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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
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< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
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< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef SENSORDATA_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define SENSORDATA_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include < rtabmap/core/rtabmap_core_export.h> </ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span >< span class = "preprocessor" > #include < rtabmap/core/Transform.h> </ span ></ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < rtabmap/core/CameraModel.h> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < rtabmap/core/StereoCameraModel.h> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #include < opencv2/core/core.hpp> </ span ></ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "preprocessor" > #if CV_MAJOR_VERSION < 5</ span ></ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "preprocessor" > #include < opencv2/features2d/features2d.hpp> </ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span >< span class = "preprocessor" > #else</ span ></ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span >< span class = "preprocessor" > #include < opencv2/features.hpp> </ span ></ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span >< span class = "preprocessor" > #include < rtabmap/core/LaserScan.h> </ span ></ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span >< span class = "preprocessor" > #include < rtabmap/core/IMU.h> </ span ></ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span >< span class = "preprocessor" > #include < rtabmap/core/GPS.h> </ span ></ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span >< span class = "preprocessor" > #include < rtabmap/core/EnvSensor.h> </ span ></ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span >< span class = "preprocessor" > #include < rtabmap/core/Landmark.h> </ span ></ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span >< span class = "preprocessor" > #include < rtabmap/core/GlobalDescriptor.h> </ span ></ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span > </ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a ></ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span > {</ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span > </ div >
< div class = "foldopen" id = "foldopen00096" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html" > 96</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a ></ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span > {</ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a941f907890fe9e0e9becec0a665581cd" > 105</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a941f907890fe9e0e9becec0a665581cd" > SensorData</ a > ();</ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" > 106</ span > </ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ab6201ea27482207308f000bd4cc90081" > 119</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ab6201ea27482207308f000bd4cc90081" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00120" name = "l00120" ></ a >< span class = "lineno" > 120</ span > < span class = "keyword" > const</ span > cv::Mat & image,</ div >
< div class = "line" >< a id = "l00121" name = "l00121" ></ a >< span class = "lineno" > 121</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00122" name = "l00122" ></ a >< span class = "lineno" > 122</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" > 123</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > </ div >
< div class = "line" >< a id = "l00137" name = "l00137" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a14f7a5c64b5d27842cb654e247d1fd20" > 137</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a14f7a5c64b5d27842cb654e247d1fd20" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00138" name = "l00138" ></ a >< span class = "lineno" > 138</ span > < span class = "keyword" > const</ span > cv::Mat & image,</ div >
< div class = "line" >< a id = "l00139" name = "l00139" ></ a >< span class = "lineno" > 139</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & cameraModel,</ div >
< div class = "line" >< a id = "l00140" name = "l00140" ></ a >< span class = "lineno" > 140</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00141" name = "l00141" ></ a >< span class = "lineno" > 141</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00142" name = "l00142" ></ a >< span class = "lineno" > 142</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00143" name = "l00143" ></ a >< span class = "lineno" > 143</ span > </ div >
< div class = "line" >< a id = "l00156" name = "l00156" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#aead598774e0cb15375828a2965b3ab80" > 156</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#aead598774e0cb15375828a2965b3ab80" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00157" name = "l00157" ></ a >< span class = "lineno" > 157</ span > < span class = "keyword" > const</ span > cv::Mat & rgb,</ div >
< div class = "line" >< a id = "l00158" name = "l00158" ></ a >< span class = "lineno" > 158</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00159" name = "l00159" ></ a >< span class = "lineno" > 159</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & cameraModel,</ div >
< div class = "line" >< a id = "l00160" name = "l00160" ></ a >< span class = "lineno" > 160</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00161" name = "l00161" ></ a >< span class = "lineno" > 161</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00162" name = "l00162" ></ a >< span class = "lineno" > 162</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00163" name = "l00163" ></ a >< span class = "lineno" > 163</ span > </ div >
< div class = "line" >< a id = "l00177" name = "l00177" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a87424cc9915dababe9aa3bc418e85197" > 177</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a87424cc9915dababe9aa3bc418e85197" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00178" name = "l00178" ></ a >< span class = "lineno" > 178</ span > < span class = "keyword" > const</ span > cv::Mat & rgb,</ div >
< div class = "line" >< a id = "l00179" name = "l00179" ></ a >< span class = "lineno" > 179</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00180" name = "l00180" ></ a >< span class = "lineno" > 180</ span > < span class = "keyword" > const</ span > cv::Mat & depth_confidence,</ div >
< div class = "line" >< a id = "l00181" name = "l00181" ></ a >< span class = "lineno" > 181</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & cameraModel,</ div >
< div class = "line" >< a id = "l00182" name = "l00182" ></ a >< span class = "lineno" > 182</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00183" name = "l00183" ></ a >< span class = "lineno" > 183</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00184" name = "l00184" ></ a >< span class = "lineno" > 184</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00185" name = "l00185" ></ a >< span class = "lineno" > 185</ span > </ div >
< div class = "line" >< a id = "l00199" name = "l00199" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ac06b8207850c5412cc52f5f0e0e4ba7b" > 199</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ac06b8207850c5412cc52f5f0e0e4ba7b" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00200" name = "l00200" ></ a >< span class = "lineno" > 200</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan,</ div >
< div class = "line" >< a id = "l00201" name = "l00201" ></ a >< span class = "lineno" > 201</ span > < span class = "keyword" > const</ span > cv::Mat & rgb,</ div >
< div class = "line" >< a id = "l00202" name = "l00202" ></ a >< span class = "lineno" > 202</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00203" name = "l00203" ></ a >< span class = "lineno" > 203</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & cameraModel,</ div >
< div class = "line" >< a id = "l00204" name = "l00204" ></ a >< span class = "lineno" > 204</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00205" name = "l00205" ></ a >< span class = "lineno" > 205</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00206" name = "l00206" ></ a >< span class = "lineno" > 206</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00207" name = "l00207" ></ a >< span class = "lineno" > 207</ span > </ div >
< div class = "line" >< a id = "l00222" name = "l00222" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a52b215e8d320bbcbd464e3b7181a077b" > 222</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a52b215e8d320bbcbd464e3b7181a077b" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00223" name = "l00223" ></ a >< span class = "lineno" > 223</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan,</ div >
< div class = "line" >< a id = "l00224" name = "l00224" ></ a >< span class = "lineno" > 224</ span > < span class = "keyword" > const</ span > cv::Mat & rgb,</ div >
< div class = "line" >< a id = "l00225" name = "l00225" ></ a >< span class = "lineno" > 225</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00226" name = "l00226" ></ a >< span class = "lineno" > 226</ span > < span class = "keyword" > const</ span > cv::Mat & depthConfidence,</ div >
< div class = "line" >< a id = "l00227" name = "l00227" ></ a >< span class = "lineno" > 227</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & cameraModel,</ div >
< div class = "line" >< a id = "l00228" name = "l00228" ></ a >< span class = "lineno" > 228</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00229" name = "l00229" ></ a >< span class = "lineno" > 229</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00230" name = "l00230" ></ a >< span class = "lineno" > 230</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00231" name = "l00231" ></ a >< span class = "lineno" > 231</ span > </ div >
< div class = "line" >< a id = "l00281" name = "l00281" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ae4498a6d017e83202dfe86618e91fa57" > 281</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ae4498a6d017e83202dfe86618e91fa57" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00282" name = "l00282" ></ a >< span class = "lineno" > 282</ span > < span class = "keyword" > const</ span > cv::Mat & rgb,</ div >
< div class = "line" >< a id = "l00283" name = "l00283" ></ a >< span class = "lineno" > 283</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00284" name = "l00284" ></ a >< span class = "lineno" > 284</ span > < span class = "keyword" > const</ span > std::vector< CameraModel> & cameraModels,</ div >
< div class = "line" >< a id = "l00285" name = "l00285" ></ a >< span class = "lineno" > 285</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00286" name = "l00286" ></ a >< span class = "lineno" > 286</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00287" name = "l00287" ></ a >< span class = "lineno" > 287</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00288" name = "l00288" ></ a >< span class = "lineno" > 288</ span > </ div >
< div class = "line" >< a id = "l00304" name = "l00304" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a72a0250435fc194b1189241d4a47254d" > 304</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a72a0250435fc194b1189241d4a47254d" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00305" name = "l00305" ></ a >< span class = "lineno" > 305</ span > < span class = "keyword" > const</ span > cv::Mat & rgb,</ div >
< div class = "line" >< a id = "l00306" name = "l00306" ></ a >< span class = "lineno" > 306</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00307" name = "l00307" ></ a >< span class = "lineno" > 307</ span > < span class = "keyword" > const</ span > cv::Mat & depthConfidence,</ div >
< div class = "line" >< a id = "l00308" name = "l00308" ></ a >< span class = "lineno" > 308</ span > < span class = "keyword" > const</ span > std::vector< CameraModel> & cameraModels,</ div >
< div class = "line" >< a id = "l00309" name = "l00309" ></ a >< span class = "lineno" > 309</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00310" name = "l00310" ></ a >< span class = "lineno" > 310</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00311" name = "l00311" ></ a >< span class = "lineno" > 311</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00312" name = "l00312" ></ a >< span class = "lineno" > 312</ span > </ div >
< div class = "line" >< a id = "l00328" name = "l00328" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ada69a11125b0b3072add73a3a2f1b5f2" > 328</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ada69a11125b0b3072add73a3a2f1b5f2" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00329" name = "l00329" ></ a >< span class = "lineno" > 329</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan,</ div >
< div class = "line" >< a id = "l00330" name = "l00330" ></ a >< span class = "lineno" > 330</ span > < span class = "keyword" > const</ span > cv::Mat & rgb,</ div >
< div class = "line" >< a id = "l00331" name = "l00331" ></ a >< span class = "lineno" > 331</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00332" name = "l00332" ></ a >< span class = "lineno" > 332</ span > < span class = "keyword" > const</ span > std::vector< CameraModel> & cameraModels,</ div >
