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<p>What one <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> iteration produced, beyond the pose.
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<a href="classrtabmap_1_1OdometryInfo.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>></code></p>
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Collaboration diagram for rtabmap::OdometryInfo:</div>
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<area shape="rect" title="What one Odometry iteration produced, beyond the pose." alt="" coords="207,152,382,177"/>
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<area shape="rect" href="classrtabmap_1_1RegistrationInfo.html" title="Statistics and diagnostics returned by Registration." alt="" coords="5,5,195,31"/>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:abce081943ea566e0dcc1532ce749e276" id="r_abce081943ea566e0dcc1532ce749e276"><td class="memItemLeft" align="right" valign="top"><a id="abce081943ea566e0dcc1532ce749e276" name="abce081943ea566e0dcc1532ce749e276"></a>
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<a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> </td><td class="memItemRight" valign="bottom"><b>copyWithoutData</b> () const</td></tr>
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<tr class="memdesc:abce081943ea566e0dcc1532ce749e276"><td class="mdescLeft"> </td><td class="mdescRight">A copy without the heavy members (features, local map, scan). <br /></td></tr>
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<tr class="separator:abce081943ea566e0dcc1532ce749e276"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3353258f68ec539287dcc60cc08f3da7" id="r_a3353258f68ec539287dcc60cc08f3da7"><td class="memItemLeft" align="right" valign="top">std::map< std::string, float > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a3353258f68ec539287dcc60cc08f3da7">statistics</a> (const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &pose=<a class="el" href="classrtabmap_1_1Transform.html">Transform</a>())</td></tr>
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<tr class="memdesc:a3353258f68ec539287dcc60cc08f3da7"><td class="mdescLeft"> </td><td class="mdescRight">Formats the content as the <code>Odometry/...</code> statistics. <br /></td></tr>
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<tr class="separator:a3353258f68ec539287dcc60cc08f3da7"><td class="memSeparator" colspan="2"> </td></tr>
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</table><table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
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Public Attributes</h2></td></tr>
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<tr class="memitem:aa4c3fb893f6dcac1d67eeac6836b4faa" id="r_aa4c3fb893f6dcac1d67eeac6836b4faa"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#aa4c3fb893f6dcac1d67eeac6836b4faa">lost</a></td></tr>
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<tr class="memdesc:aa4c3fb893f6dcac1d67eeac6836b4faa"><td class="mdescLeft"> </td><td class="mdescRight">True when the motion could not be estimated on this frame (<a class="el" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">transform</a> is then null). <br /></td></tr>
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<tr class="separator:aa4c3fb893f6dcac1d67eeac6836b4faa"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a15a03ce5044cf0c6af77085777c4df7a" id="r_a15a03ce5044cf0c6af77085777c4df7a"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a15a03ce5044cf0c6af77085777c4df7a">reg</a></td></tr>
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<tr class="memdesc:a15a03ce5044cf0c6af77085777c4df7a"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Registration.html" title="Abstract base for registering two observations (visual, ICP, or both).">Registration</a> result: matches, inliers, covariance, ICP indicators and timings. <br /></td></tr>
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<tr class="separator:a15a03ce5044cf0c6af77085777c4df7a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a736c2515b2347de6e1c6099a727aea8c" id="r_a736c2515b2347de6e1c6099a727aea8c"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a736c2515b2347de6e1c6099a727aea8c">features</a></td></tr>
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<tr class="memdesc:a736c2515b2347de6e1c6099a727aea8c"><td class="mdescLeft"> </td><td class="mdescRight">Number of features extracted in the current frame. <br /></td></tr>
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<tr class="separator:a736c2515b2347de6e1c6099a727aea8c"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a563234c5e3047350ea3694df0ef95b03" id="r_a563234c5e3047350ea3694df0ef95b03"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a563234c5e3047350ea3694df0ef95b03">localMapSize</a></td></tr>
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<tr class="memdesc:a563234c5e3047350ea3694df0ef95b03"><td class="mdescLeft"> </td><td class="mdescRight">Number of 3D points in the local feature map (F2M). <br /></td></tr>
