i/rtabmap
1
0
Fork 0
mirror of https://github.com/introlab/rtabmap.git synced 2026-10-08 11:07:46 +08:00
Code Issues Packages Projects Releases Wiki Activity

Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738

Browse Source
This commit is contained in:
github-actions[bot]
2026-08-02 07:56:38 +00:00
parent 6259cf4409
commit 9043c4a9aa
1083 changed files with 121946 additions and 11202 deletions
Download Patch File Download Diff File Expand all files Collapse all files
preview/pr-1492/api/latest/RtabmapThread_8h_source.html
+112 -79
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">
<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('RtabmapThread_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">RtabmapThread.h</div></div>
</div><!--header-->
@@ -117,7 +134,7 @@ $(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/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;rtabmap/utilite/UThreadNode.h&gt;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;<a class="code" href="UThreadNode_8h.html">rtabmap/utilite/UThreadNode.h</a>&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;rtabmap/utilite/UEventsHandler.h&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;rtabmap/utilite/USemaphore.h&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;rtabmap/utilite/UMutex.h&gt;</span></div>
@@ -135,90 +152,106 @@ $(document).ready(function() { init_codefold(0); });
<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">class </span>Rtabmap;</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
<div class="foldopen" id="foldopen00051" data-start="{" data-end="};">
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html"> 51</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a> :</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThreadNode</a>,</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keyword">public</span> <a class="code hl_class" href="classUEventsHandler.html">UEventsHandler</a></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="keyword">public</span>:</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keyword">enum</span> State {</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> kStateDetecting,</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> kStateProcessCommand</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> };</div>
<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><span class="keyword">public</span>:</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="comment">// take ownership</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <a class="code hl_class" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a>(<a class="code hl_class" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> * <a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a>);</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1RtabmapThread.html">~RtabmapThread</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="keywordtype">void</span> clearBufferedData();</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="keywordtype">void</span> setDetectorRate(<span class="keywordtype">float</span> rate);</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">void</span> setDataBufferSize(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> bufferSize);</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordtype">void</span> createIntermediateNodes(<span class="keywordtype">bool</span> enabled);</div>
<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="keywordtype">float</span> getDetectorRate()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _rate;}</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> getDataBufferSize()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _dataBufferMaxSize;}</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keywordtype">bool</span> getCreateIntermediateNodes()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _createIntermediateNodes;}</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_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574"> 82</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574">close</a>(<span class="keywordtype">bool</span> databaseSaved, <span class="keyword">const</span> std::string &amp; databasePath = <span class="stringliteral">&quot;&quot;</span>);</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">protected</span>:</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09"> 85</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09">handleEvent</a>(<a class="code hl_class" href="classUEvent.html">UEvent</a> * anEvent);</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="keyword">private</span>:</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopBegin();</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopKill();</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="keywordtype">void</span> process();</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keywordtype">void</span> addData(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> &amp; odomEvent);</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keywordtype">bool</span> getData(<a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> &amp; data);</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="keywordtype">void</span> pushNewState(State newState, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1RtabmapEventCmd.html">RtabmapEventCmd</a> &amp; cmdEvent = <a class="code hl_class" href="classrtabmap_1_1RtabmapEventCmd.html">RtabmapEventCmd</a>(RtabmapEventCmd::kCmdUndef));</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="keywordtype">void</span> publishMap(<span class="keywordtype">bool</span> optimized, <span class="keywordtype">bool</span> full, <span class="keywordtype">bool</span> graphOnly) <span class="keyword">const</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="keyword">private</span>:</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _stateMutex;</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> std::queue&lt;State&gt; _state;</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> std::queue&lt;RtabmapEventCmd&gt; _stateParam;</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> std::list&lt;OdometryEvent&gt; _dataBuffer;</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> std::list&lt;double&gt; _newMapEvents;</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dataMutex;</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _dataAdded;</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _dataBufferMaxSize;</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">float</span> _rate;</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">bool</span> _createIntermediateNodes;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> <span class="keywordtype">double</span> _previousStamp;</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> <a class="code hl_class" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> * _rtabmap;</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">bool</span> _paused;</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> lastPose_;</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> cv::Mat covariance_;</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> cv::Mat _userData;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _userDataMutex;</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span>};</div>
