056bde132d46">rtabmap::graph::exportPoses</a></div><div class="ttdeci">bool RTABMAP_CORE_EXPORT exportPoses(const std::string &amp;filePath, int format, const std::map&lt; int, Transform &gt; &amp;poses, const std::multimap&lt; int, Link &gt; &amp;constraints=std::multimap&lt; int, Link &gt;(), const std::map&lt; int, double &gt; &amp;stamps=std::map&lt; int, double &gt;(), const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Writes poses (and optional constraints) to disk.</div></div>
<div class="ttc" id="anamespacertabmap_1_1graph_html_af9e81a0b31730adb292591b79f45c87e"><div class="ttname"><a href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e">rtabmap::graph::getNodesInRadius</a></div><div class="ttdeci">RTABMAP_DEPRECATED std::map&lt; int, float &gt; RTABMAP_CORE_EXPORT getNodesInRadius(int nodeId, const std::map&lt; int, Transform &gt; &amp;nodes, float radius)</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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html">rtabmap::graph::MaxGraphErrors</a></div><div class="ttdoc">Largest pose-graph constraint violations after optimization.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00231">Graph.h:232</a></div></div>
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a08918b252e5814477beff38b423df39b"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a08918b252e5814477beff38b423df39b">rtabmap::graph::MaxGraphErrors::angular</a></div><div class="ttdeci">float angular</div><div class="ttdoc">Absolute angular error (rad) of the worst link.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00234">Graph.h:234</a></div></div>
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a2a49ed004369d9a6670781d7f3b3cae9"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a2a49ed004369d9a6670781d7f3b3cae9">rtabmap::graph::MaxGraphErrors::linearRatio</a></div><div class="ttdeci">float linearRatio</div><div class="ttdoc">linear / sqrt(trans variance) of the worst link.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00235">Graph.h:235</a></div></div>
@@ -366,9 +409,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_a97bead9a8191f2746e2586a965ca3c80"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#a97bead9a8191f2746e2586a965ca3c80">rtabmap::graph::MaxGraphErrors::angularRatio</a></div><div class="ttdeci">float angularRatio</div><div class="ttdoc">angular / sqrt(rot variance) of the worst link.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00236">Graph.h:236</a></div></div>
<div class="ttc" id="astructrtabmap_1_1graph_1_1MaxGraphErrors_html_ae51dd46bd7d7f6779b681eb906654321"><div class="ttname"><a href="structrtabmap_1_1graph_1_1MaxGraphErrors.html#ae51dd46bd7d7f6779b681eb906654321">rtabmap::graph::MaxGraphErrors::linearLink</a></div><div class="ttdeci">Link linearLink</div><div class="ttdoc">Link with largest linearRatio.</div><div class="ttdef"><b>Definition</b> <a href="Graph_8h_source.html#l00237">Graph.h:237</a></div></div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -132,7 +149,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GridMap.html"> 44</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1GridMap.html">GridMap</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1GlobalMap.html">GlobalMap</a></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span>{</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <a class="code hl_class" href="classrtabmap_1_1GridMap.html">GridMap</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> * cache, <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <a class="code hl_class" href="classrtabmap_1_1GridMap.html">GridMap</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a> * cache, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1GridMap.html">~GridMap</a>();</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="classrtabmap_1_1GridMap.html#a2a3b8ba591cf41da62e5486bb62b8f51"> 50</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1GridMap.html#a2a3b8ba591cf41da62e5486bb62b8f51">clear</a>();</div>
@@ -165,10 +182,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1GridMap_html_a57ad9df30e61345ec23a45bcda0f2e93"><div class="ttname"><a href="classrtabmap_1_1GridMap.html#a57ad9df30e61345ec23a45bcda0f2e93">rtabmap::GridMap::assemble</a></div><div class="ttdeci">virtual void assemble(const std::list&lt; std::pair&lt; int, Transform &gt; &gt; &amp;newPoses)</div><div class="ttdoc">Subclass hook: merge newPoses into the global map; call addAssembledNode().</div></div>
<div class="ttc" id="aclassrtabmap_1_1LocalGridCache_html"><div class="ttname"><a href="classrtabmap_1_1LocalGridCache.html">rtabmap::LocalGridCache</a></div><div class="ttdoc">Cache of LocalGrid entries keyed by map node id.</div><div class="ttdef"><b>Definition</b> <a href="LocalGrid_8h_source.html#l00097">LocalGrid.h:98</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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
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class="ui-resizable-handle">
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<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('IMUFilter_8h_source.html',''); initResizable(); });
/* @license-end */
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onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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> </ul>
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<div class="headertitle"><div class="title">IMUFilter.h</div></div>
</div><!--header-->
@@ -128,57 +145,64 @@ $(document).ready(function() { init_codefold(0); });
<div class="foldopen" id="foldopen00064" data-start="{" data-end="};">
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83"> 64</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83">Type</a> {</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83aa1f642678d0846f51590e4f69a585c09"> 65</a></span> kMadgwick = 0, </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> kComplementaryFilter = 1}; </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> kComplementaryFilter = 1 </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83a13d263540bc4ee0b91102547c8eb1ae2"> 67</a></span> };</div>
</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#a16790b3787da5941c89d0c1d98e76234"> 73</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a> * <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#a16790b3787da5941c89d0c1d98e76234">create</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#a7a01dc897399c51c4a362d2438b90875"> 82</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a> * <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#a7a01dc897399c51c4a362d2438b90875">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83">IMUFilter::Type</a> type, <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1IMUFilter.html">~IMUFilter</a>() {}</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#a26022384205491695e5fbea349e6363a"> 90</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#a26022384205491695e5fbea349e6363a">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters) {}</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#ab02c81af3543cfb1d53b4a0b064a0363"> 102</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#ab02c81af3543cfb1d53b4a0b064a0363">update</a>(</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keywordtype">double</span> gx, <span class="keywordtype">double</span> gy, <span class="keywordtype">double</span> gz,</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">double</span> ax, <span class="keywordtype">double</span> ay, <span class="keywordtype">double</span> az,</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">double</span> stamp);</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#ab6dc95a6f031745a33599646e75ff9f6"> 108</a></span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83">IMUFilter::Type</a> <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#ab6dc95a6f031745a33599646e75ff9f6">type</a>() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#ae32dda362d720f964781f1681fa6a973"> 117</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#ae32dda362d720f964781f1681fa6a973">getOrientation</a>(<span class="keywordtype">double</span> &amp; qx, <span class="keywordtype">double</span> &amp; qy, <span class="keywordtype">double</span> &amp; qz, <span class="keywordtype">double</span> &amp; qw) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#a45b68e2127fc5a687ef6b7920bf9b39b"> 126</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#a45b68e2127fc5a687ef6b7920bf9b39b">reset</a>(<span class="keywordtype">double</span> qx = 0.0, <span class="keywordtype">double</span> qy = 0.0, <span class="keywordtype">double</span> qz = 0.0, <span class="keywordtype">double</span> qw = 1.0) = 0;</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <a class="code hl_class" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap()) : previousStamp_(0) {}</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> </div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateImpl(</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keywordtype">double</span> gx, <span class="keywordtype">double</span> gy, <span class="keywordtype">double</span> gz,</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keywordtype">double</span> ax, <span class="keywordtype">double</span> ay, <span class="keywordtype">double</span> az,</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordtype">double</span> dt) = 0;</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="keywordtype">double</span> previousStamp_;</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span>};</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#a16790b3787da5941c89d0c1d98e76234"> 74</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a> * <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#a16790b3787da5941c89d0c1d98e76234">create</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#a7a01dc897399c51c4a362d2438b90875"> 83</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a> * <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#a7a01dc897399c51c4a362d2438b90875">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83">IMUFilter::Type</a> type, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1IMUFilter.html">~IMUFilter</a>() {}</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> </div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#a26022384205491695e5fbea349e6363a"> 91</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#a26022384205491695e5fbea349e6363a">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) {}</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#ab02c81af3543cfb1d53b4a0b064a0363"> 103</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#ab02c81af3543cfb1d53b4a0b064a0363">update</a>(</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">double</span> gx, <span class="keywordtype">double</span> gy, <span class="keywordtype">double</span> gz,</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">double</span> ax, <span class="keywordtype">double</span> ay, <span class="keywordtype">double</span> az,</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">double</span> stamp);</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#ab6dc95a6f031745a33599646e75ff9f6"> 109</a></span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83">IMUFilter::Type</a> <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#ab6dc95a6f031745a33599646e75ff9f6">type</a>() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#ae32dda362d720f964781f1681fa6a973"> 118</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#ae32dda362d720f964781f1681fa6a973">getOrientation</a>(<span class="keywordtype">double</span> &amp; qx, <span class="keywordtype">double</span> &amp; qy, <span class="keywordtype">double</span> &amp; qz, <span class="keywordtype">double</span> &amp; qw) <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUFilter.html#a45b68e2127fc5a687ef6b7920bf9b39b"> 127</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUFilter.html#a45b68e2127fc5a687ef6b7920bf9b39b">reset</a>(<span class="keywordtype">double</span> qx = 0.0, <span class="keywordtype">double</span> qy = 0.0, <span class="keywordtype">double</span> qz = 0.0, <span class="keywordtype">double</span> qw = 1.0) = 0;</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <a class="code hl_class" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()) : previousStamp_(0) {}</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> </div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> updateImpl(</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keywordtype">double</span> gx, <span class="keywordtype">double</span> gy, <span class="keywordtype">double</span> gz,</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordtype">double</span> ax, <span class="keywordtype">double</span> ay, <span class="keywordtype">double</span> az,</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <span class="keywordtype">double</span> dt) = 0;</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> </div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <span class="keywordtype">double</span> previousStamp_;</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span>};</div>
</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> </div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> </div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> </div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1IMUFilter_html"><div class="ttname"><a href="classrtabmap_1_1IMUFilter.html">rtabmap::IMUFilter</a></div><div class="ttdoc">Fuses gyroscope and accelerometer samples into an orientation quaternion.</div><div class="ttdef"><b>Definition</b> <a href="IMUFilter_8h_source.html#l00058">IMUFilter.h:59</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1IMUFilter_html_a1332e06cbd6b83c0532e6d71523cdb83"><div class="ttname"><a href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83">rtabmap::IMUFilter::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Orientation fusion algorithm.</div><div class="ttdef"><b>Definition</b> <a href="IMUFilter_8h_source.html#l00064">IMUFilter.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1IMUFilter_html_a16790b3787da5941c89d0c1d98e76234"><div class="ttname"><a href="classrtabmap_1_1IMUFilter.html#a16790b3787da5941c89d0c1d98e76234">rtabmap::IMUFilter::create</a></div><div class="ttdeci">static IMUFilter * create(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Creates a filter using type parsed from parameters.</div></div>
<div class="ttc" id="aclassrtabmap_1_1IMUFilter_html_a26022384205491695e5fbea349e6363a"><div class="ttname"><a href="classrtabmap_1_1IMUFilter.html#a26022384205491695e5fbea349e6363a">rtabmap::IMUFilter::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &amp;parameters)</div><div class="ttdoc">Re-reads filter parameters from parameters.</div><div class="ttdef"><b>Definition</b> <a href="IMUFilter_8h_source.html#l00090">IMUFilter.h:90</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1IMUFilter_html_a26022384205491695e5fbea349e6363a"><div class="ttname"><a href="classrtabmap_1_1IMUFilter.html#a26022384205491695e5fbea349e6363a">rtabmap::IMUFilter::parseParameters</a></div><div class="ttdeci">virtual void parseParameters(const ParametersMap &amp;parameters)</div><div class="ttdoc">Re-reads filter parameters from parameters.</div><div class="ttdef"><b>Definition</b> <a href="IMUFilter_8h_source.html#l00091">IMUFilter.h:91</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1IMUFilter_html_a45b68e2127fc5a687ef6b7920bf9b39b"><div class="ttname"><a href="classrtabmap_1_1IMUFilter.html#a45b68e2127fc5a687ef6b7920bf9b39b">rtabmap::IMUFilter::reset</a></div><div class="ttdeci">virtual void reset(double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)=0</div><div class="ttdoc">Resets internal state to the given orientation.</div></div>
<div class="ttc" id="aclassrtabmap_1_1IMUFilter_html_a7a01dc897399c51c4a362d2438b90875"><div class="ttname"><a href="classrtabmap_1_1IMUFilter.html#a7a01dc897399c51c4a362d2438b90875">rtabmap::IMUFilter::create</a></div><div class="ttdeci">static IMUFilter * create(IMUFilter::Type type, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Creates a filter of the given type.</div></div>
<div class="ttc" id="aclassrtabmap_1_1IMUFilter_html_ab02c81af3543cfb1d53b4a0b064a0363"><div class="ttname"><a href="classrtabmap_1_1IMUFilter.html#ab02c81af3543cfb1d53b4a0b064a0363">rtabmap::IMUFilter::update</a></div><div class="ttdeci">void update(double gx, double gy, double gz, double ax, double ay, double az, double stamp)</div><div class="ttdoc">Integrates one IMU sample and updates the internal orientation estimate.</div></div>
<div class="ttc" id="aclassrtabmap_1_1IMUFilter_html_ab6dc95a6f031745a33599646e75ff9f6"><div class="ttname"><a href="classrtabmap_1_1IMUFilter.html#ab6dc95a6f031745a33599646e75ff9f6">rtabmap::IMUFilter::type</a></div><div class="ttdeci">virtual IMUFilter::Type type() const =0</div></div>
<div class="ttc" id="aclassrtabmap_1_1IMUFilter_html_ae32dda362d720f964781f1681fa6a973"><div class="ttname"><a href="classrtabmap_1_1IMUFilter.html#ae32dda362d720f964781f1681fa6a973">rtabmap::IMUFilter::getOrientation</a></div><div class="ttdeci">virtual void getOrientation(double &amp;qx, double &amp;qy, double &amp;qz, double &amp;qw) const =0</div><div class="ttdoc">Current orientation estimate.</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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -141,7 +158,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUThread.html#a3b646ffce1964e2ab6bc314dc4b27deb"> 86</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUThread.html#a3b646ffce1964e2ab6bc314dc4b27deb">setRate</a>(<span class="keywordtype">int</span> rate);</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUThread.html#ad7e54aa5d2c6a9354e38bda9f01c89ab"> 94</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUThread.html#ad7e54aa5d2c6a9354e38bda9f01c89ab">enableIMUFiltering</a>(<span class="keywordtype">int</span> filteringStrategy = 1, <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap(), <span class="keywordtype">bool</span> baseFrameConversion = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUThread.html#ad7e54aa5d2c6a9354e38bda9f01c89ab"> 94</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUThread.html#ad7e54aa5d2c6a9354e38bda9f01c89ab">enableIMUFiltering</a>(<span class="keywordtype">int</span> filteringStrategy = 1, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(), <span class="keywordtype">bool</span> baseFrameConversion = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1IMUThread.html#a7934573b7f4899278f1b048cf9a686bc"> 97</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1IMUThread.html#a7934573b7f4899278f1b048cf9a686bc">disableIMUFiltering</a>();</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> </div>
@@ -174,10 +191,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1IMUThread_html_aeed84fd5d571a5e9af54c8c3ea16ef9d"><div class="ttname"><a href="classrtabmap_1_1IMUThread.html#aeed84fd5d571a5e9af54c8c3ea16ef9d">rtabmap::IMUThread::init</a></div><div class="ttdeci">bool init(const std::string &amp;path)</div><div class="ttdoc">Opens and validates an IMU CSV file.</div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
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@@ -55,6 +60,23 @@ $(function() {
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@@ -248,9 +265,13 @@ $(document).ready(function() { init_codefold(0); });
<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="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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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -125,9 +142,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#endif </span><span class="comment">/* IMAGE_H_ */</span><span class="preprocessor"></span></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>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('LASWriter_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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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> </ul>
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<div class="headertitle"><div class="title">LASWriter.h</div></div>
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@@ -145,9 +162,13 @@ $(document).ready(function() { init_codefold(0); });
<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_a264208396318e0ecfe2af8f3aafe0374"><div class="ttname"><a href="namespacertabmap.html#a264208396318e0ecfe2af8f3aafe0374">rtabmap::saveLASFile</a></div><div class="ttdeci">int RTABMAP_CORE_EXPORT saveLASFile(const std::string &amp;filePath, const pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;cameraIds=std::vector&lt; int &gt;())</div><div class="ttdoc">Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS).</div></div>
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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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> </ul>
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<div class="headertitle"><div class="title">Landmark.h</div></div>
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@@ -212,9 +229,13 @@ $(document).ready(function() { init_codefold(0); });
<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_a12bbfd3e37121bf9f68a4047c8b4da86"><div class="ttname"><a href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">rtabmap::Landmarks</a></div><div class="ttdeci">std::map&lt; int, Landmark &gt; Landmarks</div><div class="ttdoc">Map of landmark id → Landmark (typically positive keys).</div><div class="ttdef"><b>Definition</b> <a href="Landmark_8h_source.html#l00113">Landmark.h:113</a></div></div>
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('LaserScan_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
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<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
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<div id="nav-path" class="navpath">
<ul>
<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> </ul>
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<div class="headertitle"><div class="title">LaserScan.h</div></div>
</div><!--header-->
@@ -235,67 +252,72 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keywordtype">bool</span> hasIntensity()<span class="keyword"> const </span>{<span class="keywordflow">return</span> isScanHasIntensity(format_);}</div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keywordtype">bool</span> hasTime()<span class="keyword"> const </span>{<span class="keywordflow">return</span> isScanHasTime(format_);}</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keywordtype">bool</span> hasRing()<span class="keyword"> const </span>{<span class="keywordflow">return</span> isScanHasRing(format_);}</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">bool</span> isCompressed()<span class="keyword"> const </span>{<span class="keywordflow">return</span> !data_.empty() &amp;&amp; data_.type()==CV_8UC1;}</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordtype">bool</span> isOrganized()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data_.rows &gt; 1;}</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> LaserScan clone() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> LaserScan densify() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> </div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keywordtype">int</span> getIntensityOffset()<span class="keyword"> const </span>{<span class="keywordflow">return</span> hasIntensity()?(is2d()?2:3):-1;}</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordtype">int</span> getRGBOffset()<span class="keyword"> const </span>{<span class="keywordflow">return</span> hasRGB()?(is2d()?2:3):-1;}</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keywordtype">int</span> getNormalsOffset()<span class="keyword"> const </span>{<span class="keywordflow">return</span> hasNormals()?(2 + (is2d()?0:1) + ((hasRGB() || hasIntensity())?1:0)):-1;}</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordtype">int</span> getRingOffset()<span class="keyword"> const </span>{<span class="keywordflow">return</span> format_==kXYZIRT?4:-1;}</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keywordtype">int</span> getTimeOffset()<span class="keyword"> const </span>{<span class="keywordflow">return</span> format_==kXYZIT?4:(format_==kXYZIRT?5:-1);}</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> </div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d"> 203</a></span> <span class="keywordtype">float</span> &amp; <a class="code hl_function" href="classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d">field</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pointIndex, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> channelOffset);</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> </div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LaserScan.html#af0ad1e84f0be48a84b772385249adb45"> 208</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1LaserScan.html#af0ad1e84f0be48a84b772385249adb45">clear</a>() {data_ = cv::Mat();}</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> </div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04"> 213</a></span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; <a class="code hl_function" href="classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04">operator+=</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;);</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LaserScan.html#ab952e27e94b2fa942efe98ea651f4475"> 217</a></span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> <a class="code hl_function" href="classrtabmap_1_1LaserScan.html#ab952e27e94b2fa942efe98ea651f4475">operator+</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;);</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> </div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordtype">void</span> init(<span class="keyword">const</span> cv::Mat &amp; data,</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <a class="code hl_enumeration" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> format,</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keywordtype">float</span> minRange,</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordtype">float</span> maxRange,</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">float</span> angleMin,</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keywordtype">float</span> angleMax,</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordtype">float</span> angleIncrement,</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordtype">int</span> maxPoints,</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; localTransform = Transform::getIdentity());</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> </div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> cv::Mat data_; </div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> <a class="code hl_enumeration" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> format_; </div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <span class="keywordtype">int</span> maxPoints_; </div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keywordtype">float</span> rangeMin_; </div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keywordtype">float</span> rangeMax_; </div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordtype">float</span> angleMin_; </div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordtype">float</span> angleMax_; </div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keywordtype">float</span> angleIncrement_; </div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> localTransform_; </div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span>};</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LaserScan.html#a25e8e9681240f4a21960977f5c12bcd9"> 183</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1LaserScan.html#a25e8e9681240f4a21960977f5c12bcd9">isCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> !data_.empty() &amp;&amp; data_.type()==CV_8UC1;}</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keywordtype">bool</span> isOrganized()<span class="keyword"> const </span>{<span class="keywordflow">return</span> data_.rows &gt; 1;}</div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> LaserScan clone() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> LaserScan densify() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> </div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordtype">int</span> getIntensityOffset()<span class="keyword"> const </span>{<span class="keywordflow">return</span> hasIntensity()?