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2026-09-28 16:36:22 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.13</ span >
2026-08-06 22:56:24 +00:00
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< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
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< div class = "headertitle" >< div class = "title" > rtabmap Namespace Reference</ div ></ div >
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Namespaces</ h2 ></ td ></ tr >
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< tr class = "memdesc:namespacertabmap_1_1graph" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Pose-graph I/O, trajectory metrics, link utilities, and path planning. < br /></ td ></ tr >
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< tr class = "memitem:namespacertabmap_1_1util2d" id = "r_namespacertabmap_1_1util2d" >< td class = "memItemLeft" align = "right" valign = "top" > namespace   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap_1_1util2d.html" > util2d</ a ></ td ></ tr >
< tr class = "memdesc:namespacertabmap_1_1util2d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > This namespace contains 2D image processing utilities. < br /></ td ></ tr >
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< tr class = "memitem:namespacertabmap_1_1util3d" id = "r_namespacertabmap_1_1util3d" >< td class = "memItemLeft" align = "right" valign = "top" > namespace   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap_1_1util3d.html" > util3d</ a ></ td ></ tr >
< tr class = "memdesc:namespacertabmap_1_1util3d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > 3D utilities: point cloud conversion and filtering, projection, registration, surface reconstruction, mapping and transforms. < br /></ td ></ tr >
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Classes</ h2 ></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map. < a href = "classrtabmap_1_1BayesFilter.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1BRISK.html" title = "BRISK detector and descriptor." > BRISK</ a > detector and descriptor. < a href = "classrtabmap_1_1BRISK.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Camera.html" > Camera</ a ></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection, rectification, and transformation. < a href = "classrtabmap_1_1CameraModel.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > OpenNI driver for cameras like Kinect for Xbox 360. < a href = "classrtabmap_1_1CameraOpenni.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CameraVideo.html" > CameraVideo</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CloudMap.html" > CloudMap</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CompressionThread.html" > CompressionThread</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Background thread to compress or uncompress images and generic matrices. < a href = "classrtabmap_1_1CompressionThread.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Abstract database driver for RTAB-Map maps (signatures, links, words, statistics). < a href = "classrtabmap_1_1DBDriver.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBDriverSqlite3.html" > DBDriverSqlite3</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > SQLite3 implementation of < a class = "el" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a > for RTAB-Map map databases. < a href = "classrtabmap_1_1DBDriverSqlite3.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1DBReader.html" > DBReader</ a ></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Single environmental measurement (type, value, timestamp). < a href = "classrtabmap_1_1EnvSensor.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1EpipolarGeometry.html" > EpipolarGeometry</ a ></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1FAST.html" title = "FAST corner detector only (no descriptor)." > FAST</ a > corner detector only (no descriptor). < a href = "classrtabmap_1_1FAST.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1FAST.html" title = "FAST corner detector only (no descriptor)." > FAST</ a > corners + BRIEF descriptors. < a href = "classrtabmap_1_1FAST__BRIEF.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1FAST.html" title = "FAST corner detector only (no descriptor)." > FAST</ a > corners + FREAK descriptors. < a href = "classrtabmap_1_1FAST__FREAK.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Feature2D.html" > Feature2D</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Abstract 2D feature detector and descriptor extractor for visual SLAM. < a href = "classrtabmap_1_1Feature2D.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > A single bundle adjustment feature observation: one keypoint seen in one frame. < a href = "classrtabmap_1_1FeatureBA.html#details" > More...</ a >< br /></ td ></ tr >
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2026-08-16 17:18:46 +00:00
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Nearest neighbor index over a set of features. < a href = "classrtabmap_1_1FlannIndex.html#details" > More...</ a >< br /></ td ></ tr >
2026-08-06 22:56:24 +00:00
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GainCompensator.html" > GainCompensator</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GeodeticCoords.html" > GeodeticCoords</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > WGS84 geodetic latitude, longitude and altitude with coordinate conversions. < a href = "classrtabmap_1_1GeodeticCoords.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Good-features-to-track detector (Shi– < a href = "classrtabmap_1_1GFTT.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1GFTT.html" title = "Good-features-to-track detector (Shi– > GFTT</ a > corners + BRIEF descriptors. < a href = "classrtabmap_1_1GFTT__BRIEF.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1GFTT.html" title = "Good-features-to-track detector (Shi– > GFTT</ a > corners + DAISY descriptors (OpenCV 3+ xfeatures2d). < a href = "classrtabmap_1_1GFTT__DAISY.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1GFTT.html" title = "Good-features-to-track detector (Shi– > GFTT</ a > corners + FREAK descriptors. < a href = "classrtabmap_1_1GFTT__FREAK.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GFTT__ORB.html" > GFTT_ORB</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1GFTT.html" title = "Good-features-to-track detector (Shi– > GFTT</ a > corners + < a class = "el" href = "classrtabmap_1_1ORB.html" title = "ORB detector and descriptor (optional GPU)." > ORB</ a > descriptors (common default when < a class = "el" href = "classrtabmap_1_1SURF.html" title = "SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build)." > SURF</ a > is unavailable). < a href = "classrtabmap_1_1GFTT__ORB.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalDescriptor.html" > GlobalDescriptor</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalDescriptorExtractor.html" > GlobalDescriptorExtractor</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GlobalMap.html" > GlobalMap</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Abstract base for assembling per-node < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > data into a global map. < a href = "classrtabmap_1_1GlobalMap.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GPS.html" > GPS</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > WGS84 < a class = "el" href = "classrtabmap_1_1GPS.html" title = "WGS84 GPS fix attached to a sensor sample or graph node." > GPS</ a > fix attached to a sensor sample or graph node. < a href = "classrtabmap_1_1GPS.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1GridMap.html" > GridMap</ a ></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1IMU.html" > IMU</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Inertial measurement sample (ROS < code > sensor_msgs/Imu-like</ code > fields). < a href = "classrtabmap_1_1IMU.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1IMUEvent.html" > IMUEvent</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classUEvent.html" > UEvent</ a > carrying an < a class = "el" href = "classrtabmap_1_1IMU.html" > IMU</ a > sample and timestamp. < a href = "classrtabmap_1_1IMUEvent.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1IMUFilter.html" > IMUFilter</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Fuses gyroscope and accelerometer samples into an orientation quaternion. < a href = "classrtabmap_1_1IMUFilter.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1IMUThread.html" > IMUThread</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Background thread that replays < a class = "el" href = "classrtabmap_1_1IMU.html" title = "Inertial measurement sample (ROS sensor_msgs/Imu-like fields)." > IMU</ a > measurements from a CSV file. < a href = "classrtabmap_1_1IMUThread.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1KAZE.html" > KAZE</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1KAZE.html" title = "KAZE detector and descriptor (OpenCV 3+)." > KAZE</ a > detector and descriptor (OpenCV 3+). < a href = "classrtabmap_1_1KAZE.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Landmark.html" > Landmark</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map. < a href = "classrtabmap_1_1Landmark.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Represents 2D or 3D laser scan data with support for multiple point data formats. < a href = "classrtabmap_1_1LaserScan.