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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a href="#pub-types">Public Types</a> |
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<p>Runs a <a class="el" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> instance in its own thread, driven by events.
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<a href="classrtabmap_1_1RtabmapThread.html#details">More...</a></p>
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<p><code>#include <<a class="el" href="RtabmapThread_8h_source.html">RtabmapThread.h</a>></code></p>
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Inheritance diagram for rtabmap::RtabmapThread:</div>
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Collaboration diagram for rtabmap::RtabmapThread:</div>
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<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
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Public Types</h2></td></tr>
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<tr class="memitem:a037a7b9aaacca152e0f087920e8a5fae" id="r_a037a7b9aaacca152e0f087920e8a5fae"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5fae">State</a> { <a class="el" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5faea733e80c5ec27718bd9551646f99d352c">kStateDetecting</a>
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, <a class="el" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5faeab07a30b69b21efdccbb6c040a5208001">kStateProcessCommand</a>
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}</td></tr>
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<tr class="memdesc:a037a7b9aaacca152e0f087920e8a5fae"><td class="mdescLeft"> </td><td class="mdescRight">What the main loop does on its next wake-up. <a href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5fae">More...</a><br /></td></tr>
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<tr class="separator:a037a7b9aaacca152e0f087920e8a5fae"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_types_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classUThread')"><img src="closed.png" alt="-"/> Public Types inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
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<tr class="memitem:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread" id="r_a731ef4dd5a8d15abcc06e7cfa53cd153"><td class="memItemLeft" align="right" valign="top">enum  </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> { <br />
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  <b>kPLow</b>
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, <b>kPBelowNormal</b>
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, <b>kPNormal</b>
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, <b>kPAboveNormal</b>
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, <br />
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  <b>kPRealTime</b>
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<br />
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}</td></tr>
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<tr class="separator:a731ef4dd5a8d15abcc06e7cfa53cd153 inherit pub_types_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_types_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_types_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/> Public Types inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC< void ></a></td></tr>
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<tr class="memitem:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" id="r_a0ffb19a834ba3271ed3c9f650f119664"><td class="memItemLeft" align="right" valign="top">typedef THREAD_HANDLE </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a0ffb19a834ba3271ed3c9f650f119664">Handle</a></td></tr>
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<tr class="separator:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" id="r_a14b685cdf9b6529a5e31f0f021c4cfd9"><td class="memItemLeft" align="right" valign="top">typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a14b685cdf9b6529a5e31f0f021c4cfd9">Handler</a>) ()</td></tr>
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<tr class="separator:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4" id="r_a0ffb19a834ba3271ed3c9f650f119664"><td class="memItemLeft" align="right" valign="top">typedef THREAD_HANDLE </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a0ffb19a834ba3271ed3c9f650f119664">Handle</a></td></tr>
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<tr class="separator:a0ffb19a834ba3271ed3c9f650f119664 inherit pub_types_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4" id="r_a14b685cdf9b6529a5e31f0f021c4cfd9"><td class="memItemLeft" align="right" valign="top">typedef void(* </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a14b685cdf9b6529a5e31f0f021c4cfd9">Handler</a>) ()</td></tr>
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<tr class="separator:a14b685cdf9b6529a5e31f0f021c4cfd9 inherit pub_types_classUThreadC_3_01void_01_4"><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-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:a5c5752b0b0a0e05e8e97308c74f9b955" id="r_a5c5752b0b0a0e05e8e97308c74f9b955"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapThread.html#a5c5752b0b0a0e05e8e97308c74f9b955">RtabmapThread</a> (<a class="el" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> *rtabmap)</td></tr>
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<tr class="memdesc:a5c5752b0b0a0e05e8e97308c74f9b955"><td class="mdescLeft"> </td><td class="mdescRight">Constructor. <br /></td></tr>
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<tr class="separator:a5c5752b0b0a0e05e8e97308c74f9b955"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aea5c7a61adab9ed8382066806420bfac" id="r_aea5c7a61adab9ed8382066806420bfac"><td class="memItemLeft" align="right" valign="top"><a id="aea5c7a61adab9ed8382066806420bfac" name="aea5c7a61adab9ed8382066806420bfac"></a>