(is2d()?2:3):-1;}</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keywordtype">int</span> getRGBOffset()<span class="keyword"> const </span>{<span class="keywordflow">return</span> hasRGB()?(is2d()?2:3):-1;}</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordtype">int</span> getNormalsOffset()<span class="keyword"> const </span>{<span class="keywordflow">return</span> hasNormals()?(2 + (is2d()?0:1) + ((hasRGB() || hasIntensity())?1:0)):-1;}</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> <span class="keywordtype">int</span> getRingOffset()<span class="keyword"> const </span>{<span class="keywordflow">return</span> format_==kXYZIRT?4:-1;}</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <span class="keywordtype">int</span> getTimeOffset()<span class="keyword"> const </span>{<span class="keywordflow">return</span> format_==kXYZIT?4:(format_==kXYZIRT?5:-1);}</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> </div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d"> 204</a></span> <span class="keywordtype">float</span> &amp; <a class="code hl_function" href="classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d">field</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> pointIndex, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> channelOffset);</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> </div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LaserScan.html#af0ad1e84f0be48a84b772385249adb45"> 209</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1LaserScan.html#af0ad1e84f0be48a84b772385249adb45">clear</a>() {data_ = cv::Mat();}</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> </div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04"> 214</a></span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; <a class="code hl_function" href="classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04">operator+=</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;);</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LaserScan.html#ab952e27e94b2fa942efe98ea651f4475"> 218</a></span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> <a class="code hl_function" href="classrtabmap_1_1LaserScan.html#ab952e27e94b2fa942efe98ea651f4475">operator+</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp;);</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> </div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordtype">void</span> init(<span class="keyword">const</span> cv::Mat &amp; data,</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <a class="code hl_enumeration" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> format,</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordtype">float</span> minRange,</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">float</span> maxRange,</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keywordtype">float</span> angleMin,</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordtype">float</span> angleMax,</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordtype">float</span> angleIncrement,</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keywordtype">int</span> maxPoints,</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; localTransform = Transform::getIdentity());</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> </div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> cv::Mat data_; </div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> <a class="code hl_enumeration" href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">Format</a> format_; </div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> <span class="keywordtype">int</span> maxPoints_; </div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <span class="keywordtype">float</span> rangeMin_; </div>
<div class="line"><a id="l00237" name="l00237"></a><span class="lineno"> 237</span> <span class="keywordtype">float</span> rangeMax_; </div>
<div class="line"><a id="l00238" name="l00238"></a><span class="lineno"> 238</span> <span class="keywordtype">float</span> angleMin_; </div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"> 239</span> <span class="keywordtype">float</span> angleMax_; </div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> <span class="keywordtype">float</span> angleIncrement_; </div>
<div class="line"><a id="l00241" name="l00241"></a><span class="lineno"> 241</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> localTransform_; </div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span>};</div>
</div>
<div class="line"><a id="l00242" name="l00242"></a><span class="lineno"> 242</span> </div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span> </div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a id="l00243" name="l00243"></a><span class="lineno"> 243</span> </div>
<div class="line"><a id="l00244" name="l00244"></a><span class="lineno"> 244</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"> 245</span> </div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html_a0cb5ba7c590cea1b36c81804acdbf302"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html#a0cb5ba7c590cea1b36c81804acdbf302">rtabmap::LaserScan::LaserScan</a></div><div class="ttdeci">RTABMAP_DEPRECATED LaserScan(const LaserScan &amp;data, int maxPoints, float maxRange, Format format, const Transform &amp;localTransform=Transform::getIdentity())</div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html_a25e8e9681240f4a21960977f5c12bcd9"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html#a25e8e9681240f4a21960977f5c12bcd9">rtabmap::LaserScan::isCompressed</a></div><div class="ttdeci">bool isCompressed() const</div><div class="ttdoc">True if the scan is stored compressed (single-row CV_8UC1 blob) instead of raw points.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00183">LaserScan.h:183</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html_a38f5602d1411c204d54be9b3c7320007"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html#a38f5602d1411c204d54be9b3c7320007">rtabmap::LaserScan::Format</a></div><div class="ttdeci">Format</div><div class="ttdoc">Enumeration of possible formats for laser scan data.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00055">LaserScan.h:55</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html_a61d7ecfee5d444fdde06efb0f13ed68d"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html#a61d7ecfee5d444fdde06efb0f13ed68d">rtabmap::LaserScan::field</a></div><div class="ttdeci">float &amp; field(unsigned int pointIndex, unsigned int channelOffset)</div><div class="ttdoc">Access a specific field value of a point.</div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html_a61e1fefc6554dd6fc1da3c2e5aeefd0c"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html#a61e1fefc6554dd6fc1da3c2e5aeefd0c">rtabmap::LaserScan::backwardCompatibility</a></div><div class="ttdeci">static LaserScan backwardCompatibility(const cv::Mat &amp;oldScanFormat, float minRange, float maxRange, float angleMin, float angleMax, float angleInc, const Transform &amp;localTransform=Transform::getIdentity())</div><div class="ttdoc">Converts legacy scan format with additional metadata to a LaserScan.</div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html_aaf554921f866f90c48a6174d5f97a016"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html#aaf554921f866f90c48a6174d5f97a016">rtabmap::LaserScan::LaserScan</a></div><div class="ttdeci">RTABMAP_DEPRECATED LaserScan(const LaserScan &amp;data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &amp;localTransform=Transform::getIdentity())</div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html_aafea81eab365a2fc2b4f90d8deceafc9"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html#aafea81eab365a2fc2b4f90d8deceafc9">rtabmap::LaserScan::backwardCompatibility</a></div><div class="ttdeci">static LaserScan backwardCompatibility(const cv::Mat &amp;oldScanFormat, int maxPoints=0, int maxRange=0, const Transform &amp;localTransform=Transform::getIdentity())</div><div class="ttdoc">Converts legacy scan format to a LaserScan object.</div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html_ab952e27e94b2fa942efe98ea651f4475"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html#ab952e27e94b2fa942efe98ea651f4475">rtabmap::LaserScan::operator+</a></div><div class="ttdeci">LaserScan operator+(const LaserScan &amp;)</div><div class="ttdoc">Concatenate scan's data (localTransform is ignored).</div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html_af0ad1e84f0be48a84b772385249adb45"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html#af0ad1e84f0be48a84b772385249adb45">rtabmap::LaserScan::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Clear the scan data.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00208">LaserScan.h:208</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html_af0ad1e84f0be48a84b772385249adb45"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html#af0ad1e84f0be48a84b772385249adb45">rtabmap::LaserScan::clear</a></div><div class="ttdeci">void clear()</div><div class="ttdoc">Clear the scan data.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00209">LaserScan.h:209</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html_af9f9a32f97cfbac321fc2509f0d1bd04"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html#af9f9a32f97cfbac321fc2509f0d1bd04">rtabmap::LaserScan::operator+=</a></div><div class="ttdeci">LaserScan &amp; operator+=(const LaserScan &amp;)</div><div class="ttdoc">Concatenate scan's data (localTransform is ignored).</div></div>
<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="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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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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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="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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+92 -62
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
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</tbody>
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -138,73 +155,80 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1"> 72</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea56caa6c8eeab867bb16f763f3ddbd9b1">kPosePrior</a>, </div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9"> 73</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9">kLandmark</a>, </div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea37d186f2447908a27d531be74a2f6983"> 74</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea37d186f2447908a27d531be74a2f6983">kGravity</a>, </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> kEnd,</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00"> 75</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00">kEnd</a>, </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ead52adb0176a83a02833e89111f66497e"> 76</a></span> kSelfRefLink = 97, </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eacc2cbab0ea322149df37addb91cb75ac"> 77</a></span> kAllWithLandmarks = 98, </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae8ffae7407e28cf7a125f76bea2864a5"> 78</a></span> kAllWithoutLandmarks = 99, </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> kUndef = 99}; </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> kUndef = 99 </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8a720d632258ba1b468af0319ae8e7d4"> 80</a></span> };</div>
</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159"> 82</a></span> <span class="keyword">static</span> std::string <a class="code hl_function" href="classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159">typeName</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type);</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b"> 85</a></span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b">Link</a>();</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885"> 95</a></span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885">Link</a>(<span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type,</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform,</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">const</span> cv::Mat &amp; infMatrix = cv::Mat::eye(6,6,CV_64FC1),</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keyword">const</span> cv::Mat &amp; userData = cv::Mat());</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96"> 103</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96">isValid</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> from_ != 0 &amp;&amp; to_ != 0 &amp;&amp; !transform_.isNull() &amp;&amp; type_!=kUndef;}</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> </div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">int</span> from()<span class="keyword"> const </span>{<span class="keywordflow">return</span> from_;}</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">int</span> to()<span class="keyword"> const </span>{<span class="keywordflow">return</span> to_;}</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keyword">const</span> Transform &amp; transform()<span class="keyword"> const </span>{<span class="keywordflow">return</span> transform_;}</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> Type type()<span class="keyword"> const </span>{<span class="keywordflow">return</span> type_;}</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> std::string typeName()<span class="keyword"> const </span>{<span class="keywordflow">return</span> typeName(type_);}</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keyword">const</span> cv::Mat &amp; infMatrix()<span class="keyword"> const </span>{<span class="keywordflow">return</span> infMatrix_;}</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4"> 117</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4">rotVariance</a>(<span class="keywordtype">bool</span> minimum = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e"> 122</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">transVariance</a>(<span class="keywordtype">bool</span> minimum = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordtype">void</span> setFrom(<span class="keywordtype">int</span> from) {from_ = from;}</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <span class="keywordtype">void</span> setTo(<span class="keywordtype">int</span> to) {to_ = to;}</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">void</span> setTransform(<span class="keyword">const</span> Transform &amp; transform) {transform_ = transform;}</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">void</span> setType(Type type) {type_ = type;}</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939"> 129</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939">setInfMatrix</a>(<span class="keyword">const</span> cv::Mat &amp; infMatrix);</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> </div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keyword">const</span> cv::Mat &amp; userDataRaw()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataRaw;}</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keyword">const</span> cv::Mat &amp; userDataCompressed()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataCompressed;}</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521"> 134</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521">uncompressUserData</a>();</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62"> 136</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62">uncompressUserDataConst</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> </div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542"> 150</a></span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> <a class="code hl_function" href="classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542">merge</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> &amp; link, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> outputType) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3"> 152</a></span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> <a class="code hl_function" href="classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3">inverse</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">int</span> from_;</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">int</span> to_;</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> transform_;</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type_;</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> cv::Mat infMatrix_; <span class="comment">// Information matrix = covariance matrix ^ -1</span></div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159"> 83</a></span> <span class="keyword">static</span> std::string <a class="code hl_function" href="classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159">typeName</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type);</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b"> 86</a></span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b">Link</a>();</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885"> 96</a></span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885">Link</a>(<span class="keywordtype">int</span> from,</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <span class="keywordtype">int</span> to,</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type,</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; transform,</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keyword">const</span> cv::Mat &amp; infMatrix = cv::Mat::eye(6,6,CV_64FC1),</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">const</span> cv::Mat &amp; userData = cv::Mat());</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> </div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96"> 104</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96">isValid</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> from_ != 0 &amp;&amp; to_ != 0 &amp;&amp; !transform_.isNull() &amp;&amp; type_!=kUndef;}</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534"> 107</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534">from</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> from_;}</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4"> 109</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4">to</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> to_;}</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb"> 111</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">transform</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> transform_;}</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3"> 113</a></span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> <a class="code hl_function" href="classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3">type</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> type_;}</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> std::string typeName()<span class="keyword"> const </span>{<span class="keywordflow">return</span> typeName(type_);}</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keyword">const</span> cv::Mat &amp; infMatrix()<span class="keyword"> const </span>{<span class="keywordflow">return</span> infMatrix_;}</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4"> 122</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4">rotVariance</a>(<span class="keywordtype">bool</span> minimum = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e"> 127</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">transVariance</a>(<span class="keywordtype">bool</span> minimum = <span class="keyword">true</span>) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <span class="keywordtype">void</span> setFrom(<span class="keywordtype">int</span> from) {from_ = from;}</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <span class="keywordtype">void</span> setTo(<span class="keywordtype">int</span> to) {to_ = to;}</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <span class="keywordtype">void</span> setTransform(<span class="keyword">const</span> Transform &amp; transform) {transform_ = transform;}</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> <span class="keywordtype">void</span> setType(Type type) {type_ = type;}</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939"> 134</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939">setInfMatrix</a>(<span class="keyword">const</span> cv::Mat &amp; infMatrix);</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> </div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a1fce4ae495f2a4f5e0f7ac10551983ac"> 137</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1Link.html#a1fce4ae495f2a4f5e0f7ac10551983ac">userDataRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataRaw;}</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#abdec9d745b1b4679a87b944cd5b48213"> 139</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1Link.html#abdec9d745b1b4679a87b944cd5b48213">userDataCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataCompressed;}</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521"> 141</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521">uncompressUserData</a>();</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62"> 143</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62">uncompressUserDataConst</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> </div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542"> 157</a></span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> <a class="code hl_function" href="classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542">merge</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> &amp; link, <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> outputType) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3"> 159</a></span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> <a class="code hl_function" href="classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3">inverse</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> </div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="comment">// user data</span></div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> cv::Mat _userDataCompressed; <span class="comment">// compressed data</span></div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> cv::Mat _userDataRaw;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span>};</div>
</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> </div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span>}</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">int</span> from_;</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">int</span> to_;</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> transform_;</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <a class="code hl_enumeration" href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">Type</a> type_;</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> cv::Mat infMatrix_; <span class="comment">// Information matrix = covariance matrix ^ -1</span></div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> </div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> </div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span><span class="preprocessor">#endif </span><span class="comment">/* LINK_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="comment">// user data</span></div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> cv::Mat _userDataCompressed; <span class="comment">// compressed data</span></div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> cv::Mat _userDataRaw;</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span>};</div>
