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Preview for PR #1785 f9971f71170cf1c0ffb00b0f5861b0be4bd6b287

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2026-10-03 23:20:39 +00:00
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@@ -345,216 +345,218 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> </div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d"> 596</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; <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="l00597" name="l00597"></a><span class="lineno"> 597</span> </div>
<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24"> 603</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 &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; model, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> cv::Mat &amp; depth_confidence, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; model, <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> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> cv::Mat &amp; depth_confidence, <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> <span class="keywordtype">void</span> setStereoImage(<span class="keyword">const</span> cv::Mat &amp; left, <span class="keyword">const</span> cv::Mat &amp; right, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> &amp; stereoCameraModel, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <span class="keywordtype">void</span> setStereoImage(<span class="keyword">const</span> cv::Mat &amp; left, <span class="keyword">const</span> cv::Mat &amp; right, <span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; stereoCameraModels, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> </div>
<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0"> 615</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> &amp; laserScan, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> </div>
<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f"> 621</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> &amp; model) {_cameraModels.clear(); _cameraModels.push_back(model);}</div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> </div>
<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719"> 627</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&lt;CameraModel&gt; &amp; models) {_cameraModels = models;}</div>
<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span> </div>
<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003"> 633</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> &amp; stereoCameraModel) {_stereoCameraModels.clear(); _stereoCameraModels.push_back(stereoCameraModel);}</div>
<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> </div>
<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e"> 639</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&lt;StereoCameraModel&gt; &amp; stereoCameraModels) {_stereoCameraModels = stereoCameraModels;}</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#a1970cd319999fb371873553b53b07d73"> 650</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="l00651" name="l00651"></a><span class="lineno"> 651</span> </div>
<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30"> 661</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="l00662" name="l00662"></a><span class="lineno"> 662</span> </div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> <span class="comment">// Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn&#39;t clear compressed data.</span></div>
<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setImageRaw(<span class="keyword">const</span> cv::Mat &amp; image);</div>
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24"> 605</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 &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; model, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> cv::Mat &amp; depth_confidence, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; model, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> cv::Mat &amp; depth_confidence, <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> <span class="keywordtype">void</span> setStereoImage(<span class="keyword">const</span> cv::Mat &amp; left, <span class="keyword">const</span> cv::Mat &amp; right, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> &amp; stereoCameraModel, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"> 610</span> <span class="keywordtype">void</span> setStereoImage(<span class="keyword">const</span> cv::Mat &amp; left, <span class="keyword">const</span> cv::Mat &amp; right, <span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; stereoCameraModels, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> </div>
<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0"> 617</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> &amp; laserScan, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00618" name="l00618"></a><span class="lineno"> 618</span> </div>
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f"> 623</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> &amp; model) {_cameraModels.clear(); _cameraModels.push_back(model);}</div>
<div class="line"><a id="l00624" name="l00624"></a><span class="lineno"> 624</span> </div>
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719"> 629</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&lt;CameraModel&gt; &amp; models) {_cameraModels = models;}</div>
<div class="line"><a id="l00630" name="l00630"></a><span class="lineno"> 630</span> </div>
<div class="line"><a id="l00635" name="l00635"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003"> 635</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> &amp; stereoCameraModel) {_stereoCameraModels.clear(); _stereoCameraModels.push_back(stereoCameraModel);}</div>
<div class="line"><a id="l00636" name="l00636"></a><span class="lineno"> 636</span> </div>
<div class="line"><a id="l00641" name="l00641"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e"> 641</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&lt;StereoCameraModel&gt; &amp; stereoCameraModels) {_stereoCameraModels = stereoCameraModels;}</div>
<div class="line"><a id="l00642" name="l00642"></a><span class="lineno"> 642</span> </div>
<div class="line"><a id="l00652" name="l00652"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73"> 652</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="l00653" name="l00653"></a><span class="lineno"> 653</span> </div>
<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30"> 663</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="l00664" name="l00664"></a><span class="lineno"> 664</span> </div>
<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="comment">// Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn&#39;t clear compressed data.</span></div>
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setDepthOrRightRaw(<span class="keyword">const</span> cv::Mat &amp; image);</div>
<div class="line"><a id="l00667" name="l00667"></a><span class="lineno"> 667</span> <span class="comment">// Use setLaserScan() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn&#39;t clear compressed data.</span></div>
<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</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> &amp; scan);</div>
<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"> 669</span> <span class="comment">// Use setUserData() or removeRawData() instead.</span></div>
<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"> 670</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setUserDataRaw(<span class="keyword">const</span> cv::Mat &amp; data);</div>
<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> </div>
<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52"> 678</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="l00679" name="l00679"></a><span class="lineno"> 679</span> </div>
<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158"> 697</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="l00698" name="l00698"></a><span class="lineno"> 698</span> cv::Mat * imageRaw,</div>
<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"> 699</span> cv::Mat * depthOrRightRaw,</div>
<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> * laserScanRaw = 0,</div>
<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"> 701</span> cv::Mat * userDataRaw = 0,</div>
<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"> 702</span> cv::Mat * groundCellsRaw = 0,</div>
<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> cv::Mat * obstacleCellsRaw = 0,</div>
<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"> 704</span> cv::Mat * emptyCellsRaw = 0,</div>
<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"> 705</span> cv::Mat * depthConfidenceRaw = 0);</div>
<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"> 706</span> </div>
<div class="line"><a id="l00721" name="l00721"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f"> 721</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="l00722" name="l00722"></a><span class="lineno"> 722</span> cv::Mat * imageRaw,</div>
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"> 723</span> cv::Mat * depthOrRightRaw,</div>
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"> 724</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> * laserScanRaw = 0,</div>
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span> cv::Mat * userDataRaw = 0,</div>
<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> cv::Mat * groundCellsRaw = 0,</div>
<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"> 727</span> cv::Mat * obstacleCellsRaw = 0,</div>
<div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> cv::Mat * emptyCellsRaw = 0,</div>
<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"> 729</span> cv::Mat * depthConfidenceRaw = 0) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"> 730</span> </div>
<div class="line"><a id="l00735" name="l00735"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92"> 735</a></span> <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; <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="l00736" name="l00736"></a><span class="lineno"> 736</span> </div>
<div class="line"><a id="l00741" name="l00741"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87"> 741</a></span> <span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; <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="l00742" name="l00742"></a><span class="lineno"> 742</span> </div>
<div class="line"><a id="l00755" name="l00755"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072"> 755</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 &amp; userData, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00756" name="l00756"></a><span class="lineno"> 756</span> <span class="keyword">const</span> cv::Mat &amp; userDataRaw()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataRaw;}</div>
<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"> 757</span> <span class="keyword">const</span> cv::Mat &amp; userDataCompressed()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataCompressed;}</div>
<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"> 758</span> </div>
<div class="line"><a id="l00772" name="l00772"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b"> 772</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="l00773" name="l00773"></a><span class="lineno"> 773</span> <span class="keyword">const</span> cv::Mat &amp; ground,</div>
<div class="line"><a id="l00774" name="l00774"></a><span class="lineno"> 774</span> <span class="keyword">const</span> cv::Mat &amp; obstacles,</div>
<div class="line"><a id="l00775" name="l00775"></a><span class="lineno"> 775</span> <span class="keyword">const</span> cv::Mat &amp; empty,</div>
<div class="line"><a id="l00776" name="l00776"></a><span class="lineno"> 776</span> <span class="keywordtype">float</span> cellSize,</div>
<div class="line"><a id="l00777" name="l00777"></a><span class="lineno"> 777</span> <span class="keyword">const</span> cv::Point3f &amp; viewPoint);</div>
