<divclass="line"><aid="l00005"name="l00005"></a><spanclass="lineno"> 5</span><spanclass="comment">Redistribution and use in source and binary forms, with or without</span></div>
<divclass="line"><aid="l00006"name="l00006"></a><spanclass="lineno"> 6</span><spanclass="comment">modification, are permitted provided that the following conditions are met:</span></div>
<divclass="line"><aid="l00007"name="l00007"></a><spanclass="lineno"> 7</span><spanclass="comment"> * Redistributions of source code must retain the above copyright</span></div>
<divclass="line"><aid="l00008"name="l00008"></a><spanclass="lineno"> 8</span><spanclass="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<divclass="line"><aid="l00009"name="l00009"></a><spanclass="lineno"> 9</span><spanclass="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<divclass="line"><aid="l00010"name="l00010"></a><spanclass="lineno"> 10</span><spanclass="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<divclass="line"><aid="l00011"name="l00011"></a><spanclass="lineno"> 11</span><spanclass="comment"> documentation and/or other materials provided with the distribution.</span></div>
<divclass="line"><aid="l00012"name="l00012"></a><spanclass="lineno"> 12</span><spanclass="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<divclass="line"><aid="l00013"name="l00013"></a><spanclass="lineno"> 13</span><spanclass="comment"> names of its contributors may be used to endorse or promote products</span></div>
<divclass="line"><aid="l00014"name="l00014"></a><spanclass="lineno"> 14</span><spanclass="comment"> derived from this software without specific prior written permission.</span></div>
<divclass="line"><aid="l00016"name="l00016"></a><spanclass="lineno"> 16</span><spanclass="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
<divclass="line"><aid="l00017"name="l00017"></a><spanclass="lineno"> 17</span><spanclass="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<divclass="line"><aid="l00018"name="l00018"></a><spanclass="lineno"> 18</span><spanclass="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<divclass="line"><aid="l00019"name="l00019"></a><spanclass="lineno"> 19</span><spanclass="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<divclass="line"><aid="l00020"name="l00020"></a><spanclass="lineno"> 20</span><spanclass="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<divclass="line"><aid="l00021"name="l00021"></a><spanclass="lineno"> 21</span><spanclass="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<divclass="line"><aid="l00022"name="l00022"></a><spanclass="lineno"> 22</span><spanclass="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<divclass="line"><aid="l00023"name="l00023"></a><spanclass="lineno"> 23</span><spanclass="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<divclass="line"><aid="l00024"name="l00024"></a><spanclass="lineno"> 24</span><spanclass="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<divclass="line"><aid="l00025"name="l00025"></a><spanclass="lineno"> 25</span><spanclass="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<divclass="line"><aid="l00652"name="l00652"></a><spanclass="lineno"> 652</span><spanclass="comment">// Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.</span></div>
<divclass="line"><aid="l00653"name="l00653"></a><spanclass="lineno"> 653</span> RTABMAP_DEPRECATED <spanclass="keywordtype">void</span> setImageRaw(<spanclass="keyword">const</span> cv::Mat & image);</div>
<divclass="line"><aid="l00654"name="l00654"></a><spanclass="lineno"> 654</span><spanclass="comment">// Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.</span></div>
<divclass="line"><aid="l00655"name="l00655"></a><spanclass="lineno"> 655</span> RTABMAP_DEPRECATED <spanclass="keywordtype">void</span> setDepthOrRightRaw(<spanclass="keyword">const</span> cv::Mat & image);</div>
<divclass="line"><aid="l00656"name="l00656"></a><spanclass="lineno"> 656</span><spanclass="comment">// Use setLaserScan() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.</span></div>
<divclass="line"><aid="l00658"name="l00658"></a><spanclass="lineno"> 658</span><spanclass="comment">// Use setUserData() or removeRawData() instead.</span></div>
<divclass="line"><aid="l00659"name="l00659"></a><spanclass="lineno"> 659</span> RTABMAP_DEPRECATED <spanclass="keywordtype">void</span> setUserDataRaw(<spanclass="keyword">const</span> cv::Mat & data);</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_1EnvSensor_html_abae79475fe7e568269a4b4ef4c5a7d24"><divclass="ttname"><ahref="classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24">rtabmap::EnvSensor::type</a></div><divclass="ttdeci">const Type & type() const</div><divclass="ttdef"><b>Definition</b><ahref="EnvSensor_8h_source.html#l00101">EnvSensor.h:101</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1GPS_html"><divclass="ttname"><ahref="classrtabmap_1_1GPS.html">rtabmap::GPS</a></div><divclass="ttdoc">WGS84 GPS fix attached to a sensor sample or graph node.</div><divclass="ttdef"><b>Definition</b><ahref="GPS_8h_source.html#l00046">GPS.h:47</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1LaserScan_html"><divclass="ttname"><ahref="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><divclass="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><divclass="ttdef"><b>Definition</b><ahref="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><divclass="ttdoc">Container class for all sensor data captured at a specific time.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a056056de80edf1bc20505fd992cdc6e7"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7">rtabmap::SensorData::imu</a></div><divclass="ttdeci">const IMU & imu() const</div><divclass="ttdoc">Returns IMU data.