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@@ -225,52 +225,56 @@ $(document).ready(function(){initNavTree('StereoCameraModel_8h_source.html','');
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<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> </div>
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<div class="line"><a id="l00428" name="l00428"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a28230b8236ed778729ed1e1ceb590f31"> 428</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a28230b8236ed778729ed1e1ceb590f31">computeDisparity</a>(<span class="keywordtype">unsigned</span> <span class="keywordtype">short</span> depth) <span class="keyword">const</span>; <span class="comment">// mm</span></div>
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<div class="line"><a id="l00429" name="l00429"></a><span class="lineno"> 429</span> </div>
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<div class="line"><a id="l00430" name="l00430"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a7afd347afb3909a2039f154b3a048035"> 430</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a7afd347afb3909a2039f154b3a048035">R</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> R_;} </div>
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<div class="line"><a id="l00431" name="l00431"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a82d60ddca8d0cdbe939b043ed02334b6"> 431</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a82d60ddca8d0cdbe939b043ed02334b6">T</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> T_;} </div>
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<div class="foldopen" id="foldopen00432" data-start="{" data-end="}">
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<div class="line"><a id="l00432" name="l00432"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a8ab6c698248837e4dcfe36c2e7b02546"> 432</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a8ab6c698248837e4dcfe36c2e7b02546">E</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> E_;} </div>
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<div class="foldopen" id="foldopen00433" data-start="{" data-end="}">
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<div class="line"><a id="l00433" name="l00433"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a1e4ffc9baa8dfee0a79ea32bac9b7c1c"> 433</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a1e4ffc9baa8dfee0a79ea32bac9b7c1c">F</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> F_;} </div>
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<div class="line"><a id="l00434" name="l00434"></a><span class="lineno"> 434</span> </div>
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<div class="foldopen" id="foldopen00447" data-start="{" data-end="}">
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<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a264d57ca1e0f6b41d03ffe1d89afc382"> 447</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a264d57ca1e0f6b41d03ffe1d89afc382">scale</a>(<span class="keywordtype">double</span> scale);</div>
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<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> </div>
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<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#ac2fb1c489ae60bd7e4c104515db3c3a9"> 461</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#ac2fb1c489ae60bd7e4c104515db3c3a9">roi</a>(<span class="keyword">const</span> cv::Rect & roi);</div>
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<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> </div>
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<div class="line"><a id="l00466" name="l00466"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#aee77882ceca428a560f5fd3713a330fb"> 466</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#aee77882ceca428a560f5fd3713a330fb">setLocalTransform</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform) {left_.setLocalTransform(transform);}</div>
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<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"> 467</span> </div>
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<div class="line"><a id="l00471" name="l00471"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a5257cde3d51bbee7c51c3f36d0c7741f"> 471</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a5257cde3d51bbee7c51c3f36d0c7741f">localTransform</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> left_.localTransform();}</div>
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<div class="line"><a id="l00472" name="l00472"></a><span class="lineno"> 472</span> </div>
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<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a506f83654d7f772a3743d24869c05742"> 497</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a506f83654d7f772a3743d24869c05742">stereoTransform</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> </div>
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<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a064d29601c0ba13fc47584849e26b81b"> 502</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a064d29601c0ba13fc47584849e26b81b">left</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> left_;}</div>
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<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#ab8061141407d8cc55d7f83211708af85"> 506</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#ab8061141407d8cc55d7f83211708af85">right</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> right_;}</div>
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<div class="line"><a id="l00454" name="l00454"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a084e3e40c8b0caf66269d508a8fcffbc"> 454</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a084e3e40c8b0caf66269d508a8fcffbc">reproject</a>(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">float</span> & uLeft, <span class="keywordtype">float</span> & vLeft, <span class="keywordtype">float</span> & uRight, <span class="keywordtype">float</span> & vRight) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00455" name="l00455"></a><span class="lineno"> 455</span> </div>
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<div class="line"><a id="l00473" name="l00473"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a626b8f54940ebc77ec504921004dda3a"> 473</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a626b8f54940ebc77ec504921004dda3a">reproject</a>(<span class="keywordtype">float</span> x, <span class="keywordtype">float</span> y, <span class="keywordtype">float</span> z, <span class="keywordtype">int</span> & uLeft, <span class="keywordtype">int</span> & vLeft, <span class="keywordtype">int</span> & uRight, <span class="keywordtype">int</span> & vRight) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00474" name="l00474"></a><span class="lineno"> 474</span> </div>
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<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a7afd347afb3909a2039f154b3a048035"> 475</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a7afd347afb3909a2039f154b3a048035">R</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> R_;} </div>