</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> </div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span>}</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> </div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span><span class="preprocessor">#endif </span><span class="comment">/* LINK_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html"><div class="ttname"><a href="classrtabmap_1_1Link.html">rtabmap::Link</a></div><div class="ttdoc">Directed constraint between two nodes in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00054">Link.h:55</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a00cecebc9adf3ee5afb66d6ad63871e4"><div class="ttname"><a href="classrtabmap_1_1Link.html#a00cecebc9adf3ee5afb66d6ad63871e4">rtabmap::Link::rotVariance</a></div><div class="ttdeci">double rotVariance(bool minimum=true) const</div><div class="ttdoc">Rotation variance derived from the information matrix diagonal (roll, pitch, yaw).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a0d5dcb7392f6ac89ca8b4de202ca07d3"><div class="ttname"><a href="classrtabmap_1_1Link.html#a0d5dcb7392f6ac89ca8b4de202ca07d3">rtabmap::Link::inverse</a></div><div class="ttdeci">Link inverse() const</div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a17ea666cb54c4f7cce1c80bc2e1950c3"><div class="ttname"><a href="classrtabmap_1_1Link.html#a17ea666cb54c4f7cce1c80bc2e1950c3">rtabmap::Link::type</a></div><div class="ttdeci">Type type() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00113">Link.h:113</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a185194e8e766ca979e4de7e179f0e534"><div class="ttname"><a href="classrtabmap_1_1Link.html#a185194e8e766ca979e4de7e179f0e534">rtabmap::Link::from</a></div><div class="ttdeci">int from() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00107">Link.h:107</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a1fb9569f6435b5a1c800a935b08f0159"><div class="ttname"><a href="classrtabmap_1_1Link.html#a1fb9569f6435b5a1c800a935b08f0159">rtabmap::Link::typeName</a></div><div class="ttdeci">static std::string typeName(Type type)</div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a1fce4ae495f2a4f5e0f7ac10551983ac"><div class="ttname"><a href="classrtabmap_1_1Link.html#a1fce4ae495f2a4f5e0f7ac10551983ac">rtabmap::Link::userDataRaw</a></div><div class="ttdeci">const cv::Mat &amp; userDataRaw() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00137">Link.h:137</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a2dce9c7a3ef04085d51f702002107c7b"><div class="ttname"><a href="classrtabmap_1_1Link.html#a2dce9c7a3ef04085d51f702002107c7b">rtabmap::Link::Link</a></div><div class="ttdeci">Link()</div><div class="ttdoc">Default constructor; creates an invalid link (kUndef).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a3a82104ae4195beff134811a3a19d939"><div class="ttname"><a href="classrtabmap_1_1Link.html#a3a82104ae4195beff134811a3a19d939">rtabmap::Link::setInfMatrix</a></div><div class="ttdeci">void setInfMatrix(const cv::Mat &amp;infMatrix)</div><div class="ttdoc">Sets the 6x6 information matrix (CV_64FC1); diagonal entries must be positive and finite.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a3c4344c01b4f32a8b4a957b979fea84e"><div class="ttname"><a href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">rtabmap::Link::transVariance</a></div><div class="ttdeci">double transVariance(bool minimum=true) const</div><div class="ttdoc">Translation variance derived from the information matrix diagonal (x, y, z).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a53974a2cea4315106cf12065ace8bb96"><div class="ttname"><a href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96">rtabmap::Link::isValid</a></div><div class="ttdeci">bool isValid() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00103">Link.h:103</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a49186880bde84ca3dd43c2d95449fbfb"><div class="ttname"><a href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">rtabmap::Link::transform</a></div><div class="ttdeci">const Transform &amp; transform() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00111">Link.h:111</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a53974a2cea4315106cf12065ace8bb96"><div class="ttname"><a href="classrtabmap_1_1Link.html#a53974a2cea4315106cf12065ace8bb96">rtabmap::Link::isValid</a></div><div class="ttdeci">bool isValid() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00104">Link.h:104</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a8d534b311c37d789276dd58bd7dc89e4"><div class="ttname"><a href="classrtabmap_1_1Link.html#a8d534b311c37d789276dd58bd7dc89e4">rtabmap::Link::to</a></div><div class="ttdeci">int to() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00109">Link.h:109</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a8f624aa84862d7abafae5cfc7175f885"><div class="ttname"><a href="classrtabmap_1_1Link.html#a8f624aa84862d7abafae5cfc7175f885">rtabmap::Link::Link</a></div><div class="ttdeci">Link(int from, int to, Type type, const Transform &amp;transform, const cv::Mat &amp;infMatrix=cv::Mat::eye(6, 6, CV_64FC1), const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Constructs a link between two nodes.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91e"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91e">rtabmap::Link::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Link category and filter sentinels.</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00064">Link.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea22912bbbcacce5ee39e61da7ec4640b9">rtabmap::Link::kLandmark</a></div><div class="ttdeci">@ kLandmark</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00073">Link.h:73</a></div></div>
@@ -214,18 +238,24 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea8f60efd83d5fad3493573bef3d4a8adf"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8f60efd83d5fad3493573bef3d4a8adf">rtabmap::Link::kNeighbor</a></div><div class="ttdeci">@ kNeighbor</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00065">Link.h:65</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea8fbb6dbe2d16e19ad8fecb6bac65e9db"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea8fbb6dbe2d16e19ad8fecb6bac65e9db">rtabmap::Link::kNeighborMerged</a></div><div class="ttdeci">@ kNeighborMerged</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00071">Link.h:71</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91ea9195217dc75001841fce507de43fb0db"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91ea9195217dc75001841fce507de43fb0db">rtabmap::Link::kLocalSpaceClosure</a></div><div class="ttdeci">@ kLocalSpaceClosure</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00067">Link.h:67</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaa071317c0618d61e3b2cde25e1095c00">rtabmap::Link::kEnd</a></div><div class="ttdeci">@ kEnd</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00075">Link.h:75</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91eae0b352e9cbb32d357ce59f09159c09fb"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae0b352e9cbb32d357ce59f09159c09fb">rtabmap::Link::kLocalTimeClosure</a></div><div class="ttdeci">@ kLocalTimeClosure</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00068">Link.h:68</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91eae963042a31afec63e8c0683696ac6791"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eae963042a31afec63e8c0683696ac6791">rtabmap::Link::kGlobalClosure</a></div><div class="ttdeci">@ kGlobalClosure</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00066">Link.h:66</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a925bb7ca93eb95a3a873b0a9e8d5e91eaf74a4b0552da7509b16f8c4b8baf85c7"><div class="ttname"><a href="classrtabmap_1_1Link.html#a925bb7ca93eb95a3a873b0a9e8d5e91eaf74a4b0552da7509b16f8c4b8baf85c7">rtabmap::Link::kVirtualClosure</a></div><div class="ttdeci">@ kVirtualClosure</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00070">Link.h:70</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_a953a029f601d7ca3efbb12ca22da4542"><div class="ttname"><a href="classrtabmap_1_1Link.html#a953a029f601d7ca3efbb12ca22da4542">rtabmap::Link::merge</a></div><div class="ttdeci">Link merge(const Link &amp;link, Type outputType) const</div><div class="ttdoc">Chains this link (from → to) with link (to → link.to).</div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_abdec9d745b1b4679a87b944cd5b48213"><div class="ttname"><a href="classrtabmap_1_1Link.html#abdec9d745b1b4679a87b944cd5b48213">rtabmap::Link::userDataCompressed</a></div><div class="ttdeci">const cv::Mat &amp; userDataCompressed() const</div><div class="ttdef"><b>Definition</b> <a href="Link_8h_source.html#l00139">Link.h:139</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_ac425a90800494da64512011315c47e62"><div class="ttname"><a href="classrtabmap_1_1Link.html#ac425a90800494da64512011315c47e62">rtabmap::Link::uncompressUserDataConst</a></div><div class="ttdeci">cv::Mat uncompressUserDataConst() const</div></div>
<div class="ttc" id="aclassrtabmap_1_1Link_html_adb075101cafb535fc4a9b74f7afae521"><div class="ttname"><a href="classrtabmap_1_1Link.html#adb075101cafb535fc4a9b74f7afae521">rtabmap::Link::uncompressUserData</a></div><div class="ttdeci">void uncompressUserData()</div><div class="ttdoc">Decompresses user data into userDataRaw() if compressed data is stored.</div></div>
<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="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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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -130,10 +147,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html"> 64</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1LocalGridMaker.html">LocalGridMaker</a></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span>{</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#a70040df32d1949125f24a193581b8183"> 68</a></span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#a70040df32d1949125f24a193581b8183">LocalGridMaker</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#a70040df32d1949125f24a193581b8183"> 68</a></span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#a70040df32d1949125f24a193581b8183">LocalGridMaker</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1LocalGridMaker.html">~LocalGridMaker</a>();</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#a6395948673108c87dd371cb7b4a29026"> 72</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#a6395948673108c87dd371cb7b4a29026">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#a6395948673108c87dd371cb7b4a29026"> 72</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#a6395948673108c87dd371cb7b4a29026">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#a305865c8f98b498b13a35ef0b790f926"> 75</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#a305865c8f98b498b13a35ef0b790f926">getCellSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> cellSize_;}</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a"> 77</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1LocalGridMaker.html#a60f571f0fd1e58a1a82eb39bfeafda2a">isGridFromDepth</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> occupancySensor_;}</div>
@@ -165,7 +182,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> cv::Point3f &amp; viewPointInOut) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> </div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> ParametersMap parameters_;</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> cloudDecimation_;</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">float</span> rangeMax_;</div>
@@ -215,10 +232,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -197,9 +214,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1LocalGrid_html_af4bac3ac9ffd57653dee619b5be2b4f7"><div class="ttname"><a href="classrtabmap_1_1LocalGrid.html#af4bac3ac9ffd57653dee619b5be2b4f7">rtabmap::LocalGrid::is3D</a></div><div class="ttdeci">bool is3D() const</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>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
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</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -258,7 +275,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordflow">if</span>(indices-&gt;size())</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> {</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> notObstacles = <a class="code hl_function" href="group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7">util3d::extractIndices</a>(cloud, indices, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> notObstacles = util3d::concatenate(notObstacles, groundIndices);</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> notObstacles = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">util3d::concatenate</a>(notObstacles, groundIndices);</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> }</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> obstaclesIndices = <a class="code hl_function" href="group__ExtractIndices.html#ga8685395807479f06b19d9d41616a03a7">rtabmap::util3d::extractIndices</a>(cloud, notObstacles, <span class="keyword">true</span>);</div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> }</div>
@@ -286,7 +303,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> groundIndices = <a class="code hl_function" href="group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08">rtabmap::util3d::radiusFiltering</a>(cloud, groundIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordflow">if</span>(farIndices.get())</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> {</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> groundIndices = rtabmap::util3d::concatenate(groundIndices, farIndices);</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> groundIndices = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d::concatenate</a>(groundIndices, farIndices);</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> }</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> }</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordflow">if</span>(obstaclesIndices-&gt;size())</div>
@@ -302,7 +319,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> obstaclesIndices = <a class="code hl_function" href="group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08">rtabmap::util3d::radiusFiltering</a>(cloud, obstaclesIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keywordflow">if</span>(farIndices.get())</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> {</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> obstaclesIndices = rtabmap::util3d::concatenate(obstaclesIndices, farIndices);</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> obstaclesIndices = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d::concatenate</a>(obstaclesIndices, farIndices);</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> }</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> }</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keywordflow">if</span>(flatObstacles &amp;&amp; (*flatObstacles)-&gt;size())</div>
@@ -318,7 +335,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> *flatObstacles = <a class="code hl_function" href="group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08">rtabmap::util3d::radiusFiltering</a>(cloud, *flatObstacles, noiseFilteringRadius_, noiseFilteringMinNeighbors_);</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keywordflow">if</span>(farIndices.get())</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> {</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> *flatObstacles = rtabmap::util3d::concatenate(*flatObstacles, farIndices);</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> *flatObstacles = <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d::concatenate</a>(*flatObstacles, farIndices);</div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span> }</div>
<div class="line"><a id="l00235" name="l00235"></a><span class="lineno"> 235</span> }</div>
<div class="line"><a id="l00236" name="l00236"></a><span class="lineno"> 236</span> <a class="code hl_define" href="ULogger_8h.html#a9104cb408bf9019db2a2c4476835db4a">UDEBUG</a>(<span class="stringliteral">&quot;Radius filtering end (%ld ground %ld obstacles)&quot;</span>,</div>
@@ -360,11 +377,16 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="agroup__RadiusFiltering_html_ga21f5957a6c6b8dd2ca7e559ed8a82d08"><div class="ttname"><a href="group__RadiusFiltering.html#ga21f5957a6c6b8dd2ca7e559ed8a82d08">rtabmap::util3d::radiusFiltering</a></div><div class="ttdeci">pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, float radiusSearch, int minNeighborsInRadius)</div><div class="ttdoc">Radius filtering for point cloud of type pcl::PointXYZ.</div></div>
<div class="ttc" id="agroup__TransformPointcloud_html_ga46b86abad0f4aa2ba7f191da0e07ba69"><div class="ttname"><a href="group__TransformPointcloud.html#ga46b86abad0f4aa2ba7f191da0e07ba69">rtabmap::util3d::transformPointCloud</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr RTABMAP_CORE_EXPORT transformPointCloud(const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, const Transform &amp;transform)</div><div class="ttdoc">Transforms pcl::PointXYZ point cloud type.</div></div>
<div class="ttc" id="agroup__VoxelFiltering_html_gad8d88a06174857cf53b1dc2cf2310d89"><div class="ttname"><a href="group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89">rtabmap::util3d::voxelize</a></div><div class="ttdeci">pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud&lt; pcl::PointXYZ &gt;::Ptr &amp;cloud, const pcl::IndicesPtr &amp;indices, float voxelSize)</div><div class="ttdoc">Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.</div></div>
<div class="ttc" id="anamespacertabmap_1_1util3d_html_aff3c61a08b0fcad7f1c3f7c847190969"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#aff3c61a08b0fcad7f1c3f7c847190969">rtabmap::util3d::concatenate</a></div><div class="ttdeci">pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector&lt; pcl::IndicesPtr &gt; &amp;indices)</div><div class="ttdoc">Concatenates multiple sets of indices into a single index vector.</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>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -155,9 +172,9 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> };</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <a class="code hl_class" href="classrtabmap_1_1MarkerDetector.html">MarkerDetector</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <a class="code hl_class" href="classrtabmap_1_1MarkerDetector.html">MarkerDetector</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1MarkerDetector.html">~MarkerDetector</a>();</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordtype">void</span> parseParameters(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> </div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> std::map&lt;int, MarkerInfo&gt; detect(<span class="keyword">const</span> cv::Mat &amp; image,</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models,</div>
@@ -199,10 +216,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1MarkerInfo_html"><div class="ttname"><a href="classrtabmap_1_1MarkerInfo.html">rtabmap::MarkerInfo</a></div><div class="ttdef"><b>Definition</b> <a href="MarkerDetector_8h_source.html#l00043">MarkerDetector.h:43</a></div></div>
<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="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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@@ -27,6 +31,7 @@
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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -161,11 +178,11 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#ac78b3a9a3394eb63c50650a4b8ada68e"> 109</a></span> <span class="keyword">static</span> <span class="keyword">const</span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1Memory.html#ac78b3a9a3394eb63c50650a4b8ada68e">kIdInvalid</a>;</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a24d451cdf46a9cc04cce995142a101d4"> 119</a></span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a24d451cdf46a9cc04cce995142a101d4">Memory</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a24d451cdf46a9cc04cce995142a101d4"> 119</a></span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a24d451cdf46a9cc04cce995142a101d4">Memory</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Memory.html">~Memory</a>();</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> </div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#abbf54d2a34838cc13ce98d41a9991918"> 128</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#abbf54d2a34838cc13ce98d41a9991918">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#af4cc965870dd757517b126af4860d34d"> 130</a></span> <span class="keyword">virtual</span> <span class="keyword">const</span> ParametersMap &amp; <a class="code hl_function" href="classrtabmap_1_1Memory.html#af4cc965870dd757517b126af4860d34d">getParameters</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> parameters_;}</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#abbf54d2a34838cc13ce98d41a9991918"> 128</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#abbf54d2a34838cc13ce98d41a9991918">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#af4cc965870dd757517b126af4860d34d"> 130</a></span> <span class="keyword">virtual</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; <a class="code hl_function" href="classrtabmap_1_1Memory.html#af4cc965870dd757517b126af4860d34d">getParameters</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> parameters_;}</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a3c029b2788f3b599480d5150120a6bee"> 141</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a3c029b2788f3b599480d5150120a6bee">update</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data,</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> * stats = 0);</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#aae43fd080c6bc9773fa58f1c36e6684f"> 157</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#aae43fd080c6bc9773fa58f1c36e6684f">update</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data,</div>
@@ -175,7 +192,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <a class="code hl_class" href="classrtabmap_1_1Statistics.html">Statistics</a> * stats = 0);</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#aeeabc78648bf7dc14ea1356828cdeddd"> 172</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#aeeabc78648bf7dc14ea1356828cdeddd">init</a>(<span class="keyword">const</span> std::string &amp; dbUrl,</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keywordtype">bool</span> dbOverwritten = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap(),</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(),</div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="keywordtype">bool</span> postInitClosingEvents = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a44023158524dee3471a8dff43ea132db"> 186</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Memory.html#a44023158524dee3471a8dff43ea132db">close</a>(<span class="keywordtype">bool</span> databaseSaved = <span class="keyword">true</span>, <span class="keywordtype">bool</span> postInitClosingEvents = <span class="keyword">false</span>, <span class="keyword">const</span> std::string &amp; ouputDatabasePath = <span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Memory.html#a984ca01a87434b11a66dc1d96e2fff17"> 197</a></span> std::map&lt;int, float&gt; <a class="code hl_function" href="classrtabmap_1_1Memory.html#a984ca01a87434b11a66dc1d96e2fff17">computeLikelihood</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> * signature,</div>
@@ -385,7 +402,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00820" name="l00820"></a><span class="lineno"> 820</span> </div>
<div class="line"><a id="l00821" name="l00821"></a><span class="lineno"> 821</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00822" name="l00822"></a><span class="lineno"> 822</span> <span class="comment">// parameters</span></div>
<div class="line"><a id="l00823" name="l00823"></a><span class="lineno"> 823</span> ParametersMap parameters_;</div>
<div class="line"><a id="l00823" name="l00823"></a><span class="lineno"> 823</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
<div class="line"><a id="l00824" name="l00824"></a><span class="lineno"> 824</span> <span class="keywordtype">float</span> _similarityThreshold;</div>
<div class="line"><a id="l00825" name="l00825"></a><span class="lineno"> 825</span> <span class="keywordtype">bool</span> _binDataKept;</div>
<div class="line"><a id="l00826" name="l00826"></a><span class="lineno"> 826</span> <span class="keywordtype">bool</span> _rawDescriptorsKept;</div>
@@ -500,7 +517,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a072ec41027a03072f1a945540b43a1b8"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a072ec41027a03072f1a945540b43a1b8">rtabmap::Memory::emptyTrash</a></div><div class="ttdeci">void emptyTrash()</div><div class="ttdoc">Forces the database driver to flush any queued signature/word saves.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a0827d1d23744b3693f00e518e1b0fda8"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a0827d1d23744b3693f00e518e1b0fda8">rtabmap::Memory::loadOptimizedMesh</a></div><div class="ttdeci">cv::Mat loadOptimizedMesh(std::vector&lt; std::vector&lt; std::vector&lt; RTABMAP_PCL_INDEX &gt; &gt; &gt; *polygons=0, std::vector&lt; std::vector&lt; Eigen::Vector2f &gt; &gt; *texCoords=0, cv::Mat *textures=0) const</div><div class="ttdoc">Loads the optimized mesh previously written by saveOptimizedMesh().</div></div>
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a10c44ee8a5d84480b41aa4980665d894"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a10c44ee8a5d84480b41aa4980665d894">rtabmap::Memory::getNeighborsIdRadius</a></div><div class="ttdeci">std::map&lt; int, float &gt; getNeighborsIdRadius(int signatureId, float radius, const std::map&lt; int, Transform &gt; &amp;optimizedPoses, int maxGraphDepth) const</div><div class="ttdoc">Returns neighbor ids within a Euclidean radius using optimized poses.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a12042e10017298c4dcf6e435c5a2290a"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a12042e10017298c4dcf6e435c5a2290a">rtabmap::Memory::kIdStart</a></div><div class="ttdeci">static const int kIdStart</div><div class="ttdoc">First valid signature id assigned by getNextId() (positive integer).</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00105">Memory.h:105</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a12042e10017298c4dcf6e435c5a2290a"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a12042e10017298c4dcf6e435c5a2290a">rtabmap::Memory::kIdStart</a></div><div class="ttdeci">static const int kIdStart</div><div class="ttdoc">First valid signature id assigned to a new signature (positive integer).</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00105">Memory.h:105</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a15ec109dd157745f69dcd4f80efaf561"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a15ec109dd157745f69dcd4f80efaf561">rtabmap::Memory::getSignature</a></div><div class="ttdeci">const Signature * getSignature(int id) const</div></div>
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a172f0d3046c0b7d6b37cdf11af153bee"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a172f0d3046c0b7d6b37cdf11af153bee">rtabmap::Memory::getNeighborLinks</a></div><div class="ttdeci">std::multimap&lt; int, Link &gt; getNeighborLinks(int signatureId, bool lookInDatabase=false) const</div><div class="ttdoc">Returns neighbor (sequential) links of signatureId; lookInDatabase also checks LTM.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Memory_html_a18a6e852d545751fbc348d2aae6d7fe0"><div class="ttname"><a href="classrtabmap_1_1Memory.html#a18a6e852d545751fbc348d2aae6d7fe0">rtabmap::Memory::isBinDataKept</a></div><div class="ttdeci">bool isBinDataKept() const</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00432">Memory.h:432</a></div></div>
@@ -611,10 +628,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1VWDictionary_html"><div class="ttname"><a href="classrtabmap_1_1VWDictionary.html">rtabmap::VWDictionary</a></div><div class="ttdoc">Manages a dictionary of visual words for visual place recognition and loop closure detection.</div><div class="ttdef"><b>Definition</b> <a href="VWDictionary_8h_source.html#l00065">VWDictionary.h:66</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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ac175ef40b7a4acb632232d3d96a1199a"><div class="ttname"><a href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">rtabmap::EnvSensors</a></div><div class="ttdeci">std::map&lt; EnvSensor::Type, EnvSensor &gt; EnvSensors</div><div class="ttdoc">Map of environmental readings keyed by EnvSensor::Type (at most one per type).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00114">EnvSensor.h:114</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -27,6 +31,7 @@
