diff --git a/preview/pr-1785/api/latest/SensorData_8h_source.html b/preview/pr-1785/api/latest/SensorData_8h_source.html index d753d3c9..23ea3ac9 100644 --- a/preview/pr-1785/api/latest/SensorData_8h_source.html +++ b/preview/pr-1785/api/latest/SensorData_8h_source.html @@ -345,216 +345,218 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
591
596 const LaserScan & laserScanRaw() const {return _laserScanRaw;}
597
-
603 void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const CameraModel & model, bool clearPreviousData = true);
-
604 void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depth_confidence, const CameraModel & model, bool clearPreviousData = true);
-
605 void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const std::vector<CameraModel> & models, bool clearPreviousData = true);
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606 void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depth_confidence, const std::vector<CameraModel> & models, bool clearPreviousData = true);
-
607 void setStereoImage(const cv::Mat & left, const cv::Mat & right, const StereoCameraModel & stereoCameraModel, bool clearPreviousData = true);
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608 void setStereoImage(const cv::Mat & left, const cv::Mat & right, const std::vector<StereoCameraModel> & stereoCameraModels, bool clearPreviousData = true);
-
609
-
615 void setLaserScan(const LaserScan & laserScan, bool clearPreviousData = true);
-
616
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621 void setCameraModel(const CameraModel & model) {_cameraModels.clear(); _cameraModels.push_back(model);}
-
622
-
627 void setCameraModels(const std::vector<CameraModel> & models) {_cameraModels = models;}
-
628
-
633 void setStereoCameraModel(const StereoCameraModel & stereoCameraModel) {_stereoCameraModels.clear(); _stereoCameraModels.push_back(stereoCameraModel);}
-
634
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639 void setStereoCameraModels(const std::vector<StereoCameraModel> & stereoCameraModels) {_stereoCameraModels = stereoCameraModels;}
-
640
-
650 cv::Mat depthRaw() const {return !(_depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3) ? _depthOrRightRaw : cv::Mat();}
-
651
-
661 cv::Mat rightRaw() const {return _depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3 ? _depthOrRightRaw : cv::Mat();}
-
662
-
663 // Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.
-
664 RTABMAP_DEPRECATED void setImageRaw(const cv::Mat & image);
+
605 void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const CameraModel & model, bool clearPreviousData = true);
+
606 void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depth_confidence, const CameraModel & model, bool clearPreviousData = true);
+
607 void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const std::vector<CameraModel> & models, bool clearPreviousData = true);
+
608 void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depth_confidence, const std::vector<CameraModel> & models, bool clearPreviousData = true);
+
609 void setStereoImage(const cv::Mat & left, const cv::Mat & right, const StereoCameraModel & stereoCameraModel, bool clearPreviousData = true);
+
610 void setStereoImage(const cv::Mat & left, const cv::Mat & right, const std::vector<StereoCameraModel> & stereoCameraModels, bool clearPreviousData = true);
+
611
+
617 void setLaserScan(const LaserScan & laserScan, bool clearPreviousData = true);
+
618
+
623 void setCameraModel(const CameraModel & model) {_cameraModels.clear(); _cameraModels.push_back(model);}
+
624
+
629 void setCameraModels(const std::vector<CameraModel> & models) {_cameraModels = models;}
+
630
+
635 void setStereoCameraModel(const StereoCameraModel & stereoCameraModel) {_stereoCameraModels.clear(); _stereoCameraModels.push_back(stereoCameraModel);}
+
636
+
641 void setStereoCameraModels(const std::vector<StereoCameraModel> & stereoCameraModels) {_stereoCameraModels = stereoCameraModels;}
+
642
+
652 cv::Mat depthRaw() const {return !(_depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3) ? _depthOrRightRaw : cv::Mat();}
+
653
+
663 cv::Mat rightRaw() const {return _depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3 ? _depthOrRightRaw : cv::Mat();}
+
664
665 // Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.
-
666 RTABMAP_DEPRECATED void setDepthOrRightRaw(const cv::Mat & image);
-
667 // Use setLaserScan() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.
-
668 RTABMAP_DEPRECATED void setLaserScanRaw(const LaserScan & scan);
-
669 // Use setUserData() or removeRawData() instead.
-
670 RTABMAP_DEPRECATED void setUserDataRaw(const cv::Mat & data);
-
671
-
678 void uncompressData();
-
679
-
697 void uncompressData(
-
698 cv::Mat * imageRaw,
-
699 cv::Mat * depthOrRightRaw,
-
700 LaserScan * laserScanRaw = 0,
-
701 cv::Mat * userDataRaw = 0,
-
702 cv::Mat * groundCellsRaw = 0,
-
703 cv::Mat * obstacleCellsRaw = 0,
-
704 cv::Mat * emptyCellsRaw = 0,
-
705 cv::Mat * depthConfidenceRaw = 0);
-
706
-
721 void uncompressDataConst(
-
722 cv::Mat * imageRaw,
-
723 cv::Mat * depthOrRightRaw,
-
724 LaserScan * laserScanRaw = 0,
-
725 cv::Mat * userDataRaw = 0,
-
726 cv::Mat * groundCellsRaw = 0,
-
727 cv::Mat * obstacleCellsRaw = 0,
-
728 cv::Mat * emptyCellsRaw = 0,
-
729 cv::Mat * depthConfidenceRaw = 0) const;
-
730
-
735 const std::vector<CameraModel> & cameraModels() const {return _cameraModels;}
-
736
-
741 const std::vector<StereoCameraModel> & stereoCameraModels() const {return _stereoCameraModels;}
-
742
-
755 void setUserData(const cv::Mat & userData, bool clearPreviousData = true);
-
756 const cv::Mat & userDataRaw() const {return _userDataRaw;}
-
757 const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