< div class = "line" >< a id = "l00333" name = "l00333" ></ a >< span class = "lineno" > 333</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00334" name = "l00334" ></ a >< span class = "lineno" > 334</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00335" name = "l00335" ></ a >< span class = "lineno" > 335</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00336" name = "l00336" ></ a >< span class = "lineno" > 336</ span > </ div >
< div class = "line" >< a id = "l00353" name = "l00353" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ae0370b88671bb41812c2d39fd0cfc3ce" > 353</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ae0370b88671bb41812c2d39fd0cfc3ce" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00354" name = "l00354" ></ a >< span class = "lineno" > 354</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan,</ div >
< div class = "line" >< a id = "l00355" name = "l00355" ></ a >< span class = "lineno" > 355</ span > < span class = "keyword" > const</ span > cv::Mat & rgb,</ div >
< div class = "line" >< a id = "l00356" name = "l00356" ></ a >< span class = "lineno" > 356</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00357" name = "l00357" ></ a >< span class = "lineno" > 357</ span > < span class = "keyword" > const</ span > cv::Mat & depthConfidence,</ div >
< div class = "line" >< a id = "l00358" name = "l00358" ></ a >< span class = "lineno" > 358</ span > < span class = "keyword" > const</ span > std::vector< CameraModel> & cameraModels,</ div >
< div class = "line" >< a id = "l00359" name = "l00359" ></ a >< span class = "lineno" > 359</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00360" name = "l00360" ></ a >< span class = "lineno" > 360</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00361" name = "l00361" ></ a >< span class = "lineno" > 361</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00362" name = "l00362" ></ a >< span class = "lineno" > 362</ span > </ div >
< div class = "line" >< a id = "l00375" name = "l00375" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a1534d36fee45c3df70679438ec9d00a3" > 375</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a1534d36fee45c3df70679438ec9d00a3" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00376" name = "l00376" ></ a >< span class = "lineno" > 376</ span > < span class = "keyword" > const</ span > cv::Mat & left,</ div >
< div class = "line" >< a id = "l00377" name = "l00377" ></ a >< span class = "lineno" > 377</ span > < span class = "keyword" > const</ span > cv::Mat & right,</ div >
< div class = "line" >< a id = "l00378" name = "l00378" ></ a >< span class = "lineno" > 378</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > & cameraModel,</ div >
< div class = "line" >< a id = "l00379" name = "l00379" ></ a >< span class = "lineno" > 379</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00380" name = "l00380" ></ a >< span class = "lineno" > 380</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00381" name = "l00381" ></ a >< span class = "lineno" > 381</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00382" name = "l00382" ></ a >< span class = "lineno" > 382</ span > </ div >
< div class = "line" >< a id = "l00396" name = "l00396" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#abdd07b6e248e165959468bb31897bc20" > 396</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#abdd07b6e248e165959468bb31897bc20" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00397" name = "l00397" ></ a >< span class = "lineno" > 397</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan,</ div >
< div class = "line" >< a id = "l00398" name = "l00398" ></ a >< span class = "lineno" > 398</ span > < span class = "keyword" > const</ span > cv::Mat & left,</ div >
< div class = "line" >< a id = "l00399" name = "l00399" ></ a >< span class = "lineno" > 399</ span > < span class = "keyword" > const</ span > cv::Mat & right,</ div >
< div class = "line" >< a id = "l00400" name = "l00400" ></ a >< span class = "lineno" > 400</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > & cameraModel,</ div >
< div class = "line" >< a id = "l00401" name = "l00401" ></ a >< span class = "lineno" > 401</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00402" name = "l00402" ></ a >< span class = "lineno" > 402</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00403" name = "l00403" ></ a >< span class = "lineno" > 403</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00404" name = "l00404" ></ a >< span class = "lineno" > 404</ span > </ div >
< div class = "line" >< a id = "l00419" name = "l00419" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a6ccaccf892f950b0caa03c07de3eab98" > 419</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a6ccaccf892f950b0caa03c07de3eab98" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00420" name = "l00420" ></ a >< span class = "lineno" > 420</ span > < span class = "keyword" > const</ span > cv::Mat & rgb,</ div >
< div class = "line" >< a id = "l00421" name = "l00421" ></ a >< span class = "lineno" > 421</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00422" name = "l00422" ></ a >< span class = "lineno" > 422</ span > < span class = "keyword" > const</ span > std::vector< StereoCameraModel> & cameraModels,</ div >
< div class = "line" >< a id = "l00423" name = "l00423" ></ a >< span class = "lineno" > 423</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00424" name = "l00424" ></ a >< span class = "lineno" > 424</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00425" name = "l00425" ></ a >< span class = "lineno" > 425</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00426" name = "l00426" ></ a >< span class = "lineno" > 426</ span > </ div >
< div class = "line" >< a id = "l00440" name = "l00440" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ad34a0a4ca3eac4a1c91fb7fb5068fb04" > 440</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ad34a0a4ca3eac4a1c91fb7fb5068fb04" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00441" name = "l00441" ></ a >< span class = "lineno" > 441</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan,</ div >
< div class = "line" >< a id = "l00442" name = "l00442" ></ a >< span class = "lineno" > 442</ span > < span class = "keyword" > const</ span > cv::Mat & rgb,</ div >
< div class = "line" >< a id = "l00443" name = "l00443" ></ a >< span class = "lineno" > 443</ span > < span class = "keyword" > const</ span > cv::Mat & depth,</ div >
< div class = "line" >< a id = "l00444" name = "l00444" ></ a >< span class = "lineno" > 444</ span > < span class = "keyword" > const</ span > std::vector< StereoCameraModel> & cameraModels,</ div >
< div class = "line" >< a id = "l00445" name = "l00445" ></ a >< span class = "lineno" > 445</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00446" name = "l00446" ></ a >< span class = "lineno" > 446</ span > < span class = "keywordtype" > double</ span > stamp = 0.0,</ div >
< div class = "line" >< a id = "l00447" name = "l00447" ></ a >< span class = "lineno" > 447</ span > < span class = "keyword" > const</ span > cv::Mat & userData = cv::Mat());</ div >
< div class = "line" >< a id = "l00448" name = "l00448" ></ a >< span class = "lineno" > 448</ span > </ div >
< div class = "line" >< a id = "l00459" name = "l00459" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff" > 459</ a ></ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff" > SensorData</ a > (</ div >
< div class = "line" >< a id = "l00460" name = "l00460" ></ a >< span class = "lineno" > 460</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1IMU.html" > IMU</ a > & imu,</ div >
< div class = "line" >< a id = "l00461" name = "l00461" ></ a >< span class = "lineno" > 461</ span > < span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > = 0,</ div >
< div class = "line" >< a id = "l00462" name = "l00462" ></ a >< span class = "lineno" > 462</ span > < span class = "keywordtype" > double</ span > stamp = 0.0);</ div >
< div class = "line" >< a id = "l00463" name = "l00463" ></ a >< span class = "lineno" > 463</ span > </ div >
< div class = "line" >< a id = "l00467" name = "l00467" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a94f4e8970ae34d652100dce131cc9e44" > 467</ a ></ span > < span class = "keyword" > virtual</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a94f4e8970ae34d652100dce131cc9e44" > ~SensorData</ a > ();</ div >
< div class = "line" >< a id = "l00468" name = "l00468" ></ a >< span class = "lineno" > 468</ span > </ div >
< div class = "foldopen" id = "foldopen00485" data-start = "{" data-end = "}" >
< div class = "line" >< a id = "l00485" name = "l00485" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ad620676ab1a971846ab80ef646aa5882" > 485</ a ></ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ad620676ab1a971846ab80ef646aa5882" > isValid</ a > ()< span class = "keyword" > const </ span > {</ div >
< div class = "line" >< a id = "l00486" name = "l00486" ></ a >< span class = "lineno" > 486</ span > < span class = "keywordflow" > return</ span > !(_id == 0 && </ div >
< div class = "line" >< a id = "l00487" name = "l00487" ></ a >< span class = "lineno" > 487</ span > _stamp == 0.0 && </ div >
< div class = "line" >< a id = "l00488" name = "l00488" ></ a >< span class = "lineno" > 488</ span > _imageRaw.empty() && </ div >
< div class = "line" >< a id = "l00489" name = "l00489" ></ a >< span class = "lineno" > 489</ span > _imageCompressed.empty() && </ div >
< div class = "line" >< a id = "l00490" name = "l00490" ></ a >< span class = "lineno" > 490</ span > _depthOrRightRaw.empty() && </ div >
< div class = "line" >< a id = "l00491" name = "l00491" ></ a >< span class = "lineno" > 491</ span > _depthOrRightCompressed.empty() && </ div >
< div class = "line" >< a id = "l00492" name = "l00492" ></ a >< span class = "lineno" > 492</ span > _depthConfidenceRaw.empty() && </ div >
< div class = "line" >< a id = "l00493" name = "l00493" ></ a >< span class = "lineno" > 493</ span > _depthConfidenceCompressed.empty() && </ div >
< div class = "line" >< a id = "l00494" name = "l00494" ></ a >< span class = "lineno" > 494</ span > _laserScanRaw.isEmpty() && </ div >
< div class = "line" >< a id = "l00495" name = "l00495" ></ a >< span class = "lineno" > 495</ span > _laserScanCompressed.isEmpty() && </ div >
< div class = "line" >< a id = "l00496" name = "l00496" ></ a >< span class = "lineno" > 496</ span > _cameraModels.empty() && </ div >
< div class = "line" >< a id = "l00497" name = "l00497" ></ a >< span class = "lineno" > 497</ span > _stereoCameraModels.empty() && </ div >
< div class = "line" >< a id = "l00498" name = "l00498" ></ a >< span class = "lineno" > 498</ span > _userDataRaw.empty() && </ div >
< div class = "line" >< a id = "l00499" name = "l00499" ></ a >< span class = "lineno" > 499</ span > _userDataCompressed.empty() && </ div >
< div class = "line" >< a id = "l00500" name = "l00500" ></ a >< span class = "lineno" > 500</ span > _keypoints.size() == 0 && </ div >
< div class = "line" >< a id = "l00501" name = "l00501" ></ a >< span class = "lineno" > 501</ span > _descriptors.empty() && </ div >
< div class = "line" >< a id = "l00502" name = "l00502" ></ a >< span class = "lineno" > 502</ span > _groundCellsRaw.empty() && </ div >
< div class = "line" >< a id = "l00503" name = "l00503" ></ a >< span class = "lineno" > 503</ span > _groundCellsCompressed.empty() && </ div >
< div class = "line" >< a id = "l00504" name = "l00504" ></ a >< span class = "lineno" > 504</ span > _obstacleCellsRaw.empty() && </ div >
< div class = "line" >< a id = "l00505" name = "l00505" ></ a >< span class = "lineno" > 505</ span > _obstacleCellsCompressed.empty() && </ div >
< div class = "line" >< a id = "l00506" name = "l00506" ></ a >< span class = "lineno" > 506</ span > _emptyCellsRaw.empty() && </ div >
< div class = "line" >< a id = "l00507" name = "l00507" ></ a >< span class = "lineno" > 507</ span > _emptyCellsCompressed.empty() && </ div >
< div class = "line" >< a id = "l00508" name = "l00508" ></ a >< span class = "lineno" > 508</ span > imu_.empty());</ div >
< div class = "line" >< a id = "l00509" name = "l00509" ></ a >< span class = "lineno" > 509</ span > }</ div >
</ div >
< div class = "line" >< a id = "l00510" name = "l00510" ></ a >< span class = "lineno" > 510</ span > </ div >
< div class = "line" >< a id = "l00515" name = "l00515" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a84fbcb16e51018d96065d3ce240650c6" > 515</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a84fbcb16e51018d96065d3ce240650c6" > id</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _id;}</ div >
< div class = "line" >< a id = "l00516" name = "l00516" ></ a >< span class = "lineno" > 516</ span > </ div >
< div class = "line" >< a id = "l00521" name = "l00521" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a4d0f4615a747eaef142b51a1ab1e5527" > 521</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a4d0f4615a747eaef142b51a1ab1e5527" > setId</ a > (< span class = "keywordtype" > int</ span > < span class = "keywordtype" > id</ span > ) {_id = id;}</ div >
< div class = "line" >< a id = "l00522" name = "l00522" ></ a >< span class = "lineno" > 522</ span > </ div >
< div class = "line" >< a id = "l00527" name = "l00527" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb" > 527</ a ></ span > < span class = "keywordtype" > double</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb" > stamp</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _stamp;}</ div >