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void </td><td class="memItemRight" valign="bottom"><b>clearBufferedData</b> ()</td></tr>
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<tr class="memdesc:aea5c7a61adab9ed8382066806420bfac"><td class="mdescLeft"> </td><td class="mdescRight">Drops the buffered frames, the pending user data and the odometry state. <br /></td></tr>
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<tr class="separator:aea5c7a61adab9ed8382066806420bfac"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8ff95633544be0d87c1dc977cb52a064" id="r_a8ff95633544be0d87c1dc977cb52a064"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapThread.html#a8ff95633544be0d87c1dc977cb52a064">setDetectorRate</a> (float rate)</td></tr>
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<tr class="memdesc:a8ff95633544be0d87c1dc977cb52a064"><td class="mdescLeft"> </td><td class="mdescRight">Sets the maximum rate at which frames are processed (Hz, 0 = unlimited). <br /></td></tr>
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<tr class="separator:a8ff95633544be0d87c1dc977cb52a064"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ab9b4e64c65264f12bfeb1814aff59cbe" id="r_ab9b4e64c65264f12bfeb1814aff59cbe"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapThread.html#ab9b4e64c65264f12bfeb1814aff59cbe">setDataBufferSize</a> (unsigned int bufferSize)</td></tr>
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<tr class="memdesc:ab9b4e64c65264f12bfeb1814aff59cbe"><td class="mdescLeft"> </td><td class="mdescRight">Sets how many frames may wait in the buffer (0 = unlimited). <br /></td></tr>
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<tr class="separator:ab9b4e64c65264f12bfeb1814aff59cbe"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a78271ce60d00219c4fdd86813136a116" id="r_a78271ce60d00219c4fdd86813136a116"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapThread.html#a78271ce60d00219c4fdd86813136a116">createIntermediateNodes</a> (bool enabled)</td></tr>
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<tr class="memdesc:a78271ce60d00219c4fdd86813136a116"><td class="mdescLeft"> </td><td class="mdescRight">Keeps the frames skipped by <a class="el" href="classrtabmap_1_1RtabmapThread.html#a8ff95633544be0d87c1dc977cb52a064">setDetectorRate()</a> as intermediate nodes. <br /></td></tr>
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<tr class="separator:a78271ce60d00219c4fdd86813136a116"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac788245b9aa70ebc9e7148fad3b92ed1" id="r_ac788245b9aa70ebc9e7148fad3b92ed1"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapThread.html#ac788245b9aa70ebc9e7148fad3b92ed1">getDetectorRate</a> () const</td></tr>
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<tr class="separator:ac788245b9aa70ebc9e7148fad3b92ed1"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a9aa2f05308498abcba0f01b2df25cac0" id="r_a9aa2f05308498abcba0f01b2df25cac0"><td class="memItemLeft" align="right" valign="top">unsigned int </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapThread.html#a9aa2f05308498abcba0f01b2df25cac0">getDataBufferSize</a> () const</td></tr>
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<tr class="separator:a9aa2f05308498abcba0f01b2df25cac0"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3dffee6fb4ae760c140144fd47923643" id="r_a3dffee6fb4ae760c140144fd47923643"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapThread.html#a3dffee6fb4ae760c140144fd47923643">getCreateIntermediateNodes</a> () const</td></tr>
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<tr class="separator:a3dffee6fb4ae760c140144fd47923643"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aabea5cf86e55d6669d41b0b569dac574" id="r_aabea5cf86e55d6669d41b0b569dac574"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574">close</a> (bool databaseSaved, const std::string &databasePath="")</td></tr>
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<tr class="memdesc:aabea5cf86e55d6669d41b0b569dac574"><td class="mdescLeft"> </td><td class="mdescRight">Joins the thread and closes rtabmap. This will delete rtabmap object if set. <br /></td></tr>
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<tr class="separator:aabea5cf86e55d6669d41b0b569dac574"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_methods_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUThread')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
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<tr class="memitem:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread" id="r_a05a92f95e2a8900f27b09ddf907b97be"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a05a92f95e2a8900f27b09ddf907b97be">UThread</a> (<a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> priority=kPNormal)</td></tr>
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<tr class="separator:a05a92f95e2a8900f27b09ddf907b97be inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread" id="r_a437580d224111e60cbe2626f0e4cb12e"><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a437580d224111e60cbe2626f0e4cb12e">~UThread</a> ()</td></tr>
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<tr class="separator:a437580d224111e60cbe2626f0e4cb12e inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread" id="r_a051e9adcf24f92b9c8e31acd06bad88c"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a051e9adcf24f92b9c8e31acd06bad88c">start</a> ()</td></tr>
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<tr class="separator:a051e9adcf24f92b9c8e31acd06bad88c inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread" id="r_a8dfefcfd68b453da08ddba9836f35965"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a8dfefcfd68b453da08ddba9836f35965">kill</a> ()</td></tr>
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<tr class="separator:a8dfefcfd68b453da08ddba9836f35965 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread" id="r_acf33c0e4b656af76da100e7d4f69ed1d"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#acf33c0e4b656af76da100e7d4f69ed1d">join</a> (bool killFirst=false)</td></tr>