-
758
-
772 void setOccupancyGrid(
-
773 const cv::Mat & ground,
-
774 const cv::Mat & obstacles,
-
775 const cv::Mat & empty,
-
776 float cellSize,
-
777 const cv::Point3f & viewPoint);
-
782 const cv::Mat & gridGroundCellsRaw() const {return _groundCellsRaw;}
-
783
-
789 const cv::Mat & gridGroundCellsCompressed() const {return _groundCellsCompressed;}
-
790
-
795 const cv::Mat & gridObstacleCellsRaw() const {return _obstacleCellsRaw;}
-
796
-
802 const cv::Mat & gridObstacleCellsCompressed() const {return _obstacleCellsCompressed;}
-
803
-
808 const cv::Mat & gridEmptyCellsRaw() const {return _emptyCellsRaw;}
-
809
-
815 const cv::Mat & gridEmptyCellsCompressed() const {return _emptyCellsCompressed;}
-
816
-
821 float gridCellSize() const {return _cellSize;}
-
822
-
827 const cv::Point3f & gridViewPoint() const {return _viewPoint;}
-
828
-
839 void setFeatures(const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & keypoints3D, const cv::Mat & descriptors);
-
840
-
845 const std::vector<cv::KeyPoint> & keypoints() const {return _keypoints;}
-
846
-
851 const std::vector<cv::Point3f> & keypoints3D() const {return _keypoints3D;}
-
852
-
857 const cv::Mat & descriptors() const {return _descriptors;}
-
858
-
863 void addGlobalDescriptor(const GlobalDescriptor & descriptor) {_globalDescriptors.push_back(descriptor);}
-
864
-
869 void setGlobalDescriptors(const std::vector<GlobalDescriptor> & descriptors) {_globalDescriptors = descriptors;}
-
870
-
874 void clearGlobalDescriptors() {_globalDescriptors.clear();}
-
875
-
880 const std::vector<GlobalDescriptor> & globalDescriptors() const {return _globalDescriptors;}
-
881
-
886 void setGroundTruth(const Transform & pose) {groundTruth_ = pose;}
-
887
-
892 const Transform & groundTruth() const {return groundTruth_;}
-
893
-
899 void setGlobalPose(const Transform & pose, const cv::Mat & covariance) {globalPose_ = pose; globalPoseCovariance_ = covariance;}
-
900
-
905 const Transform & globalPose() const {return globalPose_;}
-
906
-
911 const cv::Mat & globalPoseCovariance() const {return globalPoseCovariance_;}
-
912
-
917 void setGPS(const GPS & gps) {gps_ = gps;}
-
918
-
923 const GPS & gps() const {return gps_;}
-
924
-
931 void setIMU(const IMU & imu);
-
932
-
937 const IMU & imu() const {return imu_;}
-
938
-
943 void setEnvSensors(const EnvSensors & sensors) {_envSensors = sensors;}
-
944
-
949 void addEnvSensor(const EnvSensor & sensor) {_envSensors.insert(std::make_pair(sensor.type(), sensor));}
-
950
-
955 const EnvSensors & envSensors() const {return _envSensors;}
-
956
-
962 void setLandmarks(const Landmarks & landmarks) {_landmarks = landmarks;}
-
963
-
968 const Landmarks & landmarks() const {return _landmarks;}
-
969
-
978 unsigned long getMemoryUsed() const;
-
983 void clearCompressedData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
-
988 void clearRawData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
-
989
-
999 int isPointVisibleFromCameras(const cv::Point3f & pt) const;
-
1000
-
1001#ifdef HAVE_OPENCV_CUDEV
-
1006 const cv::cuda::GpuMat & imageRawGpu() const {return _imageRawGpu;}
-
1007
-
1012 void setImageRawGpu(const cv::cuda::GpuMat & image) {_imageRawGpu = image;}
-
1013
-
1018 const cv::cuda::GpuMat & depthOrRightRawGpu() const {return _depthOrRightRawGpu;}
-
1019
-
1024 void setDepthOrRightRawGpu(const cv::cuda::GpuMat & image) {_depthOrRightRawGpu = image;}
-
1025#endif
-
1026
-
1027private:
-
1028 int _id;
-
1029 double _stamp;
-
1030
-
1031 // Compressed data
-
1032 cv::Mat _imageCompressed;
-
1033 cv::Mat _depthOrRightCompressed;
-
1034 cv::Mat _depthConfidenceCompressed;
-
1035 LaserScan _laserScanCompressed;
-
1036
-
1037 // Raw data
-
1038 cv::Mat _imageRaw;
-
1039 cv::Mat _depthOrRightRaw;
-
1040 cv::Mat _depthConfidenceRaw;
-
1041 LaserScan _laserScanRaw;
-
1042
-
1043 // Camera models
-
1044 std::vector<CameraModel> _cameraModels;
-
1045 std::vector<StereoCameraModel> _stereoCameraModels;
-
1046
-
1047 // User data
-
1048 cv::Mat _userDataCompressed;
-
1049 cv::Mat _userDataRaw;
-
1050
-
1051 // Occupancy grid
-
1052 cv::Mat _groundCellsCompressed;
-
1053 cv::Mat _obstacleCellsCompressed;
-
1054 cv::Mat _emptyCellsCompressed;
-
1055 cv::Mat _groundCellsRaw;
-
1056 cv::Mat _obstacleCellsRaw;
-
1057 cv::Mat _emptyCellsRaw;
-
1058 float _cellSize;
-
1059 cv::Point3f _viewPoint;
-
1060
-
1061 // Environmental sensors
-
1062 EnvSensors _envSensors;
-
1063
-
1064 // Landmarks
-
1065 Landmarks _landmarks;
-
1066
-
1067 // Visual features
-
1068 std::vector<cv::KeyPoint> _keypoints;
-
1069 std::vector<cv::Point3f> _keypoints3D;
-
1070 cv::Mat _descriptors;
+
666 RTABMAP_DEPRECATED void setImageRaw(const cv::Mat & image);
+
667 // Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.
+
668 RTABMAP_DEPRECATED void setDepthOrRightRaw(const cv::Mat & image);
+
669 // Use setLaserScan() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.
+
670 RTABMAP_DEPRECATED void setLaserScanRaw(const LaserScan & scan);
+
671 // Use setUserData() or removeRawData() instead.
+
672 RTABMAP_DEPRECATED void setUserDataRaw(const cv::Mat & data);
+
673
+
680 void uncompressData();
+
681
+
699 void uncompressData(
+
700 cv::Mat * imageRaw,
+
701 cv::Mat * depthOrRightRaw,
+
702 LaserScan * laserScanRaw = 0,
+
703 cv::Mat * userDataRaw = 0,
+
704 cv::Mat * groundCellsRaw = 0,
+
705 cv::Mat * obstacleCellsRaw = 0,
+
706 cv::Mat * emptyCellsRaw = 0,
+
707 cv::Mat * depthConfidenceRaw = 0);
+
708
+
723 void uncompressDataConst(
+
724 cv::Mat * imageRaw,
+
725 cv::Mat * depthOrRightRaw,
+
726 LaserScan * laserScanRaw = 0,
+
727 cv::Mat * userDataRaw = 0,
+
728 cv::Mat * groundCellsRaw = 0,
+
729 cv::Mat * obstacleCellsRaw = 0,
+
730 cv::Mat * emptyCellsRaw = 0,
