diff --git a/api/latest/StereoCameraModel_8h_source.html b/api/latest/StereoCameraModel_8h_source.html index d7e4f7fa..fb24a122 100644 --- a/api/latest/StereoCameraModel_8h_source.html +++ b/api/latest/StereoCameraModel_8h_source.html @@ -225,52 +225,56 @@ $(document).ready(function(){initNavTree('StereoCameraModel_8h_source.html','');
412
428 float computeDisparity(unsigned short depth) const; // mm
429
-
430 const cv::Mat & R() const {return R_;}
-
-
431 const cv::Mat & T() const {return T_;}
-
-
432 const cv::Mat & E() const {return E_;}
-
-
433 const cv::Mat & F() const {return F_;}
-
434
-
-
447 void scale(double scale);
-
448
-
461 void roi(const cv::Rect & roi);
-
462
-
466 void setLocalTransform(const Transform & transform) {left_.setLocalTransform(transform);}
-
467
-
471 const Transform & localTransform() const {return left_.localTransform();}
-
472
-
497 Transform stereoTransform() const;
-
498
-
502 const CameraModel & left() const {return left_;}
-
506 const CameraModel & right() const {return right_;}
+
454 void reproject(float x, float y, float z, float & uLeft, float & vLeft, float & uRight, float & vRight) const;
+
455
+
473 void reproject(float x, float y, float z, int & uLeft, int & vLeft, int & uRight, int & vRight) const;
+
474
+
475 const cv::Mat & R() const {return R_;}
+
+
476 const cv::Mat & T() const {return T_;}
+
+
477 const cv::Mat & E() const {return E_;}
+
+
478 const cv::Mat & F() const {return F_;}
+
479
+
+
492 void scale(double scale);
+
493
+
506 void roi(const cv::Rect & roi);
507
-
511 const std::string & getLeftSuffix() const {return leftSuffix_;}
-
515 const std::string & getRightSuffix() const {return rightSuffix_;}
-
516
-
517private:
-
528 void updateStereoRectification();
-
529
-
530private:
-
531 std::string leftSuffix_;
-
532 std::string rightSuffix_;
-
533 CameraModel left_;
-
534 CameraModel right_;
-
535 std::string name_;
-
536
-
537 cv::Mat R_;
-
538 cv::Mat T_;
-
539 cv::Mat E_;
-
540 cv::Mat F_;
-
541};
-
542
-
556RTABMAP_CORE_EXPORT std::ostream& operator<<(std::ostream& os, const StereoCameraModel& model);
-
557
-
558} // rtabmap
-
559
-
560#endif /* STEREOCAMERAMODEL_H_ */
+
511 void setLocalTransform(const Transform & transform) {left_.setLocalTransform(transform);}
+
512
+
516 const Transform & localTransform() const {return left_.localTransform();}
+
517
+
542 Transform stereoTransform() const;
+
543
+
547 const CameraModel & left() const {return left_;}
+
551 const CameraModel & right() const {return right_;}
+
552
+
556 const std::string & getLeftSuffix() const {return leftSuffix_;}
+
560 const std::string & getRightSuffix() const {return rightSuffix_;}
+
561
+
562private:
+
573 void updateStereoRectification();
+
574
+
575private:
+
576 std::string leftSuffix_;
+
577 std::string rightSuffix_;
+
578 CameraModel left_;
+
579 CameraModel right_;
+
580 std::string name_;
+
581
+
582 cv::Mat R_;
+
583 cv::Mat T_;
+
584 cv::Mat E_;
+
585 cv::Mat F_;
+
586};
+
587
+
601RTABMAP_CORE_EXPORT std::ostream& operator<<(std::ostream& os, const StereoCameraModel& model);
+
602
+
603} // rtabmap
+
604
+
605#endif /* STEREOCAMERAMODEL_H_ */
@@ -278,33 +282,35 @@ $(document).ready(function(){initNavTree('StereoCameraModel_8h_source.html','');
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
-
rtabmap::StereoCameraModel::left
const CameraModel & left() const
Returns the left camera model.
Definition StereoCameraModel.h:502
+
rtabmap::StereoCameraModel::left
const CameraModel & left() const
Returns the left camera model.
Definition StereoCameraModel.h:547
+
rtabmap::StereoCameraModel::reproject
void reproject(float x, float y, float z, float &uLeft, float &vLeft, float &uRight, float &vRight) const
Reprojects a 3D point of the left camera frame into both image planes (floating-point).
rtabmap::StereoCameraModel::StereoCameraModel
StereoCameraModel(double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0), const cv::Size &imageSize=cv::Size(0, 0))
Minimal constructor using focal lengths and baseline only.
rtabmap::StereoCameraModel::StereoCameraModel
StereoCameraModel()
Default constructor. Creates an empty stereo model with default suffixes ("left", "right").
Definition StereoCameraModel.h:59
rtabmap::StereoCameraModel::StereoCameraModel
StereoCameraModel(const std::string &name, const cv::Size &imageSize1, const cv::Mat &K1, const cv::Mat &D1, const cv::Mat &R1, const cv::Mat &P1, const cv::Size &imageSize2, const cv::Mat &K2, const cv::Mat &D2, const cv::Mat &R2, const cv::Mat &P2, const cv::Mat &R, const cv::Mat &T, const cv::Mat &E, const cv::Mat &F, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0))
Constructs a StereoCameraModel from detailed intrinsic and extrinsic parameters for both cameras.