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00922">SensorData.h:922</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a0cfb7cee085b7959c9ddf1d7854ed910"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a0cfb7cee085b7959c9ddf1d7854ed910">rtabmap::SensorData::depthConfidenceRaw</a></div><divclass="ttdeci">const cv::Mat & depthConfidenceRaw() const</div><divclass="ttdoc">Returns the raw depth confidence map.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00579">SensorData.h:579</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a0f2e804ebbcff5be648a43f0a41e9dfc"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc">rtabmap::SensorData::gridObstacleCellsRaw</a></div><divclass="ttdeci">const cv::Mat & gridObstacleCellsRaw() const</div><divclass="ttdoc">Returns raw obstacle cells.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00780">SensorData.h:780</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a1006dbcfb640b599f0587af3b0ba46ae"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae">rtabmap::SensorData::addEnvSensor</a></div><divclass="ttdeci">void addEnvSensor(const EnvSensor &sensor)</div><divclass="ttdoc">Adds a single environmental sensor.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00934">SensorData.h:934</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a14f7a5c64b5d27842cb654e247d1fd20"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a14f7a5c64b5d27842cb654e247d1fd20">rtabmap::SensorData::SensorData</a></div><divclass="ttdeci">SensorData(const cv::Mat &image, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><divclass="ttdoc">Mono camera constructor.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a1522af81a95c27b76e316919df95a869"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a1522af81a95c27b76e316919df95a869">rtabmap::SensorData::laserScanCompressed</a></div><divclass="ttdeci">const LaserScan & laserScanCompressed() const</div><divclass="ttdoc">Returns the compressed laser scan.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00560">SensorData.h:560</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a1534d36fee45c3df70679438ec9d00a3"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a1534d36fee45c3df70679438ec9d00a3">rtabmap::SensorData::SensorData</a></div><divclass="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><divclass="ttdoc">Stereo camera constructor.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a176b8160afc549fc6eaa2d0567c12957"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957">rtabmap::SensorData::gps</a></div><divclass="ttdeci">const GPS & gps() const</div><divclass="ttdoc">Returns GPS data.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00908">SensorData.h:908</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a1970cd319999fb371873553b53b07d73"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73">rtabmap::SensorData::depthRaw</a></div><divclass="ttdeci">cv::Mat depthRaw() const</div><divclass="ttdoc">Returns the depth image (convenience method)</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00639">SensorData.h:639</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a2476c59283ef2e24d7a3f10301433327"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a2476c59283ef2e24d7a3f10301433327">rtabmap::SensorData::depthOrRightRaw</a></div><divclass="ttdeci">const cv::Mat & depthOrRightRaw() const</div><divclass="ttdoc">Returns the raw depth or right stereo image.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00573">SensorData.h:573</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a25efb0e7904a3daa7f4ee7cd814a24ff"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff">rtabmap::SensorData::SensorData</a></div><divclass="ttdeci">SensorData(const IMU &imu, int id=0, double stamp=0.0)</div><divclass="ttdoc">IMU-only constructor.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a2db9b9dbbe3d0943a47cdc4a5a9051d4"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4">rtabmap::SensorData::gridGroundCellsRaw</a></div><divclass="ttdeci">const cv::Mat & gridGroundCellsRaw() const</div><divclass="ttdoc">Returns raw ground cells.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00767">SensorData.h:767</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a30f069ee8ffa263ec2c18bc714713e03"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03">rtabmap::SensorData::isPointVisibleFromCameras</a></div><divclass="ttdeci">int isPointVisibleFromCameras(const cv::Point3f &pt) const</div><divclass="ttdoc">Checks if a 3D point is visible from any camera.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a37c2569419731afc855a3ce984c11505"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505">rtabmap::SensorData::clearGlobalDescriptors</a></div><divclass="ttdeci">void clearGlobalDescriptors()</div><divclass="ttdoc">Clears all global descriptors.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00859">SensorData.h:859</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a490e96f3f1d16cc559b3a004e2ec4fbe"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe">rtabmap::SensorData::gridEmptyCellsRaw</a></div><divclass="ttdeci">const cv::Mat & gridEmptyCellsRaw() const</div><divclass="ttdoc">Returns raw empty cells.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00793">SensorData.h:793</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a4cce095c69f9fa8f0035c9f2f51c0ff9"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9">rtabmap::SensorData::envSensors</a></div><divclass="ttdeci">const EnvSensors & envSensors() const</div><divclass="ttdoc">Returns all environmental sensors.