mirror of
https://github.com/introlab/rtabmap.git
synced 2026-10-03 16:47:47 +08:00
504 lines
28 KiB
HTML
504 lines
28 KiB
HTML
<!-- HTML header for doxygen 1.9.8-->
|
|
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
|
|
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
|
|
<head>
|
|
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
|
|
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
|
|
<meta name="generator" content="Doxygen 1.9.8"/>
|
|
<meta name="viewport" content="width=device-width, initial-scale=1"/>
|
|
<title>RTAB-Map: rtabmap::OdometryEvent Class Reference</title>
|
|
<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>
|
|
<link href="doxygen.css" rel="stylesheet" type="text/css" />
|
|
<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
|
|
<link href="custom.css" rel="stylesheet" type="text/css"/>
|
|
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
|
|
<script type="text/javascript" src="../versions.js"></script>
|
|
<script type="text/javascript" src="version-switcher.js"></script>
|
|
<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
|
|
<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
|
|
</head>
|
|
<body>
|
|
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
|
|
<div id="titlearea">
|
|
<table cellspacing="0" cellpadding="0">
|
|
<tbody>
|
|
<tr id="projectrow">
|
|
<td id="projectalign">
|
|
<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
|
|
</div>
|
|
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
|
|
</td>
|
|
</tr>
|
|
</tbody>
|
|
</table>
|
|
</div>
|
|
<!-- end header part -->
|
|
<!-- Generated by Doxygen 1.9.8 -->
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
var searchBox = new SearchBox("searchBox", "search/",'.html');
|
|
/* @license-end */
|
|
</script>
|
|
<script type="text/javascript" src="menudata.js"></script>
|
|
<script type="text/javascript" src="menu.js"></script>
|
|
<script type="text/javascript">
|
|
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&dn=expat.txt MIT */
|
|
$(function() {
|
|
initMenu('',true,false,'search.php','Search');
|
|
$(document).ready(function() { init_search(); });
|
|
});
|
|
/* @license-end */
|
|
</script>
|
|
<div id="main-nav"></div>
|
|
</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&dn=expat.txt MIT */
|
|
$(document).ready(function(){initNavTree('classrtabmap_1_1OdometryEvent.html',''); initResizable(); });
|
|
/* @license-end */
|
|
</script>
|
|
<div id="doc-content">
|
|
<!-- window showing the filter options -->
|
|
<div id="MSearchSelectWindow"
|
|
onmouseover="return searchBox.OnSearchSelectShow()"
|
|
onmouseout="return searchBox.OnSearchSelectHide()"
|
|
onkeydown="return searchBox.OnSearchSelectKey(event)">
|
|
</div>
|
|
|
|
<!-- iframe showing the search results (closed by default) -->
|
|
<div id="MSearchResultsWindow">
|
|
<div id="MSearchResults">
|
|
<div class="SRPage">
|
|
<div id="SRIndex">
|
|
<div id="SRResults"></div>
|
|
<div class="SRStatus" id="Loading">Loading...</div>
|
|
<div class="SRStatus" id="Searching">Searching...</div>
|
|
<div class="SRStatus" id="NoMatches">No Matches</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
</div>
|
|
|
|
<div class="header">
|
|
<div class="summary">
|
|
<a href="#pub-methods">Public Member Functions</a> |
|
|
<a href="classrtabmap_1_1OdometryEvent-members.html">List of all members</a> </div>
|
|
<div class="headertitle"><div class="title">rtabmap::OdometryEvent Class Reference</div></div>
|
|
</div><!--header-->
|
|
<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 <<a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>></code></p>
|
|
<div class="dynheader">
|
|
Inheritance diagram for rtabmap::OdometryEvent:</div>
|
|
<div class="dyncontent">
|
|
<div class="center"><img src="classrtabmap_1_1OdometryEvent__inherit__graph.png" border="0" usemap="#artabmap_1_1OdometryEvent_inherit__map" alt="Inheritance graph"/></div>
|
|
<map name="artabmap_1_1OdometryEvent_inherit__map" id="artabmap_1_1OdometryEvent_inherit__map">
|
|
<area shape="rect" title="One processed frame with the pose the odometry integrated for it." alt="" coords="5,79,192,104"/>
|
|
<area shape="rect" href="classUEvent.html" title=" " alt="" coords="64,5,133,31"/>