<div class="foldopen" id="foldopen00104" data-start="{" data-end="};">
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html"> 104</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a> :</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThreadNode</a>,</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keyword">public</span> <a class="code hl_class" href="classUEventsHandler.html">UEventsHandler</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="keyword">public</span>:</div>
<div class="foldopen" id="foldopen00110" data-start="{" data-end="};">
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5fae"> 110</a></span> <span class="keyword">enum</span> <a class="code hl_enumeration" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5fae">State</a> {</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5faea733e80c5ec27718bd9551646f99d352c"> 111</a></span> <a class="code hl_enumvalue" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5faea733e80c5ec27718bd9551646f99d352c">kStateDetecting</a>, </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> kStateProcessCommand </div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5faeab07a30b69b21efdccbb6c040a5208001"> 113</a></span> };</div>
</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>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span><span class="preprocessor">#endif </span><span class="comment">/* RTABMAPTHREAD_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> </div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a5c5752b0b0a0e05e8e97308c74f9b955"> 126</a></span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#a5c5752b0b0a0e05e8e97308c74f9b955">RtabmapThread</a>(<a class="code hl_class" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> * <a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a>);</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1RtabmapThread.html">~RtabmapThread</a>();</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> </div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#aea5c7a61adab9ed8382066806420bfac"> 130</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#aea5c7a61adab9ed8382066806420bfac">clearBufferedData</a>();</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a8ff95633544be0d87c1dc977cb52a064"> 138</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#a8ff95633544be0d87c1dc977cb52a064">setDetectorRate</a>(<span class="keywordtype">float</span> rate);</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#ab9b4e64c65264f12bfeb1814aff59cbe"> 145</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#ab9b4e64c65264f12bfeb1814aff59cbe">setDataBufferSize</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> bufferSize);</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a78271ce60d00219c4fdd86813136a116"> 152</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#a78271ce60d00219c4fdd86813136a116">createIntermediateNodes</a>(<span class="keywordtype">bool</span> enabled);</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#ac788245b9aa70ebc9e7148fad3b92ed1"> 155</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#ac788245b9aa70ebc9e7148fad3b92ed1">getDetectorRate</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _rate;}</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a9aa2f05308498abcba0f01b2df25cac0"> 157</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#a9aa2f05308498abcba0f01b2df25cac0">getDataBufferSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _dataBufferMaxSize;}</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#a3dffee6fb4ae760c140144fd47923643"> 159</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#a3dffee6fb4ae760c140144fd47923643">getCreateIntermediateNodes</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _createIntermediateNodes;}</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> </div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574"> 171</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574">close</a>(<span class="keywordtype">bool</span> databaseSaved, <span class="keyword">const</span> std::string &amp; databasePath = <span class="stringliteral">&quot;&quot;</span>);</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><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"><a class="line" href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09"> 183</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09">handleEvent</a>(<a class="code hl_class" href="classUEvent.html">UEvent</a> * anEvent);</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> </div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopBegin();</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopKill();</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keywordtype">void</span> process();</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keywordtype">void</span> addData(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> &amp; odomEvent);</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordtype">bool</span> getData(<a class="code hl_class" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> &amp; data);</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keywordtype">void</span> pushNewState(<a class="code hl_enumeration" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5fae">State</a> newState, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1RtabmapEventCmd.html">RtabmapEventCmd</a> &amp; cmdEvent = <a class="code hl_class" href="classrtabmap_1_1RtabmapEventCmd.html">RtabmapEventCmd</a>(RtabmapEventCmd::kCmdUndef));</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <span class="keywordtype">void</span> publishMap(<span class="keywordtype">bool</span> optimized, <span class="keywordtype">bool</span> full, <span class="keywordtype">bool</span> graphOnly) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> </div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _stateMutex;</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> std::queue&lt;State&gt; _state;</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> std::queue&lt;RtabmapEventCmd&gt; _stateParam;</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> </div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> std::list&lt;OdometryEvent&gt; _dataBuffer;</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> std::list&lt;double&gt; _newMapEvents;</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _dataMutex;</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> _dataAdded;</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> _dataBufferMaxSize;</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordtype">float</span> _rate;</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keywordtype">bool</span> _createIntermediateNodes;</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordtype">double</span> _previousStamp;</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> </div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <a class="code hl_class" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> * _rtabmap;</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> <span class="keywordtype">bool</span> _paused;</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> lastPose_;</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> cv::Mat covariance_;</div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> </div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> cv::Mat _userData;</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <a class="code hl_class" href="classUMutex.html">UMutex</a> _userDataMutex;</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span>};</div>