< div class = "line" >< a id = "l00528" name = "l00528" ></ a >< span class = "lineno" > 528</ span > </ div >
< div class = "line" >< a id = "l00533" name = "l00533" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a5c0844e94d3fff50a8bfec2decf2f94c" > 533</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a5c0844e94d3fff50a8bfec2decf2f94c" > setStamp</ a > (< span class = "keywordtype" > double</ span > stamp) {_stamp = stamp;}</ div >
< div class = "line" >< a id = "l00534" name = "l00534" ></ a >< span class = "lineno" > 534</ span > </ div >
< div class = "line" >< a id = "l00540" name = "l00540" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029" > 540</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029" > imageCompressed</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _imageCompressed;}</ div >
< div class = "line" >< a id = "l00541" name = "l00541" ></ a >< span class = "lineno" > 541</ span > </ div >
< div class = "line" >< a id = "l00547" name = "l00547" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a85b36ca12b0936a99d61b768908097da" > 547</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a85b36ca12b0936a99d61b768908097da" > depthOrRightCompressed</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _depthOrRightCompressed;}</ div >
< div class = "line" >< a id = "l00548" name = "l00548" ></ a >< span class = "lineno" > 548</ span > </ div >
< div class = "line" >< a id = "l00554" name = "l00554" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#aebbab80906082f6e35ce5731fa67ca26" > 554</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#aebbab80906082f6e35ce5731fa67ca26" > depthConfidenceCompressed</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _depthConfidenceCompressed;}</ div >
< div class = "line" >< a id = "l00555" name = "l00555" ></ a >< span class = "lineno" > 555</ span > </ div >
< div class = "line" >< a id = "l00560" name = "l00560" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a1522af81a95c27b76e316919df95a869" > 560</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a1522af81a95c27b76e316919df95a869" > laserScanCompressed</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _laserScanCompressed;}</ div >
< div class = "line" >< a id = "l00561" name = "l00561" ></ a >< span class = "lineno" > 561</ span > </ div >
< div class = "line" >< a id = "l00566" name = "l00566" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef" > 566</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef" > imageRaw</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _imageRaw;}</ div >
< div class = "line" >< a id = "l00567" name = "l00567" ></ a >< span class = "lineno" > 567</ span > </ div >
< div class = "line" >< a id = "l00573" name = "l00573" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a2476c59283ef2e24d7a3f10301433327" > 573</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a2476c59283ef2e24d7a3f10301433327" > depthOrRightRaw</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _depthOrRightRaw;}</ div >
< div class = "line" >< a id = "l00574" name = "l00574" ></ a >< span class = "lineno" > 574</ span > </ div >
< div class = "line" >< a id = "l00579" name = "l00579" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a0cfb7cee085b7959c9ddf1d7854ed910" > 579</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a0cfb7cee085b7959c9ddf1d7854ed910" > depthConfidenceRaw</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _depthConfidenceRaw;}</ div >
< div class = "line" >< a id = "l00580" name = "l00580" ></ a >< span class = "lineno" > 580</ span > </ div >
< div class = "line" >< a id = "l00585" name = "l00585" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d" > 585</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d" > laserScanRaw</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _laserScanRaw;}</ div >
< div class = "line" >< a id = "l00586" name = "l00586" ></ a >< span class = "lineno" > 586</ span > </ div >
< div class = "line" >< a id = "l00592" name = "l00592" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24" > 592</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24" > setRGBDImage</ a > (< span class = "keyword" > const</ span > cv::Mat & rgb, < span class = "keyword" > const</ span > cv::Mat & depth, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & model, < span class = "keywordtype" > bool</ span > clearPreviousData = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00593" name = "l00593" ></ a >< span class = "lineno" > 593</ span > < span class = "keywordtype" > void</ span > setRGBDImage(< span class = "keyword" > const</ span > cv::Mat & rgb, < span class = "keyword" > const</ span > cv::Mat & depth, < span class = "keyword" > const</ span > cv::Mat & depth_confidence, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & model, < span class = "keywordtype" > bool</ span > clearPreviousData = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00594" name = "l00594" ></ a >< span class = "lineno" > 594</ span > < span class = "keywordtype" > void</ span > setRGBDImage(< span class = "keyword" > const</ span > cv::Mat & rgb, < span class = "keyword" > const</ span > cv::Mat & depth, < span class = "keyword" > const</ span > std::vector< CameraModel> & models, < span class = "keywordtype" > bool</ span > clearPreviousData = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00595" name = "l00595" ></ a >< span class = "lineno" > 595</ span > < span class = "keywordtype" > void</ span > setRGBDImage(< span class = "keyword" > const</ span > cv::Mat & rgb, < span class = "keyword" > const</ span > cv::Mat & depth, < span class = "keyword" > const</ span > cv::Mat & depth_confidence, < span class = "keyword" > const</ span > std::vector< CameraModel> & models, < span class = "keywordtype" > bool</ span > clearPreviousData = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00596" name = "l00596" ></ a >< span class = "lineno" > 596</ span > < span class = "keywordtype" > void</ span > setStereoImage(< span class = "keyword" > const</ span > cv::Mat & left, < span class = "keyword" > const</ span > cv::Mat & right, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > & stereoCameraModel, < span class = "keywordtype" > bool</ span > clearPreviousData = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00597" name = "l00597" ></ a >< span class = "lineno" > 597</ span > < span class = "keywordtype" > void</ span > setStereoImage(< span class = "keyword" > const</ span > cv::Mat & left, < span class = "keyword" > const</ span > cv::Mat & right, < span class = "keyword" > const</ span > std::vector< StereoCameraModel> & stereoCameraModels, < span class = "keywordtype" > bool</ span > clearPreviousData = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00598" name = "l00598" ></ a >< span class = "lineno" > 598</ span > </ div >
< div class = "line" >< a id = "l00604" name = "l00604" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0" > 604</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0" > setLaserScan</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & laserScan, < span class = "keywordtype" > bool</ span > clearPreviousData = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00605" name = "l00605" ></ a >< span class = "lineno" > 605</ span > </ div >
< div class = "line" >< a id = "l00610" name = "l00610" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f" > 610</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f" > setCameraModel</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > & model) {_cameraModels.clear(); _cameraModels.push_back(model);}</ div >
< div class = "line" >< a id = "l00611" name = "l00611" ></ a >< span class = "lineno" > 611</ span > </ div >
< div class = "line" >< a id = "l00616" name = "l00616" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719" > 616</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719" > setCameraModels</ a > (< span class = "keyword" > const</ span > std::vector< CameraModel> & models) {_cameraModels = models;}</ div >
< div class = "line" >< a id = "l00617" name = "l00617" ></ a >< span class = "lineno" > 617</ span > </ div >
< div class = "line" >< a id = "l00622" name = "l00622" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003" > 622</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003" > setStereoCameraModel</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > & stereoCameraModel) {_stereoCameraModels.clear(); _stereoCameraModels.push_back(stereoCameraModel);}</ div >
< div class = "line" >< a id = "l00623" name = "l00623" ></ a >< span class = "lineno" > 623</ span > </ div >
< div class = "line" >< a id = "l00628" name = "l00628" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e" > 628</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e" > setStereoCameraModels</ a > (< span class = "keyword" > const</ span > std::vector< StereoCameraModel> & stereoCameraModels) {_stereoCameraModels = stereoCameraModels;}</ div >
< div class = "line" >< a id = "l00629" name = "l00629" ></ a >< span class = "lineno" > 629</ span > </ div >
< div class = "line" >< a id = "l00639" name = "l00639" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73" > 639</ a ></ span > cv::Mat < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73" > depthRaw</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > !(_depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3) ? _depthOrRightRaw : cv::Mat();}</ div >
< div class = "line" >< a id = "l00640" name = "l00640" ></ a >< span class = "lineno" > 640</ span > </ div >
< div class = "line" >< a id = "l00650" name = "l00650" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30" > 650</ a ></ span > cv::Mat < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30" > rightRaw</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3 ? _depthOrRightRaw : cv::Mat();}</ div >
< div class = "line" >< a id = "l00651" name = "l00651" ></ a >< span class = "lineno" > 651</ span > </ div >
< div class = "line" >< a id = "l00652" name = "l00652" ></ a >< span class = "lineno" > 652</ span > < span class = "comment" > // Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn' t clear compressed data.</ span ></ div >
< div class = "line" >< a id = "l00653" name = "l00653" ></ a >< span class = "lineno" > 653</ span > RTABMAP_DEPRECATED < span class = "keywordtype" > void</ span > setImageRaw(< span class = "keyword" > const</ span > cv::Mat & image);</ div >
< div class = "line" >< a id = "l00654" name = "l00654" ></ a >< span class = "lineno" > 654</ span > < span class = "comment" > // Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn' t clear compressed data.</ span ></ div >
< div class = "line" >< a id = "l00655" name = "l00655" ></ a >< span class = "lineno" > 655</ span > RTABMAP_DEPRECATED < span class = "keywordtype" > void</ span > setDepthOrRightRaw(< span class = "keyword" > const</ span > cv::Mat & image);</ div >
< div class = "line" >< a id = "l00656" name = "l00656" ></ a >< span class = "lineno" > 656</ span > < span class = "comment" > // Use setLaserScan() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn' t clear compressed data.</ span ></ div >
< div class = "line" >< a id = "l00657" name = "l00657" ></ a >< span class = "lineno" > 657</ span > RTABMAP_DEPRECATED < span class = "keywordtype" > void</ span > setLaserScanRaw(< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > & scan);</ div >
< div class = "line" >< a id = "l00658" name = "l00658" ></ a >< span class = "lineno" > 658</ span > < span class = "comment" > // Use setUserData() or removeRawData() instead.</ span ></ div >
< div class = "line" >< a id = "l00659" name = "l00659" ></ a >< span class = "lineno" > 659</ span > RTABMAP_DEPRECATED < span class = "keywordtype" > void</ span > setUserDataRaw(< span class = "keyword" > const</ span > cv::Mat & data);</ div >
< div class = "line" >< a id = "l00660" name = "l00660" ></ a >< span class = "lineno" > 660</ span > </ div >
< div class = "line" >< a id = "l00667" name = "l00667" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52" > 667</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52" > uncompressData</ a > ();</ div >
< div class = "line" >< a id = "l00668" name = "l00668" ></ a >< span class = "lineno" > 668</ span > </ div >
< div class = "line" >< a id = "l00686" name = "l00686" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158" > 686</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158" > uncompressData</ a > (</ div >
< div class = "line" >< a id = "l00687" name = "l00687" ></ a >< span class = "lineno" > 687</ span > cv::Mat * imageRaw,</ div >
< div class = "line" >< a id = "l00688" name = "l00688" ></ a >< span class = "lineno" > 688</ span > cv::Mat * depthOrRightRaw,</ div >
< div class = "line" >< a id = "l00689" name = "l00689" ></ a >< span class = "lineno" > 689</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > * laserScanRaw = 0,</ div >
< div class = "line" >< a id = "l00690" name = "l00690" ></ a >< span class = "lineno" > 690</ span > cv::Mat * userDataRaw = 0,</ div >
< div class = "line" >< a id = "l00691" name = "l00691" ></ a >< span class = "lineno" > 691</ span > cv::Mat * groundCellsRaw = 0,</ div >
< div class = "line" >< a id = "l00692" name = "l00692" ></ a >< span class = "lineno" > 692</ span > cv::Mat * obstacleCellsRaw = 0,</ div >