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<div class="foldopen" id="foldopen00476" data-start="{" data-end="}">
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<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a82d60ddca8d0cdbe939b043ed02334b6"> 476</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a82d60ddca8d0cdbe939b043ed02334b6">T</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> T_;} </div>
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<div class="foldopen" id="foldopen00477" data-start="{" data-end="}">
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<div class="line"><a id="l00477" name="l00477"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a8ab6c698248837e4dcfe36c2e7b02546"> 477</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a8ab6c698248837e4dcfe36c2e7b02546">E</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> E_;} </div>
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<div class="foldopen" id="foldopen00478" data-start="{" data-end="}">
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<div class="line"><a id="l00478" name="l00478"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a1e4ffc9baa8dfee0a79ea32bac9b7c1c"> 478</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a1e4ffc9baa8dfee0a79ea32bac9b7c1c">F</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> F_;} </div>
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<div class="line"><a id="l00479" name="l00479"></a><span class="lineno"> 479</span> </div>
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<div class="foldopen" id="foldopen00492" data-start="{" data-end="}">
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<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a264d57ca1e0f6b41d03ffe1d89afc382"> 492</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a264d57ca1e0f6b41d03ffe1d89afc382">scale</a>(<span class="keywordtype">double</span> scale);</div>
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<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> </div>
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<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#ac2fb1c489ae60bd7e4c104515db3c3a9"> 506</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#ac2fb1c489ae60bd7e4c104515db3c3a9">roi</a>(<span class="keyword">const</span> cv::Rect & roi);</div>
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<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> </div>
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<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a799e3f787d015b5cbd0189768f5b673c"> 511</a></span> <span class="keyword">const</span> std::string & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a799e3f787d015b5cbd0189768f5b673c">getLeftSuffix</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> leftSuffix_;}</div>
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<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a3ecae21bbf6bc9914d0bb553c99f9e09"> 515</a></span> <span class="keyword">const</span> std::string & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a3ecae21bbf6bc9914d0bb553c99f9e09">getRightSuffix</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> rightSuffix_;}</div>
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<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> </div>
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<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> <span class="keywordtype">void</span> updateStereoRectification();</div>
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<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> </div>
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<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> std::string leftSuffix_; </div>
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<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> std::string rightSuffix_; </div>
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<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> left_; </div>
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<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> right_; </div>
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<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> std::string name_; </div>
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<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> </div>
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<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> cv::Mat R_; </div>
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<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> cv::Mat T_; </div>
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<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> cv::Mat E_; </div>
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<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> cv::Mat F_; </div>
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<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span>};</div>
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<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> </div>
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<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a6138748ef83b742105e47c9275885e4a"> 556</a></span>RTABMAP_CORE_EXPORT std::ostream& <a class="code hl_function" href="namespacertabmap.html#a087b7a1b89acb679edee23883653f1a7">operator<<</a>(std::ostream& os, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a>& model);</div>
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<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span> </div>
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<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span>} <span class="comment">// rtabmap</span></div>
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<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> </div>
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<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"> 560</span><span class="preprocessor">#endif </span><span class="comment">/* STEREOCAMERAMODEL_H_ */</span><span class="preprocessor"></span></div>
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<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#aee77882ceca428a560f5fd3713a330fb"> 511</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#aee77882ceca428a560f5fd3713a330fb">setLocalTransform</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & transform) {left_.setLocalTransform(transform);}</div>
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<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> </div>
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<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a5257cde3d51bbee7c51c3f36d0c7741f"> 516</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a5257cde3d51bbee7c51c3f36d0c7741f">localTransform</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> left_.localTransform();}</div>