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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -124,9 +141,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_INCLUDE_RTABMAP_CORE_OCCUPANCYGRID_H_ */</span><span class="preprocessor"></span></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span> </div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_INCLUDE_RTABMAP_CORE_OCTOMAP_H_ */</span><span class="preprocessor"></span></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -133,7 +150,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryCuVSLAM.html"> 45</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryCuVSLAM.html">OdometryCuVSLAM</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span>{</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <a class="code hl_class" href="classrtabmap_1_1OdometryCuVSLAM.html">OdometryCuVSLAM</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <a class="code hl_class" href="classrtabmap_1_1OdometryCuVSLAM.html">OdometryCuVSLAM</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryCuVSLAM.html">~OdometryCuVSLAM</a>();</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742"> 51</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -191,16 +208,21 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1OdometryCuVSLAM_html"><div class="ttname"><a href="classrtabmap_1_1OdometryCuVSLAM.html">rtabmap::OdometryCuVSLAM</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryCuVSLAM_8h_source.html#l00045">OdometryCuVSLAM.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryCuVSLAM_html_a4cb0a09fc8eb184b2e0d915980b02742"><div class="ttname"><a href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742">rtabmap::OdometryCuVSLAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryCuVSLAM_html_a68801df22a6803dabf7a064b99e04898"><div class="ttname"><a href="classrtabmap_1_1OdometryCuVSLAM.html#a68801df22a6803dabf7a064b99e04898">rtabmap::OdometryCuVSLAM::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryCuVSLAM_8h_source.html#l00052">OdometryCuVSLAM.h:52</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -131,7 +148,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryDVO.html"> 43</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryDVO.html">OdometryDVO</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span>{</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <a class="code hl_class" href="classrtabmap_1_1OdometryDVO.html">OdometryDVO</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <a class="code hl_class" href="classrtabmap_1_1OdometryDVO.html">OdometryDVO</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryDVO.html">~OdometryDVO</a>();</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryDVO.html#aa20fb31a7bf255caa1f13b0b69b2ee65"> 49</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryDVO.html#aa20fb31a7bf255caa1f13b0b69b2ee65">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -159,16 +176,21 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1OdometryDVO_html"><div class="ttname"><a href="classrtabmap_1_1OdometryDVO.html">rtabmap::OdometryDVO</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryDVO_8h_source.html#l00043">OdometryDVO.h:44</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryDVO_html_a8475f5a8b1ba4e288ba58daf6284acc9"><div class="ttname"><a href="classrtabmap_1_1OdometryDVO.html#a8475f5a8b1ba4e288ba58daf6284acc9">rtabmap::OdometryDVO::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryDVO_8h_source.html#l00050">OdometryDVO.h:50</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryDVO_html_aa20fb31a7bf255caa1f13b0b69b2ee65"><div class="ttname"><a href="classrtabmap_1_1OdometryDVO.html#aa20fb31a7bf255caa1f13b0b69b2ee65">rtabmap::OdometryDVO::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -123,93 +140,112 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="foldopen" id="foldopen00039" data-start="{" data-end="};">
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html"> 39</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUEvent.html">UEvent</a></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span>{</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a>()</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> {</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> _info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a> = cv::Mat::eye(6,6,CV_64FC1);</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> }</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a>(</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data,</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose,</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> &amp; info = <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a>()) :</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> _data(data),</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> _pose(pose),</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> _info(info)</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> {</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <span class="keywordflow">if</span>(_info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.empty())</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> {</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> _info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a> = cv::Mat::eye(6,6,CV_64FC1);</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> }</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(_info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.cols == 6 &amp;&amp; _info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.rows == 6 &amp;&amp; _info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.type() == CV_64FC1);</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(0,0)) &amp;&amp; _info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(0,0)&gt;0, <span class="stringliteral">&quot;Transitional variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(1,1)) &amp;&amp; _info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(1,1)&gt;0, <span class="stringliteral">&quot;Transitional variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(2,2)) &amp;&amp; _info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(2,2)&gt;0, <span class="stringliteral">&quot;Transitional variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(3,3)) &amp;&amp; _info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(3,3)&gt;0, <span class="stringliteral">&quot;Rotational variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(4,4)) &amp;&amp; _info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(4,4)&gt;0, <span class="stringliteral">&quot;Rotational variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(5,5)) &amp;&amp; _info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(5,5)&gt;0, <span class="stringliteral">&quot;Rotational variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> }</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">~OdometryEvent</a>() {}</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#a461365124cbdf488d3a05874be8c4bb2"> 67</a></span> <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a461365124cbdf488d3a05874be8c4bb2">getClassName</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="stringliteral">&quot;OdometryEvent&quot;</span>;}</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data() {<span class="keywordflow">return</span> _data;}</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keyword">const</span> SensorData &amp; data()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _data;}</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keyword">const</span> Transform &amp; pose()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pose;}</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keyword">const</span> cv::Mat &amp; covariance()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _info.reg.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>;}</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> std::vector&lt;float&gt; velocity()<span class="keyword"> const </span>{</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="keywordflow">if</span>(_info.interval&gt;0.0)</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> {</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> std::vector&lt;float&gt; velocity(6,0);</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keywordtype">float</span> x,y,z,roll,pitch,yaw;</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> _info.transform.<a class="code hl_function" href="classrtabmap_1_1Transform.html#aad65adff491fd57a31dbe4e26d7f29af">getTranslationAndEulerAngles</a>(x,y,z,roll,pitch,yaw);</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> velocity[0] = x/_info.interval;</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> velocity[1] = y/_info.interval;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> velocity[2] = z/_info.interval;</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> velocity[3] = roll/_info.interval;</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> velocity[4] = pitch/_info.interval;</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> velocity[5] = yaw/_info.interval;</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="keywordflow">return</span> velocity;</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> }</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="keywordflow">return</span> std::vector&lt;float&gt;();</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> }</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">const</span> OdometryInfo &amp; info()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _info;}</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> </div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> SensorData _data;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> Transform _pose;</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> OdometryInfo _info;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span>};</div>
<div class="foldopen" id="foldopen00056" data-start="{" data-end="};">
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html"> 56</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUEvent.html">UEvent</a></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>{</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span><span class="keyword">public</span>:</div>
<div class="foldopen" id="foldopen00060" data-start="{" data-end="}">
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#aaf1fc834b6016a79b28883d20f336020"> 60</a></span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#aaf1fc834b6016a79b28883d20f336020">OdometryEvent</a>()</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> {</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a> = cv::Mat::eye(6,6,CV_64FC1);</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> }</div>
</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> </div>
<div class="foldopen" id="foldopen00097" data-start="{" data-end="};">
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryResetEvent.html"> 97</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1OdometryResetEvent.html">OdometryResetEvent</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUEvent.html">UEvent</a></div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span>{</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <a class="code hl_class" href="classrtabmap_1_1OdometryResetEvent.html">OdometryResetEvent</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>()){_pose = pose;}</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryResetEvent.html">~OdometryResetEvent</a>() {}</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryResetEvent.html#a94dc8e8b7ec952c0ca2b393cc0f3e71d"> 102</a></span> <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classrtabmap_1_1OdometryResetEvent.html#a94dc8e8b7ec952c0ca2b393cc0f3e71d">getClassName</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="stringliteral">&quot;OdometryResetEvent&quot;</span>;}</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; getPose()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pose;}</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> Transform _pose;</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span>};</div>
<div class="foldopen" id="foldopen00073" data-start="{" data-end="}">
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#a0667339a1f0135ac2b67180b663a028f"> 73</a></span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a0667339a1f0135ac2b67180b663a028f">OdometryEvent</a>(</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33">data</a>,</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25">pose</a>,</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5">info</a> = <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a>()) :</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> _data(<a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33">data</a>),</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> _pose(<a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25">pose</a>),</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> _info(<a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5">info</a>)</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> {</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keywordflow">if</span>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.empty())</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> {</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a> = cv::Mat::eye(6,6,CV_64FC1);</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> }</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <a class="code hl_define" href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.cols == 6 &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.rows == 6 &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.type() == CV_64FC1);</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(0,0)) &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(0,0)&gt;0, <span class="stringliteral">&quot;Transitional variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(1,1)) &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(1,1)&gt;0, <span class="stringliteral">&quot;Transitional variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(2,2)) &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(2,2)&gt;0, <span class="stringliteral">&quot;Transitional variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(3,3)) &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(3,3)&gt;0, <span class="stringliteral">&quot;Rotational variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(4,4)) &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(4,4)&gt;0, <span class="stringliteral">&quot;Rotational variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> UASSERT_MSG(<a class="code hl_function" href="UMath_8h.html#abc9c1a676bf1b33a7d2bc0452a04fed3">uIsFinite</a>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(5,5)) &amp;&amp; _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>.at&lt;<span class="keywordtype">double</span>&gt;(5,5)&gt;0, <span class="stringliteral">&quot;Rotational variance should not be null! (set to 1 if unknown)&quot;</span>);</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> }</div>
</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span>}</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYEVENT_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">~OdometryEvent</a>() {}</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#a461365124cbdf488d3a05874be8c4bb2"> 94</a></span> <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a461365124cbdf488d3a05874be8c4bb2">getClassName</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="stringliteral">&quot;OdometryEvent&quot;</span>;}</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33"> 97</a></span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33">data</a>() {<span class="keywordflow">return</span> _data;}</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#ac29fe21e2ba017148dae0dfd9d8c028c"> 99</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#ac29fe21e2ba017148dae0dfd9d8c028c">data</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _data;}</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25"> 101</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25">pose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pose;}</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#a13be8ff5e398f9fd00d09aac8deddaba"> 103</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a13be8ff5e398f9fd00d09aac8deddaba">covariance</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>.<a class="code hl_variable" href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">covariance</a>;}</div>
<div class="foldopen" id="foldopen00109" data-start="{" data-end="}">
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398"> 109</a></span> std::vector&lt;float&gt; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>()<span class="keyword"> const </span>{</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordflow">if</span>(_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>&gt;0.0)</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> {</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> std::vector&lt;float&gt; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>(6,0);</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">float</span> x,y,z,roll,pitch,yaw;</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> _info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">transform</a>.<a class="code hl_function" href="classrtabmap_1_1Transform.html#aad65adff491fd57a31dbe4e26d7f29af">getTranslationAndEulerAngles</a>(x,y,z,roll,pitch,yaw);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>[0] = x/_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>;</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>[1] = y/_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>[2] = z/_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>;</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>[3] = roll/_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>;</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>[4] = pitch/_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>;</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>[5] = yaw/_info.<a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>;</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordflow">return</span> <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a>;</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> }</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keywordflow">return</span> std::vector&lt;float&gt;();</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> }</div>
</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5"> 126</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5">info</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _info;}</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> _data;</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _pose;</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> _info;</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span>};</div>
</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
<div class="foldopen" id="foldopen00144" data-start="{" data-end="};">
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryResetEvent.html"> 144</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1OdometryResetEvent.html">OdometryResetEvent</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUEvent.html">UEvent</a></div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span>{</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryResetEvent.html#a035eee412d9bda7da321523baff799f3"> 148</a></span> <a class="code hl_function" href="classrtabmap_1_1OdometryResetEvent.html#a035eee412d9bda7da321523baff799f3">OdometryResetEvent</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose = <a class="code hl_function" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>()){_pose = pose;}</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryResetEvent.html">~OdometryResetEvent</a>() {}</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryResetEvent.html#a94dc8e8b7ec952c0ca2b393cc0f3e71d"> 150</a></span> <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classrtabmap_1_1OdometryResetEvent.html#a94dc8e8b7ec952c0ca2b393cc0f3e71d">getClassName</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="stringliteral">&quot;OdometryResetEvent&quot;</span>;}</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryResetEvent.html#ae756dea7a2e79fd918dd4c158085bc68"> 152</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1OdometryResetEvent.html#ae756dea7a2e79fd918dd4c158085bc68">getPose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _pose;}</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _pose;</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span>};</div>
</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> </div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span>}</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> </div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> </div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYEVENT_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aULogger_8h_html"><div class="ttname"><a href="ULogger_8h.html">ULogger.h</a></div><div class="ttdoc">ULogger class and convenient macros.</div></div>
<div class="ttc" id="aULogger_8h_html_ab3436168e27946669bbd4c76e4c4007e"><div class="ttname"><a href="ULogger_8h.html#ab3436168e27946669bbd4c76e4c4007e">UASSERT</a></div><div class="ttdeci">#define UASSERT(condition)</div><div class="ttdef"><b>Definition</b> <a href="ULogger_8h_source.html#l00066">ULogger.h:66</a></div></div>
<div class="ttc" id="aUMath_8h_html"><div class="ttname"><a href="UMath_8h.html">UMath.h</a></div><div class="ttdoc">Basic mathematics functions.</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="aclassrtabmap_1_1OdometryEvent_html"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html">rtabmap::OdometryEvent</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00039">OdometryEvent.h:40</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_a461365124cbdf488d3a05874be8c4bb2"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#a461365124cbdf488d3a05874be8c4bb2">rtabmap::OdometryEvent::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00067">OdometryEvent.h:67</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryResetEvent_html"><div class="ttname"><a href="classrtabmap_1_1OdometryResetEvent.html">rtabmap::OdometryResetEvent</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00097">OdometryEvent.h:98</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryResetEvent_html_a94dc8e8b7ec952c0ca2b393cc0f3e71d"><div class="ttname"><a href="classrtabmap_1_1OdometryResetEvent.html#a94dc8e8b7ec952c0ca2b393cc0f3e71d">rtabmap::OdometryResetEvent::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00102">OdometryEvent.h:102</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>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_a0667339a1f0135ac2b67180b663a028f"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#a0667339a1f0135ac2b67180b663a028f">rtabmap::OdometryEvent::OdometryEvent</a></div><div class="ttdeci">OdometryEvent(const SensorData &amp;data, const Transform &amp;pose, const OdometryInfo &amp;info=OdometryInfo())</div><div class="ttdoc">Constructor.</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00073">OdometryEvent.h:73</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_a13be8ff5e398f9fd00d09aac8deddaba"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#a13be8ff5e398f9fd00d09aac8deddaba">rtabmap::OdometryEvent::covariance</a></div><div class="ttdeci">const cv::Mat &amp; covariance() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00103">OdometryEvent.h:103</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_a19edd3196a5723053ba425186b1f3d33"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33">rtabmap::OdometryEvent::data</a></div><div class="ttdeci">SensorData &amp; data()</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00097">OdometryEvent.h:97</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_a461365124cbdf488d3a05874be8c4bb2"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#a461365124cbdf488d3a05874be8c4bb2">rtabmap::OdometryEvent::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00094">OdometryEvent.h:94</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_a9d20ed607b8cc697c8aa5ca725e477a5"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5">rtabmap::OdometryEvent::info</a></div><div class="ttdeci">const OdometryInfo &amp; info() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00126">OdometryEvent.h:126</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_aaf1fc834b6016a79b28883d20f336020"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#aaf1fc834b6016a79b28883d20f336020">rtabmap::OdometryEvent::OdometryEvent</a></div><div class="ttdeci">OdometryEvent()</div><div class="ttdoc">Creates an empty event, with an identity covariance.</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00060">OdometryEvent.h:60</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_ac29fe21e2ba017148dae0dfd9d8c028c"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#ac29fe21e2ba017148dae0dfd9d8c028c">rtabmap::OdometryEvent::data</a></div><div class="ttdeci">const SensorData &amp; data() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00099">OdometryEvent.h:99</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_ac7aaf59c0f005b6ac1497c870179fd25"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25">rtabmap::OdometryEvent::pose</a></div><div class="ttdeci">const Transform &amp; pose() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00101">OdometryEvent.h:101</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryEvent_html_adbac8609d65d32f38d1e724007091398"><div class="ttname"><a href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">rtabmap::OdometryEvent::velocity</a></div><div class="ttdeci">std::vector&lt; float &gt; velocity() const</div><div class="ttdoc">Linear and angular velocity, from the motion and the frame interval.</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00109">OdometryEvent.h:109</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a15a03ce5044cf0c6af77085777c4df7a"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">rtabmap::OdometryInfo::reg</a></div><div class="ttdeci">RegistrationInfo reg</div><div class="ttdoc">Registration result: matches, inliers, covariance, ICP indicators and timings.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00077">OdometryInfo.h:77</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a2c12cf07f29ecbafe6eacfd2e987adb6"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">rtabmap::OdometryInfo::interval</a></div><div class="ttdeci">double interval</div><div class="ttdoc">Time since the previous processed frame (s); the divisor for velocities.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00095">OdometryInfo.h:95</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_ad4f09afa610091012c2edd7708d722c5"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">rtabmap::OdometryInfo::transform</a></div><div class="ttdeci">Transform transform</div><div class="ttdoc">Motion since the previous frame, null when lost.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00096">OdometryInfo.h:96</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryResetEvent_html"><div class="ttname"><a href="classrtabmap_1_1OdometryResetEvent.html">rtabmap::OdometryResetEvent</a></div><div class="ttdoc">Asks OdometryThread to restart the odometry from a given pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00144">OdometryEvent.h:145</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryResetEvent_html_a035eee412d9bda7da321523baff799f3"><div class="ttname"><a href="classrtabmap_1_1OdometryResetEvent.html#a035eee412d9bda7da321523baff799f3">rtabmap::OdometryResetEvent::OdometryResetEvent</a></div><div class="ttdeci">OdometryResetEvent(const Transform &amp;pose=Transform::getIdentity())</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00148">OdometryEvent.h:148</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryResetEvent_html_a94dc8e8b7ec952c0ca2b393cc0f3e71d"><div class="ttname"><a href="classrtabmap_1_1OdometryResetEvent.html#a94dc8e8b7ec952c0ca2b393cc0f3e71d">rtabmap::OdometryResetEvent::getClassName</a></div><div class="ttdeci">virtual std::string getClassName() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00150">OdometryEvent.h:150</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryResetEvent_html_ae756dea7a2e79fd918dd4c158085bc68"><div class="ttname"><a href="classrtabmap_1_1OdometryResetEvent.html#ae756dea7a2e79fd918dd4c158085bc68">rtabmap::OdometryResetEvent::getPose</a></div><div class="ttdeci">const Transform &amp; getPose() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryEvent_8h_source.html#l00152">OdometryEvent.h:152</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html_a347f413d8a96dea23c4fdc6af2a1ddb5"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html#a347f413d8a96dea23c4fdc6af2a1ddb5">rtabmap::RegistrationInfo::covariance</a></div><div class="ttdeci">cv::Mat covariance</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00095">RegistrationInfo.h:95</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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>