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<tr class="separator:acf33c0e4b656af76da100e7d4f69ed1d inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a80418be3a80a01ddd05a863b58787b43 inherit pub_methods_classUThread" id="r_a80418be3a80a01ddd05a863b58787b43"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a80418be3a80a01ddd05a863b58787b43">setPriority</a> (<a class="el" href="classUThread.html#a731ef4dd5a8d15abcc06e7cfa53cd153">Priority</a> priority)</td></tr>
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<tr class="separator:a80418be3a80a01ddd05a863b58787b43 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aabcf31acae6ca5b8503ec320acbc11f8 inherit pub_methods_classUThread" id="r_aabcf31acae6ca5b8503ec320acbc11f8"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#aabcf31acae6ca5b8503ec320acbc11f8">setAffinity</a> (int cpu=0)</td></tr>
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<tr class="separator:aabcf31acae6ca5b8503ec320acbc11f8 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:ac80eff7d48382fd230141ca286370d33 inherit pub_methods_classUThread" id="r_ac80eff7d48382fd230141ca286370d33"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#ac80eff7d48382fd230141ca286370d33">isCreating</a> () const</td></tr>
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<tr class="separator:ac80eff7d48382fd230141ca286370d33 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a38e2b22f0616ed4128312baff9cfeba9 inherit pub_methods_classUThread" id="r_a38e2b22f0616ed4128312baff9cfeba9"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a38e2b22f0616ed4128312baff9cfeba9">isRunning</a> () const</td></tr>
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<tr class="separator:a38e2b22f0616ed4128312baff9cfeba9 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a2c4554ad881c0532239a0930c2ebfe24 inherit pub_methods_classUThread" id="r_a2c4554ad881c0532239a0930c2ebfe24"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a2c4554ad881c0532239a0930c2ebfe24">isIdle</a> () const</td></tr>
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<tr class="separator:a2c4554ad881c0532239a0930c2ebfe24 inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a3a0d0de0f78eab72512941ccd048477b inherit pub_methods_classUThread" id="r_a3a0d0de0f78eab72512941ccd048477b"><td class="memItemLeft" align="right" valign="top">bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a3a0d0de0f78eab72512941ccd048477b">isKilled</a> () const</td></tr>
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<tr class="separator:a3a0d0de0f78eab72512941ccd048477b inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4f404f03046fa89dced06514f040b2af inherit pub_methods_classUThread" id="r_a4f404f03046fa89dced06514f040b2af"><td class="memItemLeft" align="right" valign="top">Handle </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a4f404f03046fa89dced06514f040b2af">getThreadHandle</a> () const</td></tr>
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<tr class="separator:a4f404f03046fa89dced06514f040b2af inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a40e8ea82c06ed20bb6266a6a42a8f51f inherit pub_methods_classUThread" id="r_a40e8ea82c06ed20bb6266a6a42a8f51f"><td class="memItemLeft" align="right" valign="top">unsigned long </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a40e8ea82c06ed20bb6266a6a42a8f51f">getThreadId</a> () const</td></tr>
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<tr class="separator:a40e8ea82c06ed20bb6266a6a42a8f51f inherit pub_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC< void ></a></td></tr>
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<tr class="memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a724a5919ea1f1e74b69a9073d532e400"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400">Create</a> (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const</td></tr>
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<tr class="separator:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a5af5c76be4b8e6b746a77146a3d7021a"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5af5c76be4b8e6b746a77146a3d7021a">Create</a> (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const</td></tr>
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<tr class="separator:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a724a5919ea1f1e74b69a9073d532e400"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a724a5919ea1f1e74b69a9073d532e400">Create</a> (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const</td></tr>
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<tr class="separator:a724a5919ea1f1e74b69a9073d532e400 inherit pub_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4" id="r_a5af5c76be4b8e6b746a77146a3d7021a"><td class="memItemLeft" align="right" valign="top">int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5af5c76be4b8e6b746a77146a3d7021a">Create</a> (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const</td></tr>
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<tr class="separator:a5af5c76be4b8e6b746a77146a3d7021a inherit pub_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_methods_classUEventsHandler"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUEventsHandler')"><img src="closed.png" alt="-"/> Public Member Functions inherited from <a class="el" href="classUEventsHandler.html">UEventsHandler</a></td></tr>
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<tr class="memitem:a425f7af2882c980044a310e68ab13877 inherit pub_methods_classUEventsHandler" id="r_a425f7af2882c980044a310e68ab13877"><td class="memItemLeft" align="right" valign="top">
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void </td><td class="memItemRight" valign="bottom"><b>registerToEventsManager</b> ()</td></tr>
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<tr class="separator:a425f7af2882c980044a310e68ab13877 inherit pub_methods_classUEventsHandler"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa83926b16066f18dcae9d55997fa11ba inherit pub_methods_classUEventsHandler" id="r_aa83926b16066f18dcae9d55997fa11ba"><td class="memItemLeft" align="right" valign="top">