< div class = "line" >< a id = "l00693" name = "l00693" ></ a >< span class = "lineno" > 693</ span > cv::Mat * emptyCellsRaw = 0,</ div >
< div class = "line" >< a id = "l00694" name = "l00694" ></ a >< span class = "lineno" > 694</ span > cv::Mat * depthConfidenceRaw = 0);</ div >
< div class = "line" >< a id = "l00695" name = "l00695" ></ a >< span class = "lineno" > 695</ span > </ div >
< div class = "line" >< a id = "l00710" name = "l00710" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f" > 710</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f" > uncompressDataConst</ a > (</ div >
< div class = "line" >< a id = "l00711" name = "l00711" ></ a >< span class = "lineno" > 711</ span > cv::Mat * imageRaw,</ div >
< div class = "line" >< a id = "l00712" name = "l00712" ></ a >< span class = "lineno" > 712</ span > cv::Mat * depthOrRightRaw,</ div >
< div class = "line" >< a id = "l00713" name = "l00713" ></ a >< span class = "lineno" > 713</ span > < a class = "code hl_class" href = "classrtabmap_1_1LaserScan.html" > LaserScan</ a > * laserScanRaw = 0,</ div >
< div class = "line" >< a id = "l00714" name = "l00714" ></ a >< span class = "lineno" > 714</ span > cv::Mat * userDataRaw = 0,</ div >
< div class = "line" >< a id = "l00715" name = "l00715" ></ a >< span class = "lineno" > 715</ span > cv::Mat * groundCellsRaw = 0,</ div >
< div class = "line" >< a id = "l00716" name = "l00716" ></ a >< span class = "lineno" > 716</ span > cv::Mat * obstacleCellsRaw = 0,</ div >
< div class = "line" >< a id = "l00717" name = "l00717" ></ a >< span class = "lineno" > 717</ span > cv::Mat * emptyCellsRaw = 0,</ div >
< div class = "line" >< a id = "l00718" name = "l00718" ></ a >< span class = "lineno" > 718</ span > cv::Mat * depthConfidenceRaw = 0) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00719" name = "l00719" ></ a >< span class = "lineno" > 719</ span > </ div >
< div class = "line" >< a id = "l00724" name = "l00724" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92" > 724</ a ></ span > < span class = "keyword" > const</ span > std::vector< CameraModel> & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92" > cameraModels</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _cameraModels;}</ div >
< div class = "line" >< a id = "l00725" name = "l00725" ></ a >< span class = "lineno" > 725</ span > </ div >
< div class = "line" >< a id = "l00730" name = "l00730" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87" > 730</ a ></ span > < span class = "keyword" > const</ span > std::vector< StereoCameraModel> & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87" > stereoCameraModels</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _stereoCameraModels;}</ div >
< div class = "line" >< a id = "l00731" name = "l00731" ></ a >< span class = "lineno" > 731</ span > </ div >
2026-09-27 04:34:31 +00:00
< div class = "line" >< a id = "l00744" name = "l00744" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072" > 744</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072" > setUserData</ a > (< span class = "keyword" > const</ span > cv::Mat & userData, < span class = "keywordtype" > bool</ span > clearPreviousData = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00745" name = "l00745" ></ a >< span class = "lineno" > 745</ span > < span class = "keyword" > const</ span > cv::Mat & userDataRaw()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _userDataRaw;}</ div >
< div class = "line" >< a id = "l00746" name = "l00746" ></ a >< span class = "lineno" > 746</ span > < span class = "keyword" > const</ span > cv::Mat & userDataCompressed()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _userDataCompressed;}</ div >
< div class = "line" >< a id = "l00747" name = "l00747" ></ a >< span class = "lineno" > 747</ span > </ div >
< div class = "line" >< a id = "l00761" name = "l00761" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b" > 761</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b" > setOccupancyGrid</ a > (</ div >
< div class = "line" >< a id = "l00762" name = "l00762" ></ a >< span class = "lineno" > 762</ span > < span class = "keyword" > const</ span > cv::Mat & ground,</ div >
< div class = "line" >< a id = "l00763" name = "l00763" ></ a >< span class = "lineno" > 763</ span > < span class = "keyword" > const</ span > cv::Mat & obstacles,</ div >
< div class = "line" >< a id = "l00764" name = "l00764" ></ a >< span class = "lineno" > 764</ span > < span class = "keyword" > const</ span > cv::Mat & empty,</ div >
< div class = "line" >< a id = "l00765" name = "l00765" ></ a >< span class = "lineno" > 765</ span > < span class = "keywordtype" > float</ span > cellSize,</ div >
< div class = "line" >< a id = "l00766" name = "l00766" ></ a >< span class = "lineno" > 766</ span > < span class = "keyword" > const</ span > cv::Point3f & viewPoint);</ div >
< div class = "line" >< a id = "l00771" name = "l00771" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4" > 771</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4" > gridGroundCellsRaw</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _groundCellsRaw;}</ div >
< div class = "line" >< a id = "l00772" name = "l00772" ></ a >< span class = "lineno" > 772</ span > </ div >
< div class = "line" >< a id = "l00778" name = "l00778" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43" > 778</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43" > gridGroundCellsCompressed</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _groundCellsCompressed;}</ div >
< div class = "line" >< a id = "l00779" name = "l00779" ></ a >< span class = "lineno" > 779</ span > </ div >
< div class = "line" >< a id = "l00784" name = "l00784" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc" > 784</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc" > gridObstacleCellsRaw</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _obstacleCellsRaw;}</ div >
< div class = "line" >< a id = "l00785" name = "l00785" ></ a >< span class = "lineno" > 785</ span > </ div >
< div class = "line" >< a id = "l00791" name = "l00791" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0" > 791</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0" > gridObstacleCellsCompressed</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _obstacleCellsCompressed;}</ div >
< div class = "line" >< a id = "l00792" name = "l00792" ></ a >< span class = "lineno" > 792</ span > </ div >
< div class = "line" >< a id = "l00797" name = "l00797" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe" > 797</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe" > gridEmptyCellsRaw</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _emptyCellsRaw;}</ div >
< div class = "line" >< a id = "l00798" name = "l00798" ></ a >< span class = "lineno" > 798</ span > </ div >
< div class = "line" >< a id = "l00804" name = "l00804" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3" > 804</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3" > gridEmptyCellsCompressed</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _emptyCellsCompressed;}</ div >
< div class = "line" >< a id = "l00805" name = "l00805" ></ a >< span class = "lineno" > 805</ span > </ div >
< div class = "line" >< a id = "l00810" name = "l00810" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c" > 810</ a ></ span > < span class = "keywordtype" > float</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c" > gridCellSize</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _cellSize;}</ div >
< div class = "line" >< a id = "l00811" name = "l00811" ></ a >< span class = "lineno" > 811</ span > </ div >
< div class = "line" >< a id = "l00816" name = "l00816" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200" > 816</ a ></ span > < span class = "keyword" > const</ span > cv::Point3f & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200" > gridViewPoint</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _viewPoint;}</ div >
< div class = "line" >< a id = "l00817" name = "l00817" ></ a >< span class = "lineno" > 817</ span > </ div >
< div class = "line" >< a id = "l00828" name = "l00828" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3" > 828</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3" > setFeatures</ a > (< span class = "keyword" > const</ span > std::vector< cv::KeyPoint> & keypoints, < span class = "keyword" > const</ span > std::vector< cv::Point3f> & keypoints3D, < span class = "keyword" > const</ span > cv::Mat & descriptors);</ div >
< div class = "line" >< a id = "l00829" name = "l00829" ></ a >< span class = "lineno" > 829</ span > </ div >
< div class = "line" >< a id = "l00834" name = "l00834" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94" > 834</ a ></ span > < span class = "keyword" > const</ span > std::vector< cv::KeyPoint> & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94" > keypoints</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _keypoints;}</ div >
< div class = "line" >< a id = "l00835" name = "l00835" ></ a >< span class = "lineno" > 835</ span > </ div >
< div class = "line" >< a id = "l00840" name = "l00840" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df" > 840</ a ></ span > < span class = "keyword" > const</ span > std::vector< cv::Point3f> & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df" > keypoints3D</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _keypoints3D;}</ div >
< div class = "line" >< a id = "l00841" name = "l00841" ></ a >< span class = "lineno" > 841</ span > </ div >
< div class = "line" >< a id = "l00846" name = "l00846" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26" > 846</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26" > descriptors</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _descriptors;}</ div >
< div class = "line" >< a id = "l00847" name = "l00847" ></ a >< span class = "lineno" > 847</ span > </ div >
< div class = "line" >< a id = "l00852" name = "l00852" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e" > 852</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e" > addGlobalDescriptor</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1GlobalDescriptor.html" > GlobalDescriptor</ a > & descriptor) {_globalDescriptors.push_back(descriptor);}</ div >
< div class = "line" >< a id = "l00853" name = "l00853" ></ a >< span class = "lineno" > 853</ span > </ div >
< div class = "line" >< a id = "l00858" name = "l00858" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe" > 858</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe" > setGlobalDescriptors</ a > (< span class = "keyword" > const</ span > std::vector< GlobalDescriptor> & descriptors) {_globalDescriptors = descriptors;}</ div >
< div class = "line" >< a id = "l00859" name = "l00859" ></ a >< span class = "lineno" > 859</ span > </ div >
< div class = "line" >< a id = "l00863" name = "l00863" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505" > 863</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505" > clearGlobalDescriptors</ a > () {_globalDescriptors.clear();}</ div >
< div class = "line" >< a id = "l00864" name = "l00864" ></ a >< span class = "lineno" > 864</ span > </ div >
< div class = "line" >< a id = "l00869" name = "l00869" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8" > 869</ a ></ span > < span class = "keyword" > const</ span > std::vector< GlobalDescriptor> & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8" > globalDescriptors</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _globalDescriptors;}</ div >
< div class = "line" >< a id = "l00870" name = "l00870" ></ a >< span class = "lineno" > 870</ span > </ div >
< div class = "line" >< a id = "l00875" name = "l00875" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808" > 875</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808" > setGroundTruth</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose) {groundTruth_ = pose;}</ div >
< div class = "line" >< a id = "l00876" name = "l00876" ></ a >< span class = "lineno" > 876</ span > </ div >
< div class = "line" >< a id = "l00881" name = "l00881" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689" > 881</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689" > groundTruth</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > groundTruth_;}</ div >
< div class = "line" >< a id = "l00882" name = "l00882" ></ a >< span class = "lineno" > 882</ span > </ div >
< div class = "line" >< a id = "l00888" name = "l00888" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556" > 888</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556" > setGlobalPose</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, < span class = "keyword" > const</ span > cv::Mat & covariance) {globalPose_ = pose; globalPoseCovariance_ = covariance;}</ div >
< div class = "line" >< a id = "l00889" name = "l00889" ></ a >< span class = "lineno" > 889</ span > </ div >
< div class = "line" >< a id = "l00894" name = "l00894" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87" > 894</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87" > globalPose</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > globalPose_;}</ div >
< div class = "line" >< a id = "l00895" name = "l00895" ></ a >< span class = "lineno" > 895</ span > </ div >
< div class = "line" >< a id = "l00900" name = "l00900" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97" > 900</ a ></ span > < span class = "keyword" > const</ span > cv::Mat & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97" > globalPoseCovariance</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > globalPoseCovariance_;}</ div >