|
|
<area shape="poly" title=" " alt="" coords="101,44,101,79,96,79,96,44"/>
|
|
</map>
|
|
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
|
|
<div class="dynheader">
|
|
Collaboration diagram for rtabmap::OdometryEvent:</div>
|
|
<div class="dyncontent">
|
|
<div class="center"><img src="classrtabmap_1_1OdometryEvent__coll__graph.png" border="0" usemap="#artabmap_1_1OdometryEvent_coll__map" alt="Collaboration graph"/></div>
|
|
<map name="artabmap_1_1OdometryEvent_coll__map" id="artabmap_1_1OdometryEvent_coll__map">
|
|
<area shape="rect" title="One processed frame with the pose the odometry integrated for it." alt="" coords="5,79,192,104"/>
|
|
<area shape="rect" href="classUEvent.html" title=" " alt="" coords="64,5,133,31"/>
|
|
<area shape="poly" title=" " alt="" coords="101,44,101,79,96,79,96,44"/>
|
|
</map>
|
|
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
|
|
<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:aaf1fc834b6016a79b28883d20f336020" id="r_aaf1fc834b6016a79b28883d20f336020"><td class="memItemLeft" align="right" valign="top"> </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"> </td><td class="mdescRight">Creates an empty event, with an identity covariance. <br /></td></tr>
|
|
<tr class="separator:aaf1fc834b6016a79b28883d20f336020"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a0667339a1f0135ac2b67180b663a028f" id="r_a0667339a1f0135ac2b67180b663a028f"><td class="memItemLeft" align="right" valign="top"> </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> &<a class="el" href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33">data</a>, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &<a class="el" href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25">pose</a>, const <a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> &<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"> </td><td class="mdescRight">Constructor. <br /></td></tr>
|
|
<tr class="separator:a0667339a1f0135ac2b67180b663a028f"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a461365124cbdf488d3a05874be8c4bb2" id="r_a461365124cbdf488d3a05874be8c4bb2"><td class="memItemLeft" align="right" valign="top">virtual std::string </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryEvent.html#a461365124cbdf488d3a05874be8c4bb2">getClassName</a> () const</td></tr>
|
|
<tr class="separator:a461365124cbdf488d3a05874be8c4bb2"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a19edd3196a5723053ba425186b1f3d33" id="r_a19edd3196a5723053ba425186b1f3d33"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryEvent.html#a19edd3196a5723053ba425186b1f3d33">data</a> ()</td></tr>
|
|
<tr class="separator:a19edd3196a5723053ba425186b1f3d33"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ac29fe21e2ba017148dae0dfd9d8c028c" id="r_ac29fe21e2ba017148dae0dfd9d8c028c"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryEvent.html#ac29fe21e2ba017148dae0dfd9d8c028c">data</a> () const</td></tr>
|
|
<tr class="separator:ac29fe21e2ba017148dae0dfd9d8c028c"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:ac7aaf59c0f005b6ac1497c870179fd25" id="r_ac7aaf59c0f005b6ac1497c870179fd25"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryEvent.html#ac7aaf59c0f005b6ac1497c870179fd25">pose</a> () const</td></tr>
|
|
<tr class="separator:ac7aaf59c0f005b6ac1497c870179fd25"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:a13be8ff5e398f9fd00d09aac8deddaba" id="r_a13be8ff5e398f9fd00d09aac8deddaba"><td class="memItemLeft" align="right" valign="top">const cv::Mat & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryEvent.html#a13be8ff5e398f9fd00d09aac8deddaba">covariance</a> () const</td></tr>
|
|
<tr class="separator:a13be8ff5e398f9fd00d09aac8deddaba"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<tr class="memitem:adbac8609d65d32f38d1e724007091398" id="r_adbac8609d65d32f38d1e724007091398"><td class="memItemLeft" align="right" valign="top">std::vector< float > </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"> </td><td class="mdescRight">Linear and angular velocity, from the motion and the frame interval. <br /></td></tr>
|
|
<tr class="separator:adbac8609d65d32f38d1e724007091398"><td class="memSeparator" colspan="2"> </td></tr>