rtabmap::StereoCameraModel::saveStereoTransform
bool saveStereoTransform(const std::string &directory) const
Saves stereo extrinsic parameters to a YAML file in ROS format.
-
rtabmap::StereoCameraModel::F
const cv::Mat & F() const
Fundamental matrix.
Definition StereoCameraModel.h:433
+
rtabmap::StereoCameraModel::F
const cv::Mat & F() const
Fundamental matrix.
Definition StereoCameraModel.h:478
rtabmap::StereoCameraModel::scale
void scale(double scale)
Scales both cameras' calibration by a factor.
rtabmap::StereoCameraModel::computeDisparity
float computeDisparity(unsigned short depth) const
Computes the disparity value from a depth given in unsigned short format (millimeters).
-
rtabmap::StereoCameraModel::getRightSuffix
const std::string & getRightSuffix() const
Gets the suffix used for the right camera calibration file.
Definition StereoCameraModel.h:515
+
rtabmap::StereoCameraModel::getRightSuffix
const std::string & getRightSuffix() const
Gets the suffix used for the right camera calibration file.
Definition StereoCameraModel.h:560
rtabmap::StereoCameraModel::serialize
std::vector< unsigned char > serialize() const
Serializes the stereo camera model into a byte vector.
rtabmap::StereoCameraModel::stereoTransform
Transform stereoTransform() const
Returns the stereo transform (left camera relative to right camera coordinate system).
rtabmap::StereoCameraModel::computeDepth
float computeDepth(float disparity) const
Computes the depth (Z coordinate) from a given disparity value.
-
rtabmap::StereoCameraModel::localTransform
const Transform & localTransform() const
Gets the local transform from left camera to robot base.
Definition StereoCameraModel.h:471
+
rtabmap::StereoCameraModel::localTransform
const Transform & localTransform() const
Gets the local transform from left camera to robot base.
Definition StereoCameraModel.h:516
rtabmap::StereoCameraModel::initRectificationMap
void initRectificationMap()
Initializes the rectification maps for both cameras.
Definition StereoCameraModel.h:234
+
rtabmap::StereoCameraModel::reproject
void reproject(float x, float y, float z, int &uLeft, int &vLeft, int &uRight, int &vRight) const
Reprojects a 3D point of the left camera frame into both image planes (rounded to int).
rtabmap::StereoCameraModel::isValidForProjection
bool isValidForProjection() const
Returns true if both left and right models are valid for projection and the baseline is positive.
Definition StereoCameraModel.h:224
rtabmap::StereoCameraModel::deserialize
unsigned int deserialize(const std::vector< unsigned char > &data)
Deserializes stereo camera model data from a byte vector.
rtabmap::StereoCameraModel::StereoCameraModel
StereoCameraModel(const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const Transform &extrinsics)
Constructs a StereoCameraModel from two camera models and an extrinsic Transform between them.
-
rtabmap::StereoCameraModel::getLeftSuffix
const std::string & getLeftSuffix() const
Gets the suffix used for the left camera calibration file.
Definition StereoCameraModel.h:511
-
rtabmap::StereoCameraModel::R
const cv::Mat & R() const
Stereo extrinsic rotation matrix.
Definition StereoCameraModel.h:430
-
rtabmap::StereoCameraModel::T
const cv::Mat & T() const
Stereo extrinsic translation vector.
Definition StereoCameraModel.h:431
+
rtabmap::StereoCameraModel::getLeftSuffix
const std::string & getLeftSuffix() const
Gets the suffix used for the left camera calibration file.
Definition StereoCameraModel.h:556
+
rtabmap::StereoCameraModel::R
const cv::Mat & R() const
Stereo extrinsic rotation matrix.
Definition StereoCameraModel.h:475
+
rtabmap::StereoCameraModel::T
const cv::Mat & T() const
Stereo extrinsic translation vector.
Definition StereoCameraModel.h:476
rtabmap::StereoCameraModel::setImageSize
void setImageSize(const cv::Size &size)
Sets the image size for both left and right cameras.
Definition StereoCameraModel.h:263
-
rtabmap::StereoCameraModel::E
const cv::Mat & E() const
Essential matrix.
Definition StereoCameraModel.h:432
+
rtabmap::StereoCameraModel::E
const cv::Mat & E() const
Essential matrix.
Definition StereoCameraModel.h:477
rtabmap::StereoCameraModel::baseline
double baseline() const
Returns the stereo baseline in meters.
Definition StereoCameraModel.h:378
rtabmap::StereoCameraModel::StereoCameraModel
StereoCameraModel(const std::string &name, double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0), const cv::Size &imageSize=cv::Size(0, 0))
Minimal constructor that also sets a name, required if we want to save it to a file.
rtabmap::StereoCameraModel::load