@@ -217,9 +253,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Transform_html_aad65adff491fd57a31dbe4e26d7f29af"><div class="ttname"><a href="classrtabmap_1_1Transform.html#aad65adff491fd57a31dbe4e26d7f29af">rtabmap::Transform::getTranslationAndEulerAngles</a></div><div class="ttdeci">void getTranslationAndEulerAngles(float &amp;x, float &amp;y, float &amp;z, float &amp;roll, float &amp;pitch, float &amp;yaw) const</div><div class="ttdoc">Extracts translation and Euler angles (radians).</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>
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@@ -126,7 +143,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryF2F.html"> 38</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryF2F.html">OdometryF2F</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span>{</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <a class="code hl_class" href="classrtabmap_1_1OdometryF2F.html">OdometryF2F</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <a class="code hl_class" href="classrtabmap_1_1OdometryF2F.html">OdometryF2F</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryF2F.html">~OdometryF2F</a>();</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryF2F.html#a7fb0eb46ed5b40e15299bc40b5cd4eb5"> 44</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryF2F.html#a7fb0eb46ed5b40e15299bc40b5cd4eb5">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -147,7 +164,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <a class="code hl_class" href="classrtabmap_1_1Registration.html">Registration</a> * registrationPipeline_;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <a class="code hl_class" href="classrtabmap_1_1Signature.html">Signature</a> refFrame_;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> lastKeyFramePose_;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> ParametersMap parameters_;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span>};</div>
</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> </div>
@@ -157,7 +174,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1OdometryF2F_html"><div class="ttname"><a href="classrtabmap_1_1OdometryF2F.html">rtabmap::OdometryF2F</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryF2F_8h_source.html#l00038">OdometryF2F.h:39</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryF2F_html_a7fb0eb46ed5b40e15299bc40b5cd4eb5"><div class="ttname"><a href="classrtabmap_1_1OdometryF2F.html#a7fb0eb46ed5b40e15299bc40b5cd4eb5">rtabmap::OdometryF2F::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryF2F_html_af0e2f40a3dd28b9e1e84159bcf9df323"><div class="ttname"><a href="classrtabmap_1_1OdometryF2F.html#af0e2f40a3dd28b9e1e84159bcf9df323">rtabmap::OdometryF2F::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryF2F_8h_source.html#l00048">OdometryF2F.h:48</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Registration_html"><div class="ttname"><a href="classrtabmap_1_1Registration.html">rtabmap::Registration</a></div><div class="ttdoc">Abstract base for registering two observations (visual, ICP, or both).</div><div class="ttdef"><b>Definition</b> <a href="Registration_8h_source.html#l00060">Registration.h:61</a></div></div>
@@ -165,10 +182,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -132,7 +149,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryF2M.html"> 44</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryF2M.html">OdometryF2M</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span>{</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <a class="code hl_class" href="classrtabmap_1_1OdometryF2M.html">OdometryF2M</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <a class="code hl_class" href="classrtabmap_1_1OdometryF2M.html">OdometryF2M</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryF2M.html">~OdometryF2M</a>();</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryF2M.html#a7a4b7219e339bbea7761601027f192d2"> 50</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryF2M.html#a7a4b7219e339bbea7761601027f192d2">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -180,7 +197,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> std::map&lt;int, int&gt; bundlePoseReferences_;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keywordtype">int</span> bundleSeq_;</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a> * sba_;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> ParametersMap parameters_;</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span>};</div>
</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> </div>
@@ -190,7 +207,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1OdometryF2M_html"><div class="ttname"><a href="classrtabmap_1_1OdometryF2M.html">rtabmap::OdometryF2M</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryF2M_8h_source.html#l00044">OdometryF2M.h:45</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryF2M_html_a7a4b7219e339bbea7761601027f192d2"><div class="ttname"><a href="classrtabmap_1_1OdometryF2M.html#a7a4b7219e339bbea7761601027f192d2">rtabmap::OdometryF2M::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryF2M_html_aa0244571578fd8604470d8c21af01611"><div class="ttname"><a href="classrtabmap_1_1OdometryF2M.html#aa0244571578fd8604470d8c21af01611">rtabmap::OdometryF2M::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryF2M_8h_source.html#l00054">OdometryF2M.h:54</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></div><div class="ttdoc">Abstract base for pose-graph and bundle-adjustment optimizers.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00087">Optimizer.h:88</a></div></div>
@@ -199,10 +216,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -126,7 +143,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryFLOAM.html"> 38</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryFLOAM.html">OdometryFLOAM</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span>{</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <a class="code hl_class" href="classrtabmap_1_1OdometryFLOAM.html">OdometryFLOAM</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <a class="code hl_class" href="classrtabmap_1_1OdometryFLOAM.html">OdometryFLOAM</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryFLOAM.html">~OdometryFLOAM</a>();</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryFLOAM.html#a85105e691f68317b2816566cb7440e46"> 44</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryFLOAM.html#a85105e691f68317b2816566cb7440e46">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -154,16 +171,21 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1OdometryFLOAM_html"><div class="ttname"><a href="classrtabmap_1_1OdometryFLOAM.html">rtabmap::OdometryFLOAM</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryFLOAM_8h_source.html#l00038">OdometryFLOAM.h:39</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryFLOAM_html_a311c8b022d0a2dc6219b97a8e2b40d84"><div class="ttname"><a href="classrtabmap_1_1OdometryFLOAM.html#a311c8b022d0a2dc6219b97a8e2b40d84">rtabmap::OdometryFLOAM::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryFLOAM_8h_source.html#l00045">OdometryFLOAM.h:45</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryFLOAM_html_a85105e691f68317b2816566cb7440e46"><div class="ttname"><a href="classrtabmap_1_1OdometryFLOAM.html#a85105e691f68317b2816566cb7440e46">rtabmap::OdometryFLOAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -55,6 +60,23 @@ $(function() {
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -131,7 +148,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryFovis.html"> 43</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryFovis.html">OdometryFovis</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span>{</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <a class="code hl_class" href="classrtabmap_1_1OdometryFovis.html">OdometryFovis</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <a class="code hl_class" href="classrtabmap_1_1OdometryFovis.html">OdometryFovis</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryFovis.html">~OdometryFovis</a>();</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryFovis.html#a0175e1e923673028f1d647aaa185447c"> 49</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryFovis.html#a0175e1e923673028f1d647aaa185447c">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -149,7 +166,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> fovis::StereoDepth * stereoDepth_;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keywordtype">bool</span> lost_;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> ParametersMap fovisParameters_;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> fovisParameters_;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> previousLocalTransform_;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span>};</div>
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@@ -160,16 +177,21 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1OdometryFovis_html"><div class="ttname"><a href="classrtabmap_1_1OdometryFovis.html">rtabmap::OdometryFovis</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryFovis_8h_source.html#l00043">OdometryFovis.h:44</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryFovis_html_a0175e1e923673028f1d647aaa185447c"><div class="ttname"><a href="classrtabmap_1_1OdometryFovis.html#a0175e1e923673028f1d647aaa185447c">rtabmap::OdometryFovis::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryFovis_html_a415b08f31a2ab8ff503c84623df71f0d"><div class="ttname"><a href="classrtabmap_1_1OdometryFovis.html#a415b08f31a2ab8ff503c84623df71f0d">rtabmap::OdometryFovis::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryFovis_8h_source.html#l00050">OdometryFovis.h:50</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a6427d44c57fd6b7152b62d5b7cca1849"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">rtabmap::Odometry::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Odometry backend selected by Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00060">Odometry.h:60</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
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@@ -129,70 +146,112 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="foldopen" id="foldopen00045" data-start="{" data-end="};">
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html"> 45</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a></div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span>{</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a>();</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> copyWithoutData() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> std::map&lt;std::string, float&gt; statistics(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keywordtype">bool</span> lost;</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> reg;</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <span class="keywordtype">int</span> features;</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keywordtype">int</span> localMapSize;</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keywordtype">int</span> localScanMapSize;</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keywordtype">int</span> localKeyFrames;</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordtype">int</span> localBundleOutliers;</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">int</span> localBundleConstraints;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordtype">float</span> localBundleTime;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> std::map&lt;int, Transform&gt; localBundlePoses;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> std::map&lt;int, std::vector&lt;CameraModel&gt; &gt; localBundleModels;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keywordtype">float</span> localBundleAvgInlierDistance;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordtype">int</span> localBundleMaxKeyFramesForInlier;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> std::vector&lt;int&gt; localBundleOutliersPerCam;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keywordtype">bool</span> keyFrameAdded;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="keywordtype">float</span> timeDeskewing;</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">float</span> timeEstimation;</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordtype">float</span> timeParticleFiltering;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordtype">double</span> stamp;</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keywordtype">double</span> interval;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> transform;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> transformFiltered;</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> transformGroundTruth;</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guessVelocity; <span class="comment">// deprecated, will be removed. Use guess and interval instead.</span></div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess;</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keywordtype">float</span> distanceTravelled;</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keywordtype">int</span> memoryUsage; <span class="comment">//MB</span></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keywordtype">double</span> gravityRollError;</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keywordtype">double</span> gravityPitchError;</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordtype">int</span> type;</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="comment">// F2M</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> std::multimap&lt;int, cv::KeyPoint&gt; words;</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> std::map&lt;int, cv::Point3f&gt; localMap;</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> localScanMap;</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="comment">// F2F</span></div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> std::vector&lt;cv::Point2f&gt; refCorners;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> std::vector&lt;cv::Point2f&gt; newCorners;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> std::vector&lt;int&gt; cornerInliers;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span>};</div>
<div class="foldopen" id="foldopen00063" data-start="{" data-end="};">
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html"> 63</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a></div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span>{</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a>();</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#abce081943ea566e0dcc1532ce749e276"> 68</a></span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> <a class="code hl_function" href="classrtabmap_1_1OdometryInfo.html#abce081943ea566e0dcc1532ce749e276">copyWithoutData</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a3353258f68ec539287dcc60cc08f3da7"> 74</a></span> std::map&lt;std::string, float&gt; <a class="code hl_function" href="classrtabmap_1_1OdometryInfo.html#a3353258f68ec539287dcc60cc08f3da7">statistics</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#aa4c3fb893f6dcac1d67eeac6836b4faa"> 76</a></span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#aa4c3fb893f6dcac1d67eeac6836b4faa">lost</a>; </div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a"> 77</a></span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a>; </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a736c2515b2347de6e1c6099a727aea8c"> 78</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a736c2515b2347de6e1c6099a727aea8c">features</a>; </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a563234c5e3047350ea3694df0ef95b03"> 79</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a563234c5e3047350ea3694df0ef95b03">localMapSize</a>; </div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#ad0a0b1581cde378c7788e111384d4cfc"> 80</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#ad0a0b1581cde378c7788e111384d4cfc">localScanMapSize</a>; </div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a5a6b81745b811070092549a1cfdfebbe"> 81</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a5a6b81745b811070092549a1cfdfebbe">localKeyFrames</a>; </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a9ec2aadde776985736ac9f3ec2b7cb82"> 82</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a9ec2aadde776985736ac9f3ec2b7cb82">localBundleOutliers</a>; </div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a4fe896b703671cf7f57573fa109ffa9a"> 83</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a4fe896b703671cf7f57573fa109ffa9a">localBundleConstraints</a>; </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#adbfce0f63a7eedd0a0557ecf4420dfd0"> 84</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#adbfce0f63a7eedd0a0557ecf4420dfd0">localBundleTime</a>; </div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#ac6fbabe2f348c15f87807a928aeda82b"> 85</a></span> std::map&lt;int, Transform&gt; <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#ac6fbabe2f348c15f87807a928aeda82b">localBundlePoses</a>; </div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#aaa91ea67105c8c174245a7b192e868e3"> 86</a></span> std::map&lt;int, std::vector&lt;CameraModel&gt; &gt; <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#aaa91ea67105c8c174245a7b192e868e3">localBundleModels</a>; </div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#ad0e7d3544c09f38383ec7c130af42b26"> 87</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#ad0e7d3544c09f38383ec7c130af42b26">localBundleAvgInlierDistance</a>; </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a78ab082f3310ea5ac8b11e54ba3a3014"> 88</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a78ab082f3310ea5ac8b11e54ba3a3014">localBundleMaxKeyFramesForInlier</a>; </div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#ab10aab5c7851215060b3ca9a58543206"> 89</a></span> std::vector&lt;int&gt; <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#ab10aab5c7851215060b3ca9a58543206">localBundleOutliersPerCam</a>; </div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a9e40155a67416dcb420f4164e4aa348a"> 90</a></span> <span class="keywordtype">bool</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a9e40155a67416dcb420f4164e4aa348a">keyFrameAdded</a>; </div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a929c2dc356766dc0f498aa1068ad7ef4"> 91</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a929c2dc356766dc0f498aa1068ad7ef4">timeDeskewing</a>; </div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a91407f56fef27c619e27fdd91003dadf"> 92</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a91407f56fef27c619e27fdd91003dadf">timeEstimation</a>; </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#aae03a73e704e23ea5142de821b618e6e"> 93</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#aae03a73e704e23ea5142de821b618e6e">timeParticleFiltering</a>; </div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a7b005bbc7922cf3c6c352451f65b199d"> 94</a></span> <span class="keywordtype">double</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a7b005bbc7922cf3c6c352451f65b199d">stamp</a>; </div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6"> 95</a></span> <span class="keywordtype">double</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a>; </div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5"> 96</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">transform</a>; </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#ac786b5953b124a80524a051cfbcb7460"> 97</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#ac786b5953b124a80524a051cfbcb7460">transformFiltered</a>; </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#aba971e389867f752f04ecd7b17471f6e"> 98</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#aba971e389867f752f04ecd7b17471f6e">transformGroundTruth</a>; </div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a3aec571c2fae4b6e3b1197d9f7adabed"> 99</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a3aec571c2fae4b6e3b1197d9f7adabed">guessVelocity</a>; </div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a8aa1c7947217518727a62bb55106a706"> 100</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a8aa1c7947217518727a62bb55106a706">guess</a>; </div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a669d252c42f5635ecbe0288c1b0e8721"> 101</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a669d252c42f5635ecbe0288c1b0e8721">distanceTravelled</a>; </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#ad7f7beb7810db1912c20b05e94eafdf3"> 102</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#ad7f7beb7810db1912c20b05e94eafdf3">memoryUsage</a>; </div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a7641b415d9d08f7d267ca25ee564a2a7"> 103</a></span> <span class="keywordtype">double</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a7641b415d9d08f7d267ca25ee564a2a7">gravityRollError</a>; </div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a9b58bbc659878dc763c6f0201b2ecd28"> 104</a></span> <span class="keywordtype">double</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a9b58bbc659878dc763c6f0201b2ecd28">gravityPitchError</a>;</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#ad2fa24b41e053e6a2f90dcb0189a901d"> 106</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#ad2fa24b41e053e6a2f90dcb0189a901d">type</a>; </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="comment">// F2M</span></div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#ac40ddcfab5cd0c6b9fe34aa5b0143814"> 109</a></span> std::multimap&lt;int, cv::KeyPoint&gt; <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#ac40ddcfab5cd0c6b9fe34aa5b0143814">words</a>; </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a2231e7c27db459398b6b51fad108f876"> 110</a></span> std::map&lt;int, cv::Point3f&gt; <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a2231e7c27db459398b6b51fad108f876">localMap</a>; </div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a08ee9e84949857719b76d082559f3cbc"> 111</a></span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a08ee9e84949857719b76d082559f3cbc">localScanMap</a>; </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> </div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="comment">// F2F</span></div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a191435796512e2d1b6fd06c36bbc7516"> 114</a></span> std::vector&lt;cv::Point2f&gt; <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a191435796512e2d1b6fd06c36bbc7516">refCorners</a>; </div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a028f791a3005377516d217608a696556"> 115</a></span> std::vector&lt;cv::Point2f&gt; <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a028f791a3005377516d217608a696556">newCorners</a>; </div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html#a6410510dbdd2e9ce8fb1e7cb60dc3c4e"> 116</a></span> std::vector&lt;int&gt; <a class="code hl_variable" href="classrtabmap_1_1OdometryInfo.html#a6410510dbdd2e9ce8fb1e7cb60dc3c4e">cornerInliers</a>; </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span>};</div>