<div class="line"><a id="l00782" name="l00782"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4"> 782</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="l00783" name="l00783"></a><span class="lineno"> 783</span> </div>
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43"> 789</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="l00790" name="l00790"></a><span class="lineno"> 790</span> </div>
<div class="line"><a id="l00795" name="l00795"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc"> 795</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="l00796" name="l00796"></a><span class="lineno"> 796</span> </div>
<div class="line"><a id="l00802" name="l00802"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0"> 802</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="l00803" name="l00803"></a><span class="lineno"> 803</span> </div>
<div class="line"><a id="l00808" name="l00808"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe"> 808</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="l00809" name="l00809"></a><span class="lineno"> 809</span> </div>
<div class="line"><a id="l00815" name="l00815"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3"> 815</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="l00816" name="l00816"></a><span class="lineno"> 816</span> </div>
<div class="line"><a id="l00821" name="l00821"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c"> 821</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="l00822" name="l00822"></a><span class="lineno"> 822</span> </div>
<div class="line"><a id="l00827" name="l00827"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200"> 827</a></span> <span class="keyword">const</span> cv::Point3f &amp; <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="l00828" name="l00828"></a><span class="lineno"> 828</span> </div>
<div class="line"><a id="l00839" name="l00839"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3"> 839</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&lt;cv::KeyPoint&gt; &amp; keypoints, <span class="keyword">const</span> std::vector&lt;cv::Point3f&gt; &amp; keypoints3D, <span class="keyword">const</span> cv::Mat &amp; descriptors);</div>
<div class="line"><a id="l00840" name="l00840"></a><span class="lineno"> 840</span> </div>
<div class="line"><a id="l00845" name="l00845"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94"> 845</a></span> <span class="keyword">const</span> std::vector&lt;cv::KeyPoint&gt; &amp; <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="l00846" name="l00846"></a><span class="lineno"> 846</span> </div>
<div class="line"><a id="l00851" name="l00851"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df"> 851</a></span> <span class="keyword">const</span> std::vector&lt;cv::Point3f&gt; &amp; <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="l00852" name="l00852"></a><span class="lineno"> 852</span> </div>
<div class="line"><a id="l00857" name="l00857"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26"> 857</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="l00858" name="l00858"></a><span class="lineno"> 858</span> </div>
<div class="line"><a id="l00863" name="l00863"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e"> 863</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> &amp; descriptor) {_globalDescriptors.push_back(descriptor);}</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#ab6f18f2eb0340c8f6e800a695424bbbe"> 869</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&lt;GlobalDescriptor&gt; &amp; descriptors) {_globalDescriptors = descriptors;}</div>
<div class="line"><a id="l00870" name="l00870"></a><span class="lineno"> 870</span> </div>
<div class="line"><a id="l00874" name="l00874"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505"> 874</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="l00875" name="l00875"></a><span class="lineno"> 875</span> </div>
<div class="line"><a id="l00880" name="l00880"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8"> 880</a></span> <span class="keyword">const</span> std::vector&lt;GlobalDescriptor&gt; &amp; <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="l00881" name="l00881"></a><span class="lineno"> 881</span> </div>
<div class="line"><a id="l00886" name="l00886"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808"> 886</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> &amp; pose) {groundTruth_ = pose;}</div>
<div class="line"><a id="l00887" name="l00887"></a><span class="lineno"> 887</span> </div>
<div class="line"><a id="l00892" name="l00892"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689"> 892</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <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="l00893" name="l00893"></a><span class="lineno"> 893</span> </div>
<div class="line"><a id="l00899" name="l00899"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556"> 899</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> &amp; pose, <span class="keyword">const</span> cv::Mat &amp; covariance) {globalPose_ = pose; globalPoseCovariance_ = covariance;}</div>
<div class="line"><a id="l00900" name="l00900"></a><span class="lineno"> 900</span> </div>
<div class="line"><a id="l00905" name="l00905"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87"> 905</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <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="l00906" name="l00906"></a><span class="lineno"> 906</span> </div>
<div class="line"><a id="l00911" name="l00911"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97"> 911</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="l00912" name="l00912"></a><span class="lineno"> 912</span> </div>
<div class="line"><a id="l00917" name="l00917"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a"> 917</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> &amp; gps) {gps_ = gps;}</div>
<div class="line"><a id="l00918" name="l00918"></a><span class="lineno"> 918</span> </div>
<div class="line"><a id="l00923" name="l00923"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957"> 923</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> &amp; <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="l00924" name="l00924"></a><span class="lineno"> 924</span> </div>
<div class="line"><a id="l00931" name="l00931"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139"> 931</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> &amp; imu);</div>
<div class="line"><a id="l00932" name="l00932"></a><span class="lineno"> 932</span> </div>
<div class="line"><a id="l00937" name="l00937"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7"> 937</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> &amp; <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="l00938" name="l00938"></a><span class="lineno"> 938</span> </div>
<div class="line"><a id="l00943" name="l00943"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1"> 943</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> &amp; sensors) {_envSensors = sensors;}</div>
<div class="line"><a id="l00944" name="l00944"></a><span class="lineno"> 944</span> </div>
<div class="line"><a id="l00949" name="l00949"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae"> 949</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> &amp; 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="l00950" name="l00950"></a><span class="lineno"> 950</span> </div>
<div class="line"><a id="l00955" name="l00955"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9"> 955</a></span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> &amp; <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="l00956" name="l00956"></a><span class="lineno"> 956</span> </div>
<div class="line"><a id="l00962" name="l00962"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14"> 962</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> &amp; landmarks) {_landmarks = landmarks;}</div>
<div class="line"><a id="l00963" name="l00963"></a><span class="lineno"> 963</span> </div>
<div class="line"><a id="l00968" name="l00968"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8"> 968</a></span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> &amp; <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="l00969" name="l00969"></a><span class="lineno"> 969</span> </div>
<div class="line"><a id="l00978" name="l00978"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc"> 978</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="l00983" name="l00983"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29"> 983</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="l00988" name="l00988"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2"> 988</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="l00989" name="l00989"></a><span class="lineno"> 989</span> </div>
<div class="line"><a id="l00999" name="l00999"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03"> 999</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 &amp; pt) <span class="keyword">const</span>;</div>
<div class="line"><a id="l01000" name="l01000"></a><span class="lineno"> 1000</span> </div>
<div class="line"><a id="l01001" name="l01001"></a><span class="lineno"> 1001</span><span class="preprocessor">#ifdef HAVE_OPENCV_CUDEV</span></div>
<div class="line"><a id="l01006" name="l01006"></a><span class="lineno"> 1006</span> <span class="keyword">const</span> cv::cuda::GpuMat &amp; imageRawGpu()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imageRawGpu;}</div>
<div class="line"><a id="l01007" name="l01007"></a><span class="lineno"> 1007</span> </div>
<div class="line"><a id="l01012" name="l01012"></a><span class="lineno"> 1012</span> <span class="keywordtype">void</span> setImageRawGpu(<span class="keyword">const</span> cv::cuda::GpuMat &amp; image) {_imageRawGpu = image;}</div>
<div class="line"><a id="l01013" name="l01013"></a><span class="lineno"> 1013</span> </div>
<div class="line"><a id="l01018" name="l01018"></a><span class="lineno"> 1018</span> <span class="keyword">const</span> cv::cuda::GpuMat &amp; depthOrRightRawGpu()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightRawGpu;}</div>
<div class="line"><a id="l01019" name="l01019"></a><span class="lineno"> 1019</span> </div>
<div class="line"><a id="l01024" name="l01024"></a><span class="lineno"> 1024</span> <span class="keywordtype">void</span> setDepthOrRightRawGpu(<span class="keyword">const</span> cv::cuda::GpuMat &amp; image) {_depthOrRightRawGpu = image;}</div>
<div class="line"><a id="l01025" name="l01025"></a><span class="lineno"> 1025</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l01026" name="l01026"></a><span class="lineno"> 1026</span> </div>
<div class="line"><a id="l01027" name="l01027"></a><span class="lineno"> 1027</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l01028" name="l01028"></a><span class="lineno"> 1028</span> <span class="keywordtype">int</span> _id; </div>
<div class="line"><a id="l01029" name="l01029"></a><span class="lineno"> 1029</span> <span class="keywordtype">double</span> _stamp; </div>
<div class="line"><a id="l01030" name="l01030"></a><span class="lineno"> 1030</span> </div>
<div class="line"><a id="l01031" name="l01031"></a><span class="lineno"> 1031</span> <span class="comment">// Compressed data</span></div>
<div class="line"><a id="l01032" name="l01032"></a><span class="lineno"> 1032</span> cv::Mat _imageCompressed; </div>
<div class="line"><a id="l01033" name="l01033"></a><span class="lineno"> 1033</span> cv::Mat _depthOrRightCompressed; </div>
<div class="line"><a id="l01034" name="l01034"></a><span class="lineno"> 1034</span> cv::Mat _depthConfidenceCompressed; </div>
<div class="line"><a id="l01035" name="l01035"></a><span class="lineno"> 1035</span> LaserScan _laserScanCompressed; </div>
<div class="line"><a id="l01036" name="l01036"></a><span class="lineno"> 1036</span> </div>
<div class="line"><a id="l01037" name="l01037"></a><span class="lineno"> 1037</span> <span class="comment">// Raw data</span></div>
<div class="line"><a id="l01038" name="l01038"></a><span class="lineno"> 1038</span> cv::Mat _imageRaw; </div>
<div class="line"><a id="l01039" name="l01039"></a><span class="lineno"> 1039</span> cv::Mat _depthOrRightRaw; </div>