bool load(const std::string &directory, const std::string &cameraName, bool ignoreStereoTransform=true, bool initRectificationMaps=true)
Loads stereo camera calibration data from disk.
rtabmap::StereoCameraModel::isRectificationMapInitialized
bool isRectificationMapInitialized() const
Returns true if rectification maps are initialized.
Definition StereoCameraModel.h:239
-
rtabmap::StereoCameraModel::right
const CameraModel & right() const
Returns the right camera model.
Definition StereoCameraModel.h:506
+
rtabmap::StereoCameraModel::right
const CameraModel & right() const
Returns the right camera model.
Definition StereoCameraModel.h:551
rtabmap::StereoCameraModel::save
bool save(const std::string &directory, bool ignoreStereoTransform=true) const
Saves stereo camera calibration data to disk.
rtabmap::StereoCameraModel::roi
void roi(const cv::Rect &roi)
Applies region-of-interest (ROI) cropping to both cameras.
rtabmap::StereoCameraModel::isValidForRectification
bool isValidForRectification() const
Returns true if both left and right models are valid for rectification.
Definition StereoCameraModel.h:229
@@ -312,7 +318,7 @@ $(document).ready(function(){initNavTree('StereoCameraModel_8h_source.html','');
rtabmap::StereoCameraModel::name
const std::string & name() const
Gets the camera name.
Definition StereoCameraModel.h:258
rtabmap::StereoCameraModel::StereoCameraModel
StereoCameraModel(const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const cv::Mat &R=cv::Mat(), const cv::Mat &T=cv::Mat(), const cv::Mat &E=cv::Mat(), const cv::Mat &F=cv::Mat())
Constructs a StereoCameraModel from two individual camera models and optional stereo extrinsic parame...
rtabmap::StereoCameraModel::computeDisparity
float computeDisparity(float depth) const
Computes the disparity value from a given depth.
-
rtabmap::StereoCameraModel::setLocalTransform
void setLocalTransform(const Transform &transform)
Sets the local transform from left camera to robot base.
Definition StereoCameraModel.h:466
+
rtabmap::StereoCameraModel::setLocalTransform
void setLocalTransform(const Transform &transform)
Sets the local transform from left camera to robot base.
Definition StereoCameraModel.h:511
rtabmap::StereoCameraModel::~StereoCameraModel
virtual ~StereoCameraModel()
Destructor.
Definition StereoCameraModel.h:219
rtabmap::StereoCameraModel::deserialize
unsigned int deserialize(const unsigned char *data, unsigned int dataSize)
Deserializes stereo camera model data from a raw byte array.
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
diff --git a/api/latest/classrtabmap_1_1StereoCameraModel-members.html b/api/latest/classrtabmap_1_1StereoCameraModel-members.html index 3986df4d..29f58af3 100644 --- a/api/latest/classrtabmap_1_1StereoCameraModel-members.html +++ b/api/latest/classrtabmap_1_1StereoCameraModel-members.html @@ -123,6 +123,8 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1StereoCameraModel.html localTransform() constrtabmap::StereoCameraModelinline name() constrtabmap::StereoCameraModelinline R() constrtabmap::StereoCameraModelinline + reproject(float x, float y, float z, float &uLeft, float &vLeft, float &uRight, float &vRight) constrtabmap::StereoCameraModel + reproject(float x, float y, float z, int &uLeft, int &vLeft, int &uRight, int &vRight) constrtabmap::StereoCameraModel right() constrtabmap::StereoCameraModelinline roi(const cv::Rect &roi)rtabmap::StereoCameraModel save(const std::string &directory, bool ignoreStereoTransform=true) constrtabmap::StereoCameraModel diff --git a/api/latest/classrtabmap_1_1StereoCameraModel.html b/api/latest/classrtabmap_1_1StereoCameraModel.html index 9d3dc62d..b42733dc 100644 --- a/api/latest/classrtabmap_1_1StereoCameraModel.html +++ b/api/latest/classrtabmap_1_1StereoCameraModel.html @@ -184,6 +184,12 @@ Public Member Functions float computeDisparity (unsigned short depth) const  Computes the disparity value from a depth given in unsigned short format (millimeters).
  +void reproject (float x, float y, float z, float &uLeft, float &vLeft, float &uRight, float &vRight) const + Reprojects a 3D point of the left camera frame into both image planes (floating-point).
+  +void reproject (float x, float y, float z, int &uLeft, int &vLeft, int &uRight, int &vRight) const + Reprojects a 3D point of the left camera frame into both image planes (rounded to int).
+  const cv::Mat & R () const  Stereo extrinsic rotation matrix.
  @@ -1305,6 +1311,157 @@ If the serialized data type is not stereo (type != 1), deserialization will fail
Returns
The computed disparity in pixels. Returns 0 if depth is zero or if the model is not valid for projection.
Note
This function requires the stereo camera to be valid for projection (i.e., calibrated and rectified).
+
+
+ +