</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> </div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span><span class="preprocessor">#endif </span><span class="comment">/* RTABMAPTHREAD_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="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="aclassUTimer_html"><div class="ttname"><a href="classUTimer.html">UTimer</a></div><div class="ttdef"><b>Definition</b> <a href="UTimer_8h_source.html#l00046">UTimer.h:47</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_1RtabmapEventCmd_html"><div class="ttname"><a href="classrtabmap_1_1RtabmapEventCmd.html">rtabmap::RtabmapEventCmd</a></div><div class="ttdef"><b>Definition</b> <a href="RtabmapEvent_8h_source.html#l00057">RtabmapEvent.h:58</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html">rtabmap::RtabmapThread</a></div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00051">RtabmapThread.h:54</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_aabea5cf86e55d6669d41b0b569dac574"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574">rtabmap::RtabmapThread::close</a></div><div class="ttdeci">void close(bool databaseSaved, const std::string &amp;databasePath=&quot;&quot;)</div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_ab2556f7773329963038d876c86e97d09"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09">rtabmap::RtabmapThread::handleEvent</a></div><div class="ttdeci">virtual bool handleEvent(UEvent *anEvent)</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_1RtabmapEventCmd_html"><div class="ttname"><a href="classrtabmap_1_1RtabmapEventCmd.html">rtabmap::RtabmapEventCmd</a></div><div class="ttdoc">Command sent to RtabmapThread, with its parameters.</div><div class="ttdef"><b>Definition</b> <a href="RtabmapEvent_8h_source.html#l00067">RtabmapEvent.h:68</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html">rtabmap::RtabmapThread</a></div><div class="ttdoc">Runs a Rtabmap instance in its own thread, driven by events.</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00104">RtabmapThread.h:107</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a037a7b9aaacca152e0f087920e8a5fae"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5fae">rtabmap::RtabmapThread::State</a></div><div class="ttdeci">State</div><div class="ttdoc">What the main loop does on its next wake-up.</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00110">RtabmapThread.h:110</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a037a7b9aaacca152e0f087920e8a5faea733e80c5ec27718bd9551646f99d352c"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5faea733e80c5ec27718bd9551646f99d352c">rtabmap::RtabmapThread::kStateDetecting</a></div><div class="ttdeci">@ kStateDetecting</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00111">RtabmapThread.h:111</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a3dffee6fb4ae760c140144fd47923643"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a3dffee6fb4ae760c140144fd47923643">rtabmap::RtabmapThread::getCreateIntermediateNodes</a></div><div class="ttdeci">bool getCreateIntermediateNodes() const</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00159">RtabmapThread.h:159</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a5c5752b0b0a0e05e8e97308c74f9b955"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a5c5752b0b0a0e05e8e97308c74f9b955">rtabmap::RtabmapThread::RtabmapThread</a></div><div class="ttdeci">RtabmapThread(Rtabmap *rtabmap)</div><div class="ttdoc">Constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a78271ce60d00219c4fdd86813136a116"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a78271ce60d00219c4fdd86813136a116">rtabmap::RtabmapThread::createIntermediateNodes</a></div><div class="ttdeci">void createIntermediateNodes(bool enabled)</div><div class="ttdoc">Keeps the frames skipped by setDetectorRate() as intermediate nodes.</div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a8ff95633544be0d87c1dc977cb52a064"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a8ff95633544be0d87c1dc977cb52a064">rtabmap::RtabmapThread::setDetectorRate</a></div><div class="ttdeci">void setDetectorRate(float rate)</div><div class="ttdoc">Sets the maximum rate at which frames are processed (Hz, 0 = unlimited).</div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_a9aa2f05308498abcba0f01b2df25cac0"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#a9aa2f05308498abcba0f01b2df25cac0">rtabmap::RtabmapThread::getDataBufferSize</a></div><div class="ttdeci">unsigned int getDataBufferSize() const</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00157">RtabmapThread.h:157</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_aabea5cf86e55d6669d41b0b569dac574"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574">rtabmap::RtabmapThread::close</a></div><div class="ttdeci">void close(bool databaseSaved, const std::string &amp;databasePath=&quot;&quot;)</div><div class="ttdoc">Joins the thread and closes rtabmap. This will delete rtabmap object if set.</div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_ab2556f7773329963038d876c86e97d09"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09">rtabmap::RtabmapThread::handleEvent</a></div><div class="ttdeci">virtual bool handleEvent(UEvent *anEvent)</div><div class="ttdoc">Receives the events listed in the class description.</div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_ab9b4e64c65264f12bfeb1814aff59cbe"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#ab9b4e64c65264f12bfeb1814aff59cbe">rtabmap::RtabmapThread::setDataBufferSize</a></div><div class="ttdeci">void setDataBufferSize(unsigned int bufferSize)</div><div class="ttdoc">Sets how many frames may wait in the buffer (0 = unlimited).</div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_ac788245b9aa70ebc9e7148fad3b92ed1"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#ac788245b9aa70ebc9e7148fad3b92ed1">rtabmap::RtabmapThread::getDetectorRate</a></div><div class="ttdeci">float getDetectorRate() const</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00155">RtabmapThread.h:155</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html_aea5c7a61adab9ed8382066806420bfac"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html#aea5c7a61adab9ed8382066806420bfac">rtabmap::RtabmapThread::clearBufferedData</a></div><div class="ttdeci">void clearBufferedData()</div><div class="ttdoc">Drops the buffered frames, the pending user data and the odometry state.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html">rtabmap::Rtabmap</a></div><div class="ttdoc">Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00193">Rtabmap.h:194</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><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<hr class="footer"/><address class="footer"><small>
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
</small></address>
<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>RtabmapThread.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>
</ul>
</div>
</body>
</html>