+
731 cv::Mat * depthConfidenceRaw = 0) const;
+
732
+
737 const std::vector<CameraModel> & cameraModels() const {return _cameraModels;}
+
738
+
743 const std::vector<StereoCameraModel> & stereoCameraModels() const {return _stereoCameraModels;}
+
744
+
757 void setUserData(const cv::Mat & userData, bool clearPreviousData = true);
+
758 const cv::Mat & userDataRaw() const {return _userDataRaw;}
+
759 const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
+
760
+
774 void setOccupancyGrid(
+
775 const cv::Mat & ground,
+
776 const cv::Mat & obstacles,
+
777 const cv::Mat & empty,
+
778 float cellSize,
+
779 const cv::Point3f & viewPoint);
+
784 const cv::Mat & gridGroundCellsRaw() const {return _groundCellsRaw;}
+
785
+
791 const cv::Mat & gridGroundCellsCompressed() const {return _groundCellsCompressed;}
+
792
+
797 const cv::Mat & gridObstacleCellsRaw() const {return _obstacleCellsRaw;}
+
798
+
804 const cv::Mat & gridObstacleCellsCompressed() const {return _obstacleCellsCompressed;}
+
805
+
810 const cv::Mat & gridEmptyCellsRaw() const {return _emptyCellsRaw;}
+
811
+
817 const cv::Mat & gridEmptyCellsCompressed() const {return _emptyCellsCompressed;}
+
818
+
823 float gridCellSize() const {return _cellSize;}
+
824
+
829 const cv::Point3f & gridViewPoint() const {return _viewPoint;}
+
830
+
841 void setFeatures(const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & keypoints3D, const cv::Mat & descriptors);
+
842
+
847 const std::vector<cv::KeyPoint> & keypoints() const {return _keypoints;}
+
848
+
853 const std::vector<cv::Point3f> & keypoints3D() const {return _keypoints3D;}
+
854
+
859 const cv::Mat & descriptors() const {return _descriptors;}
+
860
+
865 void addGlobalDescriptor(const GlobalDescriptor & descriptor) {_globalDescriptors.push_back(descriptor);}
+
866
+
871 void setGlobalDescriptors(const std::vector<GlobalDescriptor> & descriptors) {_globalDescriptors = descriptors;}
+
872
+
876 void clearGlobalDescriptors() {_globalDescriptors.clear();}
+
877
+
882 const std::vector<GlobalDescriptor> & globalDescriptors() const {return _globalDescriptors;}
+
883
+
888 void setGroundTruth(const Transform & pose) {groundTruth_ = pose;}
+
889
+
894 const Transform & groundTruth() const {return groundTruth_;}
+
895
+
901 void setGlobalPose(const Transform & pose, const cv::Mat & covariance) {globalPose_ = pose; globalPoseCovariance_ = covariance;}
+
902
+
907 const Transform & globalPose() const {return globalPose_;}
+
908
+
913 const cv::Mat & globalPoseCovariance() const {return globalPoseCovariance_;}
+
914
+
919 void setGPS(const GPS & gps) {gps_ = gps;}
+
920
+
925 const GPS & gps() const {return gps_;}
+
926
+
933 void setIMU(const IMU & imu);
+
934
+
939 const IMU & imu() const {return imu_;}
+
940
+
945 void setEnvSensors(const EnvSensors & sensors) {_envSensors = sensors;}
+
946
+
951 void addEnvSensor(const EnvSensor & sensor) {_envSensors.insert(std::make_pair(sensor.type(), sensor));}
+
952
+
957 const EnvSensors & envSensors() const {return _envSensors;}
+
958
+
964 void setLandmarks(const Landmarks & landmarks) {_landmarks = landmarks;}
+
965
+
970 const Landmarks & landmarks() const {return _landmarks;}
+
971
+
980 unsigned long getMemoryUsed() const;
+
985 void clearCompressedData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
+
990 void clearRawData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
+
991
+
1001 int isPointVisibleFromCameras(const cv::Point3f & pt) const;
+
1002
+
1003#ifdef HAVE_OPENCV_CUDEV
+
1008 const cv::cuda::GpuMat & imageRawGpu() const {return _imageRawGpu;}
+
1009
+
1014 void setImageRawGpu(const cv::cuda::GpuMat & image) {_imageRawGpu = image;}
+
1015
+
1020 const cv::cuda::GpuMat & depthOrRightRawGpu() const {return _depthOrRightRawGpu;}
+
1021
+
1026 void setDepthOrRightRawGpu(const cv::cuda::GpuMat & image) {_depthOrRightRawGpu = image;}
+
1027#endif
+
1028
+
1029private:
+
1031 bool keepCameraModel(const CameraModel & model, const cv::Mat & rgb, const cv::Mat & depth, bool clearPreviousData) const;
+
1032
+
1033 int _id;
+
1034 double _stamp;
+
1035
+
1036 // Compressed data
+
1037 cv::Mat _imageCompressed;
+
1038 cv::Mat _depthOrRightCompressed;
+
1039 cv::Mat _depthConfidenceCompressed;
+
1040 LaserScan _laserScanCompressed;
+
1041
+
1042 // Raw data
+
1043 cv::Mat _imageRaw;
+
1044 cv::Mat _depthOrRightRaw;
+
1045 cv::Mat _depthConfidenceRaw;
+
1046 LaserScan _laserScanRaw;
+
1047
+
1048 // Camera models
+
1049 std::vector<CameraModel> _cameraModels;
+
1050 std::vector<StereoCameraModel> _stereoCameraModels;
+
1051
+
1052 // User data
+
1053 cv::Mat _userDataCompressed;
+
1054 cv::Mat _userDataRaw;
+
1055
+
1056 // Occupancy grid
+
1057 cv::Mat _groundCellsCompressed;
+
1058 cv::Mat _obstacleCellsCompressed;
+
1059 cv::Mat _emptyCellsCompressed;
+
1060 cv::Mat _groundCellsRaw;
+
1061 cv::Mat _obstacleCellsRaw;
+
1062 cv::Mat _emptyCellsRaw;
+
1063 float _cellSize;
+
1064 cv::Point3f _viewPoint;
+
1065
+
1066 // Environmental sensors
+
1067 EnvSensors _envSensors;
+
1068
+
1069 // Landmarks
+
1070 Landmarks _landmarks;
1071
-
1072 // Global descriptors
-
1073 std::vector<GlobalDescriptor> _globalDescriptors;
-
1074
-
1075 // Poses
-
1076 Transform groundTruth_;
-
1077 Transform globalPose_;
-
1078 cv::Mat globalPoseCovariance_;
+
1072 // Visual features
+
1073 std::vector<cv::KeyPoint> _keypoints;
+
1074 std::vector<cv::Point3f> _keypoints3D;
+
1075 cv::Mat _descriptors;
+
1076
+
1077 // Global descriptors
+
1078 std::vector<GlobalDescriptor> _globalDescriptors;
1079
-
1080 // Sensor fusion
-
1081 GPS gps_;
-
1082 IMU imu_;
-
1083
-
1084#ifdef HAVE_OPENCV_CUDEV
-
1091 cv::cuda::GpuMat _imageRawGpu;
-
1092 cv::cuda::GpuMat _depthOrRightRawGpu;
-
1093#endif
-
1094};
+