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<tr class="separator:a563234c5e3047350ea3694df0ef95b03"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad0a0b1581cde378c7788e111384d4cfc" id="r_ad0a0b1581cde378c7788e111384d4cfc"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#ad0a0b1581cde378c7788e111384d4cfc">localScanMapSize</a></td></tr>
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<tr class="memdesc:ad0a0b1581cde378c7788e111384d4cfc"><td class="mdescLeft"> </td><td class="mdescRight">Number of points in the local scan map (F2M). <br /></td></tr>
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<tr class="separator:ad0a0b1581cde378c7788e111384d4cfc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5a6b81745b811070092549a1cfdfebbe" id="r_a5a6b81745b811070092549a1cfdfebbe"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a5a6b81745b811070092549a1cfdfebbe">localKeyFrames</a></td></tr>
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<tr class="memdesc:a5a6b81745b811070092549a1cfdfebbe"><td class="mdescLeft"> </td><td class="mdescRight">Number of key frames forming the local map (F2M). <br /></td></tr>
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<tr class="separator:a5a6b81745b811070092549a1cfdfebbe"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9ec2aadde776985736ac9f3ec2b7cb82" id="r_a9ec2aadde776985736ac9f3ec2b7cb82"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a9ec2aadde776985736ac9f3ec2b7cb82">localBundleOutliers</a></td></tr>
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<tr class="memdesc:a9ec2aadde776985736ac9f3ec2b7cb82"><td class="mdescLeft"> </td><td class="mdescRight">Features rejected by the last local bundle adjustment. <br /></td></tr>
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<tr class="separator:a9ec2aadde776985736ac9f3ec2b7cb82"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4fe896b703671cf7f57573fa109ffa9a" id="r_a4fe896b703671cf7f57573fa109ffa9a"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a4fe896b703671cf7f57573fa109ffa9a">localBundleConstraints</a></td></tr>
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<tr class="memdesc:a4fe896b703671cf7f57573fa109ffa9a"><td class="mdescLeft"> </td><td class="mdescRight">Feature observations kept by the last local bundle adjustment. <br /></td></tr>
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<tr class="separator:a4fe896b703671cf7f57573fa109ffa9a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:adbfce0f63a7eedd0a0557ecf4420dfd0" id="r_adbfce0f63a7eedd0a0557ecf4420dfd0"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#adbfce0f63a7eedd0a0557ecf4420dfd0">localBundleTime</a></td></tr>
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<tr class="memdesc:adbfce0f63a7eedd0a0557ecf4420dfd0"><td class="mdescLeft"> </td><td class="mdescRight">Time spent in the local bundle adjustment (s). <br /></td></tr>
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<tr class="separator:adbfce0f63a7eedd0a0557ecf4420dfd0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac6fbabe2f348c15f87807a928aeda82b" id="r_ac6fbabe2f348c15f87807a928aeda82b"><td class="memItemLeft" align="right" valign="top">std::map< int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#ac6fbabe2f348c15f87807a928aeda82b">localBundlePoses</a></td></tr>
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<tr class="memdesc:ac6fbabe2f348c15f87807a928aeda82b"><td class="mdescLeft"> </td><td class="mdescRight">Key frame poses optimized by the local bundle adjustment. <br /></td></tr>
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<tr class="separator:ac6fbabe2f348c15f87807a928aeda82b"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aaa91ea67105c8c174245a7b192e868e3" id="r_aaa91ea67105c8c174245a7b192e868e3"><td class="memItemLeft" align="right" valign="top">std::map< int, std::vector< <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> > > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#aaa91ea67105c8c174245a7b192e868e3">localBundleModels</a></td></tr>
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<tr class="memdesc:aaa91ea67105c8c174245a7b192e868e3"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Camera.html">Camera</a> models of <a class="el" href="classrtabmap_1_1OdometryInfo.html#ac6fbabe2f348c15f87807a928aeda82b">localBundlePoses</a>. <br /></td></tr>
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<tr class="separator:aaa91ea67105c8c174245a7b192e868e3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad0e7d3544c09f38383ec7c130af42b26" id="r_ad0e7d3544c09f38383ec7c130af42b26"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#ad0e7d3544c09f38383ec7c130af42b26">localBundleAvgInlierDistance</a></td></tr>
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<tr class="memdesc:ad0e7d3544c09f38383ec7c130af42b26"><td class="mdescLeft"> </td><td class="mdescRight">Average distance of the bundle adjustment inliers (m). <br /></td></tr>
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<tr class="separator:ad0e7d3544c09f38383ec7c130af42b26"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a78ab082f3310ea5ac8b11e54ba3a3014" id="r_a78ab082f3310ea5ac8b11e54ba3a3014"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a78ab082f3310ea5ac8b11e54ba3a3014">localBundleMaxKeyFramesForInlier</a></td></tr>
