<divclass="line"><aid="l00005"name="l00005"></a><spanclass="lineno"> 5</span><spanclass="comment">Redistribution and use in source and binary forms, with or without</span></div>
<divclass="line"><aid="l00006"name="l00006"></a><spanclass="lineno"> 6</span><spanclass="comment">modification, are permitted provided that the following conditions are met:</span></div>
<divclass="line"><aid="l00007"name="l00007"></a><spanclass="lineno"> 7</span><spanclass="comment"> * Redistributions of source code must retain the above copyright</span></div>
<divclass="line"><aid="l00008"name="l00008"></a><spanclass="lineno"> 8</span><spanclass="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<divclass="line"><aid="l00009"name="l00009"></a><spanclass="lineno"> 9</span><spanclass="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
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<divclass="line"><aid="l00011"name="l00011"></a><spanclass="lineno"> 11</span><spanclass="comment"> documentation and/or other materials provided with the distribution.</span></div>
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<divclass="line"><aid="l00013"name="l00013"></a><spanclass="lineno"> 13</span><spanclass="comment"> names of its contributors may be used to endorse or promote products</span></div>
<divclass="line"><aid="l00014"name="l00014"></a><spanclass="lineno"> 14</span><spanclass="comment"> derived from this software without specific prior written permission.</span></div>
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<divclass="line"><aid="l00020"name="l00020"></a><spanclass="lineno"> 20</span><spanclass="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<divclass="line"><aid="l00021"name="l00021"></a><spanclass="lineno"> 21</span><spanclass="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<divclass="line"><aid="l00022"name="l00022"></a><spanclass="lineno"> 22</span><spanclass="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
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<divclass="line"><aid="l00025"name="l00025"></a><spanclass="lineno"> 25</span><spanclass="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<divclass="line"><aid="l00411"name="l00411"></a><spanclass="lineno"> 411</span><spanclass="keywordtype">int</span> downsampleStep, <spanclass="comment">// decimation of the depth image in case the scan is from depth image</span></div>
<divclass="line"><aid="l00442"name="l00442"></a><spanclass="lineno"> 442</span><spanclass="keywordtype">int</span> downsampleStep=1, <spanclass="comment">// decimation of the depth image in case the scan is from depth image</span></div>
<divclass="ttc"id="aclassrtabmap_1_1Feature2D_html"><divclass="ttname"><ahref="classrtabmap_1_1Feature2D.html">rtabmap::Feature2D</a></div><divclass="ttdoc">Abstract 2D feature detector and descriptor extractor for visual SLAM.</div><divclass="ttdef"><b>Definition</b><ahref="Features2d_8h_source.html#l00145">Features2d.h:145</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1IMUFilter_html"><divclass="ttname"><ahref="classrtabmap_1_1IMUFilter.html">rtabmap::IMUFilter</a></div><divclass="ttdoc">Fuses gyroscope and accelerometer samples into an orientation quaternion.</div><divclass="ttdef"><b>Definition</b><ahref="IMUFilter_8h_source.html#l00058">IMUFilter.h:59</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html">rtabmap::SensorCaptureInfo</a></div><divclass="ttdoc">Metadata structure for sensor data capture and processing.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00064">SensorCaptureInfo.h:65</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html">rtabmap::SensorCaptureThread</a></div><divclass="ttdoc">Thread-based sensor data capture and event posting for RTAB-Map.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureThread_8h_source.html#l00097">SensorCaptureThread.h:100</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a0f4e3814d203ded5735ebb7abba1451e"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a0f4e3814d203ded5735ebb7abba1451e">rtabmap::SensorCaptureThread::odomSensor</a></div><divclass="ttdeci">SensorCapture * odomSensor()</div><divclass="ttdoc">Returns the odometry sensor pointer.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureThread_8h_source.html#l00493">SensorCaptureThread.h:493</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a1cfabc2a5451ffe913f5691b80de514d"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a1cfabc2a5451ffe913f5691b80de514d">rtabmap::SensorCaptureThread::setMirroringEnabled</a></div><divclass="ttdeci">void setMirroringEnabled(bool enabled)</div><divclass="ttdoc">Enables or disables image mirroring (horizontal flip)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureThread_8h_source.html#l00245">SensorCaptureThread.h:245</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a2a40e01eb8e61aae54feeb1458efb88e"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a2a40e01eb8e61aae54feeb1458efb88e">rtabmap::SensorCaptureThread::setImageRate</a></div><divclass="ttdeci">RTABMAP_DEPRECATED void setImageRate(float frameRate)</div><divclass="ttdoc">Sets the target image capture rate (deprecated)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureThread_8h_source.html#l00312">SensorCaptureThread.h:312</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a2a64df180f19d0a2ea9a8d66ea58fc42"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a2a64df180f19d0a2ea9a8d66ea58fc42">rtabmap::SensorCaptureThread::SensorCaptureThread</a></div><divclass="ttdeci">SensorCaptureThread(Lidar *lidar, Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())</div><divclass="ttdoc">Constructor for lidar with camera and odometry sensor.