1080 // Poses
+
1081 Transform groundTruth_;
+
1082 Transform globalPose_;
+
1083 cv::Mat globalPoseCovariance_;
+
1084
+
1085 // Sensor fusion
+
1086 GPS gps_;
+
1087 IMU imu_;
+
1088
+
1089#ifdef HAVE_OPENCV_CUDEV
+
1096 cv::cuda::GpuMat _imageRawGpu;
+
1097 cv::cuda::GpuMat _depthOrRightRawGpu;
+
1098#endif
+
1099};
-
1095
-
1096}
-
1097
-
1098
-
1099#endif /* SENSORDATA_H_ */
+
1100
+
1101}
+
1102
+
1103
+
1104#endif /* SENSORDATA_H_ */
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
rtabmap::EnvSensor
Single environmental measurement (type, value, timestamp).
Definition EnvSensor.h:51
rtabmap::EnvSensor::type
const Type & type() const
Definition EnvSensor.h:101
@@ -563,44 +565,44 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
-
rtabmap::SensorData::imu
const IMU & imu() const
Returns IMU data.
Definition SensorData.h:937
+
rtabmap::SensorData::imu
const IMU & imu() const
Returns IMU data.
Definition SensorData.h:939
rtabmap::SensorData::depthConfidenceRaw
const cv::Mat & depthConfidenceRaw() const
Returns the raw depth confidence map.
Definition SensorData.h:590
-
rtabmap::SensorData::gridObstacleCellsRaw
const cv::Mat & gridObstacleCellsRaw() const
Returns raw obstacle cells.
Definition SensorData.h:795
-
rtabmap::SensorData::addEnvSensor
void addEnvSensor(const EnvSensor &sensor)
Adds a single environmental sensor.
Definition SensorData.h:949
+
rtabmap::SensorData::gridObstacleCellsRaw
const cv::Mat & gridObstacleCellsRaw() const
Returns raw obstacle cells.
Definition SensorData.h:797
+
rtabmap::SensorData::addEnvSensor
void addEnvSensor(const EnvSensor &sensor)
Adds a single environmental sensor.
Definition SensorData.h:951
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &image, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Mono camera constructor.
rtabmap::SensorData::laserScanCompressed
const LaserScan & laserScanCompressed() const
Returns the compressed laser scan.
Definition SensorData.h:571
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Stereo camera constructor.
-
rtabmap::SensorData::gps
const GPS & gps() const
Returns GPS data.
Definition SensorData.h:923
-
rtabmap::SensorData::depthRaw
cv::Mat depthRaw() const
Returns the depth image (convenience method)
Definition SensorData.h:650
+
rtabmap::SensorData::gps
const GPS & gps() const
Returns GPS data.
Definition SensorData.h:925
+
rtabmap::SensorData::depthRaw
cv::Mat depthRaw() const
Returns the depth image (convenience method)
Definition SensorData.h:652
rtabmap::SensorData::setRGBDImage
void setRGBDImage(const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &model, bool clearPreviousData=true)
rtabmap::SensorData::setIMU
void setIMU(const IMU &imu)
Sets IMU data.
rtabmap::SensorData::depthOrRightRaw
const cv::Mat & depthOrRightRaw() const
Returns the raw depth or right stereo image.
Definition SensorData.h:584
rtabmap::SensorData::SensorData
SensorData(const IMU &imu, int id=0, double stamp=0.0)
IMU-only constructor.
-
rtabmap::SensorData::gridGroundCellsRaw
const cv::Mat & gridGroundCellsRaw() const
Returns raw ground cells.
Definition SensorData.h:782
+
rtabmap::SensorData::gridGroundCellsRaw
const cv::Mat & gridGroundCellsRaw() const
Returns raw ground cells.
Definition SensorData.h:784
rtabmap::SensorData::uncompressDataConst
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
Uncompresses compressed data into provided output buffers (const version)
rtabmap::SensorData::isPointVisibleFromCameras
int isPointVisibleFromCameras(const cv::Point3f &pt) const
Checks if a 3D point is visible from any camera.
rtabmap::SensorData::clearCompressedData
void clearCompressedData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)
-
rtabmap::SensorData::clearGlobalDescriptors
void clearGlobalDescriptors()
Clears all global descriptors.
Definition SensorData.h:874
-
rtabmap::SensorData::gridEmptyCellsRaw
const cv::Mat & gridEmptyCellsRaw() const
Returns raw empty cells.
Definition SensorData.h:808
-
rtabmap::SensorData::envSensors
const EnvSensors & envSensors() const
Returns all environmental sensors.
Definition SensorData.h:955
+
rtabmap::SensorData::clearGlobalDescriptors
void clearGlobalDescriptors()
Clears all global descriptors.
Definition SensorData.h:876
+
rtabmap::SensorData::gridEmptyCellsRaw
const cv::Mat & gridEmptyCellsRaw() const
Returns raw empty cells.
Definition SensorData.h:810
+
rtabmap::SensorData::envSensors
const EnvSensors & envSensors() const
Returns all environmental sensors.
Definition SensorData.h:957
rtabmap::SensorData::setId
void setId(int id)
Sets the sensor data ID.
Definition SensorData.h:532
-
rtabmap::SensorData::gridObstacleCellsCompressed
const cv::Mat & gridObstacleCellsCompressed() const
Returns compressed obstacle cells.
Definition SensorData.h:802
-
rtabmap::SensorData::gridViewPoint
const cv::Point3f & gridViewPoint() const
Returns the occupancy grid viewpoint.
Definition SensorData.h:827
+
rtabmap::SensorData::gridObstacleCellsCompressed
const cv::Mat & gridObstacleCellsCompressed() const
Returns compressed obstacle cells.
Definition SensorData.h:804
+
rtabmap::SensorData::gridViewPoint
const cv::Point3f & gridViewPoint() const
Returns the occupancy grid viewpoint.
Definition SensorData.h:829
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
RGB-D constructor with depth confidence and laser scan.
rtabmap::SensorData::clearRawData
void clearRawData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)
-
rtabmap::SensorData::globalPose
const Transform & globalPose() const
Returns the global pose.
Definition SensorData.h:905
+
rtabmap::SensorData::globalPose
const Transform & globalPose() const
Returns the global pose.
Definition SensorData.h:907
rtabmap::SensorData::stamp
double stamp() const