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00940">SensorData.h:940</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a4d0f4615a747eaef142b51a1ab1e5527"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a4d0f4615a747eaef142b51a1ab1e5527">rtabmap::SensorData::setId</a></div><divclass="ttdeci">void setId(int id)</div><divclass="ttdoc">Sets the sensor data ID.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00521">SensorData.h:521</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a50b09c52de6c8c6a6a95ee08886845a0"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0">rtabmap::SensorData::gridObstacleCellsCompressed</a></div><divclass="ttdeci">const cv::Mat & gridObstacleCellsCompressed() const</div><divclass="ttdoc">Returns compressed obstacle cells.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00787">SensorData.h:787</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a51f21b98088ceec4c5d108d0fbe03200"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200">rtabmap::SensorData::gridViewPoint</a></div><divclass="ttdeci">const cv::Point3f & gridViewPoint() const</div><divclass="ttdoc">Returns the occupancy grid viewpoint.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00812">SensorData.h:812</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a52b215e8d320bbcbd464e3b7181a077b"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a52b215e8d320bbcbd464e3b7181a077b">rtabmap::SensorData::SensorData</a></div><divclass="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><divclass="ttdoc">RGB-D constructor with depth confidence and laser scan.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a55e6ca21bfd11b7afb375451a2a77b87"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87">rtabmap::SensorData::globalPose</a></div><divclass="ttdeci">const Transform & globalPose() const</div><divclass="ttdoc">Returns the global pose.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00890">SensorData.h:890</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a566e5600bc0369f2f88ff0c597cefcfb"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb">rtabmap::SensorData::stamp</a></div><divclass="ttdeci">double stamp() const</div><divclass="ttdoc">Returns the timestamp.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00527">SensorData.h:527</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a569af71e8757105dc040251a3805fe97"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97">rtabmap::SensorData::globalPoseCovariance</a></div><divclass="ttdeci">const cv::Mat & globalPoseCovariance() const</div><divclass="ttdoc">Returns the global pose covariance.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00896">SensorData.h:896</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a5c0844e94d3fff50a8bfec2decf2f94c"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a5c0844e94d3fff50a8bfec2decf2f94c">rtabmap::SensorData::setStamp</a></div><divclass="ttdeci">void setStamp(double stamp)</div><divclass="ttdoc">Sets the timestamp.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00533">SensorData.h:533</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a5cf732793c05b16bb67f144524882b26"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26">rtabmap::SensorData::descriptors</a></div><divclass="ttdeci">const cv::Mat & descriptors() const</div><divclass="ttdoc">Returns the feature descriptors.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00842">SensorData.h:842</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a60b3b2366bb66c914cfa7799204828fc"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc">rtabmap::SensorData::getMemoryUsed</a></div><divclass="ttdeci">unsigned long getMemoryUsed() const</div><divclass="ttdoc">Computes the memory usage of this sensor data.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a6ace7b2b8ebae5f7ab18e159fe6e8a92"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">rtabmap::SensorData::cameraModels</a></div><divclass="ttdeci">const std::vector< CameraModel >& cameraModels() const</div><divclass="ttdoc">Returns the camera models.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00724">SensorData.h:724</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a7051ea8c13bafd7eaffb5f5a93064808"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808">rtabmap::SensorData::setGroundTruth</a></div><divclass="ttdeci">void setGroundTruth(const Transform &pose)</div><divclass="ttdoc">Sets the ground truth pose.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00871">SensorData.h:871</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a72f0ce5a2989f478149f5cf2d5a36556"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556">rtabmap::SensorData::setGlobalPose</a></div><divclass="ttdeci">void setGlobalPose(const Transform &pose, const cv::Mat &covariance)</div><divclass="ttdoc">Sets the global pose with covariance.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00884">SensorData.h:884</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a73ba0bb1cb31a3438b3ffee161b16ff8"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8">rtabmap::SensorData::landmarks</a></div><divclass="ttdeci">const Landmarks & landmarks() const</div><divclass="ttdoc">Returns landmarks.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00953">SensorData.h:953</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a84fbcb16e51018d96065d3ce240650c6"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a84fbcb16e51018d96065d3ce240650c6">rtabmap::SensorData::id</a></div><divclass="ttdeci">int id() const</div><divclass="ttdoc">Returns the sensor data ID.