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Lidar.html" > Lidar</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LidarVLP16.html" > LidarVLP16</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Link.html" > Link</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Directed constraint between two nodes in RTAB-Map's pose graph. < a href = "classrtabmap_1_1Link.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Local occupancy grid cells for one map node (ground, obstacles, empty). < a href = "classrtabmap_1_1LocalGrid.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridCache.html" > LocalGridCache</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Cache of < a class = "el" href = "classrtabmap_1_1LocalGrid.html" > LocalGrid</ a > entries keyed by map node id. < a href = "classrtabmap_1_1LocalGridCache.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LocalGridMaker.html" > LocalGridMaker</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Builds per-node local occupancy grids from laser scans or depth clouds. < a href = "classrtabmap_1_1LocalGridMaker.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1MarkerDetector.html" > MarkerDetector</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1MarkerInfo.html" > MarkerInfo</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Memory.html" > Memory</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Three-tiered memory management (STM, WM, LTM) for RTAB-Map. < a href = "classrtabmap_1_1Memory.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OccupancyGrid.html" > OccupancyGrid</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OctoMap.html" > OctoMap</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Odometry.html" > Odometry</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Abstract base class for visual, lidar and visual-inertial odometry backends. < a href = "classrtabmap_1_1Odometry.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryCuVSLAM.html" > OdometryCuVSLAM</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryDVO.html" > OdometryDVO</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryEvent.html" > OdometryEvent</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > One processed frame with the pose the odometry integrated for it. < a href = "classrtabmap_1_1OdometryEvent.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryF2F.html" > OdometryF2F</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryFLOAM.html" > OdometryFLOAM</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryFovis.html" > OdometryFovis</ a ></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryInfo.html" > OdometryInfo</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > What one < a class = "el" href = "classrtabmap_1_1Odometry.html" > Odometry</ a > iteration produced, beyond the pose. < a href = "classrtabmap_1_1OdometryInfo.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryORBSLAM2.html" > OdometryORBSLAM2</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryResetEvent.html" > OdometryResetEvent</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Asks < a class = "el" href = "classrtabmap_1_1OdometryThread.html" > OdometryThread</ a > to restart the odometry from a given pose. < a href = "classrtabmap_1_1OdometryResetEvent.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryThread.html" > OdometryThread</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Runs an < a class = "el" href = "classrtabmap_1_1Odometry.html" > Odometry</ a > front-end in its own thread, driven by events. < a href = "classrtabmap_1_1OdometryThread.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryVINSFusion.html" > OdometryVINSFusion</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1OdometryViso2.html" > OdometryViso2</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Optimizer.html" > Optimizer</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Abstract base for pose-graph and bundle-adjustment optimizers. < a href = "classrtabmap_1_1Optimizer.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1ORB.html" > ORB</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1ORB.html" title = "ORB detector and descriptor (optional GPU)." > ORB</ a > detector and descriptor (optional GPU). < a href = "classrtabmap_1_1ORB.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1ORBOctree.html" > ORBOctree</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1ORB.html" title = "ORB detector and descriptor (optional GPU)." > ORB</ a > with octree spatial distribution (RTAB-Map must be built with OCTREE enabled). < a href = "classrtabmap_1_1ORBOctree.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Parameters.html" > Parameters</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1ParamEvent.html" > ParamEvent</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1ParticleFilter.html" > ParticleFilter</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > struct   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "structrtabmap_1_1PointXYZIRT.html" > PointXYZIRT</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > This namespace contains 3D point cloud processing utilities. < a href = "structrtabmap_1_1PointXYZIRT.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > struct   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "structrtabmap_1_1PointXYZIT.html" > PointXYZIT</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1PythonInterface.html" > PythonInterface</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Registration.html" > Registration</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Abstract base for registering two observations (visual, ICP, or both). < a href = "classrtabmap_1_1Registration.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RegistrationIcp.html" > RegistrationIcp</ a ></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1Statistics.html" title = "Collects and manages runtime statistics for RTAB-Map." > Statistics</ a > and diagnostics returned by < a class = "el" href = "classrtabmap_1_1Registration.html" > Registration</ a > . < a href = "classrtabmap_1_1RegistrationInfo.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Visual registration between two signatures using features and geometry. < a href = "classrtabmap_1_1RegistrationVis.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Rtabmap.html" > Rtabmap</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure). < a href = "classrtabmap_1_1Rtabmap.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RtabmapEventCmd.html" > RtabmapEventCmd</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Command sent to < a class = "el" href = "classrtabmap_1_1RtabmapThread.html" > RtabmapThread</ a > , with its parameters. < a href = "classrtabmap_1_1RtabmapEventCmd.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RtabmapEventInit.html" > RtabmapEventInit</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RtabmapGlobalPathEvent.html" > RtabmapGlobalPathEvent</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RtabmapLabelErrorEvent.html" > RtabmapLabelErrorEvent</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RtabmapThread.html" > RtabmapThread</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Runs a < a class = "el" href = "classrtabmap_1_1Rtabmap.html" > Rtabmap</ a > instance in its own thread, driven by events. < a href = "classrtabmap_1_1RtabmapThread.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1RvlCodec.html" > RvlCodec</ a ></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html" > SensorCapture</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Abstract base class for sensor data capture (cameras, lidars, etc.) < a href = "classrtabmap_1_1SensorCapture.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Metadata structure for sensor data capture and processing. < a href = "classrtabmap_1_1SensorCaptureInfo.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCaptureThread.html" > SensorCaptureThread</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Thread-based sensor data capture and event posting for RTAB-Map. < a href = "classrtabmap_1_1SensorCaptureThread.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Container class for all sensor data captured at a specific time. < a href = "classrtabmap_1_1SensorData.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorEvent.html" > SensorEvent</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Event class for sensor data communication in RTAB-Map's event system. < a href = "classrtabmap_1_1SensorEvent.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SIFT.html" > SIFT</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1SIFT.html" title = "SIFT detector and descriptor (optional GPU / CudaSift)." > SIFT</ a > detector and descriptor (optional GPU / CudaSift). < a href = "classrtabmap_1_1SIFT.html#details" > More...</ a >< br /></ td ></ tr >