</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> </div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span>}</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYINFO_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span>}</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYINFO_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a028f791a3005377516d217608a696556"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a028f791a3005377516d217608a696556">rtabmap::OdometryInfo::newCorners</a></div><div class="ttdeci">std::vector&lt; cv::Point2f &gt; newCorners</div><div class="ttdoc">Where those corners were found in the current frame (F2F).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00115">OdometryInfo.h:115</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a08ee9e84949857719b76d082559f3cbc"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a08ee9e84949857719b76d082559f3cbc">rtabmap::OdometryInfo::localScanMap</a></div><div class="ttdeci">LaserScan localScanMap</div><div class="ttdoc">Local scan map in the odometry frame (F2M).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00111">OdometryInfo.h:111</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a15a03ce5044cf0c6af77085777c4df7a"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">rtabmap::OdometryInfo::reg</a></div><div class="ttdeci">RegistrationInfo reg</div><div class="ttdoc">Registration result: matches, inliers, covariance, ICP indicators and timings.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00077">OdometryInfo.h:77</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a191435796512e2d1b6fd06c36bbc7516"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a191435796512e2d1b6fd06c36bbc7516">rtabmap::OdometryInfo::refCorners</a></div><div class="ttdeci">std::vector&lt; cv::Point2f &gt; refCorners</div><div class="ttdoc">Corners of the reference frame (F2F).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00114">OdometryInfo.h:114</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a2231e7c27db459398b6b51fad108f876"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a2231e7c27db459398b6b51fad108f876">rtabmap::OdometryInfo::localMap</a></div><div class="ttdeci">std::map&lt; int, cv::Point3f &gt; localMap</div><div class="ttdoc">Local feature map in the odometry frame, by word id (F2M).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00110">OdometryInfo.h:110</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a2c12cf07f29ecbafe6eacfd2e987adb6"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">rtabmap::OdometryInfo::interval</a></div><div class="ttdeci">double interval</div><div class="ttdoc">Time since the previous processed frame (s); the divisor for velocities.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00095">OdometryInfo.h:95</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a3353258f68ec539287dcc60cc08f3da7"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a3353258f68ec539287dcc60cc08f3da7">rtabmap::OdometryInfo::statistics</a></div><div class="ttdeci">std::map&lt; std::string, float &gt; statistics(const Transform &amp;pose=Transform())</div><div class="ttdoc">Formats the content as the Odometry/... statistics.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a3aec571c2fae4b6e3b1197d9f7adabed"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a3aec571c2fae4b6e3b1197d9f7adabed">rtabmap::OdometryInfo::guessVelocity</a></div><div class="ttdeci">Transform guessVelocity</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00099">OdometryInfo.h:99</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a4fe896b703671cf7f57573fa109ffa9a"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a4fe896b703671cf7f57573fa109ffa9a">rtabmap::OdometryInfo::localBundleConstraints</a></div><div class="ttdeci">int localBundleConstraints</div><div class="ttdoc">Feature observations kept by the last local bundle adjustment.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00083">OdometryInfo.h:83</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a563234c5e3047350ea3694df0ef95b03"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a563234c5e3047350ea3694df0ef95b03">rtabmap::OdometryInfo::localMapSize</a></div><div class="ttdeci">int localMapSize</div><div class="ttdoc">Number of 3D points in the local feature map (F2M).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00079">OdometryInfo.h:79</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a5a6b81745b811070092549a1cfdfebbe"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a5a6b81745b811070092549a1cfdfebbe">rtabmap::OdometryInfo::localKeyFrames</a></div><div class="ttdeci">int localKeyFrames</div><div class="ttdoc">Number of key frames forming the local map (F2M).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00081">OdometryInfo.h:81</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a6410510dbdd2e9ce8fb1e7cb60dc3c4e"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a6410510dbdd2e9ce8fb1e7cb60dc3c4e">rtabmap::OdometryInfo::cornerInliers</a></div><div class="ttdeci">std::vector&lt; int &gt; cornerInliers</div><div class="ttdoc">Indices in refCorners / newCorners kept as inliers (F2F).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00116">OdometryInfo.h:116</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a669d252c42f5635ecbe0288c1b0e8721"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a669d252c42f5635ecbe0288c1b0e8721">rtabmap::OdometryInfo::distanceTravelled</a></div><div class="ttdeci">float distanceTravelled</div><div class="ttdoc">Distance travelled since the odometry was last reset (m).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00101">OdometryInfo.h:101</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a736c2515b2347de6e1c6099a727aea8c"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a736c2515b2347de6e1c6099a727aea8c">rtabmap::OdometryInfo::features</a></div><div class="ttdeci">int features</div><div class="ttdoc">Number of features extracted in the current frame.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00078">OdometryInfo.h:78</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a7641b415d9d08f7d267ca25ee564a2a7"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a7641b415d9d08f7d267ca25ee564a2a7">rtabmap::OdometryInfo::gravityRollError</a></div><div class="ttdeci">double gravityRollError</div><div class="ttdoc">Absolute roll difference between the estimated pose and the IMU gravity (rad).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00103">OdometryInfo.h:103</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a78ab082f3310ea5ac8b11e54ba3a3014"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a78ab082f3310ea5ac8b11e54ba3a3014">rtabmap::OdometryInfo::localBundleMaxKeyFramesForInlier</a></div><div class="ttdeci">int localBundleMaxKeyFramesForInlier</div><div class="ttdoc">Highest number of key frames observing a same inlier.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00088">OdometryInfo.h:88</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a7b005bbc7922cf3c6c352451f65b199d"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a7b005bbc7922cf3c6c352451f65b199d">rtabmap::OdometryInfo::stamp</a></div><div class="ttdeci">double stamp</div><div class="ttdoc">Stamp of the processed frame.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00094">OdometryInfo.h:94</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a8aa1c7947217518727a62bb55106a706"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a8aa1c7947217518727a62bb55106a706">rtabmap::OdometryInfo::guess</a></div><div class="ttdeci">Transform guess</div><div class="ttdoc">Motion guess given to the front-end (from the velocity model, an external pose or an IMU).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00100">OdometryInfo.h:100</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a91407f56fef27c619e27fdd91003dadf"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a91407f56fef27c619e27fdd91003dadf">rtabmap::OdometryInfo::timeEstimation</a></div><div class="ttdeci">float timeEstimation</div><div class="ttdoc">Time spent estimating the motion (s).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00092">OdometryInfo.h:92</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a929c2dc356766dc0f498aa1068ad7ef4"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a929c2dc356766dc0f498aa1068ad7ef4">rtabmap::OdometryInfo::timeDeskewing</a></div><div class="ttdeci">float timeDeskewing</div><div class="ttdoc">Time spent deskewing the laser scan (s).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00091">OdometryInfo.h:91</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a9b58bbc659878dc763c6f0201b2ecd28"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a9b58bbc659878dc763c6f0201b2ecd28">rtabmap::OdometryInfo::gravityPitchError</a></div><div class="ttdeci">double gravityPitchError</div><div class="ttdoc">Absolute pitch difference between the estimated pose and the IMU gravity (rad).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00104">OdometryInfo.h:104</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a9e40155a67416dcb420f4164e4aa348a"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a9e40155a67416dcb420f4164e4aa348a">rtabmap::OdometryInfo::keyFrameAdded</a></div><div class="ttdeci">bool keyFrameAdded</div><div class="ttdoc">True if this frame became a key frame of the local map.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00090">OdometryInfo.h:90</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_a9ec2aadde776985736ac9f3ec2b7cb82"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#a9ec2aadde776985736ac9f3ec2b7cb82">rtabmap::OdometryInfo::localBundleOutliers</a></div><div class="ttdeci">int localBundleOutliers</div><div class="ttdoc">Features rejected by the last local bundle adjustment.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00082">OdometryInfo.h:82</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_aa4c3fb893f6dcac1d67eeac6836b4faa"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#aa4c3fb893f6dcac1d67eeac6836b4faa">rtabmap::OdometryInfo::lost</a></div><div class="ttdeci">bool lost</div><div class="ttdoc">True when the motion could not be estimated on this frame (transform is then null).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00076">OdometryInfo.h:76</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_aaa91ea67105c8c174245a7b192e868e3"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#aaa91ea67105c8c174245a7b192e868e3">rtabmap::OdometryInfo::localBundleModels</a></div><div class="ttdeci">std::map&lt; int, std::vector&lt; CameraModel &gt; &gt; localBundleModels</div><div class="ttdoc">Camera models of localBundlePoses.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00086">OdometryInfo.h:86</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_aae03a73e704e23ea5142de821b618e6e"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#aae03a73e704e23ea5142de821b618e6e">rtabmap::OdometryInfo::timeParticleFiltering</a></div><div class="ttdeci">float timeParticleFiltering</div><div class="ttdoc">Time spent in the particle filter (s), when enabled.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00093">OdometryInfo.h:93</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_ab10aab5c7851215060b3ca9a58543206"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#ab10aab5c7851215060b3ca9a58543206">rtabmap::OdometryInfo::localBundleOutliersPerCam</a></div><div class="ttdeci">std::vector&lt; int &gt; localBundleOutliersPerCam</div><div class="ttdoc">Outliers of the last local bundle adjustment, per camera.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00089">OdometryInfo.h:89</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_aba971e389867f752f04ecd7b17471f6e"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#aba971e389867f752f04ecd7b17471f6e">rtabmap::OdometryInfo::transformGroundTruth</a></div><div class="ttdeci">Transform transformGroundTruth</div><div class="ttdoc">Ground truth motion since the previous frame, when the data provides it.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00098">OdometryInfo.h:98</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_abce081943ea566e0dcc1532ce749e276"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#abce081943ea566e0dcc1532ce749e276">rtabmap::OdometryInfo::copyWithoutData</a></div><div class="ttdeci">OdometryInfo copyWithoutData() const</div><div class="ttdoc">A copy without the heavy members (features, local map, scan).</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_ac40ddcfab5cd0c6b9fe34aa5b0143814"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#ac40ddcfab5cd0c6b9fe34aa5b0143814">rtabmap::OdometryInfo::words</a></div><div class="ttdeci">std::multimap&lt; int, cv::KeyPoint &gt; words</div><div class="ttdoc">Keypoints of the current frame, by word id (F2M).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00109">OdometryInfo.h:109</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_ac6fbabe2f348c15f87807a928aeda82b"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#ac6fbabe2f348c15f87807a928aeda82b">rtabmap::OdometryInfo::localBundlePoses</a></div><div class="ttdeci">std::map&lt; int, Transform &gt; localBundlePoses</div><div class="ttdoc">Key frame poses optimized by the local bundle adjustment.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00085">OdometryInfo.h:85</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_ac786b5953b124a80524a051cfbcb7460"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#ac786b5953b124a80524a051cfbcb7460">rtabmap::OdometryInfo::transformFiltered</a></div><div class="ttdeci">Transform transformFiltered</div><div class="ttdoc">transform after Kalman or particle filtering, when enabled.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00097">OdometryInfo.h:97</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_ad0a0b1581cde378c7788e111384d4cfc"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#ad0a0b1581cde378c7788e111384d4cfc">rtabmap::OdometryInfo::localScanMapSize</a></div><div class="ttdeci">int localScanMapSize</div><div class="ttdoc">Number of points in the local scan map (F2M).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00080">OdometryInfo.h:80</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_ad0e7d3544c09f38383ec7c130af42b26"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#ad0e7d3544c09f38383ec7c130af42b26">rtabmap::OdometryInfo::localBundleAvgInlierDistance</a></div><div class="ttdeci">float localBundleAvgInlierDistance</div><div class="ttdoc">Average distance of the bundle adjustment inliers (m).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00087">OdometryInfo.h:87</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_ad2fa24b41e053e6a2f90dcb0189a901d"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#ad2fa24b41e053e6a2f90dcb0189a901d">rtabmap::OdometryInfo::type</a></div><div class="ttdeci">int type</div><div class="ttdoc">Odometry strategy that produced this, see Parameters::kOdomStrategy().</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00106">OdometryInfo.h:106</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_ad4f09afa610091012c2edd7708d722c5"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">rtabmap::OdometryInfo::transform</a></div><div class="ttdeci">Transform transform</div><div class="ttdoc">Motion since the previous frame, null when lost.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00096">OdometryInfo.h:96</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_ad7f7beb7810db1912c20b05e94eafdf3"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#ad7f7beb7810db1912c20b05e94eafdf3">rtabmap::OdometryInfo::memoryUsage</a></div><div class="ttdeci">int memoryUsage</div><div class="ttdoc">Process memory used (MB), only with Parameters::kRtabmapPublishRAMUsage().</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00102">OdometryInfo.h:102</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html_adbfce0f63a7eedd0a0557ecf4420dfd0"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html#adbfce0f63a7eedd0a0557ecf4420dfd0">rtabmap::OdometryInfo::localBundleTime</a></div><div class="ttdeci">float localBundleTime</div><div class="ttdoc">Time spent in the local bundle adjustment (s).</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00084">OdometryInfo.h:84</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html">rtabmap::RegistrationInfo</a></div><div class="ttdoc">Statistics and diagnostics returned by Registration.</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00047">RegistrationInfo.h:48</a></div></div>
<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="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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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -130,7 +147,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryLIOSAM.html"> 42</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryLIOSAM.html">OdometryLIOSAM</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span>{</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <a class="code hl_class" href="classrtabmap_1_1OdometryLIOSAM.html">OdometryLIOSAM</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <a class="code hl_class" href="classrtabmap_1_1OdometryLIOSAM.html">OdometryLIOSAM</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryLIOSAM.html">~OdometryLIOSAM</a>();</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryLIOSAM.html#a7f72dbc28081ae774303dbf2d8cb5535"> 48</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryLIOSAM.html#a7f72dbc28081ae774303dbf2d8cb5535">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -151,7 +168,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keywordtype">bool</span> lost_;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordtype">float</span> linVar_;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keywordtype">float</span> angVar_;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> ParametersMap parameters_;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> imuLocalTransform_; <span class="comment">// base_link -&gt; imu_link (cached for deferred init)</span></div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="comment">// Buffered IMU samples received before initialization</span></div>
@@ -169,7 +186,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span>}</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYLIOSAM_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryLIOSAM_html"><div class="ttname"><a href="classrtabmap_1_1OdometryLIOSAM.html">rtabmap::OdometryLIOSAM</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryLIOSAM_8h_source.html#l00042">OdometryLIOSAM.h:43</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryLIOSAM_html_a51193d7f42c9b0174c6eedd75d8f4535"><div class="ttname"><a href="classrtabmap_1_1OdometryLIOSAM.html#a51193d7f42c9b0174c6eedd75d8f4535">rtabmap::OdometryLIOSAM::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryLIOSAM_8h_source.html#l00050">OdometryLIOSAM.h:50</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryLIOSAM_html_a7f72dbc28081ae774303dbf2d8cb5535"><div class="ttname"><a href="classrtabmap_1_1OdometryLIOSAM.html#a7f72dbc28081ae774303dbf2d8cb5535">rtabmap::OdometryLIOSAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
@@ -179,10 +196,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -131,7 +148,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryLOAM.html"> 43</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryLOAM.html">OdometryLOAM</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span>{</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <a class="code hl_class" href="classrtabmap_1_1OdometryLOAM.html">OdometryLOAM</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <a class="code hl_class" href="classrtabmap_1_1OdometryLOAM.html">OdometryLOAM</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryLOAM.html">~OdometryLOAM</a>();</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> </div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryLOAM.html#a6acc7b4f164a8915ada550ba7c23ac0e"> 49</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryLOAM.html#a6acc7b4f164a8915ada550ba7c23ac0e">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -162,7 +179,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span>}</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYLOAM_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryLOAM_html"><div class="ttname"><a href="classrtabmap_1_1OdometryLOAM.html">rtabmap::OdometryLOAM</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryLOAM_8h_source.html#l00043">OdometryLOAM.h:44</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryLOAM_html_a0833118684e4f836ec668b735f81da0d"><div class="ttname"><a href="classrtabmap_1_1OdometryLOAM.html#a0833118684e4f836ec668b735f81da0d">rtabmap::OdometryLOAM::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryLOAM_8h_source.html#l00050">OdometryLOAM.h:50</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryLOAM_html_a6acc7b4f164a8915ada550ba7c23ac0e"><div class="ttname"><a href="classrtabmap_1_1OdometryLOAM.html#a6acc7b4f164a8915ada550ba7c23ac0e">rtabmap::OdometryLOAM::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
@@ -171,10 +188,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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<div class="headertitle"><div class="title">OdometryMSCKF.h</div></div>
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@@ -126,7 +143,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryMSCKF.html"> 38</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryMSCKF.html">OdometryMSCKF</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span>{</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <a class="code hl_class" href="classrtabmap_1_1OdometryMSCKF.html">OdometryMSCKF</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <a class="code hl_class" href="classrtabmap_1_1OdometryMSCKF.html">OdometryMSCKF</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryMSCKF.html">~OdometryMSCKF</a>();</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryMSCKF.html#a3be4ada7eebf234c87a3127a85988d97"> 44</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryMSCKF.html#a3be4ada7eebf234c87a3127a85988d97">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -142,7 +159,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> ImageProcessorNoROS * imageProcessor_;</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> MsckfVioNoROS * msckf_;</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> lastImu_;</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> ParametersMap parameters_;</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> fixPoseRotation_;</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> previousPose_;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordtype">bool</span> initGravity_;</div>
@@ -154,7 +171,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYMSCKF_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1IMU_html"><div class="ttname"><a href="classrtabmap_1_1IMU.html">rtabmap::IMU</a></div><div class="ttdoc">Inertial measurement sample (ROS sensor_msgs/Imu-like fields).</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00056">IMU.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryMSCKF_html"><div class="ttname"><a href="classrtabmap_1_1OdometryMSCKF.html">rtabmap::OdometryMSCKF</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryMSCKF_8h_source.html#l00038">OdometryMSCKF.h:39</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryMSCKF_html_a06b5b242107ffe5c379ff7ed089d07c6"><div class="ttname"><a href="classrtabmap_1_1OdometryMSCKF.html#a06b5b242107ffe5c379ff7ed089d07c6">rtabmap::OdometryMSCKF::canProcessRawImages</a></div><div class="ttdeci">virtual bool canProcessRawImages() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryMSCKF_8h_source.html#l00046">OdometryMSCKF.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryMSCKF_html_a3be4ada7eebf234c87a3127a85988d97"><div class="ttname"><a href="classrtabmap_1_1OdometryMSCKF.html#a3be4ada7eebf234c87a3127a85988d97">rtabmap::OdometryMSCKF::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
@@ -165,10 +182,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -127,7 +144,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryMono.html"> 39</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryMono.html">OdometryMono</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span>{</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <a class="code hl_class" href="classrtabmap_1_1OdometryMono.html">OdometryMono</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <a class="code hl_class" href="classrtabmap_1_1OdometryMono.html">OdometryMono</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryMono.html">~OdometryMono</a>();</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryMono.html#a9574ccc748b5c4f664c059d460742457"> 44</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryMono.html#a9574ccc748b5c4f664c059d460742457">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose);</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryMono.html#ada54391f88a0704c4fab2d9a2b370a15"> 45</a></span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Odometry::Type</a> <a class="code hl_function" href="classrtabmap_1_1OdometryMono.html#ada54391f88a0704c4fab2d9a2b370a15">getType</a>() {<span class="keywordflow">return</span> kTypeUndef;}</div>
@@ -172,7 +189,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYMONO_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1Feature2D_html"><div class="ttname"><a href="classrtabmap_1_1Feature2D.html">rtabmap::Feature2D</a></div><div class="ttdoc">Abstract 2D feature detector and descriptor extractor for visual SLAM.</div><div class="ttdef"><b>Definition</b> <a href="Features2d_8h_source.html#l00145">Features2d.h:145</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Memory_html"><div class="ttname"><a href="classrtabmap_1_1Memory.html">rtabmap::Memory</a></div><div class="ttdoc">Three-tiered memory management (STM, WM, LTM) for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Memory_8h_source.html#l00101">Memory.h:102</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryMono_html"><div class="ttname"><a href="classrtabmap_1_1OdometryMono.html">rtabmap::OdometryMono</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryMono_8h_source.html#l00039">OdometryMono.h:40</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryMono_html_a9574ccc748b5c4f664c059d460742457"><div class="ttname"><a href="classrtabmap_1_1OdometryMono.html#a9574ccc748b5c4f664c059d460742457">rtabmap::OdometryMono::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose)</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryMono_html_ada54391f88a0704c4fab2d9a2b370a15"><div class="ttname"><a href="classrtabmap_1_1OdometryMono.html#ada54391f88a0704c4fab2d9a2b370a15">rtabmap::OdometryMono::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryMono_8h_source.html#l00045">OdometryMono.h:45</a></div></div>
@@ -181,10 +198,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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<div class="headertitle"><div class="title">OdometryORBSLAM2.h</div></div>