<div class="line"><a id="l01040" name="l01040"></a><span class="lineno"> 1040</span> cv::Mat _depthConfidenceRaw; </div>
<div class="line"><a id="l01041" name="l01041"></a><span class="lineno"> 1041</span> LaserScan _laserScanRaw; </div>
<div class="line"><a id="l01042" name="l01042"></a><span class="lineno"> 1042</span> </div>
<div class="line"><a id="l01043" name="l01043"></a><span class="lineno"> 1043</span> <span class="comment">// Camera models</span></div>
<div class="line"><a id="l01044" name="l01044"></a><span class="lineno"> 1044</span> std::vector&lt;CameraModel&gt; _cameraModels; </div>
<div class="line"><a id="l01045" name="l01045"></a><span class="lineno"> 1045</span> std::vector&lt;StereoCameraModel&gt; _stereoCameraModels; </div>
<div class="line"><a id="l01046" name="l01046"></a><span class="lineno"> 1046</span> </div>
<div class="line"><a id="l01047" name="l01047"></a><span class="lineno"> 1047</span> <span class="comment">// User data</span></div>
<div class="line"><a id="l01048" name="l01048"></a><span class="lineno"> 1048</span> cv::Mat _userDataCompressed; </div>
<div class="line"><a id="l01049" name="l01049"></a><span class="lineno"> 1049</span> cv::Mat _userDataRaw; </div>
<div class="line"><a id="l01050" name="l01050"></a><span class="lineno"> 1050</span> </div>
<div class="line"><a id="l01051" name="l01051"></a><span class="lineno"> 1051</span> <span class="comment">// Occupancy grid</span></div>
<div class="line"><a id="l01052" name="l01052"></a><span class="lineno"> 1052</span> cv::Mat _groundCellsCompressed; </div>
<div class="line"><a id="l01053" name="l01053"></a><span class="lineno"> 1053</span> cv::Mat _obstacleCellsCompressed; </div>
<div class="line"><a id="l01054" name="l01054"></a><span class="lineno"> 1054</span> cv::Mat _emptyCellsCompressed; </div>
<div class="line"><a id="l01055" name="l01055"></a><span class="lineno"> 1055</span> cv::Mat _groundCellsRaw; </div>
<div class="line"><a id="l01056" name="l01056"></a><span class="lineno"> 1056</span> cv::Mat _obstacleCellsRaw; </div>
<div class="line"><a id="l01057" name="l01057"></a><span class="lineno"> 1057</span> cv::Mat _emptyCellsRaw; </div>
<div class="line"><a id="l01058" name="l01058"></a><span class="lineno"> 1058</span> <span class="keywordtype">float</span> _cellSize; </div>
<div class="line"><a id="l01059" name="l01059"></a><span class="lineno"> 1059</span> cv::Point3f _viewPoint; </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">// Environmental sensors</span></div>
<div class="line"><a id="l01062" name="l01062"></a><span class="lineno"> 1062</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> _envSensors; </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">// Landmarks</span></div>
<div class="line"><a id="l01065" name="l01065"></a><span class="lineno"> 1065</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> _landmarks; </div>
<div class="line"><a id="l01066" name="l01066"></a><span class="lineno"> 1066</span> </div>
<div class="line"><a id="l01067" name="l01067"></a><span class="lineno"> 1067</span> <span class="comment">// Visual features</span></div>
<div class="line"><a id="l01068" name="l01068"></a><span class="lineno"> 1068</span> std::vector&lt;cv::KeyPoint&gt; _keypoints; </div>
<div class="line"><a id="l01069" name="l01069"></a><span class="lineno"> 1069</span> std::vector&lt;cv::Point3f&gt; _keypoints3D; </div>
<div class="line"><a id="l01070" name="l01070"></a><span class="lineno"> 1070</span> cv::Mat _descriptors; </div>
<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setImageRaw(<span class="keyword">const</span> cv::Mat &amp; image);</div>
<div class="line"><a id="l00667" name="l00667"></a><span class="lineno"> 667</span> <span class="comment">// Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn&#39;t clear compressed data.</span></div>
<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setDepthOrRightRaw(<span class="keyword">const</span> cv::Mat &amp; image);</div>
<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"> 669</span> <span class="comment">// Use setLaserScan() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn&#39;t clear compressed data.</span></div>
<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"> 670</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> &amp; scan);</div>
<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> <span class="comment">// Use setUserData() or removeRawData() instead.</span></div>
<div class="line"><a id="l00672" name="l00672"></a><span class="lineno"> 672</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setUserDataRaw(<span class="keyword">const</span> cv::Mat &amp; data);</div>
<div class="line"><a id="l00673" name="l00673"></a><span class="lineno"> 673</span> </div>
<div class="line"><a id="l00680" name="l00680"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52"> 680</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="l00681" name="l00681"></a><span class="lineno"> 681</span> </div>
<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158"> 699</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="l00700" name="l00700"></a><span class="lineno"> 700</span> cv::Mat * imageRaw,</div>
<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"> 701</span> cv::Mat * depthOrRightRaw,</div>
<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"> 702</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> * laserScanRaw = 0,</div>
<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> cv::Mat * userDataRaw = 0,</div>
<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"> 704</span> cv::Mat * groundCellsRaw = 0,</div>
<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"> 705</span> cv::Mat * obstacleCellsRaw = 0,</div>
<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"> 706</span> cv::Mat * emptyCellsRaw = 0,</div>
<div class="line"><a id="l00707" name="l00707"></a><span class="lineno"> 707</span> cv::Mat * depthConfidenceRaw = 0);</div>
<div class="line"><a id="l00708" name="l00708"></a><span class="lineno"> 708</span> </div>
<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f"> 723</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="l00724" name="l00724"></a><span class="lineno"> 724</span> cv::Mat * imageRaw,</div>
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span> cv::Mat * depthOrRightRaw,</div>
<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> * laserScanRaw = 0,</div>
<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"> 727</span> cv::Mat * userDataRaw = 0,</div>
<div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> cv::Mat * groundCellsRaw = 0,</div>
<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"> 729</span> cv::Mat * obstacleCellsRaw = 0,</div>
<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"> 730</span> cv::Mat * emptyCellsRaw = 0,</div>
<div class="line"><a id="l00731" name="l00731"></a><span class="lineno"> 731</span> cv::Mat * depthConfidenceRaw = 0) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00732" name="l00732"></a><span class="lineno"> 732</span> </div>
<div class="line"><a id="l00737" name="l00737"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92"> 737</a></span> <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; <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="l00738" name="l00738"></a><span class="lineno"> 738</span> </div>
<div class="line"><a id="l00743" name="l00743"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87"> 743</a></span> <span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; <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="l00744" name="l00744"></a><span class="lineno"> 744</span> </div>
<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072"> 757</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 &amp; userData, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"> 758</span> <span class="keyword">const</span> cv::Mat &amp; userDataRaw()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataRaw;}</div>
<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"> 759</span> <span class="keyword">const</span> cv::Mat &amp; userDataCompressed()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataCompressed;}</div>
<div class="line"><a id="l00760" name="l00760"></a><span class="lineno"> 760</span> </div>
<div class="line"><a id="l00774" name="l00774"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b"> 774</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="l00775" name="l00775"></a><span class="lineno"> 775</span> <span class="keyword">const</span> cv::Mat &amp; ground,</div>
<div class="line"><a id="l00776" name="l00776"></a><span class="lineno"> 776</span> <span class="keyword">const</span> cv::Mat &amp; obstacles,</div>
<div class="line"><a id="l00777" name="l00777"></a><span class="lineno"> 777</span> <span class="keyword">const</span> cv::Mat &amp; empty,</div>
<div class="line"><a id="l00778" name="l00778"></a><span class="lineno"> 778</span> <span class="keywordtype">float</span> cellSize,</div>
<div class="line"><a id="l00779" name="l00779"></a><span class="lineno"> 779</span> <span class="keyword">const</span> cv::Point3f &amp; viewPoint);</div>
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4"> 784</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="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#ab3c515b23322cd31c3fcbcb054588e43"> 791</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="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#a0f2e804ebbcff5be648a43f0a41e9dfc"> 797</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="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#a50b09c52de6c8c6a6a95ee08886845a0"> 804</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="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#a490e96f3f1d16cc559b3a004e2ec4fbe"> 810</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="l00811" name="l00811"></a><span class="lineno"> 811</span> </div>
<div class="line"><a id="l00817" name="l00817"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3"> 817</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="l00818" name="l00818"></a><span class="lineno"> 818</span> </div>
<div class="line"><a id="l00823" name="l00823"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c"> 823</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="l00824" name="l00824"></a><span class="lineno"> 824</span> </div>
<div class="line"><a id="l00829" name="l00829"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200"> 829</a></span> <span class="keyword">const</span> cv::Point3f &amp; <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="l00830" name="l00830"></a><span class="lineno"> 830</span> </div>
<div class="line"><a id="l00841" name="l00841"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3"> 841</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&lt;cv::KeyPoint&gt; &amp; keypoints, <span class="keyword">const</span> std::vector&lt;cv::Point3f&gt; &amp; keypoints3D, <span class="keyword">const</span> cv::Mat &amp; descriptors);</div>
<div class="line"><a id="l00842" name="l00842"></a><span class="lineno"> 842</span> </div>
<div class="line"><a id="l00847" name="l00847"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94"> 847</a></span> <span class="keyword">const</span> std::vector&lt;cv::KeyPoint&gt; &amp; <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="l00848" name="l00848"></a><span class="lineno"> 848</span> </div>
<div class="line"><a id="l00853" name="l00853"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df"> 853</a></span> <span class="keyword">const</span> std::vector&lt;cv::Point3f&gt; &amp; <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="l00854" name="l00854"></a><span class="lineno"> 854</span> </div>
<div class="line"><a id="l00859" name="l00859"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26"> 859</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="l00860" name="l00860"></a><span class="lineno"> 860</span> </div>
<div class="line"><a id="l00865" name="l00865"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e"> 865</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> &amp; descriptor) {_globalDescriptors.push_back(descriptor);}</div>