|
|
<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> & </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"> </td></tr>
|
|
<tr class="inherit_header pub_methods_classUEvent"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUEvent')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classUEvent.html">UEvent</a></td></tr>
|
|
<tr class="memitem:a7356350719dfd5ba2d28368d1fdcd143 inherit pub_methods_classUEvent" id="r_a7356350719dfd5ba2d28368d1fdcd143"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUEvent.html#a7356350719dfd5ba2d28368d1fdcd143">getCode</a> () const</td></tr>
|
|
<tr class="separator:a7356350719dfd5ba2d28368d1fdcd143 inherit pub_methods_classUEvent"><td class="memSeparator" colspan="2"> </td></tr>
|
|
</table><table class="memberdecls">
|
|
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
|
|
Additional Inherited Members</h2></td></tr>
|
|
<tr class="inherit_header pro_methods_classUEvent"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classUEvent')"><img src="closed.png" alt="-"/> Protected Member Functions inherited from <a class="el" href="classUEvent.html">UEvent</a></td></tr>
|
|
<tr class="memitem:a662b610c2e9ebaae5e91ed5ea1dcef34 inherit pro_methods_classUEvent" id="r_a662b610c2e9ebaae5e91ed5ea1dcef34"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classUEvent.html#a662b610c2e9ebaae5e91ed5ea1dcef34">UEvent</a> (int code=0)</td></tr>
|
|
<tr class="separator:a662b610c2e9ebaae5e91ed5ea1dcef34 inherit pro_methods_classUEvent"><td class="memSeparator" colspan="2"> </td></tr>
|
|
</table>
|
|
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
|
|
<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 ≥ 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 & Destructor Documentation</h2>
|
|
<a id="aaf1fc834b6016a79b28883d20f336020" name="aaf1fc834b6016a79b28883d20f336020"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#aaf1fc834b6016a79b28883d20f336020">◆ </a></span>OdometryEvent() <span class="overload">[1/2]</span></h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">rtabmap::OdometryEvent::OdometryEvent </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<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>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a0667339a1f0135ac2b67180b663a028f" name="a0667339a1f0135ac2b67180b663a028f"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a0667339a1f0135ac2b67180b663a028f">◆ </a></span>OdometryEvent() <span class="overload">[2/2]</span></h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">rtabmap::OdometryEvent::OdometryEvent </td>
|
|
<td>(</td>
|
|
<td class="paramtype">const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> & </td>
|
|
<td class="paramname"><em>data</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td>
|
|
<td class="paramname"><em>pose</em>, </td>
|
|
</tr>
|
|
<tr>
|
|
<td class="paramkey"></td>
|
|
<td></td>
|
|
<td class="paramtype">const <a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> & </td>
|
|
<td class="paramname"><em>info</em> = <code><a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a>()</code> </td>
|
|
</tr>
|
|
<tr>
|
|
<td></td>
|
|
<td>)</td>
|
|
<td></td><td></td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<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>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="ac1bb95cd78805ce8ad4b7d5281477670" name="ac1bb95cd78805ce8ad4b7d5281477670"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#ac1bb95cd78805ce8ad4b7d5281477670">◆ </a></span>~OdometryEvent()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">virtual rtabmap::OdometryEvent::~OdometryEvent </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<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>
|
|
|
|
</div>
|
|
</div>
|
|
<h2 class="groupheader">Member Function Documentation</h2>
|
|
<a id="a461365124cbdf488d3a05874be8c4bb2" name="a461365124cbdf488d3a05874be8c4bb2"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a461365124cbdf488d3a05874be8c4bb2">◆ </a></span>getClassName()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">virtual std::string rtabmap::OdometryEvent::getClassName </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<p>This method is used to get the class name of the event. For example, if a class MouseEvent inherits from <a class="el" href="classUEvent.html">UEvent</a>, it must return the "MouseEvent" string. </p><dl class="section return"><dt>Returns</dt><dd>the class name </dd></dl>