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void </td><td class="memItemRight" valign="bottom"><b>unregisterFromEventsManager</b> ()</td></tr>
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<tr class="separator:aa83926b16066f18dcae9d55997fa11ba inherit pub_methods_classUEventsHandler"><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="pro-methods" name="pro-methods"></a>
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Protected Member Functions</h2></td></tr>
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<tr class="memitem:ab2556f7773329963038d876c86e97d09" id="r_ab2556f7773329963038d876c86e97d09"><td class="memItemLeft" align="right" valign="top">virtual bool </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09">handleEvent</a> (<a class="el" href="classUEvent.html">UEvent</a> *anEvent)</td></tr>
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<tr class="memdesc:ab2556f7773329963038d876c86e97d09"><td class="mdescLeft"> </td><td class="mdescRight">Receives the events listed in the class description. <br /></td></tr>
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<tr class="separator:ab2556f7773329963038d876c86e97d09"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pro_methods_classUEventsHandler"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classUEventsHandler')"><img src="closed.png" alt="-"/> Protected Member Functions inherited from <a class="el" href="classUEventsHandler.html">UEventsHandler</a></td></tr>
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<tr class="memitem:abfe2ba3d1fb92e59aff1978cbc21d134 inherit pro_methods_classUEventsHandler" id="r_abfe2ba3d1fb92e59aff1978cbc21d134"><td class="memItemLeft" align="right" valign="top"> </td><td class="memItemRight" valign="bottom"><a class="el" href="classUEventsHandler.html#abfe2ba3d1fb92e59aff1978cbc21d134">UEventsHandler</a> ()</td></tr>
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<tr class="separator:abfe2ba3d1fb92e59aff1978cbc21d134 inherit pro_methods_classUEventsHandler"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a15ac2bf243e938c411fac0dff7db2f51 inherit pro_methods_classUEventsHandler" id="r_a15ac2bf243e938c411fac0dff7db2f51"><td class="memItemLeft" align="right" valign="top">virtual </td><td class="memItemRight" valign="bottom"><a class="el" href="classUEventsHandler.html#a15ac2bf243e938c411fac0dff7db2f51">~UEventsHandler</a> ()</td></tr>
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<tr class="separator:a15ac2bf243e938c411fac0dff7db2f51 inherit pro_methods_classUEventsHandler"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pro_methods_classUEventsSender"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classUEventsSender')"><img src="closed.png" alt="-"/> Protected Member Functions inherited from <a class="el" href="classUEventsSender.html">UEventsSender</a></td></tr>
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<tr class="memitem:ab03886c42164f2f9bf89fd3da641526f inherit pro_methods_classUEventsSender" id="r_ab03886c42164f2f9bf89fd3da641526f"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUEventsSender.html#ab03886c42164f2f9bf89fd3da641526f">post</a> (<a class="el" href="classUEvent.html">UEvent</a> *event, bool async=true) const</td></tr>
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<tr class="separator:ab03886c42164f2f9bf89fd3da641526f inherit pro_methods_classUEventsSender"><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="inherited" name="inherited"></a>
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Additional Inherited Members</h2></td></tr>
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<tr class="inherit_header pub_static_methods_classUThread"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classUThread')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classUThread.html">UThread</a></td></tr>
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<tr class="memitem:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread" id="r_a6fa5e2358a86c5185371fd14305021aa"><td class="memItemLeft" align="right" valign="top">static unsigned long </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThread.html#a6fa5e2358a86c5185371fd14305021aa">currentThreadId</a> ()</td></tr>
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<tr class="separator:a6fa5e2358a86c5185371fd14305021aa inherit pub_static_methods_classUThread"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pub_static_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pub_static_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/> Static Public Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC< void ></a></td></tr>
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<tr class="memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a17eb99ec0990246c0c7161e6bec84c74"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74">Create</a> (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)</td></tr>
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<tr class="separator:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1584a3a80d86181ff66784cf0f8c2392 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a1584a3a80d86181ff66784cf0f8c2392"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a1584a3a80d86181ff66784cf0f8c2392">Join</a> (Handle H)</td></tr>
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<tr class="separator:a1584a3a80d86181ff66784cf0f8c2392 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aec2af3352538bb8e45916c468e6960dc inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_aec2af3352538bb8e45916c468e6960dc"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#aec2af3352538bb8e45916c468e6960dc">Kill</a> (Handle H)</td></tr>