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< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Signature.html" > Signature</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Represents a node in RTAB-Map's pose graph. < a href = "classrtabmap_1_1Signature.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Statistics.html" > Statistics</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Collects and manages runtime statistics for RTAB-Map. < a href = "classrtabmap_1_1Statistics.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Stereo.html" > Stereo</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sparse stereo matching using block matching. < a href = "classrtabmap_1_1Stereo.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoBM.html" > StereoBM</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Block Matching algorithm for dense stereo matching. < a href = "classrtabmap_1_1StereoBM.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > A class representing a calibrated stereo camera system. < a href = "classrtabmap_1_1StereoCameraModel.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoDense.html" > StereoDense</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Abstract base class for dense stereo matching algorithms. < a href = "classrtabmap_1_1StereoDense.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoOpticalFlow.html" > StereoOpticalFlow</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sparse stereo matching using optical flow. < a href = "classrtabmap_1_1StereoOpticalFlow.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1StereoSGBM.html" > StereoSGBM</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Semi-Global Block Matching algorithm for dense stereo matching. < a href = "classrtabmap_1_1StereoSGBM.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SuperPointRpautrat.html" > SuperPointRpautrat</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support). < a href = "classrtabmap_1_1SuperPointRpautrat.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SuperPointTorch.html" > SuperPointTorch</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > SuperPoint via LibTorch (RTAB-Map must be built with libtorch support). < a href = "classrtabmap_1_1SuperPointTorch.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SURF.html" > SURF</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1SURF.html" title = "SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build)." > SURF</ a > detector and descriptor (non-free / xfeatures2d depending on OpenCV build). < a href = "classrtabmap_1_1SURF.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SURF__DAISY.html" > SURF_DAISY</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1SURF.html" title = "SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build)." > SURF</ a > detector + DAISY descriptors (OpenCV 3+ xfeatures2d). < a href = "classrtabmap_1_1SURF__DAISY.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SURF__FREAK.html" > SURF_FREAK</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" >< a class = "el" href = "classrtabmap_1_1SURF.html" title = "SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build)." > SURF</ a > detector + FREAK descriptors. < a href = "classrtabmap_1_1SURF__FREAK.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Represents a 3D rigid body transformation (rotation + translation). < a href = "classrtabmap_1_1Transform.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1TransformStamped.html" > TransformStamped</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Associates a transform with a timestamp. < a href = "classrtabmap_1_1TransformStamped.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1UserDataEvent.html" > UserDataEvent</ a ></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1VisualWord.html" > VisualWord</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model. < a href = "classrtabmap_1_1VisualWord.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:" >< td class = "memItemLeft" align = "right" valign = "top" > class   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1VWDictionary.html" > VWDictionary</ a ></ td ></ tr >
< tr class = "memdesc:" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Manages a dictionary of visual words for visual place recognition and loop closure detection. < a href = "classrtabmap_1_1VWDictionary.html#details" > More...</ a >< br /></ td ></ tr >
< tr class = "separator:" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "typedef-members" name = "typedef-members" ></ a >
Typedefs</ h2 ></ td ></ tr >
< tr class = "memitem:ac175ef40b7a4acb632232d3d96a1199a" id = "r_ac175ef40b7a4acb632232d3d96a1199a" >< td class = "memItemLeft" align = "right" valign = "top" > typedef std::map< < a class = "el" href = "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f" > EnvSensor::Type</ a > , < a class = "el" href = "classrtabmap_1_1EnvSensor.html" > EnvSensor</ a > >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > EnvSensors</ a ></ td ></ tr >
< tr class = "memdesc:ac175ef40b7a4acb632232d3d96a1199a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Map of environmental readings keyed by < a class = "el" href = "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f" > EnvSensor::Type</ a > (at most one per type). < br /></ td ></ tr >
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< tr class = "memitem:a12bbfd3e37121bf9f68a4047c8b4da86" id = "r_a12bbfd3e37121bf9f68a4047c8b4da86" >< td class = "memItemLeft" align = "right" valign = "top" > typedef std::map< int, < a class = "el" href = "classrtabmap_1_1Landmark.html" > Landmark</ a > >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86" > Landmarks</ a ></ td ></ tr >
< tr class = "memdesc:a12bbfd3e37121bf9f68a4047c8b4da86" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Map of landmark id → < a class = "el" href = "classrtabmap_1_1Landmark.html" > Landmark</ a > (typically positive keys). < br /></ td ></ tr >
< tr class = "separator:a12bbfd3e37121bf9f68a4047c8b4da86" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
2026-08-10 00:39:24 +00:00
< tr class = "memitem:a223e130e05bff60079b773b6b7c03cc5" id = "r_a223e130e05bff60079b773b6b7c03cc5" >< td class = "memItemLeft" align = "right" valign = "top" > typedef std::map< int, std::set< int > >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a223e130e05bff60079b773b6b7c03cc5" > BAOutliers</ a ></ td ></ tr >
< tr class = "separator:a223e130e05bff60079b773b6b7c03cc5" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
2026-08-06 22:56:24 +00:00
< tr class = "memitem:ad08b6f1796a27dd7316c99c385e2cc55" id = "r_ad08b6f1796a27dd7316c99c385e2cc55" >< td class = "memItemLeft" align = "right" valign = "top" > typedef std::map< std::string, std::string >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a ></ td ></ tr >
< tr class = "memdesc:ad08b6f1796a27dd7316c99c385e2cc55" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Parameter keys mapped to their values, as used by every configurable class (see < a class = "el" href = "classrtabmap_1_1Parameters.html" > Parameters</ a > ). < br /></ td ></ tr >
< tr class = "separator:ad08b6f1796a27dd7316c99c385e2cc55" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a4d38c2e87cb7a46dc4299f7bd4d95a01" id = "r_a4d38c2e87cb7a46dc4299f7bd4d95a01" >< td class = "memItemLeft" align = "right" valign = "top" > typedef std::pair< std::string, std::string >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a4d38c2e87cb7a46dc4299f7bd4d95a01" > ParametersPair</ a ></ td ></ tr >
< tr class = "memdesc:a4d38c2e87cb7a46dc4299f7bd4d95a01" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > A single parameter key/value pair, the entry type of < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > . < br /></ td ></ tr >
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</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "func-members" name = "func-members" ></ a >
Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a087b7a1b89acb679edee23883653f1a7" id = "r_a087b7a1b89acb679edee23883653f1a7" >< td class = "memItemLeft" align = "right" valign = "top" > RTABMAP_CORE_EXPORT std::ostream &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a087b7a1b89acb679edee23883653f1a7" > operator<< </ a > (std::ostream & os, const < a class = "el" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & model)</ td ></ tr >
< tr class = "memdesc:a087b7a1b89acb679edee23883653f1a7" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Stream operator for printing a camera model to an output stream. < br /></ td ></ tr >
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< tr class = "memitem:a52beb14eea422420c95fd69bdf3ab9dc" id = "r_a52beb14eea422420c95fd69bdf3ab9dc" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a52beb14eea422420c95fd69bdf3ab9dc" name = "a52beb14eea422420c95fd69bdf3ab9dc" ></ a >
std::vector< unsigned char > RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > compressImage</ b > (const cv::Mat & image, const std::string & format=" .png" )</ td ></ tr >
< tr class = "memdesc:a52beb14eea422420c95fd69bdf3ab9dc" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Encodes < code > image</ code > to a byte buffer (OpenCV < code > imencode</ code > or RVL for depth). < br /></ td ></ tr >
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cv::Mat RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > compressImage2</ b > (const cv::Mat & image, const std::string & format=" .png" )</ td ></ tr >
< tr class = "memdesc:abd9d5523210562abd9b5dc8fa9dbeb99" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Same as < a class = "el" href = "namespacertabmap.html#a52beb14eea422420c95fd69bdf3ab9dc" > compressImage()</ a > but returns a < code > CV_8UC1</ code > row matrix. < br /></ td ></ tr >
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cv::Mat RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > uncompressImage</ b > (const cv::Mat & bytes)</ td ></ tr >