Returns the timestamp.
Definition SensorData.h:538
-
rtabmap::SensorData::globalPoseCovariance
const cv::Mat & globalPoseCovariance() const
Returns the global pose covariance.
Definition SensorData.h:911
+
rtabmap::SensorData::globalPoseCovariance
const cv::Mat & globalPoseCovariance() const
Returns the global pose covariance.
Definition SensorData.h:913
rtabmap::SensorData::setStamp
void setStamp(double stamp)
Sets the timestamp.
Definition SensorData.h:544
rtabmap::SensorData::setOccupancyGrid
void setOccupancyGrid(const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint)
Sets occupancy grid data.
-
rtabmap::SensorData::descriptors
const cv::Mat & descriptors() const
Returns the feature descriptors.
Definition SensorData.h:857
+
rtabmap::SensorData::descriptors
const cv::Mat & descriptors() const
Returns the feature descriptors.
Definition SensorData.h:859
rtabmap::SensorData::getMemoryUsed
unsigned long getMemoryUsed() const
Computes the memory usage of this sensor data.
-
rtabmap::SensorData::cameraModels
const std::vector< CameraModel > & cameraModels() const
Returns the camera models.
Definition SensorData.h:735
+
rtabmap::SensorData::cameraModels
const std::vector< CameraModel > & cameraModels() const
Returns the camera models.
Definition SensorData.h:737
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera stereo constructor.
-
rtabmap::SensorData::setGroundTruth
void setGroundTruth(const Transform &pose)
Sets the ground truth pose.
Definition SensorData.h:886
+
rtabmap::SensorData::setGroundTruth
void setGroundTruth(const Transform &pose)
Sets the ground truth pose.
Definition SensorData.h:888
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera RGB-D constructor with depth confidence.
-
rtabmap::SensorData::setGlobalPose
void setGlobalPose(const Transform &pose, const cv::Mat &covariance)
Sets the global pose with covariance.
Definition SensorData.h:899
-
rtabmap::SensorData::landmarks
const Landmarks & landmarks() const
Returns landmarks.
Definition SensorData.h:968
+
rtabmap::SensorData::setGlobalPose
void setGlobalPose(const Transform &pose, const cv::Mat &covariance)
Sets the global pose with covariance.
Definition SensorData.h:901
+
rtabmap::SensorData::landmarks
const Landmarks & landmarks() const
Returns landmarks.
Definition SensorData.h:970
rtabmap::SensorData::id
int id() const
Returns the sensor data ID.
Definition SensorData.h:526
rtabmap::SensorData::depthOrRightCompressed
const cv::Mat & depthOrRightCompressed() const
Returns the compressed depth or right stereo image.
Definition SensorData.h:558
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depth_confidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
RGB-D constructor with depth confidence.
@@ -608,29 +610,29 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
rtabmap::SensorData::setLaserScan
void setLaserScan(const LaserScan &laserScan, bool clearPreviousData=true)
rtabmap::SensorData::SensorData
SensorData()
Default constructor.
rtabmap::SensorData::~SensorData
virtual ~SensorData()
Virtual destructor.
-
rtabmap::SensorData::gridCellSize
float gridCellSize() const
Returns the occupancy grid cell size.
Definition SensorData.h:821
+
rtabmap::SensorData::gridCellSize
float gridCellSize() const
Returns the occupancy grid cell size.
Definition SensorData.h:823
rtabmap::SensorData::uncompressData
void uncompressData()
Uncompresses all compressed data in-place.
-
rtabmap::SensorData::rightRaw
cv::Mat rightRaw() const
Returns the right stereo image (convenience method)
Definition SensorData.h:661
+
rtabmap::SensorData::rightRaw
cv::Mat rightRaw() const
Returns the right stereo image (convenience method)
Definition SensorData.h:663
rtabmap::SensorData::imageCompressed
const cv::Mat & imageCompressed() const
Returns the compressed RGB/grayscale image.
Definition SensorData.h:551
-
rtabmap::SensorData::stereoCameraModels
const std::vector< StereoCameraModel > & stereoCameraModels() const
Returns the stereo camera models.
Definition SensorData.h:741
-
rtabmap::SensorData::keypoints3D
const std::vector< cv::Point3f > & keypoints3D() const
Returns the 3D keypoints.
Definition SensorData.h:851
-
rtabmap::SensorData::setStereoCameraModel
void setStereoCameraModel(const StereoCameraModel &stereoCameraModel)
Sets a single stereo camera model (clears previous models)
Definition SensorData.h:633
-
rtabmap::SensorData::setEnvSensors
void setEnvSensors(const EnvSensors &sensors)
Sets all environmental sensors.
Definition SensorData.h:943
-
rtabmap::SensorData::gridGroundCellsCompressed
const cv::Mat & gridGroundCellsCompressed() const
Returns compressed ground cells.
Definition SensorData.h:789
-
rtabmap::SensorData::setStereoCameraModels
void setStereoCameraModels(const std::vector< StereoCameraModel > &stereoCameraModels)
Sets multiple stereo camera models.
Definition SensorData.h:639
+
rtabmap::SensorData::stereoCameraModels
const std::vector< StereoCameraModel > & stereoCameraModels() const
Returns the stereo camera models.
Definition SensorData.h:743
+
rtabmap::SensorData::keypoints3D
const std::vector< cv::Point3f > & keypoints3D() const
Returns the 3D keypoints.
Definition SensorData.h:853
+
rtabmap::SensorData::setStereoCameraModel
void setStereoCameraModel(const StereoCameraModel &stereoCameraModel)
Sets a single stereo camera model (clears previous models)
Definition SensorData.h:635
+
rtabmap::SensorData::setEnvSensors
void setEnvSensors(const EnvSensors &sensors)
Sets all environmental sensors.
Definition SensorData.h:945
+
rtabmap::SensorData::gridGroundCellsCompressed
const cv::Mat & gridGroundCellsCompressed() const
Returns compressed ground cells.
Definition SensorData.h:791
+
rtabmap::SensorData::setStereoCameraModels
