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Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738

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2026-08-02 07:56:38 +00:00
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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>
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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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<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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@@ -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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