<div class="line"><a id="l00866" name="l00866"></a><span class="lineno"> 866</span> </div>
<div class="line"><a id="l00871" name="l00871"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe"> 871</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&lt;GlobalDescriptor&gt; &amp; descriptors) {_globalDescriptors = descriptors;}</div>
<div class="line"><a id="l00872" name="l00872"></a><span class="lineno"> 872</span> </div>
<div class="line"><a id="l00876" name="l00876"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505"> 876</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="l00877" name="l00877"></a><span class="lineno"> 877</span> </div>
<div class="line"><a id="l00882" name="l00882"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8"> 882</a></span> <span class="keyword">const</span> std::vector&lt;GlobalDescriptor&gt; &amp; <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="l00883" name="l00883"></a><span class="lineno"> 883</span> </div>
<div class="line"><a id="l00888" name="l00888"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808"> 888</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> &amp; pose) {groundTruth_ = pose;}</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#aef9e0c36efdc8915536c3bc082108689"> 894</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <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="l00895" name="l00895"></a><span class="lineno"> 895</span> </div>
<div class="line"><a id="l00901" name="l00901"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556"> 901</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> &amp; pose, <span class="keyword">const</span> cv::Mat &amp; covariance) {globalPose_ = pose; globalPoseCovariance_ = covariance;}</div>
<div class="line"><a id="l00902" name="l00902"></a><span class="lineno"> 902</span> </div>
<div class="line"><a id="l00907" name="l00907"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87"> 907</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <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="l00908" name="l00908"></a><span class="lineno"> 908</span> </div>
<div class="line"><a id="l00913" name="l00913"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97"> 913</a></span> <span class="keyword">const</span> cv::Mat &amp; <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="l00914" name="l00914"></a><span class="lineno"> 914</span> </div>
<div class="line"><a id="l00919" name="l00919"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a"> 919</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> &amp; gps) {gps_ = gps;}</div>
<div class="line"><a id="l00920" name="l00920"></a><span class="lineno"> 920</span> </div>
<div class="line"><a id="l00925" name="l00925"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957"> 925</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> &amp; <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="l00926" name="l00926"></a><span class="lineno"> 926</span> </div>
<div class="line"><a id="l00933" name="l00933"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139"> 933</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> &amp; imu);</div>
<div class="line"><a id="l00934" name="l00934"></a><span class="lineno"> 934</span> </div>
<div class="line"><a id="l00939" name="l00939"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7"> 939</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> &amp; <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="l00940" name="l00940"></a><span class="lineno"> 940</span> </div>
<div class="line"><a id="l00945" name="l00945"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1"> 945</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> &amp; sensors) {_envSensors = sensors;}</div>
<div class="line"><a id="l00946" name="l00946"></a><span class="lineno"> 946</span> </div>
<div class="line"><a id="l00951" name="l00951"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae"> 951</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> &amp; 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="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#a4cce095c69f9fa8f0035c9f2f51c0ff9"> 957</a></span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> &amp; <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="l00958" name="l00958"></a><span class="lineno"> 958</span> </div>
<div class="line"><a id="l00964" name="l00964"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14"> 964</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> &amp; landmarks) {_landmarks = landmarks;}</div>
<div class="line"><a id="l00965" name="l00965"></a><span class="lineno"> 965</span> </div>
<div class="line"><a id="l00970" name="l00970"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8"> 970</a></span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> &amp; <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="l00971" name="l00971"></a><span class="lineno"> 971</span> </div>
<div class="line"><a id="l00980" name="l00980"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc"> 980</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="l00985" name="l00985"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29"> 985</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="l00990" name="l00990"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2"> 990</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="l00991" name="l00991"></a><span class="lineno"> 991</span> </div>
<div class="line"><a id="l01001" name="l01001"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03"> 1001</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 &amp; pt) <span class="keyword">const</span>;</div>
<div class="line"><a id="l01002" name="l01002"></a><span class="lineno"> 1002</span> </div>
<div class="line"><a id="l01003" name="l01003"></a><span class="lineno"> 1003</span><span class="preprocessor">#ifdef HAVE_OPENCV_CUDEV</span></div>
<div class="line"><a id="l01008" name="l01008"></a><span class="lineno"> 1008</span> <span class="keyword">const</span> cv::cuda::GpuMat &amp; imageRawGpu()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imageRawGpu;}</div>
<div class="line"><a id="l01009" name="l01009"></a><span class="lineno"> 1009</span> </div>
<div class="line"><a id="l01014" name="l01014"></a><span class="lineno"> 1014</span> <span class="keywordtype">void</span> setImageRawGpu(<span class="keyword">const</span> cv::cuda::GpuMat &amp; image) {_imageRawGpu = image;}</div>
<div class="line"><a id="l01015" name="l01015"></a><span class="lineno"> 1015</span> </div>
<div class="line"><a id="l01020" name="l01020"></a><span class="lineno"> 1020</span> <span class="keyword">const</span> cv::cuda::GpuMat &amp; depthOrRightRawGpu()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightRawGpu;}</div>
<div class="line"><a id="l01021" name="l01021"></a><span class="lineno"> 1021</span> </div>
<div class="line"><a id="l01026" name="l01026"></a><span class="lineno"> 1026</span> <span class="keywordtype">void</span> setDepthOrRightRawGpu(<span class="keyword">const</span> cv::cuda::GpuMat &amp; image) {_depthOrRightRawGpu = image;}</div>
<div class="line"><a id="l01027" name="l01027"></a><span class="lineno"> 1027</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l01028" name="l01028"></a><span class="lineno"> 1028</span> </div>
<div class="line"><a id="l01029" name="l01029"></a><span class="lineno"> 1029</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l01031" name="l01031"></a><span class="lineno"> 1031</span> <span class="keywordtype">bool</span> keepCameraModel(<span class="keyword">const</span> CameraModel &amp; model, <span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keywordtype">bool</span> clearPreviousData) <span class="keyword">const</span>;</div>
<div class="line"><a id="l01032" name="l01032"></a><span class="lineno"> 1032</span> </div>
<div class="line"><a id="l01033" name="l01033"></a><span class="lineno"> 1033</span> <span class="keywordtype">int</span> _id; </div>
<div class="line"><a id="l01034" name="l01034"></a><span class="lineno"> 1034</span> <span class="keywordtype">double</span> _stamp; </div>
<div class="line"><a id="l01035" name="l01035"></a><span class="lineno"> 1035</span> </div>
<div class="line"><a id="l01036" name="l01036"></a><span class="lineno"> 1036</span> <span class="comment">// Compressed data</span></div>
<div class="line"><a id="l01037" name="l01037"></a><span class="lineno"> 1037</span> cv::Mat _imageCompressed; </div>
<div class="line"><a id="l01038" name="l01038"></a><span class="lineno"> 1038</span> cv::Mat _depthOrRightCompressed; </div>
<div class="line"><a id="l01039" name="l01039"></a><span class="lineno"> 1039</span> cv::Mat _depthConfidenceCompressed; </div>
<div class="line"><a id="l01040" name="l01040"></a><span class="lineno"> 1040</span> LaserScan _laserScanCompressed; </div>
<div class="line"><a id="l01041" name="l01041"></a><span class="lineno"> 1041</span> </div>
<div class="line"><a id="l01042" name="l01042"></a><span class="lineno"> 1042</span> <span class="comment">// Raw data</span></div>
<div class="line"><a id="l01043" name="l01043"></a><span class="lineno"> 1043</span> cv::Mat _imageRaw; </div>
<div class="line"><a id="l01044" name="l01044"></a><span class="lineno"> 1044</span> cv::Mat _depthOrRightRaw; </div>
<div class="line"><a id="l01045" name="l01045"></a><span class="lineno"> 1045</span> cv::Mat _depthConfidenceRaw; </div>
<div class="line"><a id="l01046" name="l01046"></a><span class="lineno"> 1046</span> LaserScan _laserScanRaw; </div>
<div class="line"><a id="l01047" name="l01047"></a><span class="lineno"> 1047</span> </div>
<div class="line"><a id="l01048" name="l01048"></a><span class="lineno"> 1048</span> <span class="comment">// Camera models</span></div>
<div class="line"><a id="l01049" name="l01049"></a><span class="lineno"> 1049</span> std::vector&lt;CameraModel&gt; _cameraModels; </div>
<div class="line"><a id="l01050" name="l01050"></a><span class="lineno"> 1050</span> std::vector&lt;StereoCameraModel&gt; _stereoCameraModels; </div>
<div class="line"><a id="l01051" name="l01051"></a><span class="lineno"> 1051</span> </div>
<div class="line"><a id="l01052" name="l01052"></a><span class="lineno"> 1052</span> <span class="comment">// User data</span></div>
<div class="line"><a id="l01053" name="l01053"></a><span class="lineno"> 1053</span> cv::Mat _userDataCompressed; </div>
<div class="line"><a id="l01054" name="l01054"></a><span class="lineno"> 1054</span> cv::Mat _userDataRaw; </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">// Occupancy grid</span></div>
<div class="line"><a id="l01057" name="l01057"></a><span class="lineno"> 1057</span> cv::Mat _groundCellsCompressed; </div>
<div class="line"><a id="l01058" name="l01058"></a><span class="lineno"> 1058</span> cv::Mat _obstacleCellsCompressed; </div>
<div class="line"><a id="l01059" name="l01059"></a><span class="lineno"> 1059</span> cv::Mat _emptyCellsCompressed; </div>
<div class="line"><a id="l01060" name="l01060"></a><span class="lineno"> 1060</span> cv::Mat _groundCellsRaw; </div>
<div class="line"><a id="l01061" name="l01061"></a><span class="lineno"> 1061</span> cv::Mat _obstacleCellsRaw; </div>
<div class="line"><a id="l01062" name="l01062"></a><span class="lineno"> 1062</span> cv::Mat _emptyCellsRaw; </div>
<div class="line"><a id="l01063" name="l01063"></a><span class="lineno"> 1063</span> <span class="keywordtype">float</span> _cellSize; </div>
<div class="line"><a id="l01064" name="l01064"></a><span class="lineno"> 1064</span> cv::Point3f _viewPoint; </div>
<div class="line"><a id="l01065" name="l01065"></a><span class="lineno"> 1065</span> </div>
<div class="line"><a id="l01066" name="l01066"></a><span class="lineno"> 1066</span> <span class="comment">// Environmental sensors</span></div>
<div class="line"><a id="l01067" name="l01067"></a><span class="lineno"> 1067</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> _envSensors; </div>
<div class="line"><a id="l01068" name="l01068"></a><span class="lineno"> 1068</span> </div>