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@@ -126,7 +143,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryORBSLAM2.html"> 38</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryORBSLAM2.html">OdometryORBSLAM2</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span>{</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <a class="code hl_class" href="classrtabmap_1_1OdometryORBSLAM2.html">OdometryORBSLAM2</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <a class="code hl_class" href="classrtabmap_1_1OdometryORBSLAM2.html">OdometryORBSLAM2</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryORBSLAM2.html">~OdometryORBSLAM2</a>();</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryORBSLAM2.html#ab127fac7aae296a68a9bf68ab02ffbbc"> 44</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryORBSLAM2.html#ab127fac7aae296a68a9bf68ab02ffbbc">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -149,7 +166,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span>}</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYORBSLAM2_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM2_html"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM2.html">rtabmap::OdometryORBSLAM2</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryORBSLAM2_8h_source.html#l00038">OdometryORBSLAM2.h:39</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM2_html_a8773eea08df092d237e17af96ff6d096"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM2.html#a8773eea08df092d237e17af96ff6d096">rtabmap::OdometryORBSLAM2::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryORBSLAM2_8h_source.html#l00045">OdometryORBSLAM2.h:45</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM2_html_ab127fac7aae296a68a9bf68ab02ffbbc"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM2.html#ab127fac7aae296a68a9bf68ab02ffbbc">rtabmap::OdometryORBSLAM2::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
@@ -158,10 +175,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -127,7 +144,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryORBSLAM3.html"> 39</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryORBSLAM3.html">OdometryORBSLAM3</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span>{</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <a class="code hl_class" href="classrtabmap_1_1OdometryORBSLAM3.html">OdometryORBSLAM3</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <a class="code hl_class" href="classrtabmap_1_1OdometryORBSLAM3.html">OdometryORBSLAM3</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryORBSLAM3.html">~OdometryORBSLAM3</a>();</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryORBSLAM3.html#a57626265fa4c23fab95140ca9c1f8f93"> 45</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryORBSLAM3.html#a57626265fa4c23fab95140ca9c1f8f93">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -146,7 +163,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> previousPose_;</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">bool</span> useIMU_;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> imuLocalTransform_;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> ParametersMap parameters_;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> std::vector&lt;ORB_SLAM3::IMU::Point&gt; orbslamImus_;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keywordtype">double</span> lastImuStamp_;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordtype">double</span> lastImageStamp_;</div>
@@ -159,7 +176,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> </div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYORBSLAM_H3_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1CameraModel_html"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><div class="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00052">CameraModel.h:53</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM3_html"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM3.html">rtabmap::OdometryORBSLAM3</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryORBSLAM3_8h_source.html#l00039">OdometryORBSLAM3.h:40</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM3_html_a2f226f38792f0c8bc146d73985239370"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM3.html#a2f226f38792f0c8bc146d73985239370">rtabmap::OdometryORBSLAM3::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryORBSLAM3_html_a57626265fa4c23fab95140ca9c1f8f93"><div class="ttname"><a href="classrtabmap_1_1OdometryORBSLAM3.html#a57626265fa4c23fab95140ca9c1f8f93">rtabmap::OdometryORBSLAM3::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
@@ -169,10 +186,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -128,7 +145,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryOkvis.html"> 40</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryOkvis.html">OdometryOkvis</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span>{</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <a class="code hl_class" href="classrtabmap_1_1OdometryOkvis.html">OdometryOkvis</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <a class="code hl_class" href="classrtabmap_1_1OdometryOkvis.html">OdometryOkvis</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryOkvis.html">~OdometryOkvis</a>();</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> </div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryOkvis.html#a81f51ca0b6f3b48f9e6a6e0e2d7b7118"> 46</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryOkvis.html#a81f51ca0b6f3b48f9e6a6e0e2d7b7118">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -147,7 +164,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">int</span> imagesProcessed_;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordtype">bool</span> initGravity_;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> ParametersMap okvisParameters_;</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> okvisParameters_;</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> lastImu_; <span class="comment">// only used for initialization</span></div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> previousPose_;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span>};</div>
@@ -157,7 +174,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> </div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYOKVIS_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1IMU_html"><div class="ttname"><a href="classrtabmap_1_1IMU.html">rtabmap::IMU</a></div><div class="ttdoc">Inertial measurement sample (ROS sensor_msgs/Imu-like fields).</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00056">IMU.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOkvis_html"><div class="ttname"><a href="classrtabmap_1_1OdometryOkvis.html">rtabmap::OdometryOkvis</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryOkvis_8h_source.html#l00040">OdometryOkvis.h:41</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOkvis_html_a4e94c233112e7105dffa37eb8d33427f"><div class="ttname"><a href="classrtabmap_1_1OdometryOkvis.html#a4e94c233112e7105dffa37eb8d33427f">rtabmap::OdometryOkvis::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryOkvis_8h_source.html#l00049">OdometryOkvis.h:49</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOkvis_html_a81f51ca0b6f3b48f9e6a6e0e2d7b7118"><div class="ttname"><a href="classrtabmap_1_1OdometryOkvis.html#a81f51ca0b6f3b48f9e6a6e0e2d7b7118">rtabmap::OdometryOkvis::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
@@ -168,10 +185,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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<div class="headertitle"><div class="title">OdometryOpen3D.h</div></div>
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@@ -123,7 +140,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryOpen3D.html"> 35</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryOpen3D.html">OdometryOpen3D</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span>{</div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> <a class="code hl_class" href="classrtabmap_1_1OdometryOpen3D.html">OdometryOpen3D</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> <a class="code hl_class" href="classrtabmap_1_1OdometryOpen3D.html">OdometryOpen3D</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryOpen3D.html">~OdometryOpen3D</a>();</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> </div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryOpen3D.html#a21fecb34185676d02d92c7ad18f13970"> 41</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryOpen3D.html#a21fecb34185676d02d92c7ad18f13970">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -146,7 +163,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span>}</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> </div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYOPEN3D_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOpen3D_html"><div class="ttname"><a href="classrtabmap_1_1OdometryOpen3D.html">rtabmap::OdometryOpen3D</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryOpen3D_8h_source.html#l00035">OdometryOpen3D.h:36</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOpen3D_html_a21fecb34185676d02d92c7ad18f13970"><div class="ttname"><a href="classrtabmap_1_1OdometryOpen3D.html#a21fecb34185676d02d92c7ad18f13970">rtabmap::OdometryOpen3D::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOpen3D_html_a79c86c26bd892619797d6266243bb8d6"><div class="ttname"><a href="classrtabmap_1_1OdometryOpen3D.html#a79c86c26bd892619797d6266243bb8d6">rtabmap::OdometryOpen3D::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryOpen3D_8h_source.html#l00042">OdometryOpen3D.h:42</a></div></div>
@@ -155,10 +172,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -128,7 +145,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryOpenVINS.html"> 40</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryOpenVINS.html">OdometryOpenVINS</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span>{</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <a class="code hl_class" href="classrtabmap_1_1OdometryOpenVINS.html">OdometryOpenVINS</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <a class="code hl_class" href="classrtabmap_1_1OdometryOpenVINS.html">OdometryOpenVINS</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryOpenVINS.html#abbf8f6be20990f3e39ad23325d72b41b"> 45</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryOpenVINS.html#abbf8f6be20990f3e39ad23325d72b41b">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryOpenVINS.html#a79898924aa5af5d59ce10028e876e387"> 46</a></span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Odometry::Type</a> <a class="code hl_function" href="classrtabmap_1_1OdometryOpenVINS.html#a79898924aa5af5d59ce10028e876e387">getType</a>() {<span class="keywordflow">return</span> Odometry::kTypeOpenVINS;}</div>
@@ -153,7 +170,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span>}</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> </div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYOPENVINS_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOpenVINS_html"><div class="ttname"><a href="classrtabmap_1_1OdometryOpenVINS.html">rtabmap::OdometryOpenVINS</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryOpenVINS_8h_source.html#l00040">OdometryOpenVINS.h:41</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOpenVINS_html_a7712fe74d5ff65a67fe362010b795e14"><div class="ttname"><a href="classrtabmap_1_1OdometryOpenVINS.html#a7712fe74d5ff65a67fe362010b795e14">rtabmap::OdometryOpenVINS::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryOpenVINS_8h_source.html#l00048">OdometryOpenVINS.h:48</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryOpenVINS_html_a79898924aa5af5d59ce10028e876e387"><div class="ttname"><a href="classrtabmap_1_1OdometryOpenVINS.html#a79898924aa5af5d59ce10028e876e387">rtabmap::OdometryOpenVINS::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryOpenVINS_8h_source.html#l00046">OdometryOpenVINS.h:46</a></div></div>
@@ -164,10 +181,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -126,61 +143,65 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span> </div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">class </span>Odometry;</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="foldopen" id="foldopen00042" data-start="{" data-end="};">
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryThread.html"> 42</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryThread.html">OdometryThread</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThread</a>, <span class="keyword">public</span> <a class="code hl_class" href="classUEventsHandler.html">UEventsHandler</a> {</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <span class="comment">// take ownership of Odometry</span></div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <a class="code hl_class" href="classrtabmap_1_1OdometryThread.html">OdometryThread</a>(<a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * odometry, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dataBufferMaxSize = 1);</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryThread.html">~OdometryThread</a>();</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8"> 49</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">handleEvent</a>(<a class="code hl_class" href="classUEvent.html">UEvent</a> * event);</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopBegin();</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopKill();</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="comment">//============================================================</span></div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="comment">// MAIN LOOP</span></div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="comment">//============================================================</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">void</span> addData(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> &amp; data);</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordtype">bool</span> getData(<a class="code hl_class" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> &amp; data);</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> </div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _dataAdded;</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dataMutex;</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> std::list&lt;SensorEvent&gt; _dataBuffer;</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> std::list&lt;SensorData&gt; _imuBuffer;</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * _odometry;</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _dataBufferMaxSize;</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordtype">bool</span> _resetOdometry;</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _resetPose;</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _previousGuessPose;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordtype">double</span> _oldestAsyncImuStamp;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keywordtype">double</span> _newestAsyncImuStamp;</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span>};</div>
<div class="foldopen" id="foldopen00080" data-start="{" data-end="};">
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryThread.html"> 80</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryThread.html">OdometryThread</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThread</a>, <span class="keyword">public</span> <a class="code hl_class" href="classUEventsHandler.html">UEventsHandler</a> {</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryThread.html#a66435ffb547d7d59faa9224fe030934b"> 90</a></span> <a class="code hl_function" href="classrtabmap_1_1OdometryThread.html#a66435ffb547d7d59faa9224fe030934b">OdometryThread</a>(<a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * odometry, <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> dataBufferMaxSize = 1);</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryThread.html">~OdometryThread</a>();</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8"> 103</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">handleEvent</a>(<a class="code hl_class" href="classUEvent.html">UEvent</a> * event);</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> </div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopBegin();</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopKill();</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> </div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="comment">//============================================================</span></div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="comment">// MAIN LOOP</span></div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="comment">//============================================================</span></div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">void</span> addData(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> &amp; data);</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">bool</span> getData(<a class="code hl_class" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> &amp; data);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _dataAdded;</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dataMutex;</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> std::list&lt;SensorEvent&gt; _dataBuffer;</div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> std::list&lt;SensorData&gt; _imuBuffer;</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * _odometry;</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _dataBufferMaxSize;</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keywordtype">bool</span> _resetOdometry;</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _resetPose;</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _previousGuessPose;</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">double</span> _oldestAsyncImuStamp;</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">double</span> _newestAsyncImuStamp;</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span>};</div>
</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> </div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> </div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYTHREAD_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> </div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> </div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> </div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYTHREAD_H_ */</span><span class="preprocessor"></span></div>
<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>
<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>
<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>
<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html">rtabmap::OdometryThread</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryThread_8h_source.html#l00042">OdometryThread.h:42</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html_a65808dd7148c1e2c49dcf90ef718b5a8"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">rtabmap::OdometryThread::handleEvent</a></div><div class="ttdeci">virtual bool handleEvent(UEvent *event)</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html">rtabmap::OdometryThread</a></div><div class="ttdoc">Runs an Odometry front-end in its own thread, driven by events.</div><div class="ttdef"><b>Definition</b> <a href="OdometryThread_8h_source.html#l00080">OdometryThread.h:80</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html_a65808dd7148c1e2c49dcf90ef718b5a8"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html#a65808dd7148c1e2c49dcf90ef718b5a8">rtabmap::OdometryThread::handleEvent</a></div><div class="ttdeci">virtual bool handleEvent(UEvent *event)</div><div class="ttdoc">Receives the events listed in the class description.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryThread_html_a66435ffb547d7d59faa9224fe030934b"><div class="ttname"><a href="classrtabmap_1_1OdometryThread.html#a66435ffb547d7d59faa9224fe030934b">rtabmap::OdometryThread::OdometryThread</a></div><div class="ttdeci">OdometryThread(Odometry *odometry, unsigned int dataBufferMaxSize=1)</div><div class="ttdoc">Constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorEvent_html"><div class="ttname"><a href="classrtabmap_1_1SensorEvent.html">rtabmap::SensorEvent</a></div><div class="ttdoc">Event class for sensor data communication in RTAB-Map's event system.</div><div class="ttdef"><b>Definition</b> <a href="SensorEvent_8h_source.html#l00063">SensorEvent.h:65</a></div></div>
<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="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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@@ -27,6 +31,7 @@
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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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@@ -125,7 +142,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryVINSFusion.html"> 37</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryVINSFusion.html">OdometryVINSFusion</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span>{</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <a class="code hl_class" href="classrtabmap_1_1OdometryVINSFusion.html">OdometryVINSFusion</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <a class="code hl_class" href="classrtabmap_1_1OdometryVINSFusion.html">OdometryVINSFusion</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryVINSFusion.html">~OdometryVINSFusion</a>();</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryVINSFusion.html#aa2fdb97067ad27d76c6315125a513ed3"> 43</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryVINSFusion.html#aa2fdb97067ad27d76c6315125a513ed3">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -152,7 +169,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> </div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYVINSFUSION_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1IMU_html"><div class="ttname"><a href="classrtabmap_1_1IMU.html">rtabmap::IMU</a></div><div class="ttdoc">Inertial measurement sample (ROS sensor_msgs/Imu-like fields).</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00056">IMU.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryVINSFusion_html"><div class="ttname"><a href="classrtabmap_1_1OdometryVINSFusion.html">rtabmap::OdometryVINSFusion</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryVINSFusion_8h_source.html#l00037">OdometryVINSFusion.h:38</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryVINSFusion_html_a1a3145c62e7b0b43cfb5a94f61d2c9d1"><div class="ttname"><a href="classrtabmap_1_1OdometryVINSFusion.html#a1a3145c62e7b0b43cfb5a94f61d2c9d1">rtabmap::OdometryVINSFusion::canProcessAsyncIMU</a></div><div class="ttdeci">virtual bool canProcessAsyncIMU() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryVINSFusion_8h_source.html#l00046">OdometryVINSFusion.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryVINSFusion_html_a505ae049f32115a81d4f4258b5fb2134"><div class="ttname"><a href="classrtabmap_1_1OdometryVINSFusion.html#a505ae049f32115a81d4f4258b5fb2134">rtabmap::OdometryVINSFusion::canProcessRawImages</a></div><div class="ttdeci">virtual bool canProcessRawImages() const</div><div class="ttdef"><b>Definition</b> <a href="OdometryVINSFusion_8h_source.html#l00045">OdometryVINSFusion.h:45</a></div></div>
@@ -163,10 +180,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
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onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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"><a class="el" href="dir_fbc3350978c71aef49f2eeb1c9d88691.html">odometry</a></li> </ul>
</div>
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<div class="header">
<div class="headertitle"><div class="title">OdometryVINS.h</div></div>
</div><!--header-->
@@ -117,9 +134,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/core/odometry/OdometryVINSFusion.h&quot;</span></div>
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
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<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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"><a class="el" href="dir_fbc3350978c71aef49f2eeb1c9d88691.html">odometry</a></li> </ul>
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<div class="headertitle"><div class="title">OdometryViso2.h</div></div>
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@@ -125,7 +142,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryViso2.html"> 37</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryViso2.html">OdometryViso2</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span>{</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <a class="code hl_class" href="classrtabmap_1_1OdometryViso2.html">OdometryViso2</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters = rtabmap::ParametersMap());</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <a class="code hl_class" href="classrtabmap_1_1OdometryViso2.html">OdometryViso2</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>());</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OdometryViso2.html">~OdometryViso2</a>();</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryViso2.html#ad442b8186b72e220feace5fb0b0fec5c"> 43</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OdometryViso2.html#ad442b8186b72e220feace5fb0b0fec5c">reset</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; initialPose = Transform::getIdentity());</div>
@@ -145,14 +162,14 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> reference_motion_;</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> previousLocalTransform_;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> ParametersMap viso2Parameters_;</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> viso2Parameters_;</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span>};</div>
</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> </div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span>}</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> </div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYVISO2_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryViso2_html"><div class="ttname"><a href="classrtabmap_1_1OdometryViso2.html">rtabmap::OdometryViso2</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryViso2_8h_source.html#l00037">OdometryViso2.h:38</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryViso2_html_ad442b8186b72e220feace5fb0b0fec5c"><div class="ttname"><a href="classrtabmap_1_1OdometryViso2.html#ad442b8186b72e220feace5fb0b0fec5c">rtabmap::OdometryViso2::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryViso2_html_ae9bf8422bbf6d2c880098b828b5d6187"><div class="ttname"><a href="classrtabmap_1_1OdometryViso2.html#ae9bf8422bbf6d2c880098b828b5d6187">rtabmap::OdometryViso2::getType</a></div><div class="ttdeci">virtual Odometry::Type getType()</div><div class="ttdef"><b>Definition</b> <a href="OdometryViso2_8h_source.html#l00044">OdometryViso2.h:44</a></div></div>
@@ -161,10 +178,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -151,8 +168,8 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac13bb66a69e4790bfa574c8a0c6c9975"> 77</a></span> };</div>