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<tr class="memdesc:a78ab082f3310ea5ac8b11e54ba3a3014"><td class="mdescLeft"> </td><td class="mdescRight">Highest number of key frames observing a same inlier. <br /></td></tr>
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<tr class="memitem:ab10aab5c7851215060b3ca9a58543206" id="r_ab10aab5c7851215060b3ca9a58543206"><td class="memItemLeft" align="right" valign="top">std::vector< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#ab10aab5c7851215060b3ca9a58543206">localBundleOutliersPerCam</a></td></tr>
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<tr class="memdesc:ab10aab5c7851215060b3ca9a58543206"><td class="mdescLeft"> </td><td class="mdescRight">Outliers of the last local bundle adjustment, per camera. <br /></td></tr>
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<tr class="memitem:a9e40155a67416dcb420f4164e4aa348a" id="r_a9e40155a67416dcb420f4164e4aa348a"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a9e40155a67416dcb420f4164e4aa348a">keyFrameAdded</a></td></tr>
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<tr class="memdesc:a9e40155a67416dcb420f4164e4aa348a"><td class="mdescLeft"> </td><td class="mdescRight">True if this frame became a key frame of the local map. <br /></td></tr>
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<tr class="memitem:a929c2dc356766dc0f498aa1068ad7ef4" id="r_a929c2dc356766dc0f498aa1068ad7ef4"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a929c2dc356766dc0f498aa1068ad7ef4">timeDeskewing</a></td></tr>
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<tr class="memdesc:a929c2dc356766dc0f498aa1068ad7ef4"><td class="mdescLeft"> </td><td class="mdescRight">Time spent deskewing the laser scan (s). <br /></td></tr>
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<tr class="separator:a929c2dc356766dc0f498aa1068ad7ef4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a91407f56fef27c619e27fdd91003dadf" id="r_a91407f56fef27c619e27fdd91003dadf"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a91407f56fef27c619e27fdd91003dadf">timeEstimation</a></td></tr>
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<tr class="memdesc:a91407f56fef27c619e27fdd91003dadf"><td class="mdescLeft"> </td><td class="mdescRight">Time spent estimating the motion (s). <br /></td></tr>
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<tr class="separator:a91407f56fef27c619e27fdd91003dadf"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aae03a73e704e23ea5142de821b618e6e" id="r_aae03a73e704e23ea5142de821b618e6e"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#aae03a73e704e23ea5142de821b618e6e">timeParticleFiltering</a></td></tr>
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<tr class="memdesc:aae03a73e704e23ea5142de821b618e6e"><td class="mdescLeft"> </td><td class="mdescRight">Time spent in the particle filter (s), when enabled. <br /></td></tr>
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<tr class="separator:aae03a73e704e23ea5142de821b618e6e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7b005bbc7922cf3c6c352451f65b199d" id="r_a7b005bbc7922cf3c6c352451f65b199d"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a7b005bbc7922cf3c6c352451f65b199d">stamp</a></td></tr>
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<tr class="memdesc:a7b005bbc7922cf3c6c352451f65b199d"><td class="mdescLeft"> </td><td class="mdescRight">Stamp of the processed frame. <br /></td></tr>
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<tr class="separator:a7b005bbc7922cf3c6c352451f65b199d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2c12cf07f29ecbafe6eacfd2e987adb6" id="r_a2c12cf07f29ecbafe6eacfd2e987adb6"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a></td></tr>
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<tr class="memdesc:a2c12cf07f29ecbafe6eacfd2e987adb6"><td class="mdescLeft"> </td><td class="mdescRight">Time since the previous processed frame (s); the divisor for velocities. <br /></td></tr>
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<tr class="separator:a2c12cf07f29ecbafe6eacfd2e987adb6"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad4f09afa610091012c2edd7708d722c5" id="r_ad4f09afa610091012c2edd7708d722c5"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">transform</a></td></tr>
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<tr class="memdesc:ad4f09afa610091012c2edd7708d722c5"><td class="mdescLeft"> </td><td class="mdescRight">Motion since the previous frame, null when <a class="el" href="classrtabmap_1_1OdometryInfo.html#aa4c3fb893f6dcac1d67eeac6836b4faa">lost</a>. <br /></td></tr>
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<tr class="memitem:ac786b5953b124a80524a051cfbcb7460" id="r_ac786b5953b124a80524a051cfbcb7460"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#ac786b5953b124a80524a051cfbcb7460">transformFiltered</a></td></tr>
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<tr class="memdesc:ac786b5953b124a80524a051cfbcb7460"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">transform</a> after Kalman or particle filtering, when enabled. <br /></td></tr>
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<tr class="separator:ac786b5953b124a80524a051cfbcb7460"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aba971e389867f752f04ecd7b17471f6e" id="r_aba971e389867f752f04ecd7b17471f6e"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#aba971e389867f752f04ecd7b17471f6e">transformGroundTruth</a></td></tr>