< tr class = "memdesc:a462f181a147c9f5315f70b0cd89210e5" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Decodes compressed image bytes to a @cv::Mat. < br /></ td ></ tr >
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cv::Mat RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > uncompressImage</ b > (const std::vector< unsigned char > & bytes)</ td ></ tr >
< tr class = "memdesc:af56ea8b86f7a873959588d35a7ede187" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Decodes compressed image bytes to a @cv::Mat. < br /></ td ></ tr >
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std::vector< unsigned char > RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > compressData</ b > (const cv::Mat & data)</ td ></ tr >
< tr class = "memdesc:a749adef593d09b887926afb6ebdb5834" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Compresses a matrix with zlib; appends rows, cols and type at the end. < br /></ td ></ tr >
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cv::Mat RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > compressData2</ b > (const cv::Mat & data)</ td ></ tr >
< tr class = "memdesc:aca82ee9efc46461c648c7ab8999e1d5b" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Same as < a class = "el" href = "namespacertabmap.html#a749adef593d09b887926afb6ebdb5834" > compressData()</ a > but returns a < code > CV_8UC1</ code > row matrix. < br /></ td ></ tr >
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cv::Mat RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > uncompressData</ b > (const cv::Mat & bytes)</ td ></ tr >
< tr class = "memdesc:a696fffaafe542bfb49fc9ab0da2c66b9" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Restores a matrix compressed with < a class = "el" href = "namespacertabmap.html#a749adef593d09b887926afb6ebdb5834" > compressData()</ a > or < a class = "el" href = "namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b" > compressData2()</ a > . < br /></ td ></ tr >
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cv::Mat RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > uncompressData</ b > (const std::vector< unsigned char > & bytes)</ td ></ tr >
< tr class = "memdesc:aa15a9e946d6571254fc3c808b624e6cd" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Restores a matrix compressed with < a class = "el" href = "namespacertabmap.html#a749adef593d09b887926afb6ebdb5834" > compressData()</ a > or < a class = "el" href = "namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b" > compressData2()</ a > . < br /></ td ></ tr >
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cv::Mat RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > uncompressData</ b > (const unsigned char *bytes, unsigned long size)</ td ></ tr >
< tr class = "memdesc:a5b02b6a5cd3c620aff7e76c05f78b20f" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Restores a matrix from a raw compressed buffer. < br /></ td ></ tr >
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cv::Mat RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > compressString</ b > (const std::string & str)</ td ></ tr >
< tr class = "memdesc:a4f0dfae296aa7029e959d573b286285a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Compresses a null-terminated string using < a class = "el" href = "namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b" > compressData2()</ a > . < br /></ td ></ tr >
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< tr class = "memitem:a811701fc1452e49e82fcab8d4476832f" id = "r_a811701fc1452e49e82fcab8d4476832f" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a811701fc1452e49e82fcab8d4476832f" name = "a811701fc1452e49e82fcab8d4476832f" ></ a >
std::string RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > uncompressString</ b > (const cv::Mat & bytes)</ td ></ tr >
< tr class = "memdesc:a811701fc1452e49e82fcab8d4476832f" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Decompresses a string produced by < a class = "el" href = "namespacertabmap.html#a4f0dfae296aa7029e959d573b286285a" > compressString()</ a > . < br /></ td ></ tr >
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< tr class = "memitem:a67c525e80a7187b3106e5fd76155cabc" id = "r_a67c525e80a7187b3106e5fd76155cabc" >< td class = "memItemLeft" align = "right" valign = "top" > std::string RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a67c525e80a7187b3106e5fd76155cabc" > compressedDepthFormat</ a > (const cv::Mat & bytes)</ td ></ tr >
< tr class = "memdesc:a67c525e80a7187b3106e5fd76155cabc" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Detects the compression format of depth image bytes. < br /></ td ></ tr >
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< tr class = "memitem:ab5cb2dcd6db7fe3bbe25d847177582c2" id = "r_ab5cb2dcd6db7fe3bbe25d847177582c2" >< td class = "memItemLeft" align = "right" valign = "top" > std::string RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#ab5cb2dcd6db7fe3bbe25d847177582c2" > compressedDepthFormat</ a > (const std::vector< unsigned char > & bytes)</ td ></ tr >
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< tr class = "memitem:a58b406e413250675abbf0ec2956e3de8" id = "r_a58b406e413250675abbf0ec2956e3de8" >< td class = "memItemLeft" align = "right" valign = "top" > std::string RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a58b406e413250675abbf0ec2956e3de8" > compressedDepthFormat</ a > (const unsigned char *bytes, size_t size)</ td ></ tr >
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  </ td >< td class = "memItemRight" valign = "bottom" >< b > RTABMAP_DEPRECATED</ b > (typedef < a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > Image, " rtabmap::Image class is renamed to < a class = "el" href = "classrtabmap_1_1SensorData.html" > rtabmap::SensorData</ a > , use the last one instead." )</ td ></ tr >
< tr class = "separator:a17b7932570373b4c977eaa497441a227" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a264208396318e0ecfe2af8f3aafe0374" id = "r_a264208396318e0ecfe2af8f3aafe0374" >< td class = "memItemLeft" align = "right" valign = "top" > int RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a264208396318e0ecfe2af8f3aafe0374" > saveLASFile</ a > (const std::string & filePath, const pcl::PointCloud< pcl::PointXYZ > & cloud, const std::vector< int > & cameraIds=std::vector< int > ())</ td ></ tr >
< tr class = "memdesc:a264208396318e0ecfe2af8f3aafe0374" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS). < br /></ td ></ tr >
< tr class = "separator:a264208396318e0ecfe2af8f3aafe0374" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af174f507bee7dde4f9d45044d7bee8ea" id = "r_af174f507bee7dde4f9d45044d7bee8ea" >< td class = "memItemLeft" align = "right" valign = "top" > int RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#af174f507bee7dde4f9d45044d7bee8ea" > saveLASFile</ a > (const std::string & filePath, const pcl::PointCloud< pcl::PointXYZRGB > & cloud, const std::vector< int > & cameraIds=std::vector< int > (), const std::vector< float > & intensities=std::vector< float > ())</ td ></ tr >
< tr class = "memdesc:af174f507bee7dde4f9d45044d7bee8ea" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Writes a colored point cloud to LAS/LAZ, with optional intensity and camera ids. < br /></ td ></ tr >
< tr class = "separator:af174f507bee7dde4f9d45044d7bee8ea" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ad59cb4c65fba713c1a622904c5229198" id = "r_ad59cb4c65fba713c1a622904c5229198" >< td class = "memItemLeft" align = "right" valign = "top" > int RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#ad59cb4c65fba713c1a622904c5229198" > saveLASFile</ a > (const std::string & filePath, const pcl::PointCloud< pcl::PointXYZI > & cloud, const std::vector< int > & cameraIds=std::vector< int > ())</ td ></ tr >
< tr class = "memdesc:ad59cb4c65fba713c1a622904c5229198" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Writes a point cloud with intensity channel to LAS/LAZ. < br /></ td ></ tr >
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< tr class = "memitem:a42710fa1c14154f52eca0092b91640ee" id = "r_a42710fa1c14154f52eca0092b91640ee" >< td class = "memItemLeft" align = "right" valign = "top" > std::vector< double >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a42710fa1c14154f52eca0092b91640ee" > cumSum</ a > (const std::vector< double > & v)</ td ></ tr >
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< tr class = "memitem:a45239b3eac29fca49eed94d1a322f57d" id = "r_a45239b3eac29fca49eed94d1a322f57d" >< td class = "memItemLeft" align = "right" valign = "top" > std::vector< double >  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a45239b3eac29fca49eed94d1a322f57d" > resample</ a > (const std::vector< double > & p, const std::vector< double > & w, bool normalizeWeights=false)</ td ></ tr >
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std::string  </ td >< td class = "memItemRight" valign = "bottom" >< b > getPDALSupportedWriters</ b > ()</ td ></ tr >
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int  </ td >< td class = "memItemRight" valign = "bottom" >< b > savePDALFile</ b > (const std::string & filePath, const pcl::PointCloud< pcl::PointXYZ > & cloud, const std::vector< int > & cameraIds=std::vector< int > (), bool binary=false)</ td ></ tr >
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int  </ td >< td class = "memItemRight" valign = "bottom" >< b > savePDALFile</ b > (const std::string & filePath, const pcl::PointCloud< pcl::PointXYZRGB > & cloud, const std::vector< int > & cameraIds=std::vector< int > (), bool binary=false, const std::vector< float > & intensities=std::vector< float > ())</ td ></ tr >
