Preview for PR #1492 c82721341cb6b9be5ea6c74e1c195f07d4187738

2026-10-04 00:57:46 +08:00 · 2026-08-02 07:56:38 +00:00
parent 6259cf4409
commit 9043c4a9aa
1083 changed files with 121946 additions and 11202 deletions
@@ -10,6 +10,10 @@
 <link href="tabs.css" rel="stylesheet" type="text/css"/>
 <script type="text/javascript" src="jquery.js"></script>
 <script type="text/javascript" src="dynsections.js"></script>
+<link href="navtree.css" rel="stylesheet" type="text/css"/>
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@@ -27,6 +31,7 @@
  <td id="projectalign">
   <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
   </div>
+   <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
  </td>
 </tr>
 </tbody>
@@ -55,6 +60,23 @@ $(function() {
 $(document).ready(function() { init_codefold(0); });
 /* @license-end */
 </script>
+</div><!-- top -->
+<div id="side-nav" class="ui-resizable side-nav-resizable">
+  <div id="nav-tree">
+    <div id="nav-tree-contents">
+      <div id="nav-sync" class="sync"></div>
+    </div>
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+  <div id="splitbar" style="-moz-user-select:none;" 
+       class="ui-resizable-handle">
+  </div>
+</div>
+<script type="text/javascript">
+/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
+$(document).ready(function(){initNavTree('SensorCaptureThread_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">SensorCaptureThread.h</div></div>
 </div><!--header-->
@@ -146,7 +163,7 @@ $(document).ready(function() { init_codefold(0); });
 <div class="line"><a id="l00101" name="l00101"></a><span class="lineno">  101</span><span class="keyword">public</span>:</div>
 <div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">  113</a></span>  <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">SensorCaptureThread</a>(</div>
 <div class="line"><a id="l00114" name="l00114"></a><span class="lineno">  114</span>      <a class="code hl_class" href="classrtabmap_1_1Camera.html">Camera</a> * camera,</div>
-<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>      <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
+<div class="line"><a id="l00115" name="l00115"></a><span class="lineno">  115</span>      <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
 <div class="line"><a id="l00116" name="l00116"></a><span class="lineno">  116</span>  </div>
 <div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a76ad33a55009b7a7f7ec51acccbe0492">  136</a></span>  <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a76ad33a55009b7a7f7ec51acccbe0492">SensorCaptureThread</a>(</div>
 <div class="line"><a id="l00137" name="l00137"></a><span class="lineno">  137</span>      <a class="code hl_class" href="classrtabmap_1_1Camera.html">Camera</a> * camera,</div>
@@ -155,16 +172,16 @@ $(document).ready(function() { init_codefold(0); });
 <div class="line"><a id="l00140" name="l00140"></a><span class="lineno">  140</span>      <span class="keywordtype">double</span> poseTimeOffset = 0.0,</div>
 <div class="line"><a id="l00141" name="l00141"></a><span class="lineno">  141</span>      <span class="keywordtype">float</span> poseScaleFactor = 1.0f,</div>
 <div class="line"><a id="l00142" name="l00142"></a><span class="lineno">  142</span>      <span class="keywordtype">double</span> poseWaitTime = 0.1,</div>
-<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>      <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
+<div class="line"><a id="l00143" name="l00143"></a><span class="lineno">  143</span>      <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
 <div class="line"><a id="l00144" name="l00144"></a><span class="lineno">  144</span>  </div>
 <div class="line"><a id="l00155" name="l00155"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a834d1e5c389e7ef8eb23bf1361916ae2">  155</a></span>  <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a834d1e5c389e7ef8eb23bf1361916ae2">SensorCaptureThread</a>(</div>
 <div class="line"><a id="l00156" name="l00156"></a><span class="lineno">  156</span>      <a class="code hl_class" href="classrtabmap_1_1Lidar.html">Lidar</a> * lidar,</div>
-<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>      <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
+<div class="line"><a id="l00157" name="l00157"></a><span class="lineno">  157</span>      <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
 <div class="line"><a id="l00158" name="l00158"></a><span class="lineno">  158</span>  </div>
 <div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a9cf0e883ace51a2a656395327beb74e5">  170</a></span>  <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a9cf0e883ace51a2a656395327beb74e5">SensorCaptureThread</a>(</div>
 <div class="line"><a id="l00171" name="l00171"></a><span class="lineno">  171</span>      <a class="code hl_class" href="classrtabmap_1_1Lidar.html">Lidar</a> * lidar,</div>
 <div class="line"><a id="l00172" name="l00172"></a><span class="lineno">  172</span>      <a class="code hl_class" href="classrtabmap_1_1Camera.html">Camera</a> * camera,</div>
-<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>      <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
+<div class="line"><a id="l00173" name="l00173"></a><span class="lineno">  173</span>      <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
 <div class="line"><a id="l00174" name="l00174"></a><span class="lineno">  174</span>  </div>
 <div class="line"><a id="l00194" name="l00194"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a590aee9497d8a3b6e14b68e1e17f9c6a">  194</a></span>  <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a590aee9497d8a3b6e14b68e1e17f9c6a">SensorCaptureThread</a>(</div>
 <div class="line"><a id="l00195" name="l00195"></a><span class="lineno">  195</span>      <a class="code hl_class" href="classrtabmap_1_1Lidar.html">Lidar</a> * lidar,</div>
@@ -172,7 +189,7 @@ $(document).ready(function() { init_codefold(0); });
 <div class="line"><a id="l00197" name="l00197"></a><span class="lineno">  197</span>      <span class="keywordtype">double</span> poseTimeOffset = 0.0,</div>