◆ reproject() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::StereoCameraModel::reproject (float x,
float y,
float z,
float & uLeft,
float & vLeft,
float & uRight,
float & vRight 
) const
+
+ +

Reprojects a 3D point of the left camera frame into both image planes (floating-point).

+

The point is given in the rectified left camera frame (/camera_link), the same frame used by CameraModel::reproject() of left(). The baseline is taken from the Tx of the rectified projection matrices, so the horizontal shift between uLeft and uRight is the disparity of that point. On a rectified stereo pair the rows are aligned, thus vRight equals vLeft.

+
Note
Unlike this function, CameraModel::reproject() ignores Tx, because a Tx set on a single camera model is also used to tag a left camera having stereo observations (see the stereo edges built by the BA optimizers).
+
Parameters
+ + + + + + + + +
xX coordinate in the left camera space.
yY coordinate in the left camera space.
zZ coordinate in the left camera space (must be non-zero).
[out]uLeftOutput horizontal image coordinate in the left image (float).
[out]vLeftOutput vertical image coordinate in the left image (float).
[out]uRightOutput horizontal image coordinate in the right image (float).
[out]vRightOutput vertical image coordinate in the right image (float).
+
+
+
Precondition
z != 0
+
See also
CameraModel::reproject(), reproject(int&, int&, int&, int&)
+ +
+
+ +

◆ reproject() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::StereoCameraModel::reproject (float x,
float y,
float z,
int & uLeft,
int & vLeft,
int & uRight,
int & vRight 
) const
+
+ +

Reprojects a 3D point of the left camera frame into both image planes (rounded to int).