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int  </ td >< td class = "memItemRight" valign = "bottom" >< b > savePDALFile</ b > (const std::string & filePath, const pcl::PointCloud< pcl::PointXYZRGBNormal > & cloud, const std::vector< int > & cameraIds=std::vector< int > (), bool binary=false, const std::vector< float > & intensities=std::vector< float > ())</ td ></ tr >
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int  </ td >< td class = "memItemRight" valign = "bottom" >< b > savePDALFile</ b > (const std::string & filePath, const pcl::PointCloud< pcl::PointXYZI > & cloud, const std::vector< int > & cameraIds=std::vector< int > (), bool binary=false)</ td ></ tr >
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int  </ td >< td class = "memItemRight" valign = "bottom" >< b > savePDALFile</ b > (const std::string & filePath, const pcl::PointCloud< pcl::PointXYZINormal > & cloud, const std::vector< int > & cameraIds=std::vector< int > (), bool binary=false)</ td ></ tr >
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std::string RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< b > getPythonTraceback</ b > ()</ td ></ tr >
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< tr class = "memitem:a84468b4bab971b3b8e2c33a746bf7f36" id = "r_a84468b4bab971b3b8e2c33a746bf7f36" >< td class = "memItemLeft" align = "right" valign = "top" > bool RTABMAP_CORE_EXPORT  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a84468b4bab971b3b8e2c33a746bf7f36" > databaseRecovery</ a > (const std::string & corruptedDatabase, bool keepCorruptedDatabase=true, std::string *errorMsg=0, < a class = "el" href = "classrtabmap_1_1ProgressState.html" > ProgressState</ a > *progressState=0)</ td ></ tr >
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< tr class = "memitem:a590ba1a1569333a2342dfbfc3baf699f" id = "r_a590ba1a1569333a2342dfbfc3baf699f" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a590ba1a1569333a2342dfbfc3baf699f" > icvGetRectanglesFisheye</ a > (const CvMat *cameraMatrix, const CvMat *distCoeffs, const CvMat *R, const CvMat *newCameraMatrix, CvSize imgSize, cv::Rect_< float > & inner, cv::Rect_< float > & outer)</ td ></ tr >
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< tr class = "memitem:ae1de66834acb641b9dac1e9b1670ad80" id = "r_ae1de66834acb641b9dac1e9b1670ad80" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#ae1de66834acb641b9dac1e9b1670ad80" > cvStereoRectifyFisheye</ a > (const CvMat *_cameraMatrix1, const CvMat *_cameraMatrix2, const CvMat *_distCoeffs1, const CvMat *_distCoeffs2, CvSize imageSize, const CvMat *matR, const CvMat *matT, CvMat *_R1, CvMat *_R2, CvMat *_P1, CvMat *_P2, CvMat *matQ, int flags, double alpha, CvSize newImgSize)</ td ></ tr >
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< tr class = "memitem:a6aeaa243652ad63099eeb32d0581253b" id = "r_a6aeaa243652ad63099eeb32d0581253b" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a6aeaa243652ad63099eeb32d0581253b" > stereoRectifyFisheye</ a > (cv::InputArray _cameraMatrix1, cv::InputArray _distCoeffs1, cv::InputArray _cameraMatrix2, cv::InputArray _distCoeffs2, cv::Size imageSize, cv::InputArray _Rmat, cv::InputArray _Tmat, cv::OutputArray _Rmat1, cv::OutputArray _Rmat2, cv::OutputArray _Pmat1, cv::OutputArray _Pmat2, cv::OutputArray _Qmat, int flags, double alpha, cv::Size newImageSize)</ td ></ tr >
< tr class = "separator:a6aeaa243652ad63099eeb32d0581253b" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a6138748ef83b742105e47c9275885e4a" id = "r_a6138748ef83b742105e47c9275885e4a" >< td class = "memItemLeft" align = "right" valign = "top" > RTABMAP_CORE_EXPORT std::ostream &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a6138748ef83b742105e47c9275885e4a" > operator<< </ a > (std::ostream & os, const < a class = "el" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > & model)</ td ></ tr >
< tr class = "memdesc:a6138748ef83b742105e47c9275885e4a" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Outputs a textual representation of the < a class = "el" href = "classrtabmap_1_1StereoCameraModel.html" title = "A class representing a calibrated stereo camera system." > StereoCameraModel</ a > to the given output stream. < br /></ td ></ tr >
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< tr class = "memitem:aef0e1f1b121a9199e7511becbc8f1e32" id = "r_aef0e1f1b121a9199e7511becbc8f1e32" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aef0e1f1b121a9199e7511becbc8f1e32" name = "aef0e1f1b121a9199e7511becbc8f1e32" ></ a >
RTABMAP_CORE_EXPORT std::ostream &  </ td >< td class = "memItemRight" valign = "bottom" >< b > operator<< </ b > (std::ostream & os, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & s)</ td ></ tr >
< tr class = "memdesc:aef0e1f1b121a9199e7511becbc8f1e32" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Output stream operator for < a class = "el" href = "classrtabmap_1_1Transform.html" title = "Represents a 3D rigid body transformation (rotation + translation)." > Transform</ a > . < br /></ td ></ tr >
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< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "var-members" name = "var-members" ></ a >
Variables</ h2 ></ td ></ tr >
< tr class = "memitem:ac1143b629394a895ca246d256dbc6038" id = "r_ac1143b629394a895ca246d256dbc6038" >< td class = "memItemLeft" align = "right" valign = "top" > RTABMAP_DEPRECATED typedef < a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#ac1143b629394a895ca246d256dbc6038" > CameraInfo</ a ></ td ></ tr >
< tr class = "memdesc:ac1143b629394a895ca246d256dbc6038" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Backward compatibility typedef. < br /></ td ></ tr >
< tr class = "separator:ac1143b629394a895ca246d256dbc6038" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:acd001e2ea3d2e44d9e24faab74d36324" id = "r_acd001e2ea3d2e44d9e24faab74d36324" >< td class = "memItemLeft" align = "right" valign = "top" > RTABMAP_DEPRECATED typedef < a class = "el" href = "classrtabmap_1_1SensorCaptureThread.html" > SensorCaptureThread</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#acd001e2ea3d2e44d9e24faab74d36324" > CameraThread</ a ></ td ></ tr >
< tr class = "memdesc:acd001e2ea3d2e44d9e24faab74d36324" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Backward compatibility typedef. < br /></ td ></ tr >
< tr class = "separator:acd001e2ea3d2e44d9e24faab74d36324" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a02e773b48c5ac372ce67fe4e040d835d" id = "r_a02e773b48c5ac372ce67fe4e040d835d" >< td class = "memItemLeft" align = "right" valign = "top" > RTABMAP_DEPRECATED typedef < a class = "el" href = "classrtabmap_1_1SensorEvent.html" > SensorEvent</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "namespacertabmap.html#a02e773b48c5ac372ce67fe4e040d835d" > CameraEvent</ a ></ td ></ tr >
< tr class = "memdesc:a02e773b48c5ac372ce67fe4e040d835d" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Backward compatibility typedef. < br /></ td ></ tr >
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< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Contributed by e-consystemgit < a href = "https://www.e-consystems.com/opensource-linux-webcam-software-application.asp" > https://www.e-consystems.com/opensource-linux-webcam-software-application.asp</ a > </ p >
</ div >< h2 class = "groupheader" > Typedef Documentation</ h2 >
< a id = "ac175ef40b7a4acb632232d3d96a1199a" name = "ac175ef40b7a4acb632232d3d96a1199a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ac175ef40b7a4acb632232d3d96a1199a" > ◆  </ a ></ span > EnvSensors</ h2 >
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< td class = "memname" > typedef std::map< < a class = "el" href = "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f" > EnvSensor::Type</ a > , < a class = "el" href = "classrtabmap_1_1EnvSensor.html" > EnvSensor</ a > > < a class = "el" href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > rtabmap::EnvSensors</ a ></ td >
</ tr >
</ table >
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< p > Map of environmental readings keyed by < a class = "el" href = "classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f" > EnvSensor::Type</ a > (at most one per type). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "EnvSensor_8h_source.html#l00114" > 114</ a > of file < a class = "el" href = "EnvSensor_8h_source.html" > EnvSensor.h</ a > .</ p >
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< a id = "a12bbfd3e37121bf9f68a4047c8b4da86" name = "a12bbfd3e37121bf9f68a4047c8b4da86" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a12bbfd3e37121bf9f68a4047c8b4da86" > ◆  </ a ></ span > Landmarks</ h2 >
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< td class = "memname" > typedef std::map< int, < a class = "el" href = "classrtabmap_1_1Landmark.html" > Landmark</ a > > < a class = "el" href = "namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86" > rtabmap::Landmarks</ a ></ td >
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< p > Map of landmark id → < a class = "el" href = "classrtabmap_1_1Landmark.html" > Landmark</ a > (typically positive keys). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Landmark_8h_source.html#l00113" > 113</ a > of file < a class = "el" href = "Landmark_8h_source.html" > Landmark.h</ a > .</ p >