<div class="line"><a id="l01069" name="l01069"></a><span class="lineno"> 1069</span> <span class="comment">// Landmarks</span></div>
<div class="line"><a id="l01070" name="l01070"></a><span class="lineno"> 1070</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> _landmarks; </div>
<div class="line"><a id="l01071" name="l01071"></a><span class="lineno"> 1071</span> </div>
<div class="line"><a id="l01072" name="l01072"></a><span class="lineno"> 1072</span> <span class="comment">// Global descriptors</span></div>
<div class="line"><a id="l01073" name="l01073"></a><span class="lineno"> 1073</span> std::vector&lt;GlobalDescriptor&gt; _globalDescriptors; </div>
<div class="line"><a id="l01074" name="l01074"></a><span class="lineno"> 1074</span> </div>
<div class="line"><a id="l01075" name="l01075"></a><span class="lineno"> 1075</span> <span class="comment">// Poses</span></div>
<div class="line"><a id="l01076" name="l01076"></a><span class="lineno"> 1076</span> Transform groundTruth_; </div>
<div class="line"><a id="l01077" name="l01077"></a><span class="lineno"> 1077</span> Transform globalPose_; </div>
<div class="line"><a id="l01078" name="l01078"></a><span class="lineno"> 1078</span> cv::Mat globalPoseCovariance_; </div>
<div class="line"><a id="l01072" name="l01072"></a><span class="lineno"> 1072</span> <span class="comment">// Visual features</span></div>
<div class="line"><a id="l01073" name="l01073"></a><span class="lineno"> 1073</span> std::vector&lt;cv::KeyPoint&gt; _keypoints; </div>
<div class="line"><a id="l01074" name="l01074"></a><span class="lineno"> 1074</span> std::vector&lt;cv::Point3f&gt; _keypoints3D; </div>
<div class="line"><a id="l01075" name="l01075"></a><span class="lineno"> 1075</span> cv::Mat _descriptors; </div>
<div class="line"><a id="l01076" name="l01076"></a><span class="lineno"> 1076</span> </div>
<div class="line"><a id="l01077" name="l01077"></a><span class="lineno"> 1077</span> <span class="comment">// Global descriptors</span></div>
<div class="line"><a id="l01078" name="l01078"></a><span class="lineno"> 1078</span> std::vector&lt;GlobalDescriptor&gt; _globalDescriptors; </div>
<div class="line"><a id="l01079" name="l01079"></a><span class="lineno"> 1079</span> </div>
<div class="line"><a id="l01080" name="l01080"></a><span class="lineno"> 1080</span> <span class="comment">// Sensor fusion</span></div>
<div class="line"><a id="l01081" name="l01081"></a><span class="lineno"> 1081</span> GPS gps_; </div>
<div class="line"><a id="l01082" name="l01082"></a><span class="lineno"> 1082</span> IMU imu_; </div>
<div class="line"><a id="l01083" name="l01083"></a><span class="lineno"> 1083</span> </div>
<div class="line"><a id="l01084" name="l01084"></a><span class="lineno"> 1084</span><span class="preprocessor">#ifdef HAVE_OPENCV_CUDEV</span></div>
<div class="line"><a id="l01091" name="l01091"></a><span class="lineno"> 1091</span> cv::cuda::GpuMat _imageRawGpu; </div>
<div class="line"><a id="l01092" name="l01092"></a><span class="lineno"> 1092</span> cv::cuda::GpuMat _depthOrRightRawGpu; </div>
<div class="line"><a id="l01093" name="l01093"></a><span class="lineno"> 1093</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l01094" name="l01094"></a><span class="lineno"> 1094</span>};</div>
<div class="line"><a id="l01080" name="l01080"></a><span class="lineno"> 1080</span> <span class="comment">// Poses</span></div>
<div class="line"><a id="l01081" name="l01081"></a><span class="lineno"> 1081</span> Transform groundTruth_; </div>
<div class="line"><a id="l01082" name="l01082"></a><span class="lineno"> 1082</span> Transform globalPose_; </div>
<div class="line"><a id="l01083" name="l01083"></a><span class="lineno"> 1083</span> cv::Mat globalPoseCovariance_; </div>
<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> <span class="comment">// Sensor fusion</span></div>
<div class="line"><a id="l01086" name="l01086"></a><span class="lineno"> 1086</span> GPS gps_; </div>
<div class="line"><a id="l01087" name="l01087"></a><span class="lineno"> 1087</span> IMU imu_; </div>
<div class="line"><a id="l01088" name="l01088"></a><span class="lineno"> 1088</span> </div>
<div class="line"><a id="l01089" name="l01089"></a><span class="lineno"> 1089</span><span class="preprocessor">#ifdef HAVE_OPENCV_CUDEV</span></div>
<div class="line"><a id="l01096" name="l01096"></a><span class="lineno"> 1096</span> cv::cuda::GpuMat _imageRawGpu; </div>
<div class="line"><a id="l01097" name="l01097"></a><span class="lineno"> 1097</span> cv::cuda::GpuMat _depthOrRightRawGpu; </div>
<div class="line"><a id="l01098" name="l01098"></a><span class="lineno"> 1098</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l01099" name="l01099"></a><span class="lineno"> 1099</span>};</div>
</div>
<div class="line"><a id="l01095" name="l01095"></a><span class="lineno"> 1095</span> </div>
<div class="line"><a id="l01096" name="l01096"></a><span class="lineno"> 1096</span>}</div>
<div class="line"><a id="l01097" name="l01097"></a><span class="lineno"> 1097</span> </div>
<div class="line"><a id="l01098" name="l01098"></a><span class="lineno"> 1098</span> </div>
<div class="line"><a id="l01099" name="l01099"></a><span class="lineno"> 1099</span><span class="preprocessor">#endif </span><span class="comment">/* SENSORDATA_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a id="l01100" name="l01100"></a><span class="lineno"> 1100</span> </div>
<div class="line"><a id="l01101" name="l01101"></a><span class="lineno"> 1101</span>}</div>
<div class="line"><a id="l01102" name="l01102"></a><span class="lineno"> 1102</span> </div>
<div class="line"><a id="l01103" name="l01103"></a><span class="lineno"> 1103</span> </div>
<div class="line"><a id="l01104" name="l01104"></a><span class="lineno"> 1104</span><span class="preprocessor">#endif </span><span class="comment">/* SENSORDATA_H_ */</span><span class="preprocessor"></span></div>
<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 &amp; type() const</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00101">EnvSensor.h:101</a></div></div>
@@ -563,44 +565,44 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
<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>
<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 &amp; imu() const</div><div class="ttdoc">Returns IMU data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00937">SensorData.h:937</a></div></div>
<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 &amp; imu() const</div><div class="ttdoc">Returns IMU data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00939">SensorData.h:939</a></div></div>
<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 &amp; 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#l00590">SensorData.h:590</a></div></div>
<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 &amp; gridObstacleCellsRaw() const</div><div class="ttdoc">Returns raw obstacle cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00795">SensorData.h:795</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 &amp;sensor)</div><div class="ttdoc">Adds a single environmental sensor.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00949">SensorData.h:949</a></div></div>
<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 &amp; gridObstacleCellsRaw() const</div><div class="ttdoc">Returns raw obstacle 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_a1006dbcfb640b599f0587af3b0ba46ae"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae">rtabmap::SensorData::addEnvSensor</a></div><div class="ttdeci">void addEnvSensor(const EnvSensor &amp;sensor)</div><div class="ttdoc">Adds a single environmental sensor.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00951">SensorData.h:951</a></div></div>
<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 &amp;image, const CameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;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 &amp; laserScanCompressed() const</div><div class="ttdoc">Returns the compressed laser scan.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00571">SensorData.h:571</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 &amp;left, const cv::Mat &amp;right, const StereoCameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Stereo camera constructor.</div></div>
<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 &amp; gps() const</div><div class="ttdoc">Returns GPS data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00923">SensorData.h:923</a></div></div>
<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#l00650">SensorData.h:650</a></div></div>
<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 &amp; gps() const</div><div class="ttdoc">Returns GPS data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00925">SensorData.h:925</a></div></div>
<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#l00652">SensorData.h:652</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 &amp;rgb, const cv::Mat &amp;depth, const CameraModel &amp;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 &amp;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 &amp; 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#l00584">SensorData.h:584</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 &amp;imu, int id=0, double stamp=0.0)</div><div class="ttdoc">IMU-only constructor.</div></div>
<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 &amp; gridGroundCellsRaw() const</div><div class="ttdoc">Returns raw ground cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00782">SensorData.h:782</a></div></div>
<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 &amp; gridGroundCellsRaw() const</div><div class="ttdoc">Returns raw ground 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_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 &amp;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>
<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#l00874">SensorData.h:874</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 &amp; gridEmptyCellsRaw() const</div><div class="ttdoc">Returns raw empty cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00808">SensorData.h:808</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 &amp; envSensors() const</div><div class="ttdoc">Returns all environmental sensors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00955">SensorData.h:955</a></div></div>
<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#l00876">SensorData.h:876</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 &amp; gridEmptyCellsRaw() const</div><div class="ttdoc">Returns raw empty cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00810">SensorData.h:810</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 &amp; envSensors() const</div><div class="ttdoc">Returns all environmental sensors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00957">SensorData.h:957</a></div></div>
<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#l00532">SensorData.h:532</a></div></div>
<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 &amp; gridObstacleCellsCompressed() const</div><div class="ttdoc">Returns compressed obstacle cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00802">SensorData.h:802</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 &amp; gridViewPoint() const</div><div class="ttdoc">Returns the occupancy grid viewpoint.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00827">SensorData.h:827</a></div></div>
<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 &amp; gridObstacleCellsCompressed() const</div><div class="ttdoc">Returns compressed obstacle 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_a51f21b98088ceec4c5d108d0fbe03200"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200">rtabmap::SensorData::gridViewPoint</a></div><div class="ttdeci">const cv::Point3f &amp; gridViewPoint() const</div><div class="ttdoc">Returns the occupancy grid viewpoint.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00829">SensorData.h:829</a></div></div>
<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 &amp;laserScan, const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const cv::Mat &amp;depthConfidence, const CameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;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>
