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<divclass="line"><aid="l00093"name="l00093"></a><spanclass="lineno"> 93</span><spanclass="keyword">const</span> std::string & name,</div>
<divclass="line"><aid="l00094"name="l00094"></a><spanclass="lineno"> 94</span><spanclass="keyword">const</span> cv::Size & imageSize1,</div>
<divclass="line"><aid="l00095"name="l00095"></a><spanclass="lineno"> 95</span><spanclass="keyword">const</span> cv::Mat & K1, <spanclass="keyword">const</span> cv::Mat & D1, <spanclass="keyword">const</span> cv::Mat & R1, <spanclass="keyword">const</span> cv::Mat & P1,</div>
<divclass="line"><aid="l00096"name="l00096"></a><spanclass="lineno"> 96</span><spanclass="keyword">const</span> cv::Size & imageSize2,</div>
<divclass="line"><aid="l00097"name="l00097"></a><spanclass="lineno"> 97</span><spanclass="keyword">const</span> cv::Mat & K2, <spanclass="keyword">const</span> cv::Mat & D2, <spanclass="keyword">const</span> cv::Mat & R2, <spanclass="keyword">const</span> cv::Mat & P2,</div>
<divclass="line"><aid="l00098"name="l00098"></a><spanclass="lineno"> 98</span><spanclass="keyword">const</span> cv::Mat & R, <spanclass="keyword">const</span> cv::Mat & T, <spanclass="keyword">const</span> cv::Mat & E, <spanclass="keyword">const</span> cv::Mat & F,</div>
<divclass="ttc"id="aclassrtabmap_1_1CameraModel_html"><divclass="ttname"><ahref="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><divclass="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><divclass="ttdef"><b>Definition</b><ahref="CameraModel_8h_source.html#l00052">CameraModel.h:53</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></div><divclass="ttdoc">A class representing a calibrated stereo camera system.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00053">StereoCameraModel.h:54</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a064d29601c0ba13fc47584849e26b81b"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a064d29601c0ba13fc47584849e26b81b">rtabmap::StereoCameraModel::left</a></div><divclass="ttdeci">const CameraModel & left() const</div><divclass="ttdoc">Returns the left camera model.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00547">StereoCameraModel.h:547</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a084e3e40c8b0caf66269d508a8fcffbc"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a084e3e40c8b0caf66269d508a8fcffbc">rtabmap::StereoCameraModel::reproject</a></div><divclass="ttdeci">void reproject(float x, float y, float z, float &uLeft, float &vLeft, float &uRight, float &vRight) const</div><divclass="ttdoc">Reprojects a 3D point of the left camera frame into both image planes (floating-point).</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a179ffcbc49ff3a281ef33cb4381e061c"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a179ffcbc49ff3a281ef33cb4381e061c">rtabmap::StereoCameraModel::StereoCameraModel</a></div><divclass="ttdeci">StereoCameraModel()</div><divclass="ttdoc">Default constructor. Creates an empty stereo model with default suffixes ("left", "right").</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00059">StereoCameraModel.h:59</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a1d016f499dbcce889ce7b7062c83b660"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a1d016f499dbcce889ce7b7062c83b660">rtabmap::StereoCameraModel::saveStereoTransform</a></div><divclass="ttdeci">bool saveStereoTransform(const std::string &directory) const</div><divclass="ttdoc">Saves stereo extrinsic parameters to a YAML file in ROS format.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a264d57ca1e0f6b41d03ffe1d89afc382"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a264d57ca1e0f6b41d03ffe1d89afc382">rtabmap::StereoCameraModel::scale</a></div><divclass="ttdeci">void scale(double scale)</div><divclass="ttdoc">Scales both cameras' calibration by a factor.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a28230b8236ed778729ed1e1ceb590f31"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a28230b8236ed778729ed1e1ceb590f31">rtabmap::StereoCameraModel::computeDisparity</a></div><divclass="ttdeci">float computeDisparity(unsigned short depth) const</div><divclass="ttdoc">Computes the disparity value from a depth given in unsigned short format (millimeters).</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a3ecae21bbf6bc9914d0bb553c99f9e09"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a3ecae21bbf6bc9914d0bb553c99f9e09">rtabmap::StereoCameraModel::getRightSuffix</a></div><divclass="ttdeci">const std::string & getRightSuffix() const</div><divclass="ttdoc">Gets the suffix used for the right camera calibration file.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00560">StereoCameraModel.h:560</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a4eab6254ef808719ca2d0543c89e0722"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a4eab6254ef808719ca2d0543c89e0722">rtabmap::StereoCameraModel::serialize</a></div><divclass="ttdeci">std::vector< unsigned char > serialize() const</div><divclass="ttdoc">Serializes the stereo camera model into a byte vector.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a506f83654d7f772a3743d24869c05742"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a506f83654d7f772a3743d24869c05742">rtabmap::StereoCameraModel::stereoTransform</a></div><divclass="ttdeci">Transform stereoTransform() const</div><divclass="ttdoc">Returns the stereo transform (left camera relative to right camera coordinate system).</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a514f7d1baff8b4be96d760b27279f5d6"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a514f7d1baff8b4be96d760b27279f5d6">rtabmap::StereoCameraModel::computeDepth</a></div><divclass="ttdeci">float computeDepth(float disparity) const</div><divclass="ttdoc">Computes the depth (Z coordinate) from a given disparity value.