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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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1083 changed files with 121946 additions and 11202 deletions
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@@ -10,6 +10,10 @@
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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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<li class="navelem"><a class="el" href="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1OdometryOpen3D.html">OdometryOpen3D</a></li> </ul>
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<a href="#pub-methods">Public Member Functions</a> &#124;
@@ -92,7 +109,7 @@ Inheritance diagram for rtabmap::OdometryOpen3D:</div>
<area shape="rect" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual&#45;inertial odometry backends." alt="" coords="31,5,182,31"/>
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Collaboration diagram for rtabmap::OdometryOpen3D:</div>
<div class="dyncontent">
@@ -102,12 +119,12 @@ Collaboration diagram for rtabmap::OdometryOpen3D:</div>
<area shape="rect" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual&#45;inertial odometry backends." alt="" coords="31,5,182,31"/>
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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:a527626ee9840e81bdb2f9013e35345ea" id="r_a527626ee9840e81bdb2f9013e35345ea"><td class="memItemLeft" align="right" valign="top"><a id="a527626ee9840e81bdb2f9013e35345ea" name="a527626ee9840e81bdb2f9013e35345ea"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>OdometryOpen3D</b> (const rtabmap::ParametersMap &amp;parameters=rtabmap::ParametersMap())</td></tr>
&#160;</td><td class="memItemRight" valign="bottom"><b>OdometryOpen3D</b> (const <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a> &amp;parameters=<a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a>())</td></tr>
<tr class="separator:a527626ee9840e81bdb2f9013e35345ea"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a21fecb34185676d02d92c7ad18f13970" id="r_a21fecb34185676d02d92c7ad18f13970"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryOpen3D.html#a21fecb34185676d02d92c7ad18f13970">reset</a> (const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;initialPose=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
<tr class="memdesc:a21fecb34185676d02d92c7ad18f13970"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resets internal state and sets the initial pose. <br /></td></tr>
@@ -165,20 +182,20 @@ Additional Inherited Members</h2></td></tr>
, <a class="el" href="classrtabmap_1_1Odometry.html#a6427d44c57fd6b7152b62d5b7cca1849ac13bb66a69e4790bfa574c8a0c6c9975">kTypeLIOSAM</a> = 14
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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>
<tr class="separator:a6427d44c57fd6b7152b62d5b7cca1849 inherit pub_types_classrtabmap_1_1Odometry"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_static_methods_classrtabmap_1_1Odometry"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classrtabmap_1_1Odometry')"><img src="closed.png" alt="-"/>&#160;Static Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></td></tr>
<tr class="memitem:ac8992df0b92a86c10fe8e8da2b5f3627 inherit pub_static_methods_classrtabmap_1_1Odometry" 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 inherit pub_static_methods_classrtabmap_1_1Odometry"><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 inherit pub_static_methods_classrtabmap_1_1Odometry" 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 inherit pub_static_methods_classrtabmap_1_1Odometry"><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 inherit pub_static_methods_classrtabmap_1_1Odometry"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1240aaf3a92a75b4c3c9ded9117144bb inherit pub_static_methods_classrtabmap_1_1Odometry" 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 inherit pub_static_methods_classrtabmap_1_1Odometry" 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 inherit pub_static_methods_classrtabmap_1_1Odometry"><td class="mdescLeft">&#160;</td><td class="mdescRight">Creates an odometry instance of a given <code>type</code>. <br /></td></tr>
<tr class="separator:a1240aaf3a92a75b4c3c9ded9117144bb inherit pub_static_methods_classrtabmap_1_1Odometry"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classrtabmap_1_1Odometry"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classrtabmap_1_1Odometry')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classrtabmap_1_1Odometry.html">rtabmap::Odometry</a></td></tr>
<tr class="memitem:a6c9ed388da42499d2244bb98c8ff0e8d inherit pro_methods_classrtabmap_1_1Odometry" id="r_a6c9ed388da42499d2244bb98c8ff0e8d"><td class="memItemLeft" align="right" valign="top">const std::map&lt; double, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Odometry.html#a6c9ed388da42499d2244bb98c8ff0e8d">imus</a> () const</td></tr>
<tr class="separator:a6c9ed388da42499d2244bb98c8ff0e8d inherit pro_methods_classrtabmap_1_1Odometry"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af2d9cf4c207d6628b0890064a385856b inherit pro_methods_classrtabmap_1_1Odometry" id="r_af2d9cf4c207d6628b0890064a385856b"><td class="memItemLeft" align="right" valign="top">
&#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 inherit pro_methods_classrtabmap_1_1Odometry"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructs the base odometry state from RTAB-Map parameters. <br /></td></tr>
<tr class="separator:af2d9cf4c207d6628b0890064a385856b inherit pro_methods_classrtabmap_1_1Odometry"><td class="memSeparator" colspan="2">&#160;</td></tr>
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@@ -213,7 +230,7 @@ Additional Inherited Members</h2></td></tr>
<p>Resets internal state and sets the initial pose. </p>
<dl class="params"><dt>Parameters</dt><dd>
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<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>
<tr><td class="paramname">initialPose</td><td>Starting pose (must not be null). Z/roll/pitch may be cleared if <a class="el" href="classrtabmap_1_1Parameters.html#adeb11e4b89634351a54bab99b3aeb68c">Parameters::kRegForce3DoF()</a> is enabled. </td></tr>
</table>
</dd>
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@@ -256,9 +273,13 @@ Additional Inherited Members</h2></td></tr>
<li>corelib/include/rtabmap/core/odometry/<a class="el" href="OdometryOpen3D_8h_source.html">OdometryOpen3D.h</a></li>
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