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<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<ul>
<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a></li> </ul>
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Public Types</h2></td></tr>
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<tr class="memdesc:a6427d44c57fd6b7152b62d5b7cca1849"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> backend selected by Parameters::kOdomStrategy(). <a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">More...</a><br /></td></tr>
<tr class="memdesc:a6427d44c57fd6b7152b62d5b7cca1849"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> backend selected by <a class="el" href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a>. <a href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">More...</a><br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
Static Public Member Functions</h2></td></tr>
<tr class="memitem:ac8992df0b92a86c10fe8e8da2b5f3627" id="r_ac8992df0b92a86c10fe8e8da2b5f3627"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">create</a> (const ParametersMap &amp;parameters=ParametersMap())</td></tr>
<tr class="memdesc:ac8992df0b92a86c10fe8e8da2b5f3627"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates an odometry instance from Parameters::kOdomStrategy() in <code>parameters</code>. <br /></td></tr>
<tr class="memitem:ac8992df0b92a86c10fe8e8da2b5f3627" id="r_ac8992df0b92a86c10fe8e8da2b5f3627"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">create</a> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:ac8992df0b92a86c10fe8e8da2b5f3627"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates an odometry instance from <a class="el" href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a> in <code>parameters</code>. <br /></td></tr>
<tr class="separator:ac8992df0b92a86c10fe8e8da2b5f3627"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1240aaf3a92a75b4c3c9ded9117144bb" id="r_a1240aaf3a92a75b4c3c9ded9117144bb"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb">create</a> (<a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> &amp;type, const ParametersMap &amp;parameters=ParametersMap())</td></tr>
<tr class="memitem:a1240aaf3a92a75b4c3c9ded9117144bb" id="r_a1240aaf3a92a75b4c3c9ded9117144bb"><td class="memItemLeft" align="right" valign="top">static <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a1240aaf3a92a75b4c3c9ded9117144bb">create</a> (<a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849">Type</a> &amp;type, const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp;parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>())</td></tr>
<tr class="memdesc:a1240aaf3a92a75b4c3c9ded9117144bb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates an odometry instance of a given <code>type</code>. <br /></td></tr>
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<tr class="memitem:af2d9cf4c207d6628b0890064a385856b" id="r_af2d9cf4c207d6628b0890064a385856b"><td class="memItemLeft" align="right" valign="top"><a id="af2d9cf4c207d6628b0890064a385856b" name="af2d9cf4c207d6628b0890064a385856b"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>Odometry</b> (const rtabmap::ParametersMap &amp;parameters)</td></tr>
&#160;</td><td class="memItemRight" valign="bottom"><b>Odometry</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp;parameters)</td></tr>
<tr class="memdesc:af2d9cf4c207d6628b0890064a385856b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs the base odometry state from RTAB-Map parameters. <br /></td></tr>
<tr class="separator:af2d9cf4c207d6628b0890064a385856b"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Abstract base class for visual, lidar and visual-inertial odometry backends. </p>
<p><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> estimates the incremental motion between consecutive <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> frames. Concrete implementations override computeTransform(); the public <a class="el" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">process()</a> pipeline handles <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> caching, optional motion guesses, filtering (Kalman or particle), image decimation, deskewing and pose integration.</p>
<p>Use <a class="el" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">create()</a> to instantiate a backend from Parameters::kOdomStrategy().</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1OdometryThread.html">OdometryThread</a> </dd>
<p><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> estimates the incremental motion between consecutive <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> frames. Concrete implementations override <code>computeTransform()</code>; the public <a class="el" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">process()</a> pipeline handles <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> caching, optional motion guesses, filtering (Kalman or particle), image decimation, deskewing and pose integration.</p>
<p>Use <a class="el" href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">create()</a> to instantiate a backend from <a class="el" href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a>.</p>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1OdometryThread.html" title="Runs an Odometry front-end in its own thread, driven by events.">OdometryThread</a> </dd>
<dd>
<a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> </dd></dl>
<a class="el" href="classrtabmap_1_1OdometryInfo.html" title="What one Odometry iteration produced, beyond the pose.">OdometryInfo</a> </dd></dl>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00056">56</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
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</div><div class="memdoc">
<p><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> backend selected by Parameters::kOdomStrategy(). </p>
<p><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> backend selected by <a class="el" href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a>. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a6427d44c57fd6b7152b62d5b7cca1849a7e81a250626fd76729fa01fb7b40fde5" name="a6427d44c57fd6b7152b62d5b7cca1849a7e81a250626fd76729fa01fb7b40fde5"></a>kTypeUndef&#160;</td><td class="fielddoc"><p>Undefined / invalid type. </p>
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<td class="memname">static <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> * rtabmap::Odometry::create </td>
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<td class="paramname"><em>parameters</em> = <code><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()</code></td><td>)</td>
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@@ -298,7 +315,7 @@ Protected Member Functions</h2></td></tr>
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<p>Creates an odometry instance from Parameters::kOdomStrategy() in <code>parameters</code>. </p>
<p>Creates an odometry instance from <a class="el" href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a> in <code>parameters</code>. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">parameters</td><td>RTAB-Map parameters (odometry strategy and related options). </td></tr>
@@ -327,8 +344,8 @@ Protected Member Functions</h2></td></tr>
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<td class="paramtype">const ParametersMap &amp;&#160;</td>
<td class="paramname"><em>parameters</em> = <code>ParametersMap()</code>&#160;</td>
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<td class="paramname"><em>parameters</em> = <code><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>()</code>&#160;</td>
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@@ -388,7 +405,7 @@ Protected Member Functions</h2></td></tr>
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<dl class="section return"><dt>Returns</dt><dd>Updated integrated pose (<a class="el" href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee">getPose()</a>) after the frame is processed, or a null transform if odometry is lost. The incremental transform is available in OdometryInfo::transform when <code>info</code> is provided. </dd></dl>
<dl class="section return"><dt>Returns</dt><dd>Updated integrated pose (<a class="el" href="classrtabmap_1_1Odometry.html#a8b45aea55b336f758943b4a6b2ec28ee">getPose()</a>) after the frame is processed, or a null transform if odometry is lost. The incremental transform is available in <code><a class="el" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5" title="Motion since the previous frame, null when lost.">OdometryInfo::transform</a></code> when <code>info</code> is provided. </dd></dl>
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@@ -463,7 +480,7 @@ Protected Member Functions</h2></td></tr>
<p>Resets internal state and sets the initial pose. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">initialPose</td><td>Starting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled. </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>True if input images are already rectified (see Parameters::kRtabmapImagesAlreadyRectified()). </dd></dl>
<dl class="section return"><dt>Returns</dt><dd>True if input images are already rectified (see <a class="el" href="classrtabmap_1_1Parameters.html#aaa7af43515eedb88d1e7083e82e59bae">Parameters::kRtabmapImagesAlreadyRectified()</a>). </dd></dl>
<p class="definition">Definition at line <a class="el" href="Odometry_8h_source.html#l00134">134</a> of file <a class="el" href="Odometry_8h_source.html">Odometry.h</a>.</p>
@@ -778,9 +795,13 @@ Protected Member Functions</h2></td></tr>
<li>corelib/include/rtabmap/core/<a class="el" href="Odometry_8h_source.html">Odometry.h</a></li>
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