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a5257cde3d51bbee7c51c3f36d0c7741f"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a5257cde3d51bbee7c51c3f36d0c7741f">rtabmap::StereoCameraModel::localTransform</a></div><divclass="ttdeci">const Transform & localTransform() const</div><divclass="ttdoc">Gets the local transform from left camera to robot base.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00516">StereoCameraModel.h:516</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a544ee7d540dfe57c94863190d87898aa"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a544ee7d540dfe57c94863190d87898aa">rtabmap::StereoCameraModel::initRectificationMap</a></div><divclass="ttdeci">void initRectificationMap()</div><divclass="ttdoc">Initializes the rectification maps for both cameras.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00234">StereoCameraModel.h:234</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a626b8f54940ebc77ec504921004dda3a"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a626b8f54940ebc77ec504921004dda3a">rtabmap::StereoCameraModel::reproject</a></div><divclass="ttdeci">void reproject(float x, float y, float z, int &uLeft, int &vLeft, int &uRight, int &vRight) const</div><divclass="ttdoc">Reprojects a 3D point of the left camera frame into both image planes (rounded to int).</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a6c16870b83978d286003b166fd6949cf"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a6c16870b83978d286003b166fd6949cf">rtabmap::StereoCameraModel::isValidForProjection</a></div><divclass="ttdeci">bool isValidForProjection() const</div><divclass="ttdoc">Returns true if both left and right models are valid for projection and the baseline is positive.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00224">StereoCameraModel.h:224</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a7467f3a9a7961e643d0cd152286a13dd"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a7467f3a9a7961e643d0cd152286a13dd">rtabmap::StereoCameraModel::deserialize</a></div><divclass="ttdeci">unsigned int deserialize(const std::vector< unsigned char >&data)</div><divclass="ttdoc">Deserializes stereo camera model data from a byte vector.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a76bab07a51033de989fc522064ede024"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a76bab07a51033de989fc522064ede024">rtabmap::StereoCameraModel::StereoCameraModel</a></div><divclass="ttdeci">StereoCameraModel(const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const Transform &extrinsics)</div><divclass="ttdoc">Constructs a StereoCameraModel from two camera models and an extrinsic Transform between them.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a799e3f787d015b5cbd0189768f5b673c"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a799e3f787d015b5cbd0189768f5b673c">rtabmap::StereoCameraModel::getLeftSuffix</a></div><divclass="ttdeci">const std::string & getLeftSuffix() const</div><divclass="ttdoc">Gets the suffix used for the left camera calibration file.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00556">StereoCameraModel.h:556</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a7afd347afb3909a2039f154b3a048035"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a7afd347afb3909a2039f154b3a048035">rtabmap::StereoCameraModel::R</a></div><divclass="ttdeci">const cv::Mat & R() const</div><divclass="ttdoc">Stereo extrinsic rotation matrix.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00475">StereoCameraModel.h:475</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a82d60ddca8d0cdbe939b043ed02334b6"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a82d60ddca8d0cdbe939b043ed02334b6">rtabmap::StereoCameraModel::T</a></div><divclass="ttdeci">const cv::Mat & T() const</div><divclass="ttdoc">Stereo extrinsic translation vector.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00476">StereoCameraModel.h:476</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a898c2eff7bfc4977703f8edb86ca1187"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a898c2eff7bfc4977703f8edb86ca1187">rtabmap::StereoCameraModel::setImageSize</a></div><divclass="ttdeci">void setImageSize(const cv::Size &size)</div><divclass="ttdoc">Sets the image size for both left and right cameras.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00263">StereoCameraModel.h:263</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a8dc48f95fcf68eb81da96941f778535f"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a8dc48f95fcf68eb81da96941f778535f">rtabmap::StereoCameraModel::baseline</a></div><divclass="ttdeci">double baseline() const</div><divclass="ttdoc">Returns the stereo baseline in meters.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00378">StereoCameraModel.h:378</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a8e3a5c32e13727545f2d22dda05c96b0"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a8e3a5c32e13727545f2d22dda05c96b0">rtabmap::StereoCameraModel::StereoCameraModel</a></div><divclass="ttdeci">StereoCameraModel(const std::string &name, double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0), const cv::Size &imageSize=cv::Size(0, 0))</div><divclass="ttdoc">Minimal constructor that also sets a name, required if we want to save it to a file.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_a9c2d94b9bc335fdec7f5fa4f4c45a07c"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#a9c2d94b9bc335fdec7f5fa4f4c45a07c">rtabmap::StereoCameraModel::load</a></div><divclass="ttdeci">bool load(const std::string &directory, const std::string &cameraName, bool ignoreStereoTransform=true, bool initRectificationMaps=true)</div><divclass="ttdoc">Loads stereo camera calibration data from disk.