 <div class="line"><a id="l00198" name="l00198"></a><span class="lineno">  198</span>      <span class="keywordtype">float</span> poseScaleFactor = 1.0f,</div>
 <div class="line"><a id="l00199" name="l00199"></a><span class="lineno">  199</span>      <span class="keywordtype">double</span> poseWaitTime = 0.1,</div>
-<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>      <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
+<div class="line"><a id="l00200" name="l00200"></a><span class="lineno">  200</span>      <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
 <div class="line"><a id="l00201" name="l00201"></a><span class="lineno">  201</span>  </div>
 <div class="line"><a id="l00224" name="l00224"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a2a64df180f19d0a2ea9a8d66ea58fc42">  224</a></span>  <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a2a64df180f19d0a2ea9a8d66ea58fc42">SensorCaptureThread</a>(</div>
 <div class="line"><a id="l00225" name="l00225"></a><span class="lineno">  225</span>      <a class="code hl_class" href="classrtabmap_1_1Lidar.html">Lidar</a> * lidar,</div>
@@ -182,7 +199,7 @@ $(document).ready(function() { init_codefold(0); });
 <div class="line"><a id="l00229" name="l00229"></a><span class="lineno">  229</span>      <span class="keywordtype">double</span> poseTimeOffset = 0.0,</div>
 <div class="line"><a id="l00230" name="l00230"></a><span class="lineno">  230</span>      <span class="keywordtype">float</span> poseScaleFactor = 1.0f,</div>
 <div class="line"><a id="l00231" name="l00231"></a><span class="lineno">  231</span>      <span class="keywordtype">double</span> poseWaitTime = 0.1,</div>
-<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>      <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
+<div class="line"><a id="l00232" name="l00232"></a><span class="lineno">  232</span>      <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
 <div class="line"><a id="l00233" name="l00233"></a><span class="lineno">  233</span>  </div>
 <div class="line"><a id="l00239" name="l00239"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#af8133c1b2332568c4699282f59c141c9">  239</a></span>  <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#af8133c1b2332568c4699282f59c141c9">~SensorCaptureThread</a>();</div>
 <div class="line"><a id="l00240" name="l00240"></a><span class="lineno">  240</span> </div>
@@ -210,11 +227,11 @@ $(document).ready(function() { init_codefold(0); });
 <div class="line"><a id="l00351" name="l00351"></a><span class="lineno">  351</span>  </div>
 <div class="line"><a id="l00355" name="l00355"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a57beeb2c34d4430e37da05ef8e400a9b">  355</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a57beeb2c34d4430e37da05ef8e400a9b">disableBilateralFiltering</a>() {_bilateralFiltering = <span class="keyword">false</span>;}</div>
 <div class="line"><a id="l00356" name="l00356"></a><span class="lineno">  356</span>  </div>
-<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a97ef5e49b994fcd2a3c87d6f7ef244ec">  374</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a97ef5e49b994fcd2a3c87d6f7ef244ec">enableIMUFiltering</a>(<span class="keywordtype">int</span> filteringStrategy=1, <span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap(), <span class="keywordtype">bool</span> baseFrameConversion = <span class="keyword">false</span>);</div>
+<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a97ef5e49b994fcd2a3c87d6f7ef244ec">  374</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a97ef5e49b994fcd2a3c87d6f7ef244ec">enableIMUFiltering</a>(<span class="keywordtype">int</span> filteringStrategy=1, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(), <span class="keywordtype">bool</span> baseFrameConversion = <span class="keyword">false</span>);</div>
 <div class="line"><a id="l00375" name="l00375"></a><span class="lineno">  375</span>  </div>
 <div class="line"><a id="l00379" name="l00379"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a75c2426adc532854f1d7119256b1cf0d">  379</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a75c2426adc532854f1d7119256b1cf0d">disableIMUFiltering</a>();</div>
 <div class="line"><a id="l00380" name="l00380"></a><span class="lineno">  380</span>  </div>
-<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#aa0a6c975417a655029470aea2ea5d01a">  394</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#aa0a6c975417a655029470aea2ea5d01a">enableFeatureDetection</a>(<span class="keyword">const</span> ParametersMap &amp; parameters = ParametersMap());</div>
+<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#aa0a6c975417a655029470aea2ea5d01a">  394</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#aa0a6c975417a655029470aea2ea5d01a">enableFeatureDetection</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
 <div class="line"><a id="l00395" name="l00395"></a><span class="lineno">  395</span>  </div>
 <div class="line"><a id="l00399" name="l00399"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#aeddec5c0c55aab261b31d0a980a7d327">  399</a></span>  <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#aeddec5c0c55aab261b31d0a980a7d327">disableFeatureDetection</a>();</div>
 <div class="line"><a id="l00400" name="l00400"></a><span class="lineno">  400</span> </div>
@@ -349,10 +366,15 @@ $(document).ready(function() { init_codefold(0); });
 <div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
 <div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
 <div class="ttc" id="anamespacertabmap_html_acd001e2ea3d2e44d9e24faab74d36324"><div class="ttname"><a href="namespacertabmap.html#acd001e2ea3d2e44d9e24faab74d36324">rtabmap::CameraThread</a></div><div class="ttdeci">RTABMAP_DEPRECATED typedef SensorCaptureThread CameraThread</div><div class="ttdoc">Backward compatibility typedef.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00565">SensorCaptureThread.h:565</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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+    <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>SensorCaptureThread.h</b></li>
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