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< a id = "a223e130e05bff60079b773b6b7c03cc5" name = "a223e130e05bff60079b773b6b7c03cc5" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a223e130e05bff60079b773b6b7c03cc5" > ◆  </ a ></ span > BAOutliers</ h2 >
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< td class = "memname" > typedef std::map< int, std::set< int> > rtabmap::BAOutliers</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Optimizer_8h_source.html#l00068" > 68</ a > of file < a class = "el" href = "Optimizer_8h_source.html" > Optimizer.h</ a > .</ p >
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< a id = "ad08b6f1796a27dd7316c99c385e2cc55" name = "ad08b6f1796a27dd7316c99c385e2cc55" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ad08b6f1796a27dd7316c99c385e2cc55" > ◆  </ a ></ span > ParametersMap</ h2 >
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< td class = "memname" > typedef std::map< std::string, std::string> < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > rtabmap::ParametersMap</ a ></ td >
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< p > Parameter keys mapped to their values, as used by every configurable class (see < a class = "el" href = "classrtabmap_1_1Parameters.html" > Parameters</ a > ). </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Parameters_8h_source.html#l00044" > 44</ a > of file < a class = "el" href = "Parameters_8h_source.html" > Parameters.h</ a > .</ p >
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< a id = "a4d38c2e87cb7a46dc4299f7bd4d95a01" name = "a4d38c2e87cb7a46dc4299f7bd4d95a01" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a4d38c2e87cb7a46dc4299f7bd4d95a01" > ◆  </ a ></ span > ParametersPair</ h2 >
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< td class = "memname" > typedef std::pair< std::string, std::string> < a class = "el" href = "namespacertabmap.html#a4d38c2e87cb7a46dc4299f7bd4d95a01" > rtabmap::ParametersPair</ a ></ td >
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< p > A single parameter key/value pair, the entry type of < a class = "el" href = "namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55" > ParametersMap</ a > . </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Parameters_8h_source.html#l00046" > 46</ a > of file < a class = "el" href = "Parameters_8h_source.html" > Parameters.h</ a > .</ p >
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< h2 class = "groupheader" > Function Documentation</ h2 >
< a id = "a087b7a1b89acb679edee23883653f1a7" name = "a087b7a1b89acb679edee23883653f1a7" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a087b7a1b89acb679edee23883653f1a7" > ◆  </ a ></ span > operator<< () < span class = "overload" > [1/2]</ span ></ h2 >
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< td class = "memname" > RTABMAP_CORE_EXPORT std::ostream & rtabmap::operator<< </ td >
< td > (</ td >
< td class = "paramtype" > std::ostream &  </ td >
< td class = "paramname" >< em > os</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > &  </ td >
< td class = "paramname" >< em > model</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
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< p > Stream operator for printing a camera model to an output stream. </ p >
< p > This function outputs the name, image size, and camera matrices (K, D, R, P) along with the local transformation.</ p >
< p > Example output: </ p >< div class = "fragment" >< div class = "line" > Name: camera1</ div >
< div class = "line" > Size: 640x480</ div >
< div class = "line" > K= [fx, 0, cx;</ div >
< div class = "line" > 0, fy, cy;</ div >
< div class = "line" > 0, 0, 1]</ div >
< div class = "line" > D= [...]</ div >
< div class = "line" > R= [...]</ div >
< div class = "line" > P= [...]</ div >
< div class = "line" > LocalTransform= [...]</ div >
</ div > <!-- fragment --> < dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > os</ td >< td > Output stream. </ td ></ tr >
< tr >< td class = "paramname" > model</ td >< td >< a class = "el" href = "classrtabmap_1_1Camera.html" > Camera</ a > model to print. </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd > The modified output stream. </ dd ></ dl >
</ div >
</ div >
< a id = "a67c525e80a7187b3106e5fd76155cabc" name = "a67c525e80a7187b3106e5fd76155cabc" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a67c525e80a7187b3106e5fd76155cabc" > ◆  </ a ></ span > compressedDepthFormat() < span class = "overload" > [1/3]</ span ></ h2 >
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< td class = "memname" > std::string RTABMAP_CORE_EXPORT rtabmap::compressedDepthFormat </ td >
< td > (</ td >
< td class = "paramtype" > const cv::Mat &  </ td >
< td class = "paramname" >< em > bytes</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
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< p > Detects the compression format of depth image bytes. </ p >
< dl class = "section return" >< dt > Returns</ dt >< dd >< code > ".rvl"</ code > if the buffer has an RVL signature, otherwise < code > ".png"</ code > . </ dd ></ dl >
</ div >
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< a id = "ab5cb2dcd6db7fe3bbe25d847177582c2" name = "ab5cb2dcd6db7fe3bbe25d847177582c2" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ab5cb2dcd6db7fe3bbe25d847177582c2" > ◆  </ a ></ span > compressedDepthFormat() < span class = "overload" > [2/3]</ span ></ h2 >
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< td class = "memname" > std::string RTABMAP_CORE_EXPORT rtabmap::compressedDepthFormat </ td >
< td > (</ td >
< td class = "paramtype" > const std::vector< unsigned char > &  </ td >
< td class = "paramname" >< em > bytes</ em ></ td >< td > )</ td >
< td ></ td >
</ tr >
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< p > This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </ p >
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< a id = "a58b406e413250675abbf0ec2956e3de8" name = "a58b406e413250675abbf0ec2956e3de8" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a58b406e413250675abbf0ec2956e3de8" > ◆  </ a ></ span > compressedDepthFormat() < span class = "overload" > [3/3]</ span ></ h2 >
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< td class = "memname" > std::string RTABMAP_CORE_EXPORT rtabmap::compressedDepthFormat </ td >
< td > (</ td >
< td class = "paramtype" > const unsigned char *  </ td >
< td class = "paramname" >< em > bytes</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > size_t  </ td >
< td class = "paramname" >< em > size</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </ p >
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</ div >
< a id = "a264208396318e0ecfe2af8f3aafe0374" name = "a264208396318e0ecfe2af8f3aafe0374" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a264208396318e0ecfe2af8f3aafe0374" > ◆  </ a ></ span > saveLASFile() < span class = "overload" > [1/3]</ span ></ h2 >
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< td class = "memname" > int RTABMAP_CORE_EXPORT rtabmap::saveLASFile </ td >
< td > (</ td >
< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > filePath</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const pcl::PointCloud< pcl::PointXYZ > &  </ td >
< td class = "paramname" >< em > cloud</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::vector< int > &  </ td >
< td class = "paramname" >< em > cameraIds</ em > = < code > std::vector<  int > ()</ code >   </ td >
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< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS). </ p >
< p > Output uses 1 mm XYZ scale (< code > 0.001</ code > ). The file extension (< code > .las</ code > or < code > .laz</ code > ) selects uncompressed or compressed output when libLAS LAZ support is available.</ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > filePath</ td >< td > Output path (< code > .las</ code > or < code > .laz</ code > ). </ td ></ tr >
< tr >< td class = "paramname" > cloud</ td >< td > Input point cloud. </ td ></ tr >
< tr >< td class = "paramname" > cameraIds</ td >< td > Optional per-point camera/signature ids (stored as point source ID); must be empty or the same length as < code > cloud</ code > . </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd >< code > 0</ code > on success, < code > 1</ code > on error (e.g. LAZ not supported). </ dd ></ dl >
</ div >
</ div >
< a id = "af174f507bee7dde4f9d45044d7bee8ea" name = "af174f507bee7dde4f9d45044d7bee8ea" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#af174f507bee7dde4f9d45044d7bee8ea" > ◆  </ a ></ span > saveLASFile() < span class = "overload" > [2/3]</ span ></ h2 >
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< td class = "memname" > int RTABMAP_CORE_EXPORT rtabmap::saveLASFile </ td >
< td > (</ td >
< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > filePath</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const pcl::PointCloud< pcl::PointXYZRGB > &  </ td >
< td class = "paramname" >< em > cloud</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::vector< int > &  </ td >
< td class = "paramname" >< em > cameraIds</ em > = < code > std::vector<  int > ()</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::vector< float > &  </ td >