<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 &amp; globalPose() const</div><div class="ttdoc">Returns the global pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00905">SensorData.h:905</a></div></div>
<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 &amp; globalPose() const</div><div class="ttdoc">Returns the global pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00907">SensorData.h:907</a></div></div>
<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#l00538">SensorData.h:538</a></div></div>
<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 &amp; globalPoseCovariance() const</div><div class="ttdoc">Returns the global pose covariance.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00911">SensorData.h:911</a></div></div>
<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 &amp; globalPoseCovariance() const</div><div class="ttdoc">Returns the global pose covariance.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00913">SensorData.h:913</a></div></div>
<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#l00544">SensorData.h:544</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 &amp;ground, const cv::Mat &amp;obstacles, const cv::Mat &amp;empty, float cellSize, const cv::Point3f &amp;viewPoint)</div><div class="ttdoc">Sets occupancy grid data.</div></div>
<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 &amp; descriptors() const</div><div class="ttdoc">Returns the feature descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00857">SensorData.h:857</a></div></div>
<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 &amp; descriptors() const</div><div class="ttdoc">Returns the feature descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00859">SensorData.h:859</a></div></div>
<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&lt; CameraModel &gt; &amp; cameraModels() const</div><div class="ttdoc">Returns the camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00735">SensorData.h:735</a></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&lt; CameraModel &gt; &amp; cameraModels() const</div><div class="ttdoc">Returns the camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00737">SensorData.h:737</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 &amp;rgb, const cv::Mat &amp;depth, const std::vector&lt; StereoCameraModel &gt; &amp;cameraModels, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Multi-camera stereo constructor.</div></div>
<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 &amp;pose)</div><div class="ttdoc">Sets the ground truth pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00886">SensorData.h:886</a></div></div>
<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 &amp;pose)</div><div class="ttdoc">Sets the ground truth pose.</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_a72a0250435fc194b1189241d4a47254d"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a72a0250435fc194b1189241d4a47254d">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const cv::Mat &amp;depthConfidence, const std::vector&lt; CameraModel &gt; &amp;cameraModels, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Multi-camera RGB-D constructor with depth confidence.</div></div>
<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 &amp;pose, const cv::Mat &amp;covariance)</div><div class="ttdoc">Sets the global pose with covariance.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00899">SensorData.h:899</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 &amp; landmarks() const</div><div class="ttdoc">Returns landmarks.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00968">SensorData.h:968</a></div></div>
<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 &amp;pose, const cv::Mat &amp;covariance)</div><div class="ttdoc">Sets the global pose with covariance.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00901">SensorData.h:901</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 &amp; landmarks() const</div><div class="ttdoc">Returns landmarks.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00970">SensorData.h:970</a></div></div>
<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#l00526">SensorData.h:526</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 &amp; 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#l00558">SensorData.h:558</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 &amp;rgb, const cv::Mat &amp;depth, const cv::Mat &amp;depth_confidence, const CameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">RGB-D constructor with depth confidence.</div></div>
@@ -608,29 +610,29 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
<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 &amp;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>
<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#l00821">SensorData.h:821</a></div></div>
<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#l00823">SensorData.h:823</a></div></div>
<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#l00661">SensorData.h:661</a></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#l00663">SensorData.h:663</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 &amp; 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#l00551">SensorData.h:551</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&lt; StereoCameraModel &gt; &amp; stereoCameraModels() const</div><div class="ttdoc">Returns the stereo camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00741">SensorData.h:741</a></div></div>
<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&lt; cv::Point3f &gt; &amp; keypoints3D() const</div><div class="ttdoc">Returns the 3D keypoints.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00851">SensorData.h:851</a></div></div>
<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 &amp;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#l00633">SensorData.h:633</a></div></div>
<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 &amp;sensors)</div><div class="ttdoc">Sets all environmental sensors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00943">SensorData.h:943</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 &amp; gridGroundCellsCompressed() const</div><div class="ttdoc">Returns compressed ground cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00789">SensorData.h:789</a></div></div>
<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&lt; StereoCameraModel &gt; &amp;stereoCameraModels)</div><div class="ttdoc">Sets multiple stereo camera models.</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_ab02d686ac7ef8b389655e913768b4d87"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87">rtabmap::SensorData::stereoCameraModels</a></div><div class="ttdeci">const std::vector&lt; StereoCameraModel &gt; &amp; stereoCameraModels() const</div><div class="ttdoc">Returns the stereo camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00743">SensorData.h:743</a></div></div>
<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&lt; cv::Point3f &gt; &amp; keypoints3D() const</div><div class="ttdoc">Returns the 3D keypoints.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00853">SensorData.h:853</a></div></div>
<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 &amp;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#l00635">SensorData.h:635</a></div></div>
<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 &amp;sensors)</div><div class="ttdoc">Sets all environmental sensors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00945">SensorData.h:945</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 &amp; gridGroundCellsCompressed() const</div><div class="ttdoc">Returns compressed ground 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_ab4e6b5d917155b94d8b4b6242fe56c6e"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e">rtabmap::SensorData::setStereoCameraModels</a></div><div class="ttdeci">void setStereoCameraModels(const std::vector&lt; StereoCameraModel &gt; &amp;stereoCameraModels)</div><div class="ttdoc">Sets multiple stereo camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00641">SensorData.h:641</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 &amp;image, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Appearance-only constructor.</div></div>
<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&lt; GlobalDescriptor &gt; &amp;descriptors)</div><div class="ttdoc">Sets all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00869">SensorData.h:869</a></div></div>
<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&lt; GlobalDescriptor &gt; &amp;descriptors)</div><div class="ttdoc">Sets all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00871">SensorData.h:871</a></div></div>
<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 &amp;laserScan, const cv::Mat &amp;left, const cv::Mat &amp;right, const StereoCameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;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 &amp;laserScan, const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const CameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">RGB-D constructor with laser scan.</div></div>
<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 &amp; gridEmptyCellsCompressed() const</div><div class="ttdoc">Returns compressed empty cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00815">SensorData.h:815</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 &amp;descriptor)</div><div class="ttdoc">Adds a global descriptor.</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_ac2bae4f0747795f778275102b4ebf1b3"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3">rtabmap::SensorData::gridEmptyCellsCompressed</a></div><div class="ttdeci">const cv::Mat &amp; gridEmptyCellsCompressed() const</div><div class="ttdoc">Returns compressed empty cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00817">SensorData.h:817</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 &amp;descriptor)</div><div class="ttdoc">Adds a global descriptor.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00865">SensorData.h:865</a></div></div>
<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 &amp;userData, bool clearPreviousData=true)</div></div>
<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&lt; GlobalDescriptor &gt; &amp; globalDescriptors() const</div><div class="ttdoc">Returns all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00880">SensorData.h:880</a></div></div>
<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&lt; GlobalDescriptor &gt; &amp; globalDescriptors() const</div><div class="ttdoc">Returns all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00882">SensorData.h:882</a></div></div>
<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&lt; cv::KeyPoint &gt; &amp;keypoints, const std::vector&lt; cv::Point3f &gt; &amp;keypoints3D, const cv::Mat &amp;descriptors)</div><div class="ttdoc">Sets visual features (keypoints, 3D points, descriptors)</div></div>
<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 &amp;gps)</div><div class="ttdoc">Sets GPS data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00917">SensorData.h:917</a></div></div>
<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 &amp;gps)</div><div class="ttdoc">Sets GPS data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00919">SensorData.h:919</a></div></div>
<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 &amp;laserScan, const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const std::vector&lt; StereoCameraModel &gt; &amp;cameraModels, int id=0, double stamp=0.0, const cv::Mat &amp;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#l00491">SensorData.h:491</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 &amp;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#l00621">SensorData.h:621</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 &amp;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#l00623">SensorData.h:623</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 &amp;laserScan, const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const std::vector&lt; CameraModel &gt; &amp;cameraModels, int id=0, double stamp=0.0, const cv::Mat &amp;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 &amp;laserScan, const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const cv::Mat &amp;depthConfidence, const std::vector&lt; CameraModel &gt; &amp;cameraModels, int id=0, double stamp=0.0, const cv::Mat &amp;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 &amp;rgb, const cv::Mat &amp;depth, const std::vector&lt; CameraModel &gt; &amp;cameraModels, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Multi-camera RGB-D constructor.</div></div>