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<tr class="memdesc:aba971e389867f752f04ecd7b17471f6e"><td class="mdescLeft"> </td><td class="mdescRight">Ground truth motion since the previous frame, when the data provides it. <br /></td></tr>
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<tr class="separator:aba971e389867f752f04ecd7b17471f6e"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3aec571c2fae4b6e3b1197d9f7adabed" id="r_a3aec571c2fae4b6e3b1197d9f7adabed"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a3aec571c2fae4b6e3b1197d9f7adabed">guessVelocity</a></td></tr>
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<tr class="separator:a3aec571c2fae4b6e3b1197d9f7adabed"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8aa1c7947217518727a62bb55106a706" id="r_a8aa1c7947217518727a62bb55106a706"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a8aa1c7947217518727a62bb55106a706">guess</a></td></tr>
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<tr class="memdesc:a8aa1c7947217518727a62bb55106a706"><td class="mdescLeft"> </td><td class="mdescRight">Motion guess given to the front-end (from the velocity model, an external pose or an <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>). <br /></td></tr>
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<tr class="memitem:a669d252c42f5635ecbe0288c1b0e8721" id="r_a669d252c42f5635ecbe0288c1b0e8721"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a669d252c42f5635ecbe0288c1b0e8721">distanceTravelled</a></td></tr>
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<tr class="memdesc:a669d252c42f5635ecbe0288c1b0e8721"><td class="mdescLeft"> </td><td class="mdescRight">Distance travelled since the odometry was last reset (m). <br /></td></tr>
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<tr class="separator:a669d252c42f5635ecbe0288c1b0e8721"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ad7f7beb7810db1912c20b05e94eafdf3" id="r_ad7f7beb7810db1912c20b05e94eafdf3"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#ad7f7beb7810db1912c20b05e94eafdf3">memoryUsage</a></td></tr>
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<tr class="memdesc:ad7f7beb7810db1912c20b05e94eafdf3"><td class="mdescLeft"> </td><td class="mdescRight">Process memory used (MB), only with <a class="el" href="classrtabmap_1_1Parameters.html#ad3b28ede4e665edf57689abb7e445438">Parameters::kRtabmapPublishRAMUsage()</a>. <br /></td></tr>
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<tr class="separator:ad7f7beb7810db1912c20b05e94eafdf3"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7641b415d9d08f7d267ca25ee564a2a7" id="r_a7641b415d9d08f7d267ca25ee564a2a7"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a7641b415d9d08f7d267ca25ee564a2a7">gravityRollError</a></td></tr>
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<tr class="memdesc:a7641b415d9d08f7d267ca25ee564a2a7"><td class="mdescLeft"> </td><td class="mdescRight">Absolute roll difference between the estimated pose and the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> gravity (rad). <br /></td></tr>
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<tr class="separator:a7641b415d9d08f7d267ca25ee564a2a7"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9b58bbc659878dc763c6f0201b2ecd28" id="r_a9b58bbc659878dc763c6f0201b2ecd28"><td class="memItemLeft" align="right" valign="top">double </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a9b58bbc659878dc763c6f0201b2ecd28">gravityPitchError</a></td></tr>
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<tr class="memdesc:a9b58bbc659878dc763c6f0201b2ecd28"><td class="mdescLeft"> </td><td class="mdescRight">Absolute pitch difference between the estimated pose and the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> gravity (rad). <br /></td></tr>
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<tr class="memitem:ad2fa24b41e053e6a2f90dcb0189a901d" id="r_ad2fa24b41e053e6a2f90dcb0189a901d"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#ad2fa24b41e053e6a2f90dcb0189a901d">type</a></td></tr>
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<tr class="memdesc:ad2fa24b41e053e6a2f90dcb0189a901d"><td class="mdescLeft"> </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> strategy that produced this, see <a class="el" href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a>. <br /></td></tr>
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<tr class="separator:ad2fa24b41e053e6a2f90dcb0189a901d"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac40ddcfab5cd0c6b9fe34aa5b0143814" id="r_ac40ddcfab5cd0c6b9fe34aa5b0143814"><td class="memItemLeft" align="right" valign="top">std::multimap< int, cv::KeyPoint > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#ac40ddcfab5cd0c6b9fe34aa5b0143814">words</a></td></tr>
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<tr class="memdesc:ac40ddcfab5cd0c6b9fe34aa5b0143814"><td class="mdescLeft"> </td><td class="mdescRight">Keypoints of the current frame, by word id (F2M). <br /></td></tr>