< div class = "line" >< a id = "l00901" name = "l00901" ></ a >< span class = "lineno" > 901</ span > </ div >
< div class = "line" >< a id = "l00906" name = "l00906" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a" > 906</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a" > setGPS</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1GPS.html" > GPS</ a > & gps) {gps_ = gps;}</ div >
< div class = "line" >< a id = "l00907" name = "l00907" ></ a >< span class = "lineno" > 907</ span > </ div >
< div class = "line" >< a id = "l00912" name = "l00912" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957" > 912</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1GPS.html" > GPS</ a > & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957" > gps</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > gps_;}</ div >
< div class = "line" >< a id = "l00913" name = "l00913" ></ a >< span class = "lineno" > 913</ span > </ div >
< div class = "line" >< a id = "l00920" name = "l00920" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139" > 920</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139" > setIMU</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1IMU.html" > IMU</ a > & imu);</ div >
< div class = "line" >< a id = "l00921" name = "l00921" ></ a >< span class = "lineno" > 921</ span > </ div >
< div class = "line" >< a id = "l00926" name = "l00926" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7" > 926</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1IMU.html" > IMU</ a > & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7" > imu</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > imu_;}</ div >
< div class = "line" >< a id = "l00927" name = "l00927" ></ a >< span class = "lineno" > 927</ span > </ div >
< div class = "line" >< a id = "l00932" name = "l00932" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1" > 932</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1" > setEnvSensors</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > EnvSensors</ a > & sensors) {_envSensors = sensors;}</ div >
< div class = "line" >< a id = "l00933" name = "l00933" ></ a >< span class = "lineno" > 933</ span > </ div >
< div class = "line" >< a id = "l00938" name = "l00938" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae" > 938</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae" > addEnvSensor</ a > (< span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1EnvSensor.html" > EnvSensor</ a > & sensor) {_envSensors.insert(std::make_pair(sensor.< a class = "code hl_function" href = "classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24" > type</ a > (), sensor));}</ div >
< div class = "line" >< a id = "l00939" name = "l00939" ></ a >< span class = "lineno" > 939</ span > </ div >
< div class = "line" >< a id = "l00944" name = "l00944" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9" > 944</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > EnvSensors</ a > & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9" > envSensors</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _envSensors;}</ div >
< div class = "line" >< a id = "l00945" name = "l00945" ></ a >< span class = "lineno" > 945</ span > </ div >
< div class = "line" >< a id = "l00951" name = "l00951" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14" > 951</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14" > setLandmarks</ a > (< span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86" > Landmarks</ a > & landmarks) {_landmarks = landmarks;}</ div >
< div class = "line" >< a id = "l00952" name = "l00952" ></ a >< span class = "lineno" > 952</ span > </ div >
< div class = "line" >< a id = "l00957" name = "l00957" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8" > 957</ a ></ span > < span class = "keyword" > const</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86" > Landmarks</ a > & < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8" > landmarks</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _landmarks;}</ div >
< div class = "line" >< a id = "l00958" name = "l00958" ></ a >< span class = "lineno" > 958</ span > </ div >
< div class = "line" >< a id = "l00967" name = "l00967" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc" > 967</ a ></ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > long</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc" > getMemoryUsed</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00972" name = "l00972" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29" > 972</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29" > clearCompressedData</ a > (< span class = "keywordtype" > bool</ span > images = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > scan = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > userData = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > occupancyGrid = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00977" name = "l00977" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2" > 977</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2" > clearRawData</ a > (< span class = "keywordtype" > bool</ span > images = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > scan = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > userData = < span class = "keyword" > true</ span > , < span class = "keywordtype" > bool</ span > occupancyGrid = < span class = "keyword" > true</ span > );</ div >
< div class = "line" >< a id = "l00978" name = "l00978" ></ a >< span class = "lineno" > 978</ span > </ div >
< div class = "line" >< a id = "l00988" name = "l00988" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03" > 988</ a ></ span > < span class = "keywordtype" > int</ span > < a class = "code hl_function" href = "classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03" > isPointVisibleFromCameras</ a > (< span class = "keyword" > const</ span > cv::Point3f & pt) < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00989" name = "l00989" ></ a >< span class = "lineno" > 989</ span > </ div >
< div class = "line" >< a id = "l00990" name = "l00990" ></ a >< span class = "lineno" > 990</ span >< span class = "preprocessor" > #ifdef HAVE_OPENCV_CUDEV</ span ></ div >
< div class = "line" >< a id = "l00995" name = "l00995" ></ a >< span class = "lineno" > 995</ span > < span class = "keyword" > const</ span > cv::cuda::GpuMat & imageRawGpu()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _imageRawGpu;}</ div >
< div class = "line" >< a id = "l00996" name = "l00996" ></ a >< span class = "lineno" > 996</ span > </ div >
< div class = "line" >< a id = "l01001" name = "l01001" ></ a >< span class = "lineno" > 1001</ span > < span class = "keywordtype" > void</ span > setImageRawGpu(< span class = "keyword" > const</ span > cv::cuda::GpuMat & image) {_imageRawGpu = image;}</ div >
< div class = "line" >< a id = "l01002" name = "l01002" ></ a >< span class = "lineno" > 1002</ span > </ div >
< div class = "line" >< a id = "l01007" name = "l01007" ></ a >< span class = "lineno" > 1007</ span > < span class = "keyword" > const</ span > cv::cuda::GpuMat & depthOrRightRawGpu()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _depthOrRightRawGpu;}</ div >
< div class = "line" >< a id = "l01008" name = "l01008" ></ a >< span class = "lineno" > 1008</ span > </ div >
< div class = "line" >< a id = "l01013" name = "l01013" ></ a >< span class = "lineno" > 1013</ span > < span class = "keywordtype" > void</ span > setDepthOrRightRawGpu(< span class = "keyword" > const</ span > cv::cuda::GpuMat & image) {_depthOrRightRawGpu = image;}</ div >
< div class = "line" >< a id = "l01014" name = "l01014" ></ a >< span class = "lineno" > 1014</ span >< span class = "preprocessor" > #endif</ span ></ div >
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< div class = "line" >< a id = "l01015" name = "l01015" ></ a >< span class = "lineno" > 1015</ span > </ div >
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< div class = "line" >< a id = "l01016" name = "l01016" ></ a >< span class = "lineno" > 1016</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l01017" name = "l01017" ></ a >< span class = "lineno" > 1017</ span > < span class = "keywordtype" > int</ span > _id; </ div >
< div class = "line" >< a id = "l01018" name = "l01018" ></ a >< span class = "lineno" > 1018</ span > < span class = "keywordtype" > double</ span > _stamp; </ div >
< div class = "line" >< a id = "l01019" name = "l01019" ></ a >< span class = "lineno" > 1019</ span > </ div >
< div class = "line" >< a id = "l01020" name = "l01020" ></ a >< span class = "lineno" > 1020</ span > < span class = "comment" > // Compressed data</ span ></ div >
< div class = "line" >< a id = "l01021" name = "l01021" ></ a >< span class = "lineno" > 1021</ span > cv::Mat _imageCompressed; </ div >
< div class = "line" >< a id = "l01022" name = "l01022" ></ a >< span class = "lineno" > 1022</ span > cv::Mat _depthOrRightCompressed; </ div >
< div class = "line" >< a id = "l01023" name = "l01023" ></ a >< span class = "lineno" > 1023</ span > cv::Mat _depthConfidenceCompressed; </ div >
< div class = "line" >< a id = "l01024" name = "l01024" ></ a >< span class = "lineno" > 1024</ span > LaserScan _laserScanCompressed; </ div >
< div class = "line" >< a id = "l01025" name = "l01025" ></ a >< span class = "lineno" > 1025</ span > </ div >
< div class = "line" >< a id = "l01026" name = "l01026" ></ a >< span class = "lineno" > 1026</ span > < span class = "comment" > // Raw data</ span ></ div >
< div class = "line" >< a id = "l01027" name = "l01027" ></ a >< span class = "lineno" > 1027</ span > cv::Mat _imageRaw; </ div >
< div class = "line" >< a id = "l01028" name = "l01028" ></ a >< span class = "lineno" > 1028</ span > cv::Mat _depthOrRightRaw; </ div >
< div class = "line" >< a id = "l01029" name = "l01029" ></ a >< span class = "lineno" > 1029</ span > cv::Mat _depthConfidenceRaw; </ div >
< div class = "line" >< a id = "l01030" name = "l01030" ></ a >< span class = "lineno" > 1030</ span > LaserScan _laserScanRaw; </ div >
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< div class = "line" >< a id = "l01031" name = "l01031" ></ a >< span class = "lineno" > 1031</ span > </ div >
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< div class = "line" >< a id = "l01032" name = "l01032" ></ a >< span class = "lineno" > 1032</ span > < span class = "comment" > // Camera models</ span ></ div >
< div class = "line" >< a id = "l01033" name = "l01033" ></ a >< span class = "lineno" > 1033</ span > std::vector< CameraModel> _cameraModels; </ div >
< div class = "line" >< a id = "l01034" name = "l01034" ></ a >< span class = "lineno" > 1034</ span > std::vector< StereoCameraModel> _stereoCameraModels; </ div >
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< div class = "line" >< a id = "l01035" name = "l01035" ></ a >< span class = "lineno" > 1035</ span > </ div >
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< div class = "line" >< a id = "l01036" name = "l01036" ></ a >< span class = "lineno" > 1036</ span > < span class = "comment" > // User data</ span ></ div >
< div class = "line" >< a id = "l01037" name = "l01037" ></ a >< span class = "lineno" > 1037</ span > cv::Mat _userDataCompressed; </ div >
< div class = "line" >< a id = "l01038" name = "l01038" ></ a >< span class = "lineno" > 1038</ span > cv::Mat _userDataRaw; </ div >
< div class = "line" >< a id = "l01039" name = "l01039" ></ a >< span class = "lineno" > 1039</ span > </ div >
< div class = "line" >< a id = "l01040" name = "l01040" ></ a >< span class = "lineno" > 1040</ span > < span class = "comment" > // Occupancy grid</ span ></ div >
< div class = "line" >< a id = "l01041" name = "l01041" ></ a >< span class = "lineno" > 1041</ span > cv::Mat _groundCellsCompressed; </ div >
< div class = "line" >< a id = "l01042" name = "l01042" ></ a >< span class = "lineno" > 1042</ span > cv::Mat _obstacleCellsCompressed; </ div >
< div class = "line" >< a id = "l01043" name = "l01043" ></ a >< span class = "lineno" > 1043</ span > cv::Mat _emptyCellsCompressed; </ div >
< div class = "line" >< a id = "l01044" name = "l01044" ></ a >< span class = "lineno" > 1044</ span > cv::Mat _groundCellsRaw; </ div >
< div class = "line" >< a id = "l01045" name = "l01045" ></ a >< span class = "lineno" > 1045</ span > cv::Mat _obstacleCellsRaw; </ div >
< div class = "line" >< a id = "l01046" name = "l01046" ></ a >< span class = "lineno" > 1046</ span > cv::Mat _emptyCellsRaw; </ div >
< div class = "line" >< a id = "l01047" name = "l01047" ></ a >< span class = "lineno" > 1047</ span > < span class = "keywordtype" > float</ span > _cellSize; </ div >
< div class = "line" >< a id = "l01048" name = "l01048" ></ a >< span class = "lineno" > 1048</ span > cv::Point3f _viewPoint; </ div >
< div class = "line" >< a id = "l01049" name = "l01049" ></ a >< span class = "lineno" > 1049</ span > </ div >
< div class = "line" >< a id = "l01050" name = "l01050" ></ a >< span class = "lineno" > 1050</ span > < span class = "comment" > // Environmental sensors</ span ></ div >
< div class = "line" >< a id = "l01051" name = "l01051" ></ a >< span class = "lineno" > 1051</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > EnvSensors</ a > _envSensors; </ div >