< td class = "paramname" >< em > intensities</ em > = < code > std::vector<  float > ()</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > Writes a colored point cloud to LAS/LAZ, with optional intensity and camera ids. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > filePath</ td >< td > Output path (< code > .las</ code > or < code > .laz</ code > ). </ td ></ tr >
< tr >< td class = "paramname" > cloud</ td >< td > RGB point cloud (8-bit channels mapped to 16-bit LAS color). </ td ></ tr >
< tr >< td class = "paramname" > cameraIds</ td >< td > Optional per-point ids (same length as < code > cloud</ code > or empty). </ td ></ tr >
< tr >< td class = "paramname" > intensities</ td >< td > Optional per-point intensities (same length as < code > cloud</ code > or empty). </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd >< code > 0</ code > on success, < code > 1</ code > on error. </ dd ></ dl >
</ div >
</ div >
< a id = "ad59cb4c65fba713c1a622904c5229198" name = "ad59cb4c65fba713c1a622904c5229198" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ad59cb4c65fba713c1a622904c5229198" > ◆  </ a ></ span > saveLASFile() < span class = "overload" > [3/3]</ span ></ h2 >
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< td class = "memname" > int RTABMAP_CORE_EXPORT rtabmap::saveLASFile </ td >
< td > (</ td >
< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > filePath</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const pcl::PointCloud< pcl::PointXYZI > &  </ td >
< td class = "paramname" >< em > cloud</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::vector< int > &  </ td >
< td class = "paramname" >< em > cameraIds</ em > = < code > std::vector<  int > ()</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Writes a point cloud with intensity channel to LAS/LAZ. </ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > filePath</ td >< td > Output path (< code > .las</ code > or < code > .laz</ code > ). </ td ></ tr >
< tr >< td class = "paramname" > cloud</ td >< td > XYZI point cloud (coordinates and intensity written). </ td ></ tr >
< tr >< td class = "paramname" > cameraIds</ td >< td > Optional per-point ids (same length as < code > cloud</ code > or empty). </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd >< code > 0</ code > on success, < code > 1</ code > on error. </ dd ></ dl >
</ div >
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< a id = "a42710fa1c14154f52eca0092b91640ee" name = "a42710fa1c14154f52eca0092b91640ee" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a42710fa1c14154f52eca0092b91640ee" > ◆  </ a ></ span > cumSum()</ h2 >
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< table class = "memname" >
< tr >
< td class = "memname" > std::vector< double > rtabmap::cumSum </ td >
< td > (</ td >
< td class = "paramtype" > const std::vector< double > &  </ td >
< td class = "paramname" >< em > v</ em ></ td >< td > )</ td >
< td ></ td >
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< p class = "definition" > Definition at line < a class = "el" href = "ParticleFilter_8h_source.html#l00053" > 53</ a > of file < a class = "el" href = "ParticleFilter_8h_source.html" > ParticleFilter.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a45239b3eac29fca49eed94d1a322f57d" > ◆  </ a ></ span > resample()</ h2 >
< div class = "memitem" >
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< table class = "memname" >
< tr >
< td class = "memname" > std::vector< double > rtabmap::resample </ td >
< td > (</ td >
< td class = "paramtype" > const std::vector< double > &  </ td >
< td class = "paramname" >< em > p</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::vector< double > &  </ td >
< td class = "paramname" >< em > w</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > normalizeWeights</ em > = < code > false</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p class = "definition" > Definition at line < a class = "el" href = "ParticleFilter_8h_source.html#l00065" > 65</ a > of file < a class = "el" href = "ParticleFilter_8h_source.html" > ParticleFilter.h</ a > .</ p >
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< a id = "a84468b4bab971b3b8e2c33a746bf7f36" name = "a84468b4bab971b3b8e2c33a746bf7f36" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a84468b4bab971b3b8e2c33a746bf7f36" > ◆  </ a ></ span > databaseRecovery()</ h2 >
< div class = "memitem" >
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< table class = "memname" >
< tr >
< td class = "memname" > bool RTABMAP_CORE_EXPORT rtabmap::databaseRecovery </ td >
< td > (</ td >
< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > corruptedDatabase</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > bool  </ td >
< td class = "paramname" >< em > keepCorruptedDatabase</ em > = < code > true</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > std::string *  </ td >
< td class = "paramname" >< em > errorMsg</ em > = < code > 0</ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1ProgressState.html" > ProgressState</ a > *  </ td >
< td class = "paramname" >< em > progressState</ em > = < code > 0</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
</ tr >
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</ div >< div class = "memdoc" >
< p > Return true on success. The database is renamed to "*.backup.db" before recovering. </ p >< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > corruptedDatabase</ td >< td > database to recover </ td ></ tr >
< tr >< td class = "paramname" > keepCorruptedDatabase</ td >< td > if false and on recovery success, the backup database is removed </ td ></ tr >
< tr >< td class = "paramname" > errorMsg</ td >< td > error message if the function returns false </ td ></ tr >
< tr >< td class = "paramname" > progressState</ td >< td > A < a class = "el" href = "classrtabmap_1_1ProgressState.html" > ProgressState</ a > object used to get status of the recovery process </ td ></ tr >
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< a id = "a590ba1a1569333a2342dfbfc3baf699f" name = "a590ba1a1569333a2342dfbfc3baf699f" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a590ba1a1569333a2342dfbfc3baf699f" > ◆  </ a ></ span > icvGetRectanglesFisheye()</ h2 >
< div class = "memitem" >
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< table class = "memname" >
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< td class = "memname" > void rtabmap::icvGetRectanglesFisheye </ td >
< td > (</ td >
< td class = "paramtype" > const CvMat *  </ td >
< td class = "paramname" >< em > cameraMatrix</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const CvMat *  </ td >
< td class = "paramname" >< em > distCoeffs</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const CvMat *  </ td >
< td class = "paramname" >< em > R</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const CvMat *  </ td >
< td class = "paramname" >< em > newCameraMatrix</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > CvSize  </ td >
< td class = "paramname" >< em > imgSize</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::Rect_< float > &  </ td >
< td class = "paramname" >< em > inner</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::Rect_< float > &  </ td >
< td class = "paramname" >< em > outer</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p class = "definition" > Definition at line < a class = "el" href = "stereoRectifyFisheye_8h_source.html#l00935" > 935</ a > of file < a class = "el" href = "stereoRectifyFisheye_8h_source.html" > stereoRectifyFisheye.h</ a > .</ p >
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< a id = "ae1de66834acb641b9dac1e9b1670ad80" name = "ae1de66834acb641b9dac1e9b1670ad80" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ae1de66834acb641b9dac1e9b1670ad80" > ◆  </ a ></ span > cvStereoRectifyFisheye()</ h2 >
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< div class = "memproto" >
< table class = "memname" >
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< td class = "memname" > void rtabmap::cvStereoRectifyFisheye </ td >
< td > (</ td >
< td class = "paramtype" > const CvMat *  </ td >
< td class = "paramname" >< em > _cameraMatrix1</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const CvMat *  </ td >
< td class = "paramname" >< em > _cameraMatrix2</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const CvMat *  </ td >
< td class = "paramname" >< em > _distCoeffs1</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const CvMat *  </ td >
< td class = "paramname" >< em > _distCoeffs2</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > CvSize  </ td >
< td class = "paramname" >< em > imageSize</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const CvMat *  </ td >
< td class = "paramname" >< em > matR</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const CvMat *  </ td >
< td class = "paramname" >< em > matT</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > CvMat *  </ td >
< td class = "paramname" >< em > _R1</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > CvMat *  </ td >
< td class = "paramname" >< em > _R2</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > CvMat *  </ td >
< td class = "paramname" >< em > _P1</ em > , </ td >
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< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > CvMat *  </ td >
< td class = "paramname" >< em > _P2</ em > , </ td >
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< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > CvMat *  </ td >
< td class = "paramname" >< em > matQ</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > flags</ em > , </ td >