+

This version of reproject() returns integer pixel indices, computed from the 3D position.

+
Parameters
+ + + + + + + + +
xX coordinate in the left camera space.
yY coordinate in the left camera space.
zZ coordinate in the left camera space (must be non-zero).
[out]uLeftOutput horizontal image coordinate in the left image (integer pixel).
[out]vLeftOutput vertical image coordinate in the left image (integer pixel).
[out]uRightOutput horizontal image coordinate in the right image (integer pixel).
[out]vRightOutput vertical image coordinate in the right image (integer pixel).
+
+
+
Precondition
z != 0
+
See also
CameraModel::reproject(), reproject(float&, float&, float&, float&)
+
@@ -1332,7 +1489,7 @@ If the serialized data type is not stereo (type != 1), deserialization will fail

Stereo extrinsic rotation matrix.

-

Definition at line 430 of file StereoCameraModel.h.

+

Definition at line 475 of file StereoCameraModel.h.

@@ -1361,7 +1518,7 @@ If the serialized data type is not stereo (type != 1), deserialization will fail

Stereo extrinsic translation vector.

-

Definition at line 431 of file StereoCameraModel.h.

+

Definition at line 476 of file StereoCameraModel.h.

@@ -1390,7 +1547,7 @@ If the serialized data type is not stereo (type != 1), deserialization will fail

Essential matrix.

-

Definition at line 432 of file StereoCameraModel.h.

+

Definition at line 477 of file StereoCameraModel.h.

@@ -1419,7 +1576,7 @@ If the serialized data type is not stereo (type != 1), deserialization will fail

Fundamental matrix.

-

Definition at line 433 of file StereoCameraModel.h.

+

Definition at line 478 of file StereoCameraModel.h.

@@ -1511,7 +1668,7 @@ Only valid camera models are adjusted. Invalid models are left unchanged. <

Sets the local transform from left camera to robot base.

-

Definition at line 466 of file StereoCameraModel.h.

+

Definition at line 511 of file StereoCameraModel.h.

@@ -1540,7 +1697,7 @@ Only valid camera models are adjusted. Invalid models are left unchanged. <

Gets the local transform from left camera to robot base.

-

Definition at line 471 of file StereoCameraModel.h.

+

Definition at line 516 of file StereoCameraModel.h.

@@ -1597,7 +1754,7 @@ Only valid camera models are adjusted. Invalid models are left unchanged. <

Returns the left camera model.

-

Definition at line 502 of file StereoCameraModel.h.

+

Definition at line 547 of file StereoCameraModel.h.

@@ -1626,7 +1783,7 @@ Only valid camera models are adjusted. Invalid models are left unchanged. <

Returns the right camera model.

-

Definition at line 506 of file StereoCameraModel.h.

+

Definition at line 551 of file StereoCameraModel.h.

@@ -1655,7 +1812,7 @@ Only valid camera models are adjusted. Invalid models are left unchanged. <

Gets the suffix used for the left camera calibration file.

-

Definition at line 511 of file StereoCameraModel.h.

+

Definition at line 556 of file StereoCameraModel.h.

@@ -1684,7 +1841,7 @@ Only valid camera models are adjusted. Invalid models are left unchanged. <

Gets the suffix used for the right camera calibration file.

-

Definition at line 515 of file StereoCameraModel.h.