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00515">SensorData.h:515</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a85b36ca12b0936a99d61b768908097da"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a85b36ca12b0936a99d61b768908097da">rtabmap::SensorData::depthOrRightCompressed</a></div><divclass="ttdeci">const cv::Mat & depthOrRightCompressed() const</div><divclass="ttdoc">Returns the compressed depth or right stereo image.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00547">SensorData.h:547</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_a984ce55b6b75152a63441bd07288dc6c"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">rtabmap::SensorData::gridCellSize</a></div><divclass="ttdeci">float gridCellSize() const</div><divclass="ttdoc">Returns the occupancy grid cell size.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00806">SensorData.h:806</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_aa356c9d5e9e7ea55ccdbe99c215bcb52"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52">rtabmap::SensorData::uncompressData</a></div><divclass="ttdeci">void uncompressData()</div><divclass="ttdoc">Uncompresses all compressed data in-place.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_aaa7408cb13ea2cbe33438e007b80de30"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30">rtabmap::SensorData::rightRaw</a></div><divclass="ttdeci">cv::Mat rightRaw() const</div><divclass="ttdoc">Returns the right stereo image (convenience method)</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00650">SensorData.h:650</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_aafcc6b483798b7a99fafa8f929db1029"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029">rtabmap::SensorData::imageCompressed</a></div><divclass="ttdeci">const cv::Mat & imageCompressed() const</div><divclass="ttdoc">Returns the compressed RGB/grayscale image.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00540">SensorData.h:540</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_ab02d686ac7ef8b389655e913768b4d87"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87">rtabmap::SensorData::stereoCameraModels</a></div><divclass="ttdeci">const std::vector< StereoCameraModel >& stereoCameraModels() const</div><divclass="ttdoc">Returns the stereo camera models.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00730">SensorData.h:730</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_ab17daf3d7c2cd1253306e6d5991549df"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df">rtabmap::SensorData::keypoints3D</a></div><divclass="ttdeci">const std::vector< cv::Point3f >& keypoints3D() const</div><divclass="ttdoc">Returns the 3D keypoints.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00836">SensorData.h:836</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_ab2f74509af5e3f56d1c4d5e31c0c6003"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003">rtabmap::SensorData::setStereoCameraModel</a></div><divclass="ttdeci">void setStereoCameraModel(const StereoCameraModel &stereoCameraModel)</div><divclass="ttdoc">Sets a single stereo camera model (clears previous models)</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00622">SensorData.h:622</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_ab3a5ebf180d5f2f106877b78aee6d1d1"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1">rtabmap::SensorData::setEnvSensors</a></div><divclass="ttdeci">void setEnvSensors(const EnvSensors &sensors)</div><divclass="ttdoc">Sets all environmental sensors.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00928">SensorData.h:928</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_ab3c515b23322cd31c3fcbcb054588e43"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43">rtabmap::SensorData::gridGroundCellsCompressed</a></div><divclass="ttdeci">const cv::Mat & gridGroundCellsCompressed() const</div><divclass="ttdoc">Returns compressed ground cells.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00774">SensorData.h:774</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_ab4e6b5d917155b94d8b4b6242fe56c6e"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e">rtabmap::SensorData::setStereoCameraModels</a></div><divclass="ttdeci">void setStereoCameraModels(const std::vector< StereoCameraModel >&stereoCameraModels)</div><divclass="ttdoc">Sets multiple stereo camera models.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00628">SensorData.h:628</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_ab6f18f2eb0340c8f6e800a695424bbbe"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe">rtabmap::SensorData::setGlobalDescriptors</a></div><divclass="ttdeci">void setGlobalDescriptors(const std::vector< GlobalDescriptor >&descriptors)</div><divclass="ttdoc">Sets all global descriptors.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00854">SensorData.h:854</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_abdd07b6e248e165959468bb31897bc20"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#abdd07b6e248e165959468bb31897bc20">rtabmap::SensorData::SensorData</a></div><divclass="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><divclass="ttdoc">Stereo camera constructor with laser scan.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_ac2bae4f0747795f778275102b4ebf1b3"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3">rtabmap::SensorData::gridEmptyCellsCompressed</a></div><divclass="ttdeci">const cv::Mat & gridEmptyCellsCompressed() const</div><divclass="ttdoc">Returns compressed empty cells.