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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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preview/pr-1492/api/latest/OdometryOkvis_8h_source.html
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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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<div class="headertitle"><div class="title">OdometryOkvis.h</div></div>
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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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