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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_1OdometryEvent.html">OdometryEvent</a></li> </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
@@ -83,30 +100,39 @@ $(function() {
<div class="headertitle"><div class="title">rtabmap::OdometryEvent Class Reference</div></div>
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<div class="contents">
<p>One processed frame with the pose the odometry integrated for it.
<a href="classrtabmap_1_1OdometryEvent.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>&gt;</code></p>
<div class="dynheader">
Inheritance diagram for rtabmap::OdometryEvent:</div>
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Collaboration diagram for rtabmap::OdometryEvent:</div>
<div class="dyncontent">
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a0667339a1f0135ac2b67180b663a028f" id="r_a0667339a1f0135ac2b67180b663a028f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryEvent.html#a0667339a1f0135ac2b67180b663a028f">OdometryEvent</a> (const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp;data, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;pose, const <a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> &amp;info=<a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a>())</td></tr>
<tr class="memitem:aaf1fc834b6016a79b28883d20f336020" id="r_aaf1fc834b6016a79b28883d20f336020"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryEvent.html#aaf1fc834b6016a79b28883d20f336020">OdometryEvent</a> ()</td></tr>
<tr class="memdesc:aaf1fc834b6016a79b28883d20f336020"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates an empty event, with an identity covariance. <br /></td></tr>
<tr class="separator:aaf1fc834b6016a79b28883d20f336020"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0667339a1f0135ac2b67180b663a028f" id="r_a0667339a1f0135ac2b67180b663a028f"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryEvent.html#a0667339a1f0135ac2b67180b663a028f">OdometryEvent</a> (const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp;<a class="el" href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33">data</a>, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;<a class="el" href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25">pose</a>, const <a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> &amp;<a class="el" href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5">info</a>=<a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a>())</td></tr>
<tr class="memdesc:a0667339a1f0135ac2b67180b663a028f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor. <br /></td></tr>
<tr class="separator:a0667339a1f0135ac2b67180b663a028f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a461365124cbdf488d3a05874be8c4bb2" id="r_a461365124cbdf488d3a05874be8c4bb2"><td class="memItemLeft" align="right" valign="top">virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryEvent.html#a461365124cbdf488d3a05874be8c4bb2">getClassName</a> () const</td></tr>
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<tr class="memitem:adbac8609d65d32f38d1e724007091398" id="r_adbac8609d65d32f38d1e724007091398"><td class="memItemLeft" align="right" valign="top">std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryEvent.html#adbac8609d65d32f38d1e724007091398">velocity</a> () const</td></tr>
<tr class="memdesc:adbac8609d65d32f38d1e724007091398"><td class="mdescLeft">&#160;</td><td class="mdescRight">Linear and angular velocity, from the motion and the frame interval. <br /></td></tr>
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<tr class="memitem:a9d20ed607b8cc697c8aa5ca725e477a5" id="r_a9d20ed607b8cc697c8aa5ca725e477a5"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryEvent.html#a9d20ed607b8cc697c8aa5ca725e477a5">info</a> () const</td></tr>
<tr class="separator:a9d20ed607b8cc697c8aa5ca725e477a5"><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 class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00039">39</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
<div class="textblock"><p>One processed frame with the pose the odometry integrated for it. </p>
<p>Posted by <a class="el" href="classrtabmap_1_1OdometryThread.html">OdometryThread</a> for every frame it processes, and consumed by <a class="el" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a>, which passes the data and the pose to <a class="el" href="classrtabmap_1_1Rtabmap.html#ad7f085b6ae0fd3c7077c500c028fd5c3">Rtabmap::process()</a>. A null <a class="el" href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25">pose()</a> means <b>odometry is lost</b> on this frame; <a class="el" href="classrtabmap_1_1RtabmapThread.html" title="Runs a Rtabmap instance in its own thread, driven by events.">RtabmapThread</a> reads that as a reset and starts a new map.</p>
<p>The covariance is always 6x6 <code>CV_64FC1</code> with positive finite diagonal terms (identity when the front-end did not provide one, i.e. "unknown but valid"). A value &ge; 9999 on the first diagonal term is the convention for a lost estimate.</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" title="What one Odometry iteration produced, beyond the pose.">OdometryInfo</a> </dd>
<dd>
<a class="el" href="classrtabmap_1_1RtabmapThread.html" title="Runs a Rtabmap instance in its own thread, driven by events.">RtabmapThread</a> </dd></dl>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00056">56</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="aaf1fc834b6016a79b28883d20f336020" name="aaf1fc834b6016a79b28883d20f336020"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aaf1fc834b6016a79b28883d20f336020">&#9670;&#160;</a></span>OdometryEvent() <span class="overload">[1/2]</span></h2>
@@ -159,7 +194,9 @@ Additional Inherited Members</h2></td></tr>
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<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00042">42</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
<p>Creates an empty event, with an identity covariance. </p>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00060">60</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00046">46</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
<p>Constructor. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">data</td><td>The frame that was processed. </td></tr>
<tr><td class="paramname">pose</td><td>Integrated odometry pose, null if odometry is lost. </td></tr>
<tr><td class="paramname">info</td><td>Everything else the iteration produced.</td></tr>
</table>
</dd>
</dl>
<p>An empty covariance in <code>info</code> is replaced by identity; otherwise it must be 6x6 <code>CV_64FC1</code> with finite, strictly positive diagonal terms. </p>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00073">73</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00066">66</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00093">93</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
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<p>Implements <a class="el" href="classUEvent.html#a2c7d278240ad4b7d88a2c534cc5f47b4">UEvent</a>.</p>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00067">67</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00094">94</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>The processed frame, modifiable (e.g. to attach user data). </dd></dl>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00069">69</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00097">97</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>The processed frame. </dd></dl>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00070">70</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00099">99</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>Integrated odometry pose, null if odometry was lost on this frame. </dd></dl>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00071">71</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00101">101</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>6x6 covariance of the motion estimate (<code>CV_64FC1</code>). </dd></dl>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00072">72</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00103">103</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00073">73</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
<p>Linear and angular velocity, from the motion and the frame interval. </p>
<dl class="section return"><dt>Returns</dt><dd>(vx, vy, vz, vroll, vpitch, vyaw) in m/s and rad/s, or an empty vector when the interval is unknown. </dd></dl>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00109">109</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>Quality indicators, timings and intermediate data of the iteration. </dd></dl>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00089">89</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="OdometryEvent_8h_source.html#l00126">126</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
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<li>corelib/include/rtabmap/core/<a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a></li>
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