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<tr class="separator:ac40ddcfab5cd0c6b9fe34aa5b0143814"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2231e7c27db459398b6b51fad108f876" id="r_a2231e7c27db459398b6b51fad108f876"><td class="memItemLeft" align="right" valign="top">std::map< int, cv::Point3f > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a2231e7c27db459398b6b51fad108f876">localMap</a></td></tr>
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<tr class="memdesc:a2231e7c27db459398b6b51fad108f876"><td class="mdescLeft"> </td><td class="mdescRight">Local feature map in the odometry frame, by word id (F2M). <br /></td></tr>
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<tr class="memitem:a08ee9e84949857719b76d082559f3cbc" id="r_a08ee9e84949857719b76d082559f3cbc"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a08ee9e84949857719b76d082559f3cbc">localScanMap</a></td></tr>
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<tr class="memdesc:a08ee9e84949857719b76d082559f3cbc"><td class="mdescLeft"> </td><td class="mdescRight">Local scan map in the odometry frame (F2M). <br /></td></tr>
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<tr class="separator:a08ee9e84949857719b76d082559f3cbc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a191435796512e2d1b6fd06c36bbc7516" id="r_a191435796512e2d1b6fd06c36bbc7516"><td class="memItemLeft" align="right" valign="top">std::vector< cv::Point2f > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a191435796512e2d1b6fd06c36bbc7516">refCorners</a></td></tr>
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<tr class="memdesc:a191435796512e2d1b6fd06c36bbc7516"><td class="mdescLeft"> </td><td class="mdescRight">Corners of the reference frame (F2F). <br /></td></tr>
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<tr class="memitem:a028f791a3005377516d217608a696556" id="r_a028f791a3005377516d217608a696556"><td class="memItemLeft" align="right" valign="top">std::vector< cv::Point2f > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a028f791a3005377516d217608a696556">newCorners</a></td></tr>
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<tr class="memdesc:a028f791a3005377516d217608a696556"><td class="mdescLeft"> </td><td class="mdescRight">Where those corners were found in the current frame (F2F). <br /></td></tr>
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<tr class="separator:a028f791a3005377516d217608a696556"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a6410510dbdd2e9ce8fb1e7cb60dc3c4e" id="r_a6410510dbdd2e9ce8fb1e7cb60dc3c4e"><td class="memItemLeft" align="right" valign="top">std::vector< int > </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html#a6410510dbdd2e9ce8fb1e7cb60dc3c4e">cornerInliers</a></td></tr>
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<tr class="memdesc:a6410510dbdd2e9ce8fb1e7cb60dc3c4e"><td class="mdescLeft"> </td><td class="mdescRight">Indices in <a class="el" href="classrtabmap_1_1OdometryInfo.html#a191435796512e2d1b6fd06c36bbc7516">refCorners</a> / <a class="el" href="classrtabmap_1_1OdometryInfo.html#a028f791a3005377516d217608a696556">newCorners</a> kept as inliers (F2F). <br /></td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock"><p>What one <a class="el" href="classrtabmap_1_1Odometry.html">Odometry</a> iteration produced, beyond the pose. </p>
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<p>Filled by <a class="el" href="classrtabmap_1_1Odometry.html#a0c2d39ed9b76c2c411a9e62e16e3bce1">Odometry::process()</a> when a pointer is passed to it, and carried to the rest of the application by <a class="el" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a>. It holds the incremental motion, the quality indicators used to decide whether the estimate can be trusted, the timings, and the intermediate data a viewer needs to draw what the front-end sees (local map, matched features).</p>
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<p>Which fields are filled depends on the front-end: the feature-related ones come from <a class="el" href="classrtabmap_1_1OdometryF2M.html">OdometryF2M</a> and <a class="el" href="classrtabmap_1_1OdometryF2F.html">OdometryF2F</a>, and an ICP-only or external strategy leaves them empty.</p>
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> </dd>
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<dd>
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<a class="el" href="classrtabmap_1_1OdometryEvent.html" title="One processed frame with the pose the odometry integrated for it.">OdometryEvent</a> </dd>
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<dd>
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<a class="el" href="classrtabmap_1_1RegistrationInfo.html" title="Statistics and diagnostics returned by Registration.">RegistrationInfo</a> </dd></dl>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00063">63</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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</div><h2 class="groupheader">Member Function Documentation</h2>
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<a id="a3353258f68ec539287dcc60cc08f3da7" name="a3353258f68ec539287dcc60cc08f3da7"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a3353258f68ec539287dcc60cc08f3da7">◆ </a></span>statistics()</h2>