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<tr class="separator:aec2af3352538bb8e45916c468e6960dc inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a591f5bfcea463cfaa2249bbcdd3ab522 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a591f5bfcea463cfaa2249bbcdd3ab522"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a591f5bfcea463cfaa2249bbcdd3ab522">Detach</a> (Handle H)</td></tr>
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<tr class="separator:a591f5bfcea463cfaa2249bbcdd3ab522 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a17eb99ec0990246c0c7161e6bec84c74"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a17eb99ec0990246c0c7161e6bec84c74">Create</a> (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)</td></tr>
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<tr class="separator:a17eb99ec0990246c0c7161e6bec84c74 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a1d704989d9a19f552ac0387c143cad95 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a1d704989d9a19f552ac0387c143cad95"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a1d704989d9a19f552ac0387c143cad95">Join</a> (const Handle &H)</td></tr>
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<tr class="separator:a1d704989d9a19f552ac0387c143cad95 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a4a83aaa66db8ee6f07482130091690e3"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a4a83aaa66db8ee6f07482130091690e3">Kill</a> (const Handle &H)</td></tr>
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<tr class="separator:a4a83aaa66db8ee6f07482130091690e3 inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4" id="r_a094155ec7163e19480ed2181ef8032ed"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a094155ec7163e19480ed2181ef8032ed">Detach</a> (const Handle &H)</td></tr>
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<tr class="separator:a094155ec7163e19480ed2181ef8032ed inherit pub_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="inherit_header pro_static_methods_classUThreadC_3_01void_01_4"><td colspan="2" onclick="javascript:toggleInherit('pro_static_methods_classUThreadC_3_01void_01_4')"><img src="closed.png" alt="-"/> Static Protected Member Functions inherited from <a class="el" href="classUThreadC_3_01void_01_4.html">UThreadC< void ></a></td></tr>
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<tr class="memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_afc1715cfa1d5ae88f57ba2fe983bb9e5"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5">Exit</a> ()</td></tr>
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<tr class="separator:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_a5dc3a0223030adcc0c6e3ef829efc824"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824">TestCancel</a> ()</td></tr>
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<tr class="separator:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a33cd70cb0291ebd0a95016e89b4d5b6c inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_a33cd70cb0291ebd0a95016e89b4d5b6c"><td class="memItemLeft" align="right" valign="top">static Handle </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a33cd70cb0291ebd0a95016e89b4d5b6c">Self</a> ()</td></tr>
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<tr class="memitem:afc1715cfa1d5ae88f57ba2fe983bb9e5 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_afc1715cfa1d5ae88f57ba2fe983bb9e5"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#afc1715cfa1d5ae88f57ba2fe983bb9e5">Exit</a> ()</td></tr>
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<tr class="memitem:a5dc3a0223030adcc0c6e3ef829efc824 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_a5dc3a0223030adcc0c6e3ef829efc824"><td class="memItemLeft" align="right" valign="top">static void </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#a5dc3a0223030adcc0c6e3ef829efc824">TestCancel</a> ()</td></tr>
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<tr class="memitem:afed28b5b5bb00d4addbb0cd7f2ce0ce2 inherit pro_static_methods_classUThreadC_3_01void_01_4" id="r_afed28b5b5bb00d4addbb0cd7f2ce0ce2"><td class="memItemLeft" align="right" valign="top">static int </td><td class="memItemRight" valign="bottom"><a class="el" href="classUThreadC_3_01void_01_4.html#afed28b5b5bb00d4addbb0cd7f2ce0ce2">Self</a> ()</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>Runs a <a class="el" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> instance in its own thread, driven by events. </p>
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<p>The thread owns the <a class="el" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> object and calls <a class="el" href="classrtabmap_1_1Rtabmap.html#ad7f085b6ae0fd3c7077c500c028fd5c3">Rtabmap::process()</a> on the data it receives, so that mapping never blocks the sensor or odometry threads. It is the last stage of the event-based pipeline: <a class="el" href="classrtabmap_1_1SensorCaptureThread.html">SensorCaptureThread</a> → <a class="el" href="classrtabmap_1_1OdometryThread.html">OdometryThread</a> → <a class="el" href="classrtabmap_1_1RtabmapThread.html" title="Runs a Rtabmap instance in its own thread, driven by events.">RtabmapThread</a>.</p>
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<p><b>Input events</b> (handled in <a class="el" href="classrtabmap_1_1RtabmapThread.html#ab2556f7773329963038d876c86e97d09">handleEvent()</a>, i.e. in the caller's thread):</p><ul>
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<li><a class="el" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a> and <a class="el" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> – the frame and its odometry pose are buffered for the main loop. A null pose means odometry is lost and the frame is dropped (unless the memory is in localization mode).</li>
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<li><a class="el" href="classrtabmap_1_1UserDataEvent.html">UserDataEvent</a> – user data attached to the next processed frame.</li>