< div class = "line" >< a id = "l01052" name = "l01052" ></ a >< span class = "lineno" > 1052</ span > </ div >
< div class = "line" >< a id = "l01053" name = "l01053" ></ a >< span class = "lineno" > 1053</ span > < span class = "comment" > // Landmarks</ span ></ div >
< div class = "line" >< a id = "l01054" name = "l01054" ></ a >< span class = "lineno" > 1054</ span > < a class = "code hl_typedef" href = "namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86" > Landmarks</ a > _landmarks; </ div >
< div class = "line" >< a id = "l01055" name = "l01055" ></ a >< span class = "lineno" > 1055</ span > </ div >
< div class = "line" >< a id = "l01056" name = "l01056" ></ a >< span class = "lineno" > 1056</ span > < span class = "comment" > // Visual features</ span ></ div >
< div class = "line" >< a id = "l01057" name = "l01057" ></ a >< span class = "lineno" > 1057</ span > std::vector< cv::KeyPoint> _keypoints; </ div >
< div class = "line" >< a id = "l01058" name = "l01058" ></ a >< span class = "lineno" > 1058</ span > std::vector< cv::Point3f> _keypoints3D; </ div >
< div class = "line" >< a id = "l01059" name = "l01059" ></ a >< span class = "lineno" > 1059</ span > cv::Mat _descriptors; </ div >
< div class = "line" >< a id = "l01060" name = "l01060" ></ a >< span class = "lineno" > 1060</ span > </ div >
< div class = "line" >< a id = "l01061" name = "l01061" ></ a >< span class = "lineno" > 1061</ span > < span class = "comment" > // Global descriptors</ span ></ div >
< div class = "line" >< a id = "l01062" name = "l01062" ></ a >< span class = "lineno" > 1062</ span > std::vector< GlobalDescriptor> _globalDescriptors; </ div >
< div class = "line" >< a id = "l01063" name = "l01063" ></ a >< span class = "lineno" > 1063</ span > </ div >
< div class = "line" >< a id = "l01064" name = "l01064" ></ a >< span class = "lineno" > 1064</ span > < span class = "comment" > // Poses</ span ></ div >
< div class = "line" >< a id = "l01065" name = "l01065" ></ a >< span class = "lineno" > 1065</ span > Transform groundTruth_; </ div >
< div class = "line" >< a id = "l01066" name = "l01066" ></ a >< span class = "lineno" > 1066</ span > Transform globalPose_; </ div >
< div class = "line" >< a id = "l01067" name = "l01067" ></ a >< span class = "lineno" > 1067</ span > cv::Mat globalPoseCovariance_; </ div >
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< div class = "line" >< a id = "l01068" name = "l01068" ></ a >< span class = "lineno" > 1068</ span > </ div >
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< div class = "line" >< a id = "l01069" name = "l01069" ></ a >< span class = "lineno" > 1069</ span > < span class = "comment" > // Sensor fusion</ span ></ div >
< div class = "line" >< a id = "l01070" name = "l01070" ></ a >< span class = "lineno" > 1070</ span > GPS gps_; </ div >
< div class = "line" >< a id = "l01071" name = "l01071" ></ a >< span class = "lineno" > 1071</ span > IMU imu_; </ div >
< div class = "line" >< a id = "l01072" name = "l01072" ></ a >< span class = "lineno" > 1072</ span > </ div >
< div class = "line" >< a id = "l01073" name = "l01073" ></ a >< span class = "lineno" > 1073</ span >< span class = "preprocessor" > #ifdef HAVE_OPENCV_CUDEV</ span ></ div >
< div class = "line" >< a id = "l01080" name = "l01080" ></ a >< span class = "lineno" > 1080</ span > cv::cuda::GpuMat _imageRawGpu; </ div >
< div class = "line" >< a id = "l01081" name = "l01081" ></ a >< span class = "lineno" > 1081</ span > cv::cuda::GpuMat _depthOrRightRawGpu; </ div >
< div class = "line" >< a id = "l01082" name = "l01082" ></ a >< span class = "lineno" > 1082</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l01083" name = "l01083" ></ a >< span class = "lineno" > 1083</ span > };</ div >
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</ div >
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< div class = "line" >< a id = "l01084" name = "l01084" ></ a >< span class = "lineno" > 1084</ span > </ div >
< div class = "line" >< a id = "l01085" name = "l01085" ></ a >< span class = "lineno" > 1085</ span > }</ div >
< div class = "line" >< a id = "l01086" name = "l01086" ></ a >< span class = "lineno" > 1086</ span > </ div >
< div class = "line" >< a id = "l01087" name = "l01087" ></ a >< span class = "lineno" > 1087</ span > </ div >
< div class = "line" >< a id = "l01088" name = "l01088" ></ a >< span class = "lineno" > 1088</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* SENSORDATA_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1CameraModel_html" >< div class = "ttname" >< a href = "classrtabmap_1_1CameraModel.html" > rtabmap::CameraModel</ a ></ div >< div class = "ttdoc" > Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "CameraModel_8h_source.html#l00052" > CameraModel.h:53</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1EnvSensor_html" >< div class = "ttname" >< a href = "classrtabmap_1_1EnvSensor.html" > rtabmap::EnvSensor</ a ></ div >< div class = "ttdoc" > Single environmental measurement (type, value, timestamp).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "EnvSensor_8h_source.html#l00050" > EnvSensor.h:51</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1EnvSensor_html_abae79475fe7e568269a4b4ef4c5a7d24" >< div class = "ttname" >< a href = "classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24" > rtabmap::EnvSensor::type</ a ></ div >< div class = "ttdeci" > const Type & type() const</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "EnvSensor_8h_source.html#l00101" > EnvSensor.h:101</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GPS_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GPS.html" > rtabmap::GPS</ a ></ div >< div class = "ttdoc" > WGS84 GPS fix attached to a sensor sample or graph node.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "GPS_8h_source.html#l00046" > GPS.h:47</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1GlobalDescriptor_html" >< div class = "ttname" >< a href = "classrtabmap_1_1GlobalDescriptor.html" > rtabmap::GlobalDescriptor</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "GlobalDescriptor_8h_source.html#l00035" > GlobalDescriptor.h:36</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1IMU_html" >< div class = "ttname" >< a href = "classrtabmap_1_1IMU.html" > rtabmap::IMU</ a ></ div >< div class = "ttdoc" > Inertial measurement sample (ROS sensor_msgs/Imu-like fields).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "IMU_8h_source.html#l00056" > IMU.h:57</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1LaserScan_html" >< div class = "ttname" >< a href = "classrtabmap_1_1LaserScan.html" > rtabmap::LaserScan</ a ></ div >< div class = "ttdoc" > Represents 2D or 3D laser scan data with support for multiple point data formats.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "LaserScan_8h_source.html#l00045" > LaserScan.h:46</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html" > rtabmap::SensorData</ a ></ div >< div class = "ttdoc" > Container class for all sensor data captured at a specific time.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00096" > SensorData.h:97</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a056056de80edf1bc20505fd992cdc6e7" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7" > rtabmap::SensorData::imu</ a ></ div >< div class = "ttdeci" > const IMU & imu() const</ div >< div class = "ttdoc" > Returns IMU data.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00926" > SensorData.h:926</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a0cfb7cee085b7959c9ddf1d7854ed910" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a0cfb7cee085b7959c9ddf1d7854ed910" > rtabmap::SensorData::depthConfidenceRaw</ a ></ div >< div class = "ttdeci" > const cv::Mat & depthConfidenceRaw() const</ div >< div class = "ttdoc" > Returns the raw depth confidence map.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00579" > SensorData.h:579</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a0f2e804ebbcff5be648a43f0a41e9dfc" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc" > rtabmap::SensorData::gridObstacleCellsRaw</ a ></ div >< div class = "ttdeci" > const cv::Mat & gridObstacleCellsRaw() const</ div >< div class = "ttdoc" > Returns raw obstacle cells.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00784" > SensorData.h:784</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a1006dbcfb640b599f0587af3b0ba46ae" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae" > rtabmap::SensorData::addEnvSensor</ a ></ div >< div class = "ttdeci" > void addEnvSensor(const EnvSensor & sensor)</ div >< div class = "ttdoc" > Adds a single environmental sensor.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00938" > SensorData.h:938</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a14f7a5c64b5d27842cb654e247d1fd20" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a14f7a5c64b5d27842cb654e247d1fd20" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const cv::Mat & image, const CameraModel & cameraModel, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > Mono camera constructor.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a1522af81a95c27b76e316919df95a869" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a1522af81a95c27b76e316919df95a869" > rtabmap::SensorData::laserScanCompressed</ a ></ div >< div class = "ttdeci" > const LaserScan & laserScanCompressed() const</ div >< div class = "ttdoc" > Returns the compressed laser scan.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00560" > SensorData.h:560</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a1534d36fee45c3df70679438ec9d00a3" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a1534d36fee45c3df70679438ec9d00a3" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const cv::Mat & left, const cv::Mat & right, const StereoCameraModel & cameraModel, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > Stereo camera constructor.</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a176b8160afc549fc6eaa2d0567c12957" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957" > rtabmap::SensorData::gps</ a ></ div >< div class = "ttdeci" > const GPS & gps() const</ div >< div class = "ttdoc" > Returns GPS data.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00912" > SensorData.h:912</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a1970cd319999fb371873553b53b07d73" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73" > rtabmap::SensorData::depthRaw</ a ></ div >< div class = "ttdeci" > cv::Mat depthRaw() const</ div >< div class = "ttdoc" > Returns the depth image (convenience method)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00639" > SensorData.h:639</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a203770ef217dfdc67b98ca593b2cab24" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24" > rtabmap::SensorData::setRGBDImage</ a ></ div >< div class = "ttdeci" > void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const CameraModel & model, bool clearPreviousData=true)</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a2297bfc9d81c077852d8f832231ba139" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139" > rtabmap::SensorData::setIMU</ a ></ div >< div class = "ttdeci" > void setIMU(const IMU & imu)</ div >< div class = "ttdoc" > Sets IMU data.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a2476c59283ef2e24d7a3f10301433327" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a2476c59283ef2e24d7a3f10301433327" > rtabmap::SensorData::depthOrRightRaw</ a ></ div >< div class = "ttdeci" > const cv::Mat & depthOrRightRaw() const</ div >< div class = "ttdoc" > Returns the raw depth or right stereo image.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00573" > SensorData.h:573</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a25efb0e7904a3daa7f4ee7cd814a24ff" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const IMU & imu, int id=0, double stamp=0.0)</ div >< div class = "ttdoc" > IMU-only constructor.</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a2db9b9dbbe3d0943a47cdc4a5a9051d4" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4" > rtabmap::SensorData::gridGroundCellsRaw</ a ></ div >< div class = "ttdeci" > const cv::Mat & gridGroundCellsRaw() const</ div >< div class = "ttdoc" > Returns raw ground cells.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00771" > SensorData.h:771</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a2e0be45871fa8dbce1c3cf727953358f" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f" > rtabmap::SensorData::uncompressDataConst</ a ></ div >< div class = "ttdeci" > void uncompressDataConst(cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0, cv::Mat *depthConfidenceRaw=0) const</ div >< div class = "ttdoc" > Uncompresses compressed data into provided output buffers (const version)</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a30f069ee8ffa263ec2c18bc714713e03" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03" > rtabmap::SensorData::isPointVisibleFromCameras</ a ></ div >< div class = "ttdeci" > int isPointVisibleFromCameras(const cv::Point3f & pt) const</ div >< div class = "ttdoc" > Checks if a 3D point is visible from any camera.