void setStereoCameraModels(const std::vector< StereoCameraModel > &stereoCameraModels)
Sets multiple stereo camera models.
Definition SensorData.h:641
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &image, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Appearance-only constructor.
-
rtabmap::SensorData::setGlobalDescriptors
void setGlobalDescriptors(const std::vector< GlobalDescriptor > &descriptors)
Sets all global descriptors.
Definition SensorData.h:869
+
rtabmap::SensorData::setGlobalDescriptors
void setGlobalDescriptors(const std::vector< GlobalDescriptor > &descriptors)
Sets all global descriptors.
Definition SensorData.h:871
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Stereo camera constructor with laser scan.
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
RGB-D constructor with laser scan.
-
rtabmap::SensorData::gridEmptyCellsCompressed
const cv::Mat & gridEmptyCellsCompressed() const
Returns compressed empty cells.
Definition SensorData.h:815
-
rtabmap::SensorData::addGlobalDescriptor
void addGlobalDescriptor(const GlobalDescriptor &descriptor)
Adds a global descriptor.
Definition SensorData.h:863
+
rtabmap::SensorData::gridEmptyCellsCompressed
const cv::Mat & gridEmptyCellsCompressed() const
Returns compressed empty cells.
Definition SensorData.h:817
+
rtabmap::SensorData::addGlobalDescriptor
void addGlobalDescriptor(const GlobalDescriptor &descriptor)
Adds a global descriptor.
Definition SensorData.h:865
rtabmap::SensorData::setUserData
void setUserData(const cv::Mat &userData, bool clearPreviousData=true)
-
rtabmap::SensorData::globalDescriptors
const std::vector< GlobalDescriptor > & globalDescriptors() const
Returns all global descriptors.
Definition SensorData.h:880
+
rtabmap::SensorData::globalDescriptors
const std::vector< GlobalDescriptor > & globalDescriptors() const
Returns all global descriptors.
Definition SensorData.h:882
rtabmap::SensorData::setFeatures
void setFeatures(const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &keypoints3D, const cv::Mat &descriptors)
Sets visual features (keypoints, 3D points, descriptors)
-
rtabmap::SensorData::setGPS
void setGPS(const GPS &gps)
Sets GPS data.
Definition SensorData.h:917
+
rtabmap::SensorData::setGPS
void setGPS(const GPS &gps)
Sets GPS data.
Definition SensorData.h:919
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera stereo constructor with laser scan.
rtabmap::SensorData::isValid
bool isValid() const
Checks if the sensor data is valid.
Definition SensorData.h:491
-
rtabmap::SensorData::setCameraModel
void setCameraModel(const CameraModel &model)
Sets a single camera model (clears previous models)
Definition SensorData.h:621
+
rtabmap::SensorData::setCameraModel
void setCameraModel(const CameraModel &model)
Sets a single camera model (clears previous models)
Definition SensorData.h:623
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera RGB-D constructor with laser scan.
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera RGB-D constructor with depth confidence and laser scan.
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera RGB-D constructor.
@@ -638,10 +640,10 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
RGB-D constructor.
rtabmap::SensorData::depthConfidenceCompressed
const cv::Mat & depthConfidenceCompressed() const
Returns the compressed depth confidence map.
Definition SensorData.h:565
rtabmap::SensorData::laserScanRaw
const LaserScan & laserScanRaw() const
Returns the raw laser scan.
Definition SensorData.h:596
-
rtabmap::SensorData::groundTruth
const Transform & groundTruth() const
Returns the ground truth pose.
Definition SensorData.h:892
-
rtabmap::SensorData::setLandmarks
void setLandmarks(const Landmarks &landmarks)
Sets landmarks.
Definition SensorData.h:962
-
rtabmap::SensorData::setCameraModels
void setCameraModels(const std::vector< CameraModel > &models)
Sets multiple camera models.
Definition SensorData.h:627
-
rtabmap::SensorData::keypoints
const std::vector< cv::KeyPoint > & keypoints() const
Returns the 2D keypoints.
Definition SensorData.h:845
+
rtabmap::SensorData::groundTruth
const Transform & groundTruth() const
Returns the ground truth pose.
Definition SensorData.h:894
+
rtabmap::SensorData::setLandmarks
void setLandmarks(const Landmarks &landmarks)
Sets landmarks.
Definition SensorData.h:964
+
rtabmap::SensorData::setCameraModels
void setCameraModels(const std::vector< CameraModel > &models)
Sets multiple camera models.
Definition SensorData.h:629
+
rtabmap::SensorData::keypoints
const std::vector< cv::KeyPoint > & keypoints() const
Returns the 2D keypoints.
Definition SensorData.h:847
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1785/api/latest/classrtabmap_1_1SensorData.html b/preview/pr-1785/api/latest/classrtabmap_1_1SensorData.html index 8725b500..e2a3f513 100644 --- a/preview/pr-1785/api/latest/classrtabmap_1_1SensorData.html +++ b/preview/pr-1785/api/latest/classrtabmap_1_1SensorData.html @@ -946,7 +946,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
rtabmap::SensorData::depthOrRightRaw
const cv::Mat & depthOrRightRaw() const
Returns the raw depth or right stereo image.
Definition SensorData.h:584
rtabmap::SensorData::stamp
double stamp() const
Returns the timestamp.
Definition SensorData.h:538
-
rtabmap::SensorData::cameraModels
const std::vector< CameraModel > & cameraModels() const
Returns the camera models.
Definition SensorData.h:735
+
rtabmap::SensorData::cameraModels
const std::vector< CameraModel > & cameraModels() const
Returns the camera models.
Definition SensorData.h:737
rtabmap::SensorData::imageRaw
const cv::Mat & imageRaw() const
Returns the raw RGB/grayscale image.
Definition SensorData.h:577
@@ -1961,7 +1961,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
-