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<li><a class="el" href="classrtabmap_1_1RtabmapEventCmd.html">RtabmapEventCmd</a> – a command (see <a class="el" href="classrtabmap_1_1RtabmapEventCmd.html#ae54b1ecc5d6df8b032a89f5b24876801">RtabmapEventCmd::Cmd</a>), such as initializing or closing the map, triggering a new map, pausing, setting a goal, labelling a node or requesting the map.</li>
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<li><a class="el" href="classrtabmap_1_1ParamEvent.html">ParamEvent</a> – applies new parameters, equivalent to a <a class="el" href="classrtabmap_1_1RtabmapEventCmd.html#ae54b1ecc5d6df8b032a89f5b24876801afc8f39bbe51260a2743dc2b8dfc2b6f3">RtabmapEventCmd::kCmdUpdateParams</a> command.</li>
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</ul>
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<p><b>Output events</b>, posted from the thread:</p><ul>
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<li><a class="el" href="classrtabmap_1_1RtabmapEvent.html">RtabmapEvent</a> with the <a class="el" href="classrtabmap_1_1Statistics.html">Statistics</a> of an iteration that added a node.</li>
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<li><a class="el" href="classrtabmap_1_1RtabmapEvent3DMap.html">RtabmapEvent3DMap</a> in answer to a map request.</li>
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<li><a class="el" href="classrtabmap_1_1RtabmapGlobalPathEvent.html">RtabmapGlobalPathEvent</a> and <a class="el" href="classrtabmap_1_1RtabmapGoalStatusEvent.html">RtabmapGoalStatusEvent</a> for path planning.</li>
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<li><a class="el" href="classrtabmap_1_1RtabmapLabelErrorEvent.html">RtabmapLabelErrorEvent</a> when a label could not be set.</li>
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</ul>
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<p><b>Input regulation</b>, on top of what <a class="el" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> does:</p><ul>
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<li>Frames are queued in a buffer of <a class="el" href="classrtabmap_1_1Parameters.html#ad2924fa9a31709c3cc88e2079e1c9b43">Parameters::kRtabmapImageBufferSize()</a> elements; when it is full the oldest frame is dropped, so a slow map update never delays the live pipeline.</li>
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<li>Frames arriving faster than <a class="el" href="classrtabmap_1_1Parameters.html#ab4330bb97358203a6e229a7e7d3b3160">Parameters::kRtabmapDetectionRate()</a> are skipped, which is the rate limiting that <a class="el" href="classrtabmap_1_1Rtabmap.html#ad7f085b6ae0fd3c7077c500c028fd5c3">Rtabmap::process()</a> itself does not do. With <a class="el" href="classrtabmap_1_1Parameters.html#a563ebee29786f2168b90306ded8ee17c">Parameters::kRtabmapCreateIntermediateNodes()</a> enabled they are kept instead, and added as intermediate nodes (odometry-only, not used for loop closure detection).</li>
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<li>An identity odometry pose, or a covariance ≥ 9999, is read as an odometry reset and triggers a new map id on the next processed frame. The largest covariance seen between two processed frames is the one passed on, so the link weight does not depend on the odometry frame rate.</li>
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</ul>
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<p>The object registers itself as a <a class="el" href="classUEventsHandler.html">UEventsHandler</a>, so posting an event to <a class="el" href="classUEventsManager.html">UEventsManager</a> is enough to feed it: </p><div class="fragment"><div class="line"><a class="code hl_class" href="classrtabmap_1_1RtabmapThread.html">rtabmap::RtabmapThread</a> rtabmapThread(<span class="keyword">new</span> <a class="code hl_class" href="classrtabmap_1_1Rtabmap.html">rtabmap::Rtabmap</a>()); <span class="comment">// takes ownership</span></div>
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<div class="line">rtabmapThread.start();</div>
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<div class="line"><a class="code hl_function" href="classUEventsManager.html#a3bb033062e4a0eb59efdf5f84d170388">UEventsManager::addHandler</a>(&rtabmapThread);</div>
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<div class="line">UEventsManager::createPipe(&odomThread, &rtabmapThread, <span class="stringliteral">"OdometryEvent"</span>);</div>
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<div class="ttc" id="aclassUEventsManager_html_a3bb033062e4a0eb59efdf5f84d170388"><div class="ttname"><a href="classUEventsManager.html#a3bb033062e4a0eb59efdf5f84d170388">UEventsManager::addHandler</a></div><div class="ttdeci">static void addHandler(UEventsHandler *handler)</div></div>
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<div class="ttc" id="aclassrtabmap_1_1RtabmapThread_html"><div class="ttname"><a href="classrtabmap_1_1RtabmapThread.html">rtabmap::RtabmapThread</a></div><div class="ttdoc">Runs a Rtabmap instance in its own thread, driven by events.</div><div class="ttdef"><b>Definition</b> <a href="RtabmapThread_8h_source.html#l00104">RtabmapThread.h:107</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html">rtabmap::Rtabmap</a></div><div class="ttdoc">Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00193">Rtabmap.h:194</a></div></div>
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</div><!-- fragment --><dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1Rtabmap.html" title="Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).">Rtabmap</a> </dd>
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<dd>
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<a class="el" href="classrtabmap_1_1OdometryThread.html" title="Runs an Odometry front-end in its own thread, driven by events.">OdometryThread</a> </dd>
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<dd>
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<a class="el" href="classrtabmap_1_1SensorCaptureThread.html" title="Thread-based sensor data capture and event posting for RTAB-Map.">SensorCaptureThread</a> </dd></dl>
