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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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preview/pr-1492/api/latest/OdometryInfo_8h_source.html
+122 -63
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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>
</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('OdometryInfo_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">OdometryInfo.h</div></div>
</div><!--header-->
@@ -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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