Set image data. Detect automatically if raw or compressed. A matrix of type CV_8UC1 with 1 row is considered as compressed.

Parameters
+

Set image data. Detect automatically if raw or compressed. A matrix of type CV_8UC1 with 1 row is considered as compressed. An invalid model (not CameraModel::isValidForProjection()) without any image is a placeholder (e.g., scan-only data): it is not added, so cameraModels() is empty.

Parameters
clearPreviousData,clearprevious raw and compressed images before setting the new ones.
@@ -2036,7 +2036,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
-

Definition at line 621 of file SensorData.h.

+

Definition at line 623 of file SensorData.h.

@@ -2072,7 +2072,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 627 of file SensorData.h.

+

Definition at line 629 of file SensorData.h.

@@ -2108,7 +2108,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 633 of file SensorData.h.

+

Definition at line 635 of file SensorData.h.

@@ -2144,7 +2144,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 639 of file SensorData.h.

+

Definition at line 641 of file SensorData.h.

@@ -2175,7 +2175,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the depth image if _depthOrRightRaw 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.

Returns
Depth image if available, empty Mat if right stereo image or empty
-

Definition at line 650 of file SensorData.h.

+

Definition at line 652 of file SensorData.h.

@@ -2206,7 +2206,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the right stereo image if _depthOrRightRaw 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.

Returns
Right stereo image if available, empty Mat if depth image or empty
-

Definition at line 661 of file SensorData.h.

+

Definition at line 663 of file SensorData.h.

@@ -2416,7 +2416,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the camera models.

Returns
Const reference to vector of mono camera models
-

Definition at line 735 of file SensorData.h.

+

Definition at line 737 of file SensorData.h.

@@ -2446,7 +2446,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the stereo camera models.

Returns
Const reference to vector of stereo camera models
-

Definition at line 741 of file SensorData.h.

+

Definition at line 743 of file SensorData.h.

@@ -2507,7 +2507,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
-

Definition at line 756 of file SensorData.h.

+

Definition at line 758 of file SensorData.h.

@@ -2534,7 +2534,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
-

Definition at line 757 of file SensorData.h.

+

Definition at line 759 of file SensorData.h.

@@ -2623,7 +2623,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns raw ground cells.

Returns
Const reference to raw ground cells matrix
-

Definition at line 782 of file SensorData.h.

+

Definition at line 784 of file SensorData.h.

@@ -2654,7 +2654,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
Returns
Const reference to compressed ground cells matrix
Note
Use Compression::uncompressData() to uncompress the data.
-

Definition at line 789 of file SensorData.h.

+

Definition at line 791 of file SensorData.h.

@@ -2684,7 +2684,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns raw obstacle cells.

Returns
Const reference to raw obstacle cells matrix
-

Definition at line 795 of file SensorData.h.

+

Definition at line 797 of file SensorData.h.

@@ -2715,7 +2715,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
Returns
Const reference to compressed obstacle cells matrix
Note
Use Compression::uncompressData() to uncompress the data.
-

Definition at line 802 of file SensorData.h.

+

Definition at line 804 of file SensorData.h.

@@ -2745,7 +2745,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns raw empty cells.

Returns
Const reference to raw empty cells matrix
-

Definition at line 808 of file SensorData.h.

+

Definition at line 810 of file SensorData.h.

@@ -2776,7 +2776,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
Returns
Const reference to compressed empty cells matrix
Note
Use Compression::uncompressData() to uncompress the data.
-

Definition at line 815 of file SensorData.h.

+

Definition at line 817 of file SensorData.h.

@@ -2806,7 +2806,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the occupancy grid cell size.

Returns
Cell size in meters
-

Definition at line 821 of file SensorData.h.

+

Definition at line 823 of file SensorData.h.

@@ -2836,7 +2836,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the occupancy grid viewpoint.

Returns
Const reference to viewpoint/origin 3D point
-

Definition at line 827 of file SensorData.h.

+

Definition at line 829 of file SensorData.h.

@@ -2911,7 +2911,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the 2D keypoints.

Returns
Const reference to vector of 2D keypoints
-

Definition at line 845 of file SensorData.h.

+

Definition at line 847 of file SensorData.h.

@@ -2941,7 +2941,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the 3D keypoints.

Returns
Const reference to vector of 3D points (in base_link frame)
-

Definition at line 851 of file SensorData.h.

+

Definition at line 853 of file SensorData.h.

@@ -2971,7 +2971,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the feature descriptors.

Returns
Const reference to descriptors matrix (one row per keypoint)
-

Definition at line 857 of file SensorData.h.

+

Definition at line 859 of file SensorData.h.

@@ -3007,7 +3007,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 863 of file SensorData.h.

+

Definition at line 865 of file SensorData.h.

@@ -3043,7 +3043,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 869 of file SensorData.h.

+

Definition at line 871 of file SensorData.h.

@@ -3072,7 +3072,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Clears all global descriptors.

-

Definition at line 874 of file SensorData.h.

+

Definition at line 876 of file SensorData.h.

@@ -3102,7 +3102,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns all global descriptors.

Returns
Const reference to vector of global descriptors
-

Definition at line 880 of file SensorData.h.

+

Definition at line 882 of file SensorData.h.

@@ -3138,7 +3138,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 886 of file SensorData.h.

+

Definition at line 888 of file SensorData.h.

@@ -3168,7 +3168,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the ground truth pose.

Returns
Const reference to ground truth transform
-

Definition at line 892 of file SensorData.h.

+

Definition at line 894 of file SensorData.h.

@@ -3215,7 +3215,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 899 of file SensorData.h.

+

Definition at line 901 of file SensorData.h.

@@ -3245,7 +3245,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the global pose.

Returns
Const reference to global pose transform
-

Definition at line 905 of file SensorData.h.

+

Definition at line 907 of file SensorData.h.

@@ -3275,7 +3275,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the global pose covariance.

Returns
Const reference to pose covariance matrix (6x6, CV_64FC1)
-

Definition at line 911 of file SensorData.h.

+

Definition at line 913 of file SensorData.h.

@@ -3311,7 +3311,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 917 of file SensorData.h.

+

Definition at line 919 of file SensorData.h.

@@ -3341,7 +3341,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns GPS data.

Returns
Const reference to GPS data
-

Definition at line 923 of file SensorData.h.

+

Definition at line 925 of file SensorData.h.

@@ -3398,7 +3398,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns IMU data.

