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<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li> </ul>
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<div class="headertitle"><div class="title">OdometryInfo.h</div></div>
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<div class="contents">
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
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<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
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<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
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<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
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<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
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<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
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<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
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<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
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<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
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<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
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<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
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<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
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<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
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<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
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<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
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<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
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<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
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<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
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<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
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<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef ODOMETRYINFO_H_</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define ODOMETRYINFO_H_</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include <rtabmap/core/rtabmap_core_export.h></span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include <map></span></div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include "rtabmap/core/Transform.h"</span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include "rtabmap/core/RegistrationInfo.h"</span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include "rtabmap/core/CameraModel.h"</span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include "rtabmap/core/LaserScan.h"</span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#if CV_MAJOR_VERSION < 5</span></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#include <opencv2/features2d/features2d.hpp></span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#else</span></div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include <opencv2/features.hpp></span></div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#endif</span></div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span> </div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
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<div class="foldopen" id="foldopen00045" data-start="{" data-end="};">
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"><a class="line" href="classrtabmap_1_1OdometryInfo.html"> 45</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a></div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span>{</div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a>();</div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <a class="code hl_class" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a> copyWithoutData() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> std::map<std::string, float> statistics(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose = <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a>());</div>
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<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> </div>
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<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keywordtype">bool</span> lost;</div>
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<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <a class="code hl_class" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a> reg;</div>
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<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <span class="keywordtype">int</span> features;</div>
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<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keywordtype">int</span> localMapSize;</div>
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<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keywordtype">int</span> localScanMapSize;</div>
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<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keywordtype">int</span> localKeyFrames;</div>
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<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordtype">int</span> localBundleOutliers;</div>
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<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">int</span> localBundleConstraints;</div>
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<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordtype">float</span> localBundleTime;</div>
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<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> std::map<int, Transform> localBundlePoses;</div>
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<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> std::map<int, std::vector<CameraModel> > localBundleModels;</div>
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<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keywordtype">float</span> localBundleAvgInlierDistance;</div>
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<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordtype">int</span> localBundleMaxKeyFramesForInlier;</div>
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<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> std::vector<int> localBundleOutliersPerCam;</div>
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<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keywordtype">bool</span> keyFrameAdded;</div>
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<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="keywordtype">float</span> timeDeskewing;</div>
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<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">float</span> timeEstimation;</div>
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<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordtype">float</span> timeParticleFiltering;</div>
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<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordtype">double</span> stamp;</div>
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<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keywordtype">double</span> interval;</div>
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<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> transform;</div>
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<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> transformFiltered;</div>
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<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> transformGroundTruth;</div>
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<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guessVelocity; <span class="comment">// deprecated, will be removed. Use guess and interval instead.</span></div>
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<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> guess;</div>
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<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keywordtype">float</span> distanceTravelled;</div>
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<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keywordtype">int</span> memoryUsage; <span class="comment">//MB</span></div>
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<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keywordtype">double</span> gravityRollError;</div>
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<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keywordtype">double</span> gravityPitchError;</div>
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<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> </div>
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<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keywordtype">int</span> type;</div>
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<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
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<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="comment">// F2M</span></div>
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<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> std::multimap<int, cv::KeyPoint> words;</div>
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<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> std::map<int, cv::Point3f> localMap;</div>
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<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> localScanMap;</div>
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<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> </div>
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<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="comment">// F2F</span></div>
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<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> std::vector<cv::Point2f> refCorners;</div>
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<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> std::vector<cv::Point2f> newCorners;</div>
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<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> std::vector<int> cornerInliers;</div>
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<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span>};</div>
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</div>
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<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> </div>
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<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span>}</div>
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> </div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span><span class="preprocessor">#endif </span><span class="comment">/* ODOMETRYINFO_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1OdometryInfo_html"><div class="ttname"><a href="classrtabmap_1_1OdometryInfo.html">rtabmap::OdometryInfo</a></div><div class="ttdef"><b>Definition</b> <a href="OdometryInfo_8h_source.html#l00045">OdometryInfo.h:46</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1RegistrationInfo_html"><div class="ttname"><a href="classrtabmap_1_1RegistrationInfo.html">rtabmap::RegistrationInfo</a></div><div class="ttdoc">Statistics and diagnostics returned by Registration.</div><div class="ttdef"><b>Definition</b> <a href="RegistrationInfo_8h_source.html#l00047">RegistrationInfo.h:48</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
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<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
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