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<td class="memname">std::map< std::string, float > rtabmap::OdometryInfo::statistics </td>
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<td>(</td>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> & </td>
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<td class="paramname"><em>pose</em> = <code><a class="el" href="classrtabmap_1_1Transform.html">Transform</a>()</code></td><td>)</td>
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<p>Formats the content as the <code>Odometry/...</code> statistics. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<table class="params">
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<tr><td class="paramname">pose</td><td>Current pose, added to the output when not null. </td></tr>
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</table>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>Statistic name (with its unit) to value, as published in <a class="el" href="classrtabmap_1_1Statistics.html">Statistics</a>. </dd></dl>
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<h2 class="groupheader">Member Data Documentation</h2>
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<a id="aa4c3fb893f6dcac1d67eeac6836b4faa" name="aa4c3fb893f6dcac1d67eeac6836b4faa"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#aa4c3fb893f6dcac1d67eeac6836b4faa">◆ </a></span>lost</h2>
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<td class="memname">bool rtabmap::OdometryInfo::lost</td>
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<p>True when the motion could not be estimated on this frame (<a class="el" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">transform</a> is then null). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00076">76</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a15a03ce5044cf0c6af77085777c4df7a">◆ </a></span>reg</h2>
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<td class="memname"><a class="el" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> rtabmap::OdometryInfo::reg</td>
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<p><a class="el" href="classrtabmap_1_1Registration.html" title="Abstract base for registering two observations (visual, ICP, or both).">Registration</a> result: matches, inliers, covariance, ICP indicators and timings. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00077">77</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a736c2515b2347de6e1c6099a727aea8c">◆ </a></span>features</h2>
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<p>Number of features extracted in the current frame. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00078">78</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a563234c5e3047350ea3694df0ef95b03">◆ </a></span>localMapSize</h2>
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<p>Number of 3D points in the local feature map (F2M). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00079">79</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Number of points in the local scan map (F2M). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00080">80</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a5a6b81745b811070092549a1cfdfebbe">◆ </a></span>localKeyFrames</h2>
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<p>Number of key frames forming the local map (F2M). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00081">81</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Features rejected by the last local bundle adjustment. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00082">82</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Feature observations kept by the last local bundle adjustment. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00083">83</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Time spent in the local bundle adjustment (s). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00084">84</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac6fbabe2f348c15f87807a928aeda82b">◆ </a></span>localBundlePoses</h2>
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<td class="memname">std::map<int, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a>> rtabmap::OdometryInfo::localBundlePoses</td>
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<p>Key frame poses optimized by the local bundle adjustment. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00085">85</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<td class="memname">std::map<int, std::vector<<a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a>> > rtabmap::OdometryInfo::localBundleModels</td>