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<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> </div>
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<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a506f83654d7f772a3743d24869c05742"> 542</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a506f83654d7f772a3743d24869c05742">stereoTransform</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> </div>
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<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a064d29601c0ba13fc47584849e26b81b"> 547</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a064d29601c0ba13fc47584849e26b81b">left</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> left_;}</div>
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<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#ab8061141407d8cc55d7f83211708af85"> 551</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#ab8061141407d8cc55d7f83211708af85">right</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> right_;}</div>
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<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> </div>
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<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a799e3f787d015b5cbd0189768f5b673c"> 556</a></span> <span class="keyword">const</span> std::string & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a799e3f787d015b5cbd0189768f5b673c">getLeftSuffix</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> leftSuffix_;}</div>
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<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"><a class="line" href="classrtabmap_1_1StereoCameraModel.html#a3ecae21bbf6bc9914d0bb553c99f9e09"> 560</a></span> <span class="keyword">const</span> std::string & <a class="code hl_function" href="classrtabmap_1_1StereoCameraModel.html#a3ecae21bbf6bc9914d0bb553c99f9e09">getRightSuffix</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> rightSuffix_;}</div>
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<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> </div>
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<div class="line"><a id="l00562" name="l00562"></a><span class="lineno"> 562</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"> 573</span> <span class="keywordtype">void</span> updateStereoRectification();</div>
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<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> </div>
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<div class="line"><a id="l00575" name="l00575"></a><span class="lineno"> 575</span><span class="keyword">private</span>:</div>
|
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<div class="line"><a id="l00576" name="l00576"></a><span class="lineno"> 576</span> std::string leftSuffix_; </div>
|
||||
<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"> 577</span> std::string rightSuffix_; </div>
|
||||
<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> left_; </div>
|
||||
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"> 579</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> right_; </div>
|
||||
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> std::string name_; </div>
|
||||
<div class="line"><a id="l00581" name="l00581"></a><span class="lineno"> 581</span> </div>
|
||||
<div class="line"><a id="l00582" name="l00582"></a><span class="lineno"> 582</span> cv::Mat R_; </div>
|
||||
<div class="line"><a id="l00583" name="l00583"></a><span class="lineno"> 583</span> cv::Mat T_; </div>
|
||||
<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"> 584</span> cv::Mat E_; </div>
|
||||
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> cv::Mat F_; </div>
|
||||
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span>};</div>
|
||||
<div class="line"><a id="l00587" name="l00587"></a><span class="lineno"> 587</span> </div>
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<div class="line"><a id="l00601" name="l00601"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a6138748ef83b742105e47c9275885e4a"> 601</a></span>RTABMAP_CORE_EXPORT std::ostream& <a class="code hl_function" href="namespacertabmap.html#a087b7a1b89acb679edee23883653f1a7">operator<<</a>(std::ostream& os, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a>& model);</div>
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<div class="line"><a id="l00602" name="l00602"></a><span class="lineno"> 602</span> </div>
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<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"> 603</span>} <span class="comment">// rtabmap</span></div>
|
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<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> </div>
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<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span><span class="preprocessor">#endif </span><span class="comment">/* STEREOCAMERAMODEL_H_ */</span><span class="preprocessor"></span></div>
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@@ -278,33 +282,35 @@ $(document).ready(function(){initNavTree('StereoCameraModel_8h_source.html','');
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<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>
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<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_1StereoCameraModel_html_a064d29601c0ba13fc47584849e26b81b"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a064d29601c0ba13fc47584849e26b81b">rtabmap::StereoCameraModel::left</a></div><div class="ttdeci">const CameraModel & left() const</div><div class="ttdoc">Returns the left camera model.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00502">StereoCameraModel.h:502</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a064d29601c0ba13fc47584849e26b81b"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a064d29601c0ba13fc47584849e26b81b">rtabmap::StereoCameraModel::left</a></div><div class="ttdeci">const CameraModel & left() const</div><div class="ttdoc">Returns the left camera model.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00547">StereoCameraModel.h:547</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a084e3e40c8b0caf66269d508a8fcffbc"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a084e3e40c8b0caf66269d508a8fcffbc">rtabmap::StereoCameraModel::reproject</a></div><div class="ttdeci">void reproject(float x, float y, float z, float &uLeft, float &vLeft, float &uRight, float &vRight) const</div><div class="ttdoc">Reprojects a 3D point of the left camera frame into both image planes (floating-point).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a0bdbbaa6e3ab315b0c5fce03247cea6c"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a0bdbbaa6e3ab315b0c5fce03247cea6c">rtabmap::StereoCameraModel::StereoCameraModel</a></div><div class="ttdeci">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))</div><div class="ttdoc">Minimal constructor using focal lengths and baseline only.