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a2c43f41518d914f2a3ae6959abcde989"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a2c43f41518d914f2a3ae6959abcde989">rtabmap::SensorCaptureThread::setStereoExposureCompensation</a></div><divclass="ttdeci">void setStereoExposureCompensation(bool enabled)</div><divclass="ttdoc">Enables or disables stereo exposure compensation.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureThread_8h_source.html#l00255">SensorCaptureThread.h:255</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a416f1596701d6b9dbd8512cd1c617788"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a416f1596701d6b9dbd8512cd1c617788">rtabmap::SensorCaptureThread::setFrameRate</a></div><divclass="ttdeci">void setFrameRate(float frameRate)</div><divclass="ttdoc">Sets the target frame rate for capture.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a429011ef7b39d30fc98413d727cccf4b"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a429011ef7b39d30fc98413d727cccf4b">rtabmap::SensorCaptureThread::enableBilateralFiltering</a></div><divclass="ttdeci">void enableBilateralFiltering(float sigmaS, float sigmaR)</div><divclass="ttdoc">Enables bilateral filtering for depth images.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a435f89b6a3186462f6ee860afa88644c"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a435f89b6a3186462f6ee860afa88644c">rtabmap::SensorCaptureThread::isPaused</a></div><divclass="ttdeci">bool isPaused() const</div><divclass="ttdoc">Checks if the capture thread is paused.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureThread_8h_source.html#l00469">SensorCaptureThread.h:469</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a43cb04de41b589b3f6069fff553a4dd7"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a43cb04de41b589b3f6069fff553a4dd7">rtabmap::SensorCaptureThread::postUpdate</a></div><divclass="ttdeci">void postUpdate(SensorData *data, SensorCaptureInfo *info=0) const</div><divclass="ttdoc">Post-processing hook called before posting SensorEvent.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a590aee9497d8a3b6e14b68e1e17f9c6a"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a590aee9497d8a3b6e14b68e1e17f9c6a">rtabmap::SensorCaptureThread::SensorCaptureThread</a></div><divclass="ttdeci">SensorCaptureThread(Lidar *lidar, SensorCapture *odomSensor, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())</div><divclass="ttdoc">Constructor for lidar with odometry sensor.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a5a6a9ad20c75150f86ef479fe74ae6f7"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a5a6a9ad20c75150f86ef479fe74ae6f7">rtabmap::SensorCaptureThread::setOdomAsGroundTruth</a></div><divclass="ttdeci">void setOdomAsGroundTruth(bool enabled)</div><divclass="ttdoc">Sets whether odometry poses should be treated as ground truth.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureThread_8h_source.html#l00340">SensorCaptureThread.h:340</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a6308c79599bd90b77d243febff024a15"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a6308c79599bd90b77d243febff024a15">rtabmap::SensorCaptureThread::setColorOnly</a></div><divclass="ttdeci">void setColorOnly(bool colorOnly)</div><divclass="ttdoc">Sets whether to capture color images only (skip depth)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureThread_8h_source.html#l00261">SensorCaptureThread.h:261</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a75c2426adc532854f1d7119256b1cf0d"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a75c2426adc532854f1d7119256b1cf0d">rtabmap::SensorCaptureThread::disableIMUFiltering</a></div><divclass="ttdeci">void disableIMUFiltering()</div><divclass="ttdoc">Disables IMU data filtering.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a76ad33a55009b7a7f7ec51acccbe0492"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a76ad33a55009b7a7f7ec51acccbe0492">rtabmap::SensorCaptureThread::SensorCaptureThread</a></div><divclass="ttdeci">SensorCaptureThread(Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())</div><divclass="ttdoc">Constructor for camera with odometry sensor.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a834d1e5c389e7ef8eb23bf1361916ae2"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a834d1e5c389e7ef8eb23bf1361916ae2">rtabmap::SensorCaptureThread::SensorCaptureThread</a></div><divclass="ttdeci">SensorCaptureThread(Lidar *lidar, const ParametersMap &parameters=ParametersMap())</div><divclass="ttdoc">Constructor for lidar-only capture.