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a33244e8049bfae5bea9ecf80057bcd29" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29" > rtabmap::SensorData::clearCompressedData</ a ></ div >< div class = "ttdeci" > void clearCompressedData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a37c2569419731afc855a3ce984c11505" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505" > rtabmap::SensorData::clearGlobalDescriptors</ a ></ div >< div class = "ttdeci" > void clearGlobalDescriptors()</ div >< div class = "ttdoc" > Clears all global descriptors.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00863" > SensorData.h:863</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a490e96f3f1d16cc559b3a004e2ec4fbe" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe" > rtabmap::SensorData::gridEmptyCellsRaw</ a ></ div >< div class = "ttdeci" > const cv::Mat & gridEmptyCellsRaw() const</ div >< div class = "ttdoc" > Returns raw empty cells.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00797" > SensorData.h:797</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a4cce095c69f9fa8f0035c9f2f51c0ff9" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9" > rtabmap::SensorData::envSensors</ a ></ div >< div class = "ttdeci" > const EnvSensors & envSensors() const</ div >< div class = "ttdoc" > Returns all environmental sensors.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00944" > SensorData.h:944</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a4d0f4615a747eaef142b51a1ab1e5527" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a4d0f4615a747eaef142b51a1ab1e5527" > rtabmap::SensorData::setId</ a ></ div >< div class = "ttdeci" > void setId(int id)</ div >< div class = "ttdoc" > Sets the sensor data ID.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00521" > SensorData.h:521</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a50b09c52de6c8c6a6a95ee08886845a0" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0" > rtabmap::SensorData::gridObstacleCellsCompressed</ a ></ div >< div class = "ttdeci" > const cv::Mat & gridObstacleCellsCompressed() const</ div >< div class = "ttdoc" > Returns compressed obstacle cells.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00791" > SensorData.h:791</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a51f21b98088ceec4c5d108d0fbe03200" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200" > rtabmap::SensorData::gridViewPoint</ a ></ div >< div class = "ttdeci" > const cv::Point3f & gridViewPoint() const</ div >< div class = "ttdoc" > Returns the occupancy grid viewpoint.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00816" > SensorData.h:816</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a52b215e8d320bbcbd464e3b7181a077b" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a52b215e8d320bbcbd464e3b7181a077b" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const LaserScan & laserScan, const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depthConfidence, const CameraModel & cameraModel, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > RGB-D constructor with depth confidence and laser scan.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a53040403970a08a677e69d824a31f7b2" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2" > rtabmap::SensorData::clearRawData</ a ></ div >< div class = "ttdeci" > void clearRawData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a55e6ca21bfd11b7afb375451a2a77b87" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87" > rtabmap::SensorData::globalPose</ a ></ div >< div class = "ttdeci" > const Transform & globalPose() const</ div >< div class = "ttdoc" > Returns the global pose.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00894" > SensorData.h:894</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a566e5600bc0369f2f88ff0c597cefcfb" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb" > rtabmap::SensorData::stamp</ a ></ div >< div class = "ttdeci" > double stamp() const</ div >< div class = "ttdoc" > Returns the timestamp.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00527" > SensorData.h:527</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a569af71e8757105dc040251a3805fe97" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97" > rtabmap::SensorData::globalPoseCovariance</ a ></ div >< div class = "ttdeci" > const cv::Mat & globalPoseCovariance() const</ div >< div class = "ttdoc" > Returns the global pose covariance.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00900" > SensorData.h:900</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a5c0844e94d3fff50a8bfec2decf2f94c" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a5c0844e94d3fff50a8bfec2decf2f94c" > rtabmap::SensorData::setStamp</ a ></ div >< div class = "ttdeci" > void setStamp(double stamp)</ div >< div class = "ttdoc" > Sets the timestamp.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00533" > SensorData.h:533</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a5c12949c62c65281bade9ffcc681462b" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b" > rtabmap::SensorData::setOccupancyGrid</ a ></ div >< div class = "ttdeci" > void setOccupancyGrid(const cv::Mat & ground, const cv::Mat & obstacles, const cv::Mat & empty, float cellSize, const cv::Point3f & viewPoint)</ div >< div class = "ttdoc" > Sets occupancy grid data.</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a5cf732793c05b16bb67f144524882b26" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26" > rtabmap::SensorData::descriptors</ a ></ div >< div class = "ttdeci" > const cv::Mat & descriptors() const</ div >< div class = "ttdoc" > Returns the feature descriptors.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00846" > SensorData.h:846</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a60b3b2366bb66c914cfa7799204828fc" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc" > rtabmap::SensorData::getMemoryUsed</ a ></ div >< div class = "ttdeci" > unsigned long getMemoryUsed() const</ div >< div class = "ttdoc" > Computes the memory usage of this sensor data.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a6ace7b2b8ebae5f7ab18e159fe6e8a92" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92" > rtabmap::SensorData::cameraModels</ a ></ div >< div class = "ttdeci" > const std::vector< CameraModel > & cameraModels() const</ div >< div class = "ttdoc" > Returns the camera models.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00724" > SensorData.h:724</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a6ccaccf892f950b0caa03c07de3eab98" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a6ccaccf892f950b0caa03c07de3eab98" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const cv::Mat & rgb, const cv::Mat & depth, const std::vector< StereoCameraModel > & cameraModels, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > Multi-camera stereo constructor.</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a7051ea8c13bafd7eaffb5f5a93064808" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808" > rtabmap::SensorData::setGroundTruth</ a ></ div >< div class = "ttdeci" > void setGroundTruth(const Transform & pose)</ div >< div class = "ttdoc" > Sets the ground truth pose.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00875" > SensorData.h:875</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a72a0250435fc194b1189241d4a47254d" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a72a0250435fc194b1189241d4a47254d" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depthConfidence, const std::vector< CameraModel > & cameraModels, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > Multi-camera RGB-D constructor with depth confidence.</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a72f0ce5a2989f478149f5cf2d5a36556" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556" > rtabmap::SensorData::setGlobalPose</ a ></ div >< div class = "ttdeci" > void setGlobalPose(const Transform & pose, const cv::Mat & covariance)</ div >< div class = "ttdoc" > Sets the global pose with covariance.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00888" > SensorData.h:888</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a73ba0bb1cb31a3438b3ffee161b16ff8" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8" > rtabmap::SensorData::landmarks</ a ></ div >< div class = "ttdeci" > const Landmarks & landmarks() const</ div >< div class = "ttdoc" > Returns landmarks.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00957" > SensorData.h:957</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a84fbcb16e51018d96065d3ce240650c6" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a84fbcb16e51018d96065d3ce240650c6" > rtabmap::SensorData::id</ a ></ div >< div class = "ttdeci" > int id() const</ div >< div class = "ttdoc" > Returns the sensor data ID.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00515" > SensorData.h:515</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a85b36ca12b0936a99d61b768908097da" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a85b36ca12b0936a99d61b768908097da" > rtabmap::SensorData::depthOrRightCompressed</ a ></ div >< div class = "ttdeci" > const cv::Mat & depthOrRightCompressed() const</ div >< div class = "ttdoc" > Returns the compressed depth or right stereo image.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00547" > SensorData.h:547</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a87424cc9915dababe9aa3bc418e85197" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a87424cc9915dababe9aa3bc418e85197" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depth_confidence, const CameraModel & cameraModel, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > RGB-D constructor with depth confidence.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a8c3364f43f7c0a57261720408a088158" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158" > rtabmap::SensorData::uncompressData</ a ></ div >< div class = "ttdeci" > void uncompressData(cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0, cv::Mat *depthConfidenceRaw=0)</ div >< div class = "ttdoc" > Uncompresses compressed data into provided output buffers.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a8fc1c848518793a1fe65c47a3ff729b0" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0" > rtabmap::SensorData::setLaserScan</ a ></ div >< div class = "ttdeci" > void setLaserScan(const LaserScan & laserScan, bool clearPreviousData=true)</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a941f907890fe9e0e9becec0a665581cd" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a941f907890fe9e0e9becec0a665581cd" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData()</ div >< div class = "ttdoc" > Default constructor.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a94f4e8970ae34d652100dce131cc9e44" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a94f4e8970ae34d652100dce131cc9e44" > rtabmap::SensorData::~SensorData</ a ></ div >< div class = "ttdeci" > virtual ~SensorData()</ div >< div class = "ttdoc" > Virtual destructor.</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_a984ce55b6b75152a63441bd07288dc6c" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c" > rtabmap::SensorData::gridCellSize</ a ></ div >< div class = "ttdeci" > float gridCellSize() const</ div >< div class = "ttdoc" > Returns the occupancy grid cell size.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00810" > SensorData.h:810</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_aa356c9d5e9e7ea55ccdbe99c215bcb52" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52" > rtabmap::SensorData::uncompressData</ a ></ div >< div class = "ttdeci" > void uncompressData()</ div >< div class = "ttdoc" > Uncompresses all compressed data in-place.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_aaa7408cb13ea2cbe33438e007b80de30" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30" > rtabmap::SensorData::rightRaw</ a ></ div >< div class = "ttdeci" > cv::Mat rightRaw() const</ div >< div class = "ttdoc" > Returns the right stereo image (convenience method)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00650" > SensorData.h:650</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_aafcc6b483798b7a99fafa8f929db1029" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029" > rtabmap::SensorData::imageCompressed</ a ></ div >< div class = "ttdeci" > const cv::Mat & imageCompressed() const</ div >< div class = "ttdoc" > Returns the compressed RGB/grayscale image.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00540" > SensorData.h:540</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ab02d686ac7ef8b389655e913768b4d87" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87" > rtabmap::SensorData::stereoCameraModels</ a ></ div >< div class = "ttdeci" > const std::vector< StereoCameraModel > & stereoCameraModels() const</ div >< div class = "ttdoc" > Returns the stereo camera models.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00730" > SensorData.h:730</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ab17daf3d7c2cd1253306e6d5991549df" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df" > rtabmap::SensorData::keypoints3D</ a ></ div >< div class = "ttdeci" > const std::vector< cv::Point3f > & keypoints3D() const</ div >< div class = "ttdoc" > Returns the 3D keypoints.