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< tr >
< td class = "paramkey" ></ td >
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< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > alpha</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > CvSize  </ td >
< td class = "paramname" >< em > newImgSize</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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</ div >< div class = "memdoc" >
< p class = "definition" > Definition at line < a class = "el" href = "stereoRectifyFisheye_8h_source.html#l00980" > 980</ a > of file < a class = "el" href = "stereoRectifyFisheye_8h_source.html" > stereoRectifyFisheye.h</ a > .</ p >
</ div >
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< a id = "a6aeaa243652ad63099eeb32d0581253b" name = "a6aeaa243652ad63099eeb32d0581253b" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a6aeaa243652ad63099eeb32d0581253b" > ◆  </ a ></ span > stereoRectifyFisheye()</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > void rtabmap::stereoRectifyFisheye </ td >
< td > (</ td >
< td class = "paramtype" > cv::InputArray  </ td >
< td class = "paramname" >< em > _cameraMatrix1</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::InputArray  </ td >
< td class = "paramname" >< em > _distCoeffs1</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::InputArray  </ td >
< td class = "paramname" >< em > _cameraMatrix2</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::InputArray  </ td >
< td class = "paramname" >< em > _distCoeffs2</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::Size  </ td >
< td class = "paramname" >< em > imageSize</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::InputArray  </ td >
< td class = "paramname" >< em > _Rmat</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::InputArray  </ td >
< td class = "paramname" >< em > _Tmat</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::OutputArray  </ td >
< td class = "paramname" >< em > _Rmat1</ em > , </ td >
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< td class = "paramkey" ></ td >
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< td class = "paramtype" > cv::OutputArray  </ td >
< td class = "paramname" >< em > _Rmat2</ em > , </ td >
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< td class = "paramkey" ></ td >
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< td class = "paramtype" > cv::OutputArray  </ td >
< td class = "paramname" >< em > _Pmat1</ em > , </ td >
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< td class = "paramtype" > cv::OutputArray  </ td >
< td class = "paramname" >< em > _Pmat2</ em > , </ td >
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< td class = "paramtype" > cv::OutputArray  </ td >
< td class = "paramname" >< em > _Qmat</ em > , </ td >
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< td class = "paramkey" ></ td >
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< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > flags</ em > , </ td >
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< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > alpha</ em > , </ td >
</ tr >
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< td class = "paramkey" ></ td >
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< td class = "paramtype" > cv::Size  </ td >
< td class = "paramname" >< em > newImageSize</ em >   </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "stereoRectifyFisheye_8h_source.html#l01190" > 1190</ a > of file < a class = "el" href = "stereoRectifyFisheye_8h_source.html" > stereoRectifyFisheye.h</ a > .</ p >
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</ div >
< a id = "a6138748ef83b742105e47c9275885e4a" name = "a6138748ef83b742105e47c9275885e4a" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a6138748ef83b742105e47c9275885e4a" > ◆  </ a ></ span > operator<< () < span class = "overload" > [2/2]</ span ></ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > RTABMAP_CORE_EXPORT std::ostream & rtabmap::operator<< </ td >
< td > (</ td >
< td class = "paramtype" > std::ostream &  </ td >
< td class = "paramname" >< em > os</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > &  </ td >
< td class = "paramname" >< em > model</ em >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > Outputs a textual representation of the < a class = "el" href = "classrtabmap_1_1StereoCameraModel.html" title = "A class representing a calibrated stereo camera system." > StereoCameraModel</ a > to the given output stream. </ p >
< p > This operator prints the details of the stereo camera model including:</ p >< ul >
< li > The left camera parameters.</ li >
< li > The right camera parameters.</ li >
< li > The stereo extrinsic matrices: Rotation (R), Translation (T), Essential (E), and Fundamental (F).</ li >
< li > The baseline distance between the two cameras.</ li >
</ ul >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > os</ td >< td > The output stream to write to. </ td ></ tr >
< tr >< td class = "paramname" > model</ td >< td > The < a class = "el" href = "classrtabmap_1_1StereoCameraModel.html" title = "A class representing a calibrated stereo camera system." > StereoCameraModel</ a > instance to output. </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd > A reference to the output stream after writing the model information. </ dd ></ dl >
</ div >
</ div >
< h2 class = "groupheader" > Variable Documentation</ h2 >
< a id = "ac1143b629394a895ca246d256dbc6038" name = "ac1143b629394a895ca246d256dbc6038" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ac1143b629394a895ca246d256dbc6038" > ◆  </ a ></ span > CameraInfo</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > RTABMAP_DEPRECATED typedef < a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > rtabmap::CameraInfo</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Backward compatibility typedef. </ p >
< dl class = "deprecated" >< dt >< b >< a class = "el" href = "deprecated.html#_deprecated000010" > Deprecated:</ a ></ b ></ dt >< dd > Use < a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" title = "Metadata structure for sensor data capture and processing." > SensorCaptureInfo</ a > instead </ dd ></ dl >
< p > CameraInfo is deprecated. Use < a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" title = "Metadata structure for sensor data capture and processing." > SensorCaptureInfo</ a > instead. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "SensorCaptureInfo_8h_source.html#l00133" > 133</ a > of file < a class = "el" href = "SensorCaptureInfo_8h_source.html" > SensorCaptureInfo.h</ a > .</ p >
</ div >
</ div >
< a id = "acd001e2ea3d2e44d9e24faab74d36324" name = "acd001e2ea3d2e44d9e24faab74d36324" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#acd001e2ea3d2e44d9e24faab74d36324" > ◆  </ a ></ span > CameraThread</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > RTABMAP_DEPRECATED typedef < a class = "el" href = "classrtabmap_1_1SensorCaptureThread.html" > SensorCaptureThread</ a > rtabmap::CameraThread</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Backward compatibility typedef. </ p >
< dl class = "deprecated" >< dt >< b >< a class = "el" href = "deprecated.html#_deprecated000011" > Deprecated:</ a ></ b ></ dt >< dd > Use < a class = "el" href = "classrtabmap_1_1SensorCaptureThread.html" title = "Thread-based sensor data capture and event posting for RTAB-Map." > SensorCaptureThread</ a > instead </ dd ></ dl >
< p > CameraThread is deprecated. Use < a class = "el" href = "classrtabmap_1_1SensorCaptureThread.html" title = "Thread-based sensor data capture and event posting for RTAB-Map." > SensorCaptureThread</ a > instead. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "SensorCaptureThread_8h_source.html#l00565" > 565</ a > of file < a class = "el" href = "SensorCaptureThread_8h_source.html" > SensorCaptureThread.h</ a > .</ p >
</ div >
</ div >
< a id = "a02e773b48c5ac372ce67fe4e040d835d" name = "a02e773b48c5ac372ce67fe4e040d835d" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a02e773b48c5ac372ce67fe4e040d835d" > ◆  </ a ></ span > CameraEvent</ h2 >
< div class = "memitem" >
< div class = "memproto" >
< table class = "memname" >
< tr >
< td class = "memname" > RTABMAP_DEPRECATED typedef < a class = "el" href = "classrtabmap_1_1SensorEvent.html" > SensorEvent</ a > rtabmap::CameraEvent</ td >
</ tr >
</ table >
</ div >< div class = "memdoc" >
< p > Backward compatibility typedef. </ p >
< dl class = "deprecated" >< dt >< b >< a class = "el" href = "deprecated.html#_deprecated000014" > Deprecated:</ a ></ b ></ dt >< dd > Use < a class = "el" href = "classrtabmap_1_1SensorEvent.html" title = "Event class for sensor data communication in RTAB-Map's event system." > SensorEvent</ a > instead </ dd ></ dl >
< p > CameraEvent is deprecated. Use < a class = "el" href = "classrtabmap_1_1SensorEvent.html" title = "Event class for sensor data communication in RTAB-Map's event system." > SensorEvent</ a > instead. </ p >
< p class = "definition" > Definition at line < a class = "el" href = "SensorEvent_8h_source.html#l00207" > 207</ a > of file < a class = "el" href = "SensorEvent_8h_source.html" > SensorEvent.h</ a > .</ p >
</ div >
</ div >
</ div > <!-- contents -->
</ div > <!-- doc-content -->
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