</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627"> 84</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * <a class="code hl_function" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">create</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb"> 90</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> &amp; type, <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627"> 84</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * <a class="code hl_function" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">create</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb"> 90</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">Odometry</a> * <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> &amp; type, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> </div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Odometry.html">~Odometry</a>();</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1"> 101</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">process</a>(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data, <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0);</div>
@@ -173,7 +190,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d"> 138</a></span> <span class="keyword">const</span> std::map&lt;double, Transform&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">imus</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> imus_;}</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> </div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b"> 141</a></span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b">Odometry</a>(<span class="keyword">const</span> rtabmap::ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b"> 141</a></span> <a class="code hl_function" href="classrtabmap_1_1Odometry.html#af2d9cf4c207d6628b0890064a385856b">Odometry</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> computeTransform(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp; data, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; guess = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>(), <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> * info = 0) = 0;</div>
@@ -222,7 +239,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> </div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRY_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdoc">What one Odometry iteration produced, beyond the pose.</div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00063">OdometryInfo.h:64</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html"><div class="ttname"><a href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></div><div class="ttdoc">Abstract base class for visual, lidar and visual-inertial odometry backends.</div><div class="ttdef"><b>Definition</b> <a href="Odometry_8h_source.html#l00056">Odometry.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a0c2d39ed9b76c2c411a9e62e16e3bce1"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">rtabmap::Odometry::process</a></div><div class="ttdeci">Transform process(SensorData &amp;data, OdometryInfo *info=0)</div><div class="ttdoc">Processes a sensor frame and updates the integrated pose.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Odometry_html_a0ea20c39ae597a21e896b706662bb31c"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">rtabmap::Odometry::reset</a></div><div class="ttdeci">virtual void reset(const Transform &amp;initialPose=Transform::getIdentity())</div><div class="ttdoc">Resets internal state and sets the initial pose.</div></div>
@@ -245,10 +262,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -131,7 +148,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <span class="keywordtype">bool</span> slam2d = Parameters::defaultRegForce3DoF(),</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <span class="keywordtype">bool</span> covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored()) :</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(iterations, slam2d, covarianceIgnored) {}</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerCVSBA.html">OptimizerCVSBA</a>(<span class="keyword">const</span> ParametersMap &amp; parameters) :</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerCVSBA.html">OptimizerCVSBA</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) :</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(parameters) {}</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerCVSBA.html">~OptimizerCVSBA</a>() {}</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
@@ -156,10 +173,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></div><div class="ttdoc">Abstract base for pose-graph and bundle-adjustment optimizers.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00087">Optimizer.h:88</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a18ae8ac76346d1adc68ab176a5b02d16"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">rtabmap::Optimizer::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Graph-optimizer back-end identifier.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00091">Optimizer.h:91</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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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@@ -136,12 +153,12 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> disparityVariance_(Parameters::defaultOptimizerDisparityVariance()),</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> robustKernelDelta_(Parameters::defaultOptimizerRobustKernelDelta()),</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> baseline_(Parameters::defaultOptimizerBaseline()) {}</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerCeres.html">OptimizerCeres</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerCeres.html">OptimizerCeres</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerCeres.html">~OptimizerCeres</a>() {}</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerCeres.html#ad6d6c0a0cdbea0ee5082d3aaa94d8e7a"> 54</a></span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Type</a> <a class="code hl_function" href="classrtabmap_1_1OptimizerCeres.html#ad6d6c0a0cdbea0ee5082d3aaa94d8e7a">type</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> kTypeCeres;}</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> </div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerCeres.html#aaa1128eeb38451086c7abd58ae6142ac"> 56</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OptimizerCeres.html#aaa1128eeb38451086c7abd58ae6142ac">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerCeres.html#aaa1128eeb38451086c7abd58ae6142ac"> 56</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OptimizerCeres.html#aaa1128eeb38451086c7abd58ae6142ac">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> </div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a"> 58</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1OptimizerCeres.html#ab988decf55da4a8821931855ddaa1c1a">optimize</a>(</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">int</span> rootId,</div>
@@ -179,10 +196,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></div><div class="ttdoc">Abstract base for pose-graph and bundle-adjustment optimizers.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00087">Optimizer.h:88</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a18ae8ac76346d1adc68ab176a5b02d16"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">rtabmap::Optimizer::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Graph-optimizer back-end identifier.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00091">Optimizer.h:91</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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -27,6 +31,7 @@
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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
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@@ -55,6 +60,23 @@ $(function() {
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@@ -136,12 +153,12 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> std::multimap&lt;int, Link&gt; &amp; edgeConstraints);</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerG2O.html">OptimizerG2O</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerG2O.html">OptimizerG2O</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerG2O.html">~OptimizerG2O</a>() {}</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerG2O.html#af69edaad65a7f7f936fa99f8c617e10b"> 54</a></span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Type</a> <a class="code hl_function" href="classrtabmap_1_1OptimizerG2O.html#af69edaad65a7f7f936fa99f8c617e10b">type</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> kTypeG2O;}</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> </div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerG2O.html#a07b598444b99584b6f2bed6baca5e8bb"> 56</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OptimizerG2O.html#a07b598444b99584b6f2bed6baca5e8bb">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerG2O.html#a07b598444b99584b6f2bed6baca5e8bb"> 56</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OptimizerG2O.html#a07b598444b99584b6f2bed6baca5e8bb">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> </div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03"> 58</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1OptimizerG2O.html#a9400bdf57331af310cf6b02e661d0a03">optimize</a>(</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">int</span> rootId,</div>
@@ -186,10 +203,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></div><div class="ttdoc">Abstract base for pose-graph and bundle-adjustment optimizers.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00087">Optimizer.h:88</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a18ae8ac76346d1adc68ab176a5b02d16"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">rtabmap::Optimizer::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Graph-optimizer back-end identifier.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00091">Optimizer.h:91</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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
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@@ -130,12 +147,12 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> <span class="keyword">static</span> <span class="keywordtype">bool</span> available();</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerGTSAM.html">OptimizerGTSAM</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerGTSAM.html">OptimizerGTSAM</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerGTSAM.html">~OptimizerGTSAM</a>();</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerGTSAM.html#a422fe2960e4b71832e2108d5ab2aee46"> 48</a></span> <span class="keyword">virtual</span> <a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Type</a> <a class="code hl_function" href="classrtabmap_1_1OptimizerGTSAM.html#a422fe2960e4b71832e2108d5ab2aee46">type</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> kTypeGTSAM;}</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerGTSAM.html#a9ac24a2315e15b16270151c3aae9d8f0"> 50</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OptimizerGTSAM.html#a9ac24a2315e15b16270151c3aae9d8f0">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerGTSAM.html#a9ac24a2315e15b16270151c3aae9d8f0"> 50</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1OptimizerGTSAM.html#a9ac24a2315e15b16270151c3aae9d8f0">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba"> 52</a></span> <span class="keyword">virtual</span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1OptimizerGTSAM.html#a4905d84cfc59516eef21ea89064c31ba">optimize</a>(</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keywordtype">int</span> rootId,</div>
@@ -193,10 +210,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></div><div class="ttdoc">Abstract base for pose-graph and bundle-adjustment optimizers.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00087">Optimizer.h:88</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a18ae8ac76346d1adc68ab176a5b02d16"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">rtabmap::Optimizer::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Graph-optimizer back-end identifier.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00091">Optimizer.h:91</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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
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@@ -55,6 +60,23 @@ $(function() {
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
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@@ -138,7 +155,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> <span class="keywordtype">bool</span> covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <span class="keywordtype">double</span> epsilon = Parameters::defaultOptimizerEpsilon()) :</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(iterations, slam2d, covarianceIgnored, epsilon) {}</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerTORO.html">OptimizerTORO</a>(<span class="keyword">const</span> ParametersMap &amp; parameters) :</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerTORO.html">OptimizerTORO</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) :</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(parameters) {}</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1OptimizerTORO.html">~OptimizerTORO</a>() {}</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> </div>
@@ -168,10 +185,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html">rtabmap::Optimizer</a></div><div class="ttdoc">Abstract base for pose-graph and bundle-adjustment optimizers.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00087">Optimizer.h:88</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_a18ae8ac76346d1adc68ab176a5b02d16"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">rtabmap::Optimizer::Type</a></div><div class="ttdeci">Type</div><div class="ttdoc">Graph-optimizer back-end identifier.</div><div class="ttdef"><b>Definition</b> <a href="Optimizer_8h_source.html#l00091">Optimizer.h:91</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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
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@@ -161,9 +178,9 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1"> 106</a></span> <span class="keyword">static</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1">isAvailable</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Optimizer::Type</a> type);</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df"> 114</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a> * <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df">create</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df"> 114</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a> * <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a78b457bec2cdb7bdd320e2bfcca759df">create</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aeff86117cf69fdae3c25e5bc327a142d"> 117</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a> * <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aeff86117cf69fdae3c25e5bc327a142d">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Optimizer::Type</a> type, <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aeff86117cf69fdae3c25e5bc327a142d"> 117</a></span> <span class="keyword">static</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a> * <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aeff86117cf69fdae3c25e5bc327a142d">create</a>(<a class="code hl_enumeration" href="classrtabmap_1_1Optimizer.html#a18ae8ac76346d1adc68ab176a5b02d16">Optimizer::Type</a> type, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f"> 127</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a4477c9a5b6651729944726465b5eba7f">getConnectedGraph</a>(</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">int</span> fromId,</div>
@@ -202,7 +219,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">void</span> setLandmarksIgnored(<span class="keywordtype">bool</span> enabled) {landmarksIgnored_ = enabled;}</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">void</span> setGravitySigma(<span class="keywordtype">float</span> value) {gravitySigma_ = value;}</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> </div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3"> 170</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3">parseParameters</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3"> 170</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a0a942bd7902c8d2f9444b8eba6a648a3">parseParameters</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> </div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf"> 189</a></span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#a278f42e0d250085ac6fe9ed425627acf">optimizeIncremental</a>(</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keywordtype">int</span> rootId,</div>
@@ -246,7 +263,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> std::map&lt;int, cv::Point3f&gt; &amp; points3DMap,</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> std::map&lt;<span class="keywordtype">int</span>, std::map&lt;int, FeatureBA&gt; &gt; &amp; wordReferences,</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="keywordtype">bool</span> rematchFeatures = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <span class="keyword">const</span> ParametersMap &amp; registrationParameters = ParametersMap());</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; registrationParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> </div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc"> 286</a></span> std::map&lt;int, Transform&gt; <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#aab99f045516162944ad68fdabacb53dc">optimizeBA</a>(</div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <span class="keywordtype">int</span> rootId,</div>
@@ -254,7 +271,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span> <span class="keyword">const</span> std::multimap&lt;int, Link&gt; &amp; links,</div>
<div class="line"><a id="l00290" name="l00290"></a><span class="lineno"> 290</span> <span class="keyword">const</span> std::map&lt;int, Signature&gt; &amp; signatures,</div>
<div class="line"><a id="l00291" name="l00291"></a><span class="lineno"> 291</span> <span class="keywordtype">bool</span> rematchFeatures = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> <span class="keyword">const</span> ParametersMap &amp; registrationParameters = ParametersMap());</div>
<div class="line"><a id="l00292" name="l00292"></a><span class="lineno"> 292</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; registrationParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00293" name="l00293"></a><span class="lineno"> 293</span> </div>
<div class="line"><a id="l00301" name="l00301"></a><span class="lineno"><a class="line" href="classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c"> 301</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1Optimizer.html#ad6b32a9697837f03941773f6a5bbf91c">optimizeBA</a>(</div>
<div class="line"><a id="l00302" name="l00302"></a><span class="lineno"> 302</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Link.html">Link</a> &amp; link,</div>
@@ -271,7 +288,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"> 328</span> std::map&lt;<span class="keywordtype">int</span>, std::map&lt;int, FeatureBA &gt; &gt; &amp; wordReferences,</div>
<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keywordtype">bool</span> rematchFeatures = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keywordtype">bool</span> useLinkTransformAsGuess = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> ParametersMap registrationParameters = ParametersMap());</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> registrationParameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> </div>
<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(</div>
@@ -283,7 +300,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"> 340</span> <span class="keywordtype">bool</span> priorsIgnored = Parameters::defaultOptimizerPriorsIgnored(),</div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> <span class="keywordtype">bool</span> landmarksIgnored = Parameters::defaultOptimizerLandmarksIgnored(),</div>
<div class="line"><a id="l00342" name="l00342"></a><span class="lineno"> 342</span> <span class="keywordtype">float</span> gravitySigma = Parameters::defaultOptimizerGravitySigma());</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(<span class="keyword">const</span> ParametersMap &amp; parameters);</div>
<div class="line"><a id="l00343" name="l00343"></a><span class="lineno"> 343</span> <a class="code hl_class" href="classrtabmap_1_1Optimizer.html">Optimizer</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters);</div>
<div class="line"><a id="l00344" name="l00344"></a><span class="lineno"> 344</span> </div>
<div class="line"><a id="l00345" name="l00345"></a><span class="lineno"> 345</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00346" name="l00346"></a><span class="lineno"> 346</span> <span class="keywordtype">int</span> iterations_;</div>
@@ -339,10 +356,15 @@ $(document).ready(function() { init_codefold(0); });
<div class="ttc" id="aclassrtabmap_1_1Optimizer_html_afe0381a3b42926b7634027e522766eb1"><div class="ttname"><a href="classrtabmap_1_1Optimizer.html#afe0381a3b42926b7634027e522766eb1">rtabmap::Optimizer::isAvailable</a></div><div class="ttdeci">static bool isAvailable(Optimizer::Type type)</div><div class="ttdoc">Returns whether type was compiled in (its third-party dependency was found).</div></div>
<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="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_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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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>Optimizer.h</b></li>
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
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<script type="text/javascript" src="navtreedata.js"></script>
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<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
</div>
</div>
<div id="splitbar" style="-moz-user-select:none;"
class="ui-resizable-handle">
</div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('PDALWriter_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
</div>
<div id="nav-path" class="navpath">
<ul>
<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> </ul>
</div>
</div><!-- top -->
<div class="header">
<div class="headertitle"><div class="title">PDALWriter.h</div></div>
</div><!--header-->
@@ -134,9 +151,13 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="preprocessor">#endif </span><span class="comment">/* CORELIB_INCLUDE_RTABMAP_CORE_PDALWRITER_H_ */</span><span class="preprocessor"></span></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><!-- fragment --></div><!-- contents -->
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<!-- start footer part -->
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Generated by&#160;<a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8
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<ul>
<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>PDALWriter.h</b></li>
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
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@@ -10,6 +10,10 @@
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
@@ -55,6 +60,23 @@ $(function() {
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
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<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
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class="ui-resizable-handle">
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/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('ParamEvent_8h_source.html',''); initResizable(); });
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@@ -76,11 +98,6 @@ $(document).ready(function() { init_codefold(0); });
</div>
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<div id="nav-path" class="navpath">
<ul>
<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> </ul>
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<div class="headertitle"><div class="title">ParamEvent.h</div></div>
</div><!--header-->
@@ -125,7 +142,7 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ParamEvent.html"> 41</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1ParamEvent.html">ParamEvent</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUEvent.html">UEvent</a></div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span>{</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <a class="code hl_class" href="classrtabmap_1_1ParamEvent.html">ParamEvent</a>(<span class="keyword">const</span> ParametersMap &amp; parameters) : <a class="code hl_class" href="classUEvent.html">UEvent</a>(0), parameters_(parameters) {}</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <a class="code hl_class" href="classrtabmap_1_1ParamEvent.html">ParamEvent</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters) : <a class="code hl_class" href="classUEvent.html">UEvent</a>(0), parameters_(parameters) {}</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <a class="code hl_class" href="classrtabmap_1_1ParamEvent.html">ParamEvent</a>(<span class="keyword">const</span> std::string &amp; parameterKey, <span class="keyword">const</span> std::string &amp; parameterValue) : <a class="code hl_class" href="classUEvent.html">UEvent</a>(0)</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> {</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> parameters_.insert(std::pair&lt;std::string, std::string&gt;(parameterKey, parameterValue));</div>
@@ -133,10 +150,10 @@ $(document).ready(function() { init_codefold(0); });
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <a class="code hl_class" href="classrtabmap_1_1ParamEvent.html">~ParamEvent</a>() {}</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="classrtabmap_1_1ParamEvent.html#a877e2b7fedcb8aba63e3430d7f975e0a"> 50</a></span> <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classrtabmap_1_1ParamEvent.html#a877e2b7fedcb8aba63e3430d7f975e0a">getClassName</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> <span class="stringliteral">&quot;ParamEvent&quot;</span>;}</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">const</span> ParametersMap &amp; getParameters()<span class="keyword"> const </span>{<span class="keywordflow">return</span> parameters_;}</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; getParameters()<span class="keyword"> const </span>{<span class="keywordflow">return</span> parameters_;}</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> </div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> ParametersMap parameters_; </div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> parameters_; </div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> </div>
@@ -148,10 +165,15 @@ $(document).ready(function() { init_codefold(0); });
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@@ -27,6 +31,7 @@
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@@ -272,9 +289,13 @@ $(document).ready(function() { init_codefold(0); });
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@@ -10,6 +10,10 @@
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@@ -27,6 +31,7 @@
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
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