+

Definition at line 560 of file StereoCameraModel.h.

diff --git a/api/latest/classrtabmap_1_1StereoCameraModel.js b/api/latest/classrtabmap_1_1StereoCameraModel.js index 6fadfe32..c913ed85 100644 --- a/api/latest/classrtabmap_1_1StereoCameraModel.js +++ b/api/latest/classrtabmap_1_1StereoCameraModel.js @@ -24,6 +24,8 @@ var classrtabmap_1_1StereoCameraModel = [ "computeDepth", "classrtabmap_1_1StereoCameraModel.html#a514f7d1baff8b4be96d760b27279f5d6", null ], [ "computeDisparity", "classrtabmap_1_1StereoCameraModel.html#aecf8b2a628ead0bc422dbf791d683f5b", null ], [ "computeDisparity", "classrtabmap_1_1StereoCameraModel.html#a28230b8236ed778729ed1e1ceb590f31", null ], + [ "reproject", "classrtabmap_1_1StereoCameraModel.html#a084e3e40c8b0caf66269d508a8fcffbc", null ], + [ "reproject", "classrtabmap_1_1StereoCameraModel.html#a626b8f54940ebc77ec504921004dda3a", null ], [ "R", "classrtabmap_1_1StereoCameraModel.html#a7afd347afb3909a2039f154b3a048035", null ], [ "T", "classrtabmap_1_1StereoCameraModel.html#a82d60ddca8d0cdbe939b043ed02334b6", null ], [ "E", "classrtabmap_1_1StereoCameraModel.html#a8ab6c698248837e4dcfe36c2e7b02546", null ], diff --git a/api/latest/functions_func_r.html b/api/latest/functions_func_r.html index 49f9bbbe..b2c4d5a7 100644 --- a/api/latest/functions_func_r.html +++ b/api/latest/functions_func_r.html @@ -134,7 +134,7 @@ $(document).ready(function(){initNavTree('functions_func_r.html',''); initResiza
  • removeWords() : rtabmap::VWDictionary
  • rename() : UFile
  • repeatOnce() : rtabmap::Registration
    • -
  • reproject() : rtabmap::CameraModel
    • +
  • reproject() : rtabmap::CameraModel, rtabmap::StereoCameraModel
  • reset() : rtabmap::BayesFilter, rtabmap::IMUFilter, rtabmap::Odometry, rtabmap::OdometryCuVSLAM, rtabmap::OdometryDVO, rtabmap::OdometryF2F, rtabmap::OdometryF2M, rtabmap::OdometryFLOAM, rtabmap::OdometryFovis, rtabmap::OdometryLIOSAM, rtabmap::OdometryLOAM, rtabmap::OdometryMono, rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpen3D, rtabmap::OdometryOpenVINS, rtabmap::OdometryORBSLAM2, rtabmap::OdometryORBSLAM3, rtabmap::OdometryVINSFusion, rtabmap::OdometryViso2, ULogger
  • resetMemory() : rtabmap::Rtabmap
  • resetTimer() : rtabmap::SensorCapture
    • diff --git a/api/latest/functions_r.html b/api/latest/functions_r.html index 3659c75a..5aa31c3a 100644 --- a/api/latest/functions_r.html +++ b/api/latest/functions_r.html @@ -135,9 +135,9 @@ $(document).ready(function(){initNavTree('functions_r.html',''); initResizable()
  • removeRawData() : rtabmap::Memory
  • removeVirtualLinks() : rtabmap::Memory, rtabmap::Signature
  • removeWords() : rtabmap::VWDictionary
    • -
  • rename() : UFile
    • +
  • rename() : UFile
  • repeatOnce() : rtabmap::Registration
    • -
  • reproject() : rtabmap::CameraModel
    • +
  • reproject() : rtabmap::CameraModel, rtabmap::StereoCameraModel
  • reset() : rtabmap::BayesFilter, rtabmap::IMUFilter, rtabmap::Odometry, rtabmap::OdometryCuVSLAM, rtabmap::OdometryDVO, rtabmap::OdometryF2F, rtabmap::OdometryF2M, rtabmap::OdometryFLOAM, rtabmap::OdometryFovis, rtabmap::OdometryLIOSAM, rtabmap::OdometryLOAM, rtabmap::OdometryMono, rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpen3D, rtabmap::OdometryOpenVINS, rtabmap::OdometryORBSLAM2, rtabmap::OdometryORBSLAM3, rtabmap::OdometryVINSFusion, rtabmap::OdometryViso2, ULogger
  • resetMemory() : rtabmap::Rtabmap
  • resetTimer() : rtabmap::SensorCapture
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