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_aa35a73db2fc272f0f33b40220b75fa43"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#aa35a73db2fc272f0f33b40220b75fa43">rtabmap::StereoCameraModel::isRectificationMapInitialized</a></div><divclass="ttdeci">bool isRectificationMapInitialized() const</div><divclass="ttdoc">Returns true if rectification maps are initialized.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00239">StereoCameraModel.h:239</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_ab8061141407d8cc55d7f83211708af85"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#ab8061141407d8cc55d7f83211708af85">rtabmap::StereoCameraModel::right</a></div><divclass="ttdeci">const CameraModel & right() const</div><divclass="ttdoc">Returns the right camera model.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00551">StereoCameraModel.h:551</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_abfafd0a24795186f3bf623082663b4cd"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#abfafd0a24795186f3bf623082663b4cd">rtabmap::StereoCameraModel::save</a></div><divclass="ttdeci">bool save(const std::string &directory, bool ignoreStereoTransform=true) const</div><divclass="ttdoc">Saves stereo camera calibration data to disk.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_ac2fb1c489ae60bd7e4c104515db3c3a9"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#ac2fb1c489ae60bd7e4c104515db3c3a9">rtabmap::StereoCameraModel::roi</a></div><divclass="ttdeci">void roi(const cv::Rect &roi)</div><divclass="ttdoc">Applies region-of-interest (ROI) cropping to both cameras.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_ac5e22eec7815cb27e436afada2b5769f"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#ac5e22eec7815cb27e436afada2b5769f">rtabmap::StereoCameraModel::isValidForRectification</a></div><divclass="ttdeci">bool isValidForRectification() const</div><divclass="ttdoc">Returns true if both left and right models are valid for rectification.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00229">StereoCameraModel.h:229</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_adc404f0be63eedd0e0a9d6d5b5b36a94"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#adc404f0be63eedd0e0a9d6d5b5b36a94">rtabmap::StereoCameraModel::setName</a></div><divclass="ttdeci">void setName(const std::string &name, const std::string &leftSuffix="left", const std::string &rightSuffix="right")</div><divclass="ttdoc">Sets the camera name and optional image suffixes for the left and right cameras.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_ae759fe4ff0862f5305cf85257e0367a1"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#ae759fe4ff0862f5305cf85257e0367a1">rtabmap::StereoCameraModel::name</a></div><divclass="ttdeci">const std::string & name() const</div><divclass="ttdoc">Gets the camera name.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00258">StereoCameraModel.h:258</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_ae91c2717319f3cd7b6f40768e5adbb9f"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#ae91c2717319f3cd7b6f40768e5adbb9f">rtabmap::StereoCameraModel::StereoCameraModel</a></div><divclass="ttdeci">StereoCameraModel(const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const cv::Mat &R=cv::Mat(), const cv::Mat &T=cv::Mat(), const cv::Mat &E=cv::Mat(), const cv::Mat &F=cv::Mat())</div><divclass="ttdoc">Constructs a StereoCameraModel from two individual camera models and optional stereo extrinsic parame...</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_aecf8b2a628ead0bc422dbf791d683f5b"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#aecf8b2a628ead0bc422dbf791d683f5b">rtabmap::StereoCameraModel::computeDisparity</a></div><divclass="ttdeci">float computeDisparity(float depth) const</div><divclass="ttdoc">Computes the disparity value from a given depth.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_aee77882ceca428a560f5fd3713a330fb"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#aee77882ceca428a560f5fd3713a330fb">rtabmap::StereoCameraModel::setLocalTransform</a></div><divclass="ttdeci">void setLocalTransform(const Transform &transform)</div><divclass="ttdoc">Sets the local transform from left camera to robot base.</div><divclass="ttdef"><b>Definition</b><ahref="StereoCameraModel_8h_source.html#l00511">StereoCameraModel.h:511</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1StereoCameraModel_html_afdec3f5bab7ab9b4c339edaa30e639db"><divclass="ttname"><ahref="classrtabmap_1_1StereoCameraModel.html#afdec3f5bab7ab9b4c339edaa30e639db">rtabmap::StereoCameraModel::deserialize</a></div><divclass="ttdeci">unsigned int deserialize(const unsigned char *data, unsigned int dataSize)</div><divclass="ttdoc">Deserializes stereo camera model data from a raw byte array.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Transform_html"><divclass="ttname"><ahref="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><divclass="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><divclass="ttdef"><b>Definition</b><ahref="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<divclass="ttc"id="anamespacertabmap_html_a087b7a1b89acb679edee23883653f1a7"><divclass="ttname"><ahref="namespacertabmap.html#a087b7a1b89acb679edee23883653f1a7">rtabmap::operator<<</a></div><divclass="ttdeci">RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)</div><divclass="ttdoc">Stream operator for printing a camera model to an output stream.</div></div>
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