|
|
|
|
<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#l00094">94</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a19edd3196a5723053ba425186b1f3d33" name="a19edd3196a5723053ba425186b1f3d33"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a19edd3196a5723053ba425186b1f3d33">◆ </a></span>data() <span class="overload">[1/2]</span></h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname"><a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> & rtabmap::OdometryEvent::data </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td></td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<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#l00097">97</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="ac29fe21e2ba017148dae0dfd9d8c028c" name="ac29fe21e2ba017148dae0dfd9d8c028c"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#ac29fe21e2ba017148dae0dfd9d8c028c">◆ </a></span>data() <span class="overload">[2/2]</span></h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> & rtabmap::OdometryEvent::data </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<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#l00099">99</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="ac7aaf59c0f005b6ac1497c870179fd25" name="ac7aaf59c0f005b6ac1497c870179fd25"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#ac7aaf59c0f005b6ac1497c870179fd25">◆ </a></span>pose()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & rtabmap::OdometryEvent::pose </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<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#l00101">101</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a13be8ff5e398f9fd00d09aac8deddaba" name="a13be8ff5e398f9fd00d09aac8deddaba"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a13be8ff5e398f9fd00d09aac8deddaba">◆ </a></span>covariance()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">const cv::Mat & rtabmap::OdometryEvent::covariance </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<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#l00103">103</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="adbac8609d65d32f38d1e724007091398" name="adbac8609d65d32f38d1e724007091398"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#adbac8609d65d32f38d1e724007091398">◆ </a></span>velocity()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">std::vector< float > rtabmap::OdometryEvent::velocity </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
|
|
<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>
|
|
|
|
</div>
|
|
</div>
|
|
<a id="a9d20ed607b8cc697c8aa5ca725e477a5" name="a9d20ed607b8cc697c8aa5ca725e477a5"></a>
|
|
<h2 class="memtitle"><span class="permalink"><a href="#a9d20ed607b8cc697c8aa5ca725e477a5">◆ </a></span>info()</h2>
|
|
|
|
<div class="memitem">
|
|
<div class="memproto">
|
|
<table class="mlabels">
|
|
<tr>
|
|
<td class="mlabels-left">
|
|
<table class="memname">
|
|
<tr>
|
|
<td class="memname">const <a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> & rtabmap::OdometryEvent::info </td>
|
|
<td>(</td>
|
|
<td class="paramname"></td><td>)</td>
|
|
<td> const</td>
|
|
</tr>
|
|
</table>
|
|
</td>
|
|
<td class="mlabels-right">
|
|
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
|
|
</tr>
|
|
</table>
|
|
</div><div class="memdoc">
|
|
<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#l00126">126</a> of file <a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a>.</p>
|
|
|
|
</div>
|
|
</div>
|
|
<hr/>The documentation for this class was generated from the following file:<ul>
|
|
<li>corelib/include/rtabmap/core/<a class="el" href="OdometryEvent_8h_source.html">OdometryEvent.h</a></li>
|
|
</ul>
|
|
</div><!-- contents -->
|
|
</div><!-- doc-content -->
|
|
<!-- start footer part -->
|
|
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
|
|
<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>
|
|
<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>
|