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a88269150d6fd6fd39685fe9e926d98e6"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a88269150d6fd6fd39685fe9e926d98e6">rtabmap::SensorCaptureThread::odomProvided</a></div><divclass="ttdeci">bool odomProvided() const</div><divclass="ttdoc">Checks if odometry is provided by the sensors.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_a9cf0e883ace51a2a656395327beb74e5"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#a9cf0e883ace51a2a656395327beb74e5">rtabmap::SensorCaptureThread::SensorCaptureThread</a></div><divclass="ttdeci">SensorCaptureThread(Lidar *lidar, Camera *camera, const ParametersMap &parameters=ParametersMap())</div><divclass="ttdoc">Constructor for lidar with camera.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_aa0a6c975417a655029470aea2ea5d01a"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#aa0a6c975417a655029470aea2ea5d01a">rtabmap::SensorCaptureThread::enableFeatureDetection</a></div><divclass="ttdeci">void enableFeatureDetection(const ParametersMap &parameters=ParametersMap())</div><divclass="ttdoc">Enables automatic feature detection on captured images.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_aa6e5a6a53d621cda6e0b7f2ff35d33f0"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#aa6e5a6a53d621cda6e0b7f2ff35d33f0">rtabmap::SensorCaptureThread::lidar</a></div><divclass="ttdeci">Lidar * lidar()</div><divclass="ttdoc">Returns the lidar pointer.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureThread_8h_source.html#l00499">SensorCaptureThread.h:499</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_aa7f6dcffcd6646994c2a87d8b888edcc"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#aa7f6dcffcd6646994c2a87d8b888edcc">rtabmap::SensorCaptureThread::setDistortionModel</a></div><divclass="ttdeci">void setDistortionModel(const std::string &path)</div><divclass="ttdoc">Sets the depth distortion model file path.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_ab2654b31ebdf06b375045fadbc83731a"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#ab2654b31ebdf06b375045fadbc83731a">rtabmap::SensorCaptureThread::isCapturing</a></div><divclass="ttdeci">bool isCapturing() const</div><divclass="ttdoc">Checks if the capture thread is actively capturing.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureThread_8h_source.html#l00475">SensorCaptureThread.h:475</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_acae15b44b2fb05da9421dc88ff0be75c"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">rtabmap::SensorCaptureThread::SensorCaptureThread</a></div><divclass="ttdeci">SensorCaptureThread(Camera *camera, const ParametersMap &parameters=ParametersMap())</div><divclass="ttdoc">Constructor for camera-only capture.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_ad6750f6280bdcbb386a051ba9cc36857"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#ad6750f6280bdcbb386a051ba9cc36857">rtabmap::SensorCaptureThread::camera</a></div><divclass="ttdeci">Camera * camera()</div><divclass="ttdoc">Returns the camera pointer.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureThread_8h_source.html#l00487">SensorCaptureThread.h:487</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureThread_html_ae0658121bc03f0eafd469ee114bc61f8"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureThread.html#ae0658121bc03f0eafd469ee114bc61f8">rtabmap::SensorCaptureThread::setStereoToDepth</a></div><divclass="ttdeci">void setStereoToDepth(bool enabled)</div><divclass="ttdoc">Enables or disables stereo-to-depth conversion.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureThread_8h_source.html#l00296">SensorCaptureThread.h:296</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html">rtabmap::SensorCapture</a></div><divclass="ttdoc">Abstract base class for sensor data capture (cameras, lidars, etc.)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCapture_8h_source.html#l00078">SensorCapture.h:79</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><divclass="ttdoc">Container class for all sensor data captured at a specific time.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoDense_html"><divclass="ttname"><ahref="classrtabmap_1_1StereoDense.html">rtabmap::StereoDense</a></div><divclass="ttdoc">Abstract base class for dense stereo matching algorithms.</div><divclass="ttdef"><b>Definition</b><ahref="StereoDense_8h_source.html#l00053">StereoDense.h:53</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Transform_html"><divclass="ttname"><ahref="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><divclass="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><divclass="ttdef"><b>Definition</b><ahref="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<divclass="ttc"id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><divclass="ttname"><ahref="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><divclass="ttdeci">std::map< std::string, std::string > ParametersMap</div><divclass="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><divclass="ttdef"><b>Definition</b><ahref="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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