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<p><a class="el" href="classrtabmap_1_1Camera.html">Camera</a> models of <a class="el" href="classrtabmap_1_1OdometryInfo.html#ac6fbabe2f348c15f87807a928aeda82b">localBundlePoses</a>. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00086">86</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Average distance of the bundle adjustment inliers (m). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00087">87</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Highest number of key frames observing a same inlier. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00088">88</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Outliers of the last local bundle adjustment, per camera. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00089">89</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>True if this frame became a key frame of the local map. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00090">90</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Time spent deskewing the laser scan (s). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00091">91</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Time spent estimating the motion (s). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00092">92</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Time spent in the particle filter (s), when enabled. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00093">93</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Stamp of the processed frame. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00094">94</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Time since the previous processed frame (s); the divisor for velocities. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00095">95</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Motion since the previous frame, null when <a class="el" href="classrtabmap_1_1OdometryInfo.html#aa4c3fb893f6dcac1d67eeac6836b4faa">lost</a>. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00096">96</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p><a class="el" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">transform</a> after Kalman or particle filtering, when enabled. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00097">97</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Ground truth motion since the previous frame, when the data provides it. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00098">98</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000009">Deprecated:</a></b></dt><dd>Use <a class="el" href="classrtabmap_1_1OdometryInfo.html#a8aa1c7947217518727a62bb55106a706">guess</a> and <a class="el" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a> instead. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00099">99</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Motion guess given to the front-end (from the velocity model, an external pose or an <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a>). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00100">100</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Distance travelled since the odometry was last reset (m). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00101">101</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Process memory used (MB), only with <a class="el" href="classrtabmap_1_1Parameters.html#ad3b28ede4e665edf57689abb7e445438">Parameters::kRtabmapPublishRAMUsage()</a>. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00102">102</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Absolute roll difference between the estimated pose and the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> gravity (rad). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00103">103</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Absolute pitch difference between the estimated pose and the <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> gravity (rad). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00104">104</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> strategy that produced this, see <a class="el" href="classrtabmap_1_1Parameters.html#abba8d5778f27ab7cdf90a900b71916ad">Parameters::kOdomStrategy()</a>. </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00106">106</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Keypoints of the current frame, by word id (F2M). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00109">109</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Local feature map in the odometry frame, by word id (F2M). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00110">110</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Local scan map in the odometry frame (F2M). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00111">111</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Corners of the reference frame (F2F). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00114">114</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Where those corners were found in the current frame (F2F). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00115">115</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<p>Indices in <a class="el" href="classrtabmap_1_1OdometryInfo.html#a191435796512e2d1b6fd06c36bbc7516">refCorners</a> / <a class="el" href="classrtabmap_1_1OdometryInfo.html#a028f791a3005377516d217608a696556">newCorners</a> kept as inliers (F2F). </p>
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<p class="definition">Definition at line <a class="el" href="OdometryInfo_8h_source.html#l00116">116</a> of file <a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
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<li>corelib/include/rtabmap/core/<a class="el" href="OdometryInfo_8h_source.html">OdometryInfo.h</a></li>
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