@@ -638,10 +640,10 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
<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 &amp;rgb, const cv::Mat &amp;depth, const CameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;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 &amp; 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#l00565">SensorData.h:565</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 &amp; laserScanRaw() const</div><div class="ttdoc">Returns the raw laser scan.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00596">SensorData.h:596</a></div></div>
<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 &amp; groundTruth() const</div><div class="ttdoc">Returns the ground truth pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00892">SensorData.h:892</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 &amp;landmarks)</div><div class="ttdoc">Sets landmarks.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00962">SensorData.h:962</a></div></div>
<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&lt; CameraModel &gt; &amp;models)</div><div class="ttdoc">Sets multiple camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00627">SensorData.h:627</a></div></div>
<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&lt; cv::KeyPoint &gt; &amp; keypoints() const</div><div class="ttdoc">Returns the 2D keypoints.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00845">SensorData.h:845</a></div></div>
<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 &amp; groundTruth() const</div><div class="ttdoc">Returns the ground truth pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00894">SensorData.h:894</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 &amp;landmarks)</div><div class="ttdoc">Sets landmarks.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00964">SensorData.h:964</a></div></div>
<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&lt; CameraModel &gt; &amp;models)</div><div class="ttdoc">Sets multiple camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00629">SensorData.h:629</a></div></div>
<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&lt; cv::KeyPoint &gt; &amp; keypoints() const</div><div class="ttdoc">Returns the 2D keypoints.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00847">SensorData.h:847</a></div></div>
<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>
<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>
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@@ -946,7 +946,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<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>
<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 &amp; 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#l00584">SensorData.h:584</a></div></div>
<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#l00538">SensorData.h:538</a></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&lt; CameraModel &gt; &amp; cameraModels() const</div><div class="ttdoc">Returns the camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00735">SensorData.h:735</a></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&lt; CameraModel &gt; &amp; cameraModels() const</div><div class="ttdoc">Returns the camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00737">SensorData.h:737</a></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 &amp; 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#l00577">SensorData.h:577</a></div></div>
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</tr>
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<p>Set image data. Detect automatically if raw or compressed. A matrix of type CV_8UC1 with 1 row is considered as compressed. </p><dl class="params"><dt>Parameters</dt><dd>
<p>Set image data. Detect automatically if raw or compressed. A matrix of type CV_8UC1 with 1 row is considered as compressed. An invalid <code>model</code> (not <a class="el" href="classrtabmap_1_1CameraModel.html#a7b6db41415e085d52bf363d09d5e6d67" title="Checks if the model is valid for 2D-&gt;3D projection.">CameraModel::isValidForProjection()</a>) without any image is a placeholder (e.g., scan-only data): it is not added, so <a class="el" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92" title="Returns the camera models.">cameraModels()</a> is empty. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">clearPreviousData,clear</td><td>previous raw and compressed images before setting the new ones. </td></tr>
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</dd>
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<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00621">621</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00623">623</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd>
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<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00627">627</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00629">629</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd>
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<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00633">633</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00635">635</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2144,7 +2144,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
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<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00639">639</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00641">641</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2175,7 +2175,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the depth image if <code>_depthOrRightRaw</code> contains depth data (not a right stereo image). Depth images are CV_16UC1 or CV_32FC1, while right stereo images are CV_8UC1 or CV_8UC3.</p>
<dl class="section return"><dt>Returns</dt><dd>Depth image if available, empty Mat if right stereo image or empty </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00650">650</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00652">652</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2206,7 +2206,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the right stereo image if <code>_depthOrRightRaw</code> contains stereo data (not a depth image). Right stereo images are CV_8UC1 or CV_8UC3, while depth images are CV_16UC1 or CV_32FC1.</p>
<dl class="section return"><dt>Returns</dt><dd>Right stereo image if available, empty Mat if depth image or empty </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00661">661</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00663">663</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2416,7 +2416,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the camera models. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to vector of mono camera models </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00735">735</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00737">737</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2446,7 +2446,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the stereo camera models. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to vector of stereo camera models </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00741">741</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00743">743</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00756">756</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00758">758</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00757">757</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00759">759</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2623,7 +2623,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns raw ground cells. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to raw ground cells matrix </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00782">782</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00784">784</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2654,7 +2654,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<dl class="section return"><dt>Returns</dt><dd>Const reference to compressed ground cells matrix </dd></dl>
<dl class="section note"><dt>Note</dt><dd>Use Compression::uncompressData() to uncompress the data. </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00789">789</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00791">791</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2684,7 +2684,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns raw obstacle cells. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to raw obstacle cells matrix </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00795">795</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00797">797</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2715,7 +2715,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<dl class="section return"><dt>Returns</dt><dd>Const reference to compressed obstacle cells matrix </dd></dl>
<dl class="section note"><dt>Note</dt><dd>Use Compression::uncompressData() to uncompress the data. </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00802">802</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00804">804</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2745,7 +2745,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns raw empty cells. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to raw empty cells matrix </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00808">808</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00810">810</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2776,7 +2776,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<dl class="section return"><dt>Returns</dt><dd>Const reference to compressed empty cells matrix </dd></dl>
<dl class="section note"><dt>Note</dt><dd>Use Compression::uncompressData() to uncompress the data. </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00815">815</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00817">817</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -2806,7 +2806,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the occupancy grid cell size. </p>