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00800">SensorData.h:800</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_acc0ac26f01ad9f5185f80f8f09da252e"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e">rtabmap::SensorData::addGlobalDescriptor</a></div><divclass="ttdeci">void addGlobalDescriptor(const GlobalDescriptor &descriptor)</div><divclass="ttdoc">Adds a global descriptor.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00848">SensorData.h:848</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_acd46b940bac6e1d53ff2826be309b4c8"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8">rtabmap::SensorData::globalDescriptors</a></div><divclass="ttdeci">const std::vector< GlobalDescriptor >& globalDescriptors() const</div><divclass="ttdoc">Returns all global descriptors.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00865">SensorData.h:865</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_ad083f0a1e7769ff62183a0fa47279ae3"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3">rtabmap::SensorData::setFeatures</a></div><divclass="ttdeci">void setFeatures(const std::vector< cv::KeyPoint >&keypoints, const std::vector< cv::Point3f >&keypoints3D, const cv::Mat &descriptors)</div><divclass="ttdoc">Sets visual features (keypoints, 3D points, descriptors)</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_ad620676ab1a971846ab80ef646aa5882"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#ad620676ab1a971846ab80ef646aa5882">rtabmap::SensorData::isValid</a></div><divclass="ttdeci">bool isValid() const</div><divclass="ttdoc">Checks if the sensor data is valid.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00485">SensorData.h:485</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_ad8ae172220b7bfffeb09bb1eac60f28f"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f">rtabmap::SensorData::setCameraModel</a></div><divclass="ttdeci">void setCameraModel(const CameraModel &model)</div><divclass="ttdoc">Sets a single camera model (clears previous models)</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00610">SensorData.h:610</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_ae9e44401d0d6faee8fcb801090936fef"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef">rtabmap::SensorData::imageRaw</a></div><divclass="ttdeci">const cv::Mat & imageRaw() const</div><divclass="ttdoc">Returns the raw RGB/grayscale image.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00566">SensorData.h:566</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_aebbab80906082f6e35ce5731fa67ca26"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#aebbab80906082f6e35ce5731fa67ca26">rtabmap::SensorData::depthConfidenceCompressed</a></div><divclass="ttdeci">const cv::Mat & depthConfidenceCompressed() const</div><divclass="ttdoc">Returns the compressed depth confidence map.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00554">SensorData.h:554</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_aeebafe56f302f9e8e4f06c5ad750248d"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d">rtabmap::SensorData::laserScanRaw</a></div><divclass="ttdeci">const LaserScan & laserScanRaw() const</div><divclass="ttdoc">Returns the raw laser scan.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00585">SensorData.h:585</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_aef9e0c36efdc8915536c3bc082108689"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689">rtabmap::SensorData::groundTruth</a></div><divclass="ttdeci">const Transform & groundTruth() const</div><divclass="ttdoc">Returns the ground truth pose.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00877">SensorData.h:877</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_af841bbc9ea6de17124f8c871fa5d0719"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719">rtabmap::SensorData::setCameraModels</a></div><divclass="ttdeci">void setCameraModels(const std::vector< CameraModel >&models)</div><divclass="ttdoc">Sets multiple camera models.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00616">SensorData.h:616</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html_afdc0db8c8176c4108e78e66df54b7d94"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94">rtabmap::SensorData::keypoints</a></div><divclass="ttdeci">const std::vector< cv::KeyPoint >& keypoints() const</div><divclass="ttdoc">Returns the 2D keypoints.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00830">SensorData.h:830</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_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_a12bbfd3e37121bf9f68a4047c8b4da86"><divclass="ttname"><ahref="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">rtabmap::Landmarks</a></div><divclass="ttdeci">std::map< int, Landmark > Landmarks</div><divclass="ttdoc">Map of landmark id → Landmark (typically positive keys).</div><divclass="ttdef"><b>Definition</b><ahref="Landmark_8h_source.html#l00113">Landmark.h:113</a></div></div>
<divclass="ttc"id="anamespacertabmap_html_ac175ef40b7a4acb632232d3d96a1199a"><divclass="ttname"><ahref="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">rtabmap::EnvSensors</a></div><divclass="ttdeci">std::map< EnvSensor::Type, EnvSensor > EnvSensors</div><divclass="ttdoc">Map of environmental readings keyed by EnvSensor::Type (at most one per type).</div><divclass="ttdef"><b>Definition</b><ahref="EnvSensor_8h_source.html#l00114">EnvSensor.h:114</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<divid="nav-path"class="navpath"><!-- id is needed for treeview function! -->
<liclass="footer">Generated by <ahref="https://www.doxygen.org/index.html"><imgclass="footer"src="doxygen.svg"width="104"height="31"alt="doxygen"/></a> 1.9.8 </li>