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00840" > SensorData.h:840</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ab2f74509af5e3f56d1c4d5e31c0c6003" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003" > rtabmap::SensorData::setStereoCameraModel</ a ></ div >< div class = "ttdeci" > void setStereoCameraModel(const StereoCameraModel & stereoCameraModel)</ div >< div class = "ttdoc" > Sets a single stereo camera model (clears previous models)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00622" > SensorData.h:622</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ab3a5ebf180d5f2f106877b78aee6d1d1" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1" > rtabmap::SensorData::setEnvSensors</ a ></ div >< div class = "ttdeci" > void setEnvSensors(const EnvSensors & sensors)</ div >< div class = "ttdoc" > Sets all environmental sensors.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00932" > SensorData.h:932</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ab3c515b23322cd31c3fcbcb054588e43" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43" > rtabmap::SensorData::gridGroundCellsCompressed</ a ></ div >< div class = "ttdeci" > const cv::Mat & gridGroundCellsCompressed() const</ div >< div class = "ttdoc" > Returns compressed ground cells.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00778" > SensorData.h:778</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ab4e6b5d917155b94d8b4b6242fe56c6e" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e" > rtabmap::SensorData::setStereoCameraModels</ a ></ div >< div class = "ttdeci" > void setStereoCameraModels(const std::vector< StereoCameraModel > & stereoCameraModels)</ div >< div class = "ttdoc" > Sets multiple stereo camera models.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00628" > SensorData.h:628</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ab6201ea27482207308f000bd4cc90081" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ab6201ea27482207308f000bd4cc90081" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const cv::Mat & image, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > Appearance-only constructor.</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ab6f18f2eb0340c8f6e800a695424bbbe" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe" > rtabmap::SensorData::setGlobalDescriptors</ a ></ div >< div class = "ttdeci" > void setGlobalDescriptors(const std::vector< GlobalDescriptor > & descriptors)</ div >< div class = "ttdoc" > Sets all global descriptors.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00858" > SensorData.h:858</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_abdd07b6e248e165959468bb31897bc20" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#abdd07b6e248e165959468bb31897bc20" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const LaserScan & laserScan, const cv::Mat & left, const cv::Mat & right, const StereoCameraModel & cameraModel, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > Stereo camera constructor with laser scan.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ac06b8207850c5412cc52f5f0e0e4ba7b" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ac06b8207850c5412cc52f5f0e0e4ba7b" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const LaserScan & laserScan, const cv::Mat & rgb, const cv::Mat & depth, const CameraModel & cameraModel, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > RGB-D constructor with laser scan.</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ac2bae4f0747795f778275102b4ebf1b3" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3" > rtabmap::SensorData::gridEmptyCellsCompressed</ a ></ div >< div class = "ttdeci" > const cv::Mat & gridEmptyCellsCompressed() const</ div >< div class = "ttdoc" > Returns compressed empty cells.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00804" > SensorData.h:804</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_acc0ac26f01ad9f5185f80f8f09da252e" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e" > rtabmap::SensorData::addGlobalDescriptor</ a ></ div >< div class = "ttdeci" > void addGlobalDescriptor(const GlobalDescriptor & descriptor)</ div >< div class = "ttdoc" > Adds a global descriptor.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00852" > SensorData.h:852</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_accb5f254667af3074993a073a4e1f072" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072" > rtabmap::SensorData::setUserData</ a ></ div >< div class = "ttdeci" > void setUserData(const cv::Mat & userData, bool clearPreviousData=true)</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_acd46b940bac6e1d53ff2826be309b4c8" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8" > rtabmap::SensorData::globalDescriptors</ a ></ div >< div class = "ttdeci" > const std::vector< GlobalDescriptor > & globalDescriptors() const</ div >< div class = "ttdoc" > Returns all global descriptors.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00869" > SensorData.h:869</ a ></ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ad083f0a1e7769ff62183a0fa47279ae3" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3" > rtabmap::SensorData::setFeatures</ a ></ div >< div class = "ttdeci" > void setFeatures(const std::vector< cv::KeyPoint > & keypoints, const std::vector< cv::Point3f > & keypoints3D, const cv::Mat & descriptors)</ div >< div class = "ttdoc" > Sets visual features (keypoints, 3D points, descriptors)</ div ></ div >
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< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ad09e3e0fc1f60d233d81288a4cf8f56a" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a" > rtabmap::SensorData::setGPS</ a ></ div >< div class = "ttdeci" > void setGPS(const GPS & gps)</ div >< div class = "ttdoc" > Sets GPS data.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00906" > SensorData.h:906</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ad34a0a4ca3eac4a1c91fb7fb5068fb04" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ad34a0a4ca3eac4a1c91fb7fb5068fb04" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const LaserScan & laserScan, const cv::Mat & rgb, const cv::Mat & depth, const std::vector< StereoCameraModel > & cameraModels, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > Multi-camera stereo constructor with laser scan.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ad620676ab1a971846ab80ef646aa5882" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ad620676ab1a971846ab80ef646aa5882" > rtabmap::SensorData::isValid</ a ></ div >< div class = "ttdeci" > bool isValid() const</ div >< div class = "ttdoc" > Checks if the sensor data is valid.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00485" > SensorData.h:485</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ad8ae172220b7bfffeb09bb1eac60f28f" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f" > rtabmap::SensorData::setCameraModel</ a ></ div >< div class = "ttdeci" > void setCameraModel(const CameraModel & model)</ div >< div class = "ttdoc" > Sets a single camera model (clears previous models)</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00610" > SensorData.h:610</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ada69a11125b0b3072add73a3a2f1b5f2" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ada69a11125b0b3072add73a3a2f1b5f2" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const LaserScan & laserScan, const cv::Mat & rgb, const cv::Mat & depth, const std::vector< CameraModel > & cameraModels, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > Multi-camera RGB-D constructor with laser scan.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ae0370b88671bb41812c2d39fd0cfc3ce" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ae0370b88671bb41812c2d39fd0cfc3ce" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const LaserScan & laserScan, const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depthConfidence, const std::vector< CameraModel > & cameraModels, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > Multi-camera RGB-D constructor with depth confidence and laser scan.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ae4498a6d017e83202dfe86618e91fa57" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ae4498a6d017e83202dfe86618e91fa57" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const cv::Mat & rgb, const cv::Mat & depth, const std::vector< CameraModel > & cameraModels, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > Multi-camera RGB-D constructor.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_ae9e44401d0d6faee8fcb801090936fef" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef" > rtabmap::SensorData::imageRaw</ a ></ div >< div class = "ttdeci" > const cv::Mat & imageRaw() const</ div >< div class = "ttdoc" > Returns the raw RGB/grayscale image.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00566" > SensorData.h:566</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_aead598774e0cb15375828a2965b3ab80" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#aead598774e0cb15375828a2965b3ab80" > rtabmap::SensorData::SensorData</ a ></ div >< div class = "ttdeci" > SensorData(const cv::Mat & rgb, const cv::Mat & depth, const CameraModel & cameraModel, int id=0, double stamp=0.0, const cv::Mat & userData=cv::Mat())</ div >< div class = "ttdoc" > RGB-D constructor.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_aebbab80906082f6e35ce5731fa67ca26" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#aebbab80906082f6e35ce5731fa67ca26" > rtabmap::SensorData::depthConfidenceCompressed</ a ></ div >< div class = "ttdeci" > const cv::Mat & depthConfidenceCompressed() const</ div >< div class = "ttdoc" > Returns the compressed depth confidence map.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00554" > SensorData.h:554</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_aeebafe56f302f9e8e4f06c5ad750248d" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d" > rtabmap::SensorData::laserScanRaw</ a ></ div >< div class = "ttdeci" > const LaserScan & laserScanRaw() const</ div >< div class = "ttdoc" > Returns the raw laser scan.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00585" > SensorData.h:585</ a ></ div ></ div >
2026-09-27 04:34:31 +00:00
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_aef9e0c36efdc8915536c3bc082108689" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689" > rtabmap::SensorData::groundTruth</ a ></ div >< div class = "ttdeci" > const Transform & groundTruth() const</ div >< div class = "ttdoc" > Returns the ground truth pose.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00881" > SensorData.h:881</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_af0873bbd79209dca371792e94e020e14" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14" > rtabmap::SensorData::setLandmarks</ a ></ div >< div class = "ttdeci" > void setLandmarks(const Landmarks & landmarks)</ div >< div class = "ttdoc" > Sets landmarks.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00951" > SensorData.h:951</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_af841bbc9ea6de17124f8c871fa5d0719" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719" > rtabmap::SensorData::setCameraModels</ a ></ div >< div class = "ttdeci" > void setCameraModels(const std::vector< CameraModel > & models)</ div >< div class = "ttdoc" > Sets multiple camera models.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00616" > SensorData.h:616</ a ></ div ></ div >
2026-09-27 04:34:31 +00:00
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html_afdc0db8c8176c4108e78e66df54b7d94" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94" > rtabmap::SensorData::keypoints</ a ></ div >< div class = "ttdeci" > const std::vector< cv::KeyPoint > & keypoints() const</ div >< div class = "ttdoc" > Returns the 2D keypoints.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00834" > SensorData.h:834</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
< div class = "ttc" id = "aclassrtabmap_1_1StereoCameraModel_html" >< div class = "ttname" >< a href = "classrtabmap_1_1StereoCameraModel.html" > rtabmap::StereoCameraModel</ a ></ div >< div class = "ttdoc" > A class representing a calibrated stereo camera system.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "StereoCameraModel_8h_source.html#l00053" > StereoCameraModel.h:54</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a ></ div >< div class = "ttdoc" > Represents a 3D rigid body transformation (rotation + translation).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Transform_8h_source.html#l00052" > Transform.h:53</ a ></ div ></ div >
2026-08-23 20:27:42 +00:00
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00042" > BayesFilter.h:42</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
< div class = "ttc" id = "anamespacertabmap_html_a12bbfd3e37121bf9f68a4047c8b4da86" >< div class = "ttname" >< a href = "namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86" > rtabmap::Landmarks</ a ></ div >< div class = "ttdeci" > std::map< int, Landmark > Landmarks</ div >< div class = "ttdoc" > Map of landmark id → Landmark (typically positive keys).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Landmark_8h_source.html#l00113" > Landmark.h:113</ a ></ div ></ div >
< div class = "ttc" id = "anamespacertabmap_html_ac175ef40b7a4acb632232d3d96a1199a" >< div class = "ttname" >< a href = "namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a" > rtabmap::EnvSensors</ a ></ div >< div class = "ttdeci" > std::map< EnvSensor::Type, EnvSensor > EnvSensors</ div >< div class = "ttdoc" > Map of environmental readings keyed by EnvSensor::Type (at most one per type).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "EnvSensor_8h_source.html#l00114" > EnvSensor.h:114</ a ></ div ></ div >
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