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<p class="definition">Definition at line <a class="el" href="RtabmapThread_8h_source.html#l00104">104</a> of file <a class="el" href="RtabmapThread_8h_source.html">RtabmapThread.h</a>.</p>
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</div><h2 class="groupheader">Member Enumeration Documentation</h2>
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<a id="a037a7b9aaacca152e0f087920e8a5fae" name="a037a7b9aaacca152e0f087920e8a5fae"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a037a7b9aaacca152e0f087920e8a5fae">◆ </a></span>State</h2>
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<td class="memname">enum <a class="el" href="classrtabmap_1_1RtabmapThread.html#a037a7b9aaacca152e0f087920e8a5fae">rtabmap::RtabmapThread::State</a></td>
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</tr>
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</table>
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</div><div class="memdoc">
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<p>What the main loop does on its next wake-up. </p>
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<table class="fieldtable">
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<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a037a7b9aaacca152e0f087920e8a5faea733e80c5ec27718bd9551646f99d352c" name="a037a7b9aaacca152e0f087920e8a5faea733e80c5ec27718bd9551646f99d352c"></a>kStateDetecting </td><td class="fielddoc"><p>Process the next buffered frame. </p>
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</td></tr>
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<tr><td class="fieldname"><a id="a037a7b9aaacca152e0f087920e8a5faeab07a30b69b21efdccbb6c040a5208001" name="a037a7b9aaacca152e0f087920e8a5faeab07a30b69b21efdccbb6c040a5208001"></a>kStateProcessCommand </td><td class="fielddoc"><p>Execute the next queued <a class="el" href="classrtabmap_1_1RtabmapEventCmd.html">RtabmapEventCmd</a>. </p>
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</td></tr>
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</table>
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<p class="definition">Definition at line <a class="el" href="RtabmapThread_8h_source.html#l00110">110</a> of file <a class="el" href="RtabmapThread_8h_source.html">RtabmapThread.h</a>.</p>
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</div>
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</div>
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<h2 class="groupheader">Constructor & Destructor Documentation</h2>
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<a id="a5c5752b0b0a0e05e8e97308c74f9b955" name="a5c5752b0b0a0e05e8e97308c74f9b955"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a5c5752b0b0a0e05e8e97308c74f9b955">◆ </a></span>RtabmapThread()</h2>
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<td class="memname">rtabmap::RtabmapThread::RtabmapThread </td>
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<td>(</td>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> * </td>
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<td class="paramname"><em>rtabmap</em></td><td>)</td>
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<p>Constructor. </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">rtabmap</td><td>The map to run; must not be null. The thread takes ownership and deletes it in <a class="el" href="classrtabmap_1_1RtabmapThread.html#aabea5cf86e55d6669d41b0b569dac574">close()</a>, which the destructor calls.</td></tr>
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</table>
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</dd>
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</dl>
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<p>The buffer size, detection rate and intermediate node settings are taken from the default parameters here, then updated by every <a class="el" href="classrtabmap_1_1RtabmapEventCmd.html#ae54b1ecc5d6df8b032a89f5b24876801af03efbff0b297b981f75f077aac49856">RtabmapEventCmd::kCmdInit</a> and <a class="el" href="classrtabmap_1_1RtabmapEventCmd.html#ae54b1ecc5d6df8b032a89f5b24876801afc8f39bbe51260a2743dc2b8dfc2b6f3">RtabmapEventCmd::kCmdUpdateParams</a> command. </p>
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</div>
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</div>
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<h2 class="groupheader">Member Function Documentation</h2>
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<a id="a8ff95633544be0d87c1dc977cb52a064" name="a8ff95633544be0d87c1dc977cb52a064"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a8ff95633544be0d87c1dc977cb52a064">◆ </a></span>setDetectorRate()</h2>
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<td class="memname">void rtabmap::RtabmapThread::setDetectorRate </td>
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<td>(</td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>rate</em></td><td>)</td>
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<p>Sets the maximum rate at which frames are processed (Hz, 0 = unlimited). </p>
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<p>Same setting as <a class="el" href="classrtabmap_1_1Parameters.html#ab4330bb97358203a6e229a7e7d3b3160">Parameters::kRtabmapDetectionRate()</a>. Frames arriving faster are dropped, or added as intermediate nodes if <a class="el" href="classrtabmap_1_1RtabmapThread.html#a78271ce60d00219c4fdd86813136a116">createIntermediateNodes()</a> is enabled. </p>
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</div>
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<a id="ab9b4e64c65264f12bfeb1814aff59cbe" name="ab9b4e64c65264f12bfeb1814aff59cbe"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ab9b4e64c65264f12bfeb1814aff59cbe">◆ </a></span>setDataBufferSize()</h2>
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<td class="memname">void rtabmap::RtabmapThread::setDataBufferSize </td>
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<td>(</td>