Returns
Const reference to IMU data
-

Definition at line 937 of file SensorData.h.

+

Definition at line 939 of file SensorData.h.

@@ -3434,7 +3434,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 943 of file SensorData.h.

+

Definition at line 945 of file SensorData.h.

@@ -3470,7 +3470,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 949 of file SensorData.h.

+

Definition at line 951 of file SensorData.h.

@@ -3500,7 +3500,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns all environmental sensors.

Returns
Const reference to map of environmental sensors
-

Definition at line 955 of file SensorData.h.

+

Definition at line 957 of file SensorData.h.

@@ -3537,7 +3537,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
Note
Landmark IDs should be positive and non-zero.
-

Definition at line 962 of file SensorData.h.

+

Definition at line 964 of file SensorData.h.

@@ -3567,7 +3567,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns landmarks.

Returns
Const reference to map of landmarks
-

Definition at line 968 of file SensorData.h.

+

Definition at line 970 of file SensorData.h.

diff --git a/preview/pr-1785/api/latest/functions_c.html b/preview/pr-1785/api/latest/functions_c.html index b872f2f6..fb15ae90 100644 --- a/preview/pr-1785/api/latest/functions_c.html +++ b/preview/pr-1785/api/latest/functions_c.html @@ -105,7 +105,7 @@ $(document).ready(function(){initNavTree('functions_c.html',''); initResizable()
  • Camera() : rtabmap::Camera
  • camera() : rtabmap::SensorCaptureThread
  • cameraIndex : rtabmap::FeatureBA
    • -
  • CameraModel() : rtabmap::CameraModel
    • +
  • CameraModel() : rtabmap::CameraModel
  • cameraModels() : rtabmap::SensorData
  • cameraName : rtabmap::SensorCaptureInfo, rtabmap::SensorEvent
  • canParseString() : rtabmap::Transform
    • diff --git a/preview/pr-1785/api/latest/functions_func_c.html b/preview/pr-1785/api/latest/functions_func_c.html index 71a5a35e..578d3d7e 100644 --- a/preview/pr-1785/api/latest/functions_func_c.html +++ b/preview/pr-1785/api/latest/functions_func_c.html @@ -104,7 +104,7 @@ $(document).ready(function(){initNavTree('functions_func_c.html',''); initResiza
  • cache() : rtabmap::GlobalMap
  • Camera() : rtabmap::Camera
  • camera() : rtabmap::SensorCaptureThread
    • -
  • CameraModel() : rtabmap::CameraModel
    • +
  • CameraModel() : rtabmap::CameraModel
  • cameraModels() : rtabmap::SensorData
  • cameraName() : rtabmap::SensorEvent
  • canParseString() : rtabmap::Transform
    • diff --git a/preview/pr-1785/api/latest/functions_func_t.html b/preview/pr-1785/api/latest/functions_func_t.html index 48e1d87d..32501fcc 100644 --- a/preview/pr-1785/api/latest/functions_func_t.html +++ b/preview/pr-1785/api/latest/functions_func_t.html @@ -129,7 +129,7 @@ $(document).ready(function(){initNavTree('functions_func_t.html',''); initResiza
  • toUShort() : UVariant
  • toUShortArray() : UVariant
  • transform() : rtabmap::Link
    • -
  • Transform() : rtabmap::Transform
    • +
  • Transform() : rtabmap::Transform
  • translation() : rtabmap::Transform
  • translationMatrix() : rtabmap::Transform
  • transVariance() : rtabmap::Link
    • diff --git a/preview/pr-1785/api/latest/functions_t.html b/preview/pr-1785/api/latest/functions_t.html index ad2c9919..076785de 100644 --- a/preview/pr-1785/api/latest/functions_t.html +++ b/preview/pr-1785/api/latest/functions_t.html @@ -143,7 +143,7 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
  • toUShort() : UVariant
  • toUShortArray() : UVariant
  • transform() : rtabmap::Link, rtabmap::OdometryInfo
    • -
  • Transform() : rtabmap::Transform
    • +
  • Transform() : rtabmap::Transform
  • transformFiltered : rtabmap::OdometryInfo
  • transformGroundTruth : rtabmap::OdometryInfo
  • translation() : rtabmap::Transform
    • @@ -153,9 +153,9 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
  • Tx() : rtabmap::CameraModel
  • Type : rtabmap::EnvSensor
  • type() : rtabmap::EnvSensor
    • -
  • Type : rtabmap::Feature2D, rtabmap::IMUFilter
    • +
  • Type : rtabmap::Feature2D
  • type() : rtabmap::IMUFilter
    • -
  • Type : rtabmap::Link
    • +
  • Type : rtabmap::IMUFilter, rtabmap::Link
  • type() : rtabmap::Link
  • Type : rtabmap::Odometry
  • type : rtabmap::OdometryInfo
    • diff --git a/preview/pr-1785/api/latest/index.html b/preview/pr-1785/api/latest/index.html index 1333887f..1a372749 100644 --- a/preview/pr-1785/api/latest/index.html +++ b/preview/pr-1785/api/latest/index.html @@ -217,8 +217,8 @@ Occupancy grid
    rtabmap::LocalGridCache::add
    void add(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))
    Inserts or replaces the grid for nodeId (from separate cell mats).
    rtabmap::OccupancyGrid
    Definition OccupancyGrid.h:41
    rtabmap::SensorData::uncompressDataConst
    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
    Uncompresses compressed data into provided output buffers (const version)
    -
    rtabmap::SensorData::gridViewPoint
    const cv::Point3f & gridViewPoint() const
    Returns the occupancy grid viewpoint.
    Definition SensorData.h:827
    -
    rtabmap::SensorData::gridCellSize
    float gridCellSize() const
    Returns the occupancy grid cell size.
    Definition SensorData.h:821
    +
    rtabmap::SensorData::gridViewPoint
    const cv::Point3f & gridViewPoint() const
    Returns the occupancy grid viewpoint.
    Definition SensorData.h:829
    +
    rtabmap::SensorData::gridCellSize
    float gridCellSize() const
    Returns the occupancy grid cell size.
    Definition SensorData.h:823
    rtabmap::Signature
    Represents a node in RTAB-Map's pose graph.
    Definition Signature.h:84
    rtabmap::Signature::sensorData
    SensorData & sensorData()
    Returns mutable access to the sensor data.
    Definition Signature.h:597
    rtabmap::Signature::id
    int id() const
    Returns the signature ID.
    Definition Signature.h:168
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