<dl class="section return"><dt>Returns</dt><dd>Cell size in meters </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00821">821</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00823">823</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -2836,7 +2836,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the occupancy grid viewpoint. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to viewpoint/origin 3D point </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00827">827</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00829">829</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -2911,7 +2911,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the 2D keypoints. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to vector of 2D keypoints </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00845">845</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00847">847</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -2941,7 +2941,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the 3D keypoints. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to vector of 3D points (in base_link frame) </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00851">851</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00853">853</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -2971,7 +2971,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the feature descriptors. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to descriptors matrix (one row per keypoint) </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00857">857</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00859">859</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -3007,7 +3007,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00863">863</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00865">865</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -3043,7 +3043,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00869">869</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00871">871</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -3072,7 +3072,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Clears all global descriptors. </p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00874">874</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00876">876</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -3102,7 +3102,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns all global descriptors. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to vector of global descriptors </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00880">880</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00882">882</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -3138,7 +3138,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00886">886</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00888">888</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -3168,7 +3168,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the ground truth pose. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to ground truth transform </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00892">892</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00894">894</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -3215,7 +3215,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00899">899</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00901">901</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -3245,7 +3245,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the global pose. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to global pose transform </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00905">905</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00907">907</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
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@@ -3275,7 +3275,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the global pose covariance. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to pose covariance matrix (6x6, CV_64FC1) </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00911">911</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00913">913</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -3311,7 +3311,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00917">917</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00919">919</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
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@@ -3341,7 +3341,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns <a class="el" href="classrtabmap_1_1GPS.html" title="WGS84 GPS fix attached to a sensor sample or graph node.">GPS</a> data. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to <a class="el" href="classrtabmap_1_1GPS.html" title="WGS84 GPS fix attached to a sensor sample or graph node.">GPS</a> data </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00923">923</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00925">925</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
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@@ -3398,7 +3398,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> data. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> data </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00937">937</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00939">939</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
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@@ -3434,7 +3434,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00943">943</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00945">945</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -3470,7 +3470,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00949">949</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00951">951</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
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@@ -3500,7 +3500,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns all environmental sensors. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to map of environmental sensors </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00955">955</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00957">957</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
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@@ -3537,7 +3537,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dl>
<dl class="section note"><dt>Note</dt><dd><a class="el" href="classrtabmap_1_1Landmark.html" title="Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map.">Landmark</a> IDs should be positive and non-zero. </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00962">962</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00964">964</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3567,7 +3567,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns landmarks. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to map of landmarks </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00968">968</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00970">970</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
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preview/pr-1785/api/latest/functions_c.html
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<li>Camera()&#160;:&#160;<a class="el" href="classrtabmap_1_1Camera.html#aaae7434ffa5e54f5006355779d335dd3">rtabmap::Camera</a></li>
<li>camera()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#ad6750f6280bdcbb386a051ba9cc36857">rtabmap::SensorCaptureThread</a></li>
<li>cameraIndex&#160;:&#160;<a class="el" href="classrtabmap_1_1FeatureBA.html#a8db953b6f93249d5c28c25073cd4e095">rtabmap::FeatureBA</a></li>
<li>CameraModel()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#adad6652a711eecc9a50e544f14d276cd">rtabmap::CameraModel</a></li>
<li>CameraModel()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a4810e60f3af95b73a61879aa97201695">rtabmap::CameraModel</a></li>
<li>cameraModels()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">rtabmap::SensorData</a></li>
<li>cameraName&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f4c2fb07970cb40bf2fe7ad19743d23">rtabmap::SensorCaptureInfo</a>, <a class="el" href="classrtabmap_1_1SensorEvent.html#adaf11817f3e0338ab63b1e8fee4a3c01">rtabmap::SensorEvent</a></li>
<li>canParseString()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#af44657c8360a79a67e538f25027df639">rtabmap::Transform</a></li>
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<li>cache()&#160;:&#160;<a class="el" href="classrtabmap_1_1GlobalMap.html#a632f06ccce72bce66a9fd38d37f23b80">rtabmap::GlobalMap</a></li>
<li>Camera()&#160;:&#160;<a class="el" href="classrtabmap_1_1Camera.html#aaae7434ffa5e54f5006355779d335dd3">rtabmap::Camera</a></li>
<li>camera()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorCaptureThread.html#ad6750f6280bdcbb386a051ba9cc36857">rtabmap::SensorCaptureThread</a></li>
<li>CameraModel()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#a4810e60f3af95b73a61879aa97201695">rtabmap::CameraModel</a></li>
<li>CameraModel()&#160;:&#160;<a class="el" href="classrtabmap_1_1CameraModel.html#adad6652a711eecc9a50e544f14d276cd">rtabmap::CameraModel</a></li>
<li>cameraModels()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">rtabmap::SensorData</a></li>
<li>cameraName()&#160;:&#160;<a class="el" href="classrtabmap_1_1SensorEvent.html#adaf11817f3e0338ab63b1e8fee4a3c01">rtabmap::SensorEvent</a></li>
<li>canParseString()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#af44657c8360a79a67e538f25027df639">rtabmap::Transform</a></li>
preview/pr-1785/api/latest/functions_func_t.html
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<li>toUShortArray()&#160;:&#160;<a class="el" href="classUVariant.html#a40b1bccc560ab55190d3608ea0115bb2">UVariant</a></li>
<li>transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">rtabmap::Link</a></li>
<li>Transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#ac3654d3f6802d4b0c17b6110d1eda71a">rtabmap::Transform</a></li>
<li>Transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#a9b89b8bbe9cd75986bcb1ba6ceb5b9cd">rtabmap::Transform</a></li>
<li>translation()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#aeeb0bbe0e84a9e46f63086c3ff4d4e0e">rtabmap::Transform</a></li>
<li>translationMatrix()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#a6a7bb81847554509d1128238860c047e">rtabmap::Transform</a></li>
<li>transVariance()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a3c4344c01b4f32a8b4a957b979fea84e">rtabmap::Link</a></li>
preview/pr-1785/api/latest/functions_t.html
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<li>toUShort()&#160;:&#160;<a class="el" href="classUVariant.html#a5e6282c19acb4de5a29f55143d451f60">UVariant</a></li>
<li>toUShortArray()&#160;:&#160;<a class="el" href="classUVariant.html#a40b1bccc560ab55190d3608ea0115bb2">UVariant</a></li>
<li>transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Link.html#a49186880bde84ca3dd43c2d95449fbfb">rtabmap::Link</a>, <a class="el" href="classrtabmap_1_1OdometryInfo.html#ad4f09afa610091012c2edd7708d722c5">rtabmap::OdometryInfo</a></li>
<li>Transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#a1023adcd1e5d65647e6eda50160c3474">rtabmap::Transform</a></li>
<li>Transform()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#af434ccbc426920a1b35ecbf4eec226e7">rtabmap::Transform</a></li>
<li>transformFiltered&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#ac786b5953b124a80524a051cfbcb7460">rtabmap::OdometryInfo</a></li>
<li>transformGroundTruth&#160;:&#160;<a class="el" href="classrtabmap_1_1OdometryInfo.html#aba971e389867f752f04ecd7b17471f6e">rtabmap::OdometryInfo</a></li>
<li>translation()&#160;:&#160;<a class="el" href="classrtabmap_1_1Transform.html#aeeb0bbe0e84a9e46f63086c3ff4d4e0e">rtabmap::Transform</a></li>
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<li>Type&#160;:&#160;<a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">rtabmap::EnvSensor</a></li>
<li>type()&#160;:&#160;<a class="el" href="classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24">rtabmap::EnvSensor</a></li>
<li>Type&#160;:&#160;<a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">rtabmap::Feature2D</a>, <a class="el" href="classrtabmap_1_1IMUFilter.html#a1332e06cbd6b83c0532e6d71523cdb83">rtabmap::IMUFilter</a></li>
<li>Type&#160;:&#160;<a class="el" href="classrtabmap_1_1Feature2D.html#a7453189891e489bbcff1f2c971d04fde">rtabmap::Feature2D</a></li>
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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#l00823">SensorData.h:823</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html_a24c257c2ff3fe156910ac82c41de8738"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a24c257c2ff3fe156910ac82c41de8738">rtabmap::Signature::sensorData</a></div><div class="ttdeci">SensorData &amp; sensorData()</div><div class="ttdoc">Returns mutable access to the sensor data.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00597">Signature.h:597</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html_a31c6e7b7e720eca20fb5935e0ee1d9f9"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a31c6e7b7e720eca20fb5935e0ee1d9f9">rtabmap::Signature::id</a></div><div class="ttdeci">int id() const</div><div class="ttdoc">Returns the signature ID.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00168">Signature.h:168</a></div></div>
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