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<td class="paramtype">unsigned int </td>
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<td class="paramname"><em>bufferSize</em></td><td>)</td>
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<p>Sets how many frames may wait in the buffer (0 = unlimited). </p>
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<p>Same setting as <a class="el" href="classrtabmap_1_1Parameters.html#ad2924fa9a31709c3cc88e2079e1c9b43">Parameters::kRtabmapImageBufferSize()</a>. Once full, the oldest frame is dropped to make room for the new one. </p>
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</div>
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<a id="a78271ce60d00219c4fdd86813136a116" name="a78271ce60d00219c4fdd86813136a116"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a78271ce60d00219c4fdd86813136a116">◆ </a></span>createIntermediateNodes()</h2>
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<td class="memname">void rtabmap::RtabmapThread::createIntermediateNodes </td>
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<td>(</td>
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<td class="paramtype">bool </td>
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<td class="paramname"><em>enabled</em></td><td>)</td>
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<p>Keeps the frames skipped by <a class="el" href="classrtabmap_1_1RtabmapThread.html#a8ff95633544be0d87c1dc977cb52a064">setDetectorRate()</a> as intermediate nodes. </p>
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<p>Same setting as <a class="el" href="classrtabmap_1_1Parameters.html#a563ebee29786f2168b90306ded8ee17c">Parameters::kRtabmapCreateIntermediateNodes()</a>. Those nodes carry the odometry link but take no part in loop closure detection. </p>
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<a id="ac788245b9aa70ebc9e7148fad3b92ed1" name="ac788245b9aa70ebc9e7148fad3b92ed1"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#ac788245b9aa70ebc9e7148fad3b92ed1">◆ </a></span>getDetectorRate()</h2>
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<td class="memname">float rtabmap::RtabmapThread::getDetectorRate </td>
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<td>(</td>
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<td class="paramname"></td><td>)</td>
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<td> const</td>
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<td class="mlabels-right">
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<span class="mlabels"><span class="mlabel">inline</span></span> </td>
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<dl class="section return"><dt>Returns</dt><dd>Maximum processing rate in Hz (0 = unlimited). </dd></dl>
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<p class="definition">Definition at line <a class="el" href="RtabmapThread_8h_source.html#l00155">155</a> of file <a class="el" href="RtabmapThread_8h_source.html">RtabmapThread.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9aa2f05308498abcba0f01b2df25cac0">◆ </a></span>getDataBufferSize()</h2>
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<td class="memname">unsigned int rtabmap::RtabmapThread::getDataBufferSize </td>
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<dl class="section return"><dt>Returns</dt><dd>Maximum number of buffered frames (0 = unlimited). </dd></dl>
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<p class="definition">Definition at line <a class="el" href="RtabmapThread_8h_source.html#l00157">157</a> of file <a class="el" href="RtabmapThread_8h_source.html">RtabmapThread.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3dffee6fb4ae760c140144fd47923643">◆ </a></span>getCreateIntermediateNodes()</h2>
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<dl class="section return"><dt>Returns</dt><dd>True if skipped frames are added as intermediate nodes. </dd></dl>
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<p class="definition">Definition at line <a class="el" href="RtabmapThread_8h_source.html#l00159">159</a> of file <a class="el" href="RtabmapThread_8h_source.html">RtabmapThread.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aabea5cf86e55d6669d41b0b569dac574">◆ </a></span>close()</h2>
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<td class="memname">void rtabmap::RtabmapThread::close </td>
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<p>Joins the thread and closes rtabmap. This will delete rtabmap object if set. </p>
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<dl class="params"><dt>Parameters</dt><dd>
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<p>Called by the destructor with <code>databaseSaved</code> true. The object cannot be used afterwards: the <a class="el" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> instance it owned is gone. </p>
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<h2 class="memtitle"><span class="permalink"><a href="#ab2556f7773329963038d876c86e97d09">◆ </a></span>handleEvent()</h2>
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<td class="memname">virtual bool rtabmap::RtabmapThread::handleEvent </td>
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<p>Receives the events listed in the class description. </p>
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<p>Runs in the posting thread: data events are only queued here, the work happens in the thread's main loop. Events are ignored until the thread is started.</p>
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<dl class="section return"><dt>Returns</dt><dd>Always false, so the event keeps being dispatched to other handlers. </dd></dl>
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<p>Implements <a class="el" href="classUEventsHandler.html#a0d43b582c19f01196a513f66d3618d8d">UEventsHandler</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="RtabmapThread_8h_source.html">RtabmapThread.h</a></li>
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