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a179ffcbc49ff3a281ef33cb4381e061c"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a179ffcbc49ff3a281ef33cb4381e061c">rtabmap::StereoCameraModel::StereoCameraModel</a></div><div class="ttdeci">StereoCameraModel()</div><div class="ttdoc">Default constructor. Creates an empty stereo model with default suffixes ("left", "right").</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00059">StereoCameraModel.h:59</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a1887639053ef5c09c3f650b5a7f280d8"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a1887639053ef5c09c3f650b5a7f280d8">rtabmap::StereoCameraModel::StereoCameraModel</a></div><div class="ttdeci">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))</div><div class="ttdoc">Constructs a StereoCameraModel from detailed intrinsic and extrinsic parameters for both cameras.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a1d016f499dbcce889ce7b7062c83b660"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a1d016f499dbcce889ce7b7062c83b660">rtabmap::StereoCameraModel::saveStereoTransform</a></div><div class="ttdeci">bool saveStereoTransform(const std::string &directory) const</div><div class="ttdoc">Saves stereo extrinsic parameters to a YAML file in ROS format.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a1e4ffc9baa8dfee0a79ea32bac9b7c1c"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a1e4ffc9baa8dfee0a79ea32bac9b7c1c">rtabmap::StereoCameraModel::F</a></div><div class="ttdeci">const cv::Mat & F() const</div><div class="ttdoc">Fundamental matrix.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00433">StereoCameraModel.h:433</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a1e4ffc9baa8dfee0a79ea32bac9b7c1c"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a1e4ffc9baa8dfee0a79ea32bac9b7c1c">rtabmap::StereoCameraModel::F</a></div><div class="ttdeci">const cv::Mat & F() const</div><div class="ttdoc">Fundamental matrix.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00478">StereoCameraModel.h:478</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a264d57ca1e0f6b41d03ffe1d89afc382"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a264d57ca1e0f6b41d03ffe1d89afc382">rtabmap::StereoCameraModel::scale</a></div><div class="ttdeci">void scale(double scale)</div><div class="ttdoc">Scales both cameras' calibration by a factor.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a28230b8236ed778729ed1e1ceb590f31"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a28230b8236ed778729ed1e1ceb590f31">rtabmap::StereoCameraModel::computeDisparity</a></div><div class="ttdeci">float computeDisparity(unsigned short depth) const</div><div class="ttdoc">Computes the disparity value from a depth given in unsigned short format (millimeters).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a3ecae21bbf6bc9914d0bb553c99f9e09"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a3ecae21bbf6bc9914d0bb553c99f9e09">rtabmap::StereoCameraModel::getRightSuffix</a></div><div class="ttdeci">const std::string & getRightSuffix() const</div><div class="ttdoc">Gets the suffix used for the right camera calibration file.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00515">StereoCameraModel.h:515</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a3ecae21bbf6bc9914d0bb553c99f9e09"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a3ecae21bbf6bc9914d0bb553c99f9e09">rtabmap::StereoCameraModel::getRightSuffix</a></div><div class="ttdeci">const std::string & getRightSuffix() const</div><div class="ttdoc">Gets the suffix used for the right camera calibration file.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00560">StereoCameraModel.h:560</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a4eab6254ef808719ca2d0543c89e0722"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a4eab6254ef808719ca2d0543c89e0722">rtabmap::StereoCameraModel::serialize</a></div><div class="ttdeci">std::vector< unsigned char > serialize() const</div><div class="ttdoc">Serializes the stereo camera model into a byte vector.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a506f83654d7f772a3743d24869c05742"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a506f83654d7f772a3743d24869c05742">rtabmap::StereoCameraModel::stereoTransform</a></div><div class="ttdeci">Transform stereoTransform() const</div><div class="ttdoc">Returns the stereo transform (left camera relative to right camera coordinate system).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a514f7d1baff8b4be96d760b27279f5d6"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a514f7d1baff8b4be96d760b27279f5d6">rtabmap::StereoCameraModel::computeDepth</a></div><div class="ttdeci">float computeDepth(float disparity) const</div><div class="ttdoc">Computes the depth (Z coordinate) from a given disparity value.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a5257cde3d51bbee7c51c3f36d0c7741f"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a5257cde3d51bbee7c51c3f36d0c7741f">rtabmap::StereoCameraModel::localTransform</a></div><div class="ttdeci">const Transform & localTransform() const</div><div class="ttdoc">Gets the local transform from left camera to robot base.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00471">StereoCameraModel.h:471</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a5257cde3d51bbee7c51c3f36d0c7741f"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a5257cde3d51bbee7c51c3f36d0c7741f">rtabmap::StereoCameraModel::localTransform</a></div><div class="ttdeci">const Transform & localTransform() const</div><div class="ttdoc">Gets the local transform from left camera to robot base.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00516">StereoCameraModel.h:516</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a544ee7d540dfe57c94863190d87898aa"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a544ee7d540dfe57c94863190d87898aa">rtabmap::StereoCameraModel::initRectificationMap</a></div><div class="ttdeci">void initRectificationMap()</div><div class="ttdoc">Initializes the rectification maps for both cameras.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00234">StereoCameraModel.h:234</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a626b8f54940ebc77ec504921004dda3a"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a626b8f54940ebc77ec504921004dda3a">rtabmap::StereoCameraModel::reproject</a></div><div class="ttdeci">void reproject(float x, float y, float z, int &uLeft, int &vLeft, int &uRight, int &vRight) const</div><div class="ttdoc">Reprojects a 3D point of the left camera frame into both image planes (rounded to int).</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a6c16870b83978d286003b166fd6949cf"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a6c16870b83978d286003b166fd6949cf">rtabmap::StereoCameraModel::isValidForProjection</a></div><div class="ttdeci">bool isValidForProjection() const</div><div class="ttdoc">Returns true if both left and right models are valid for projection and the baseline is positive.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00224">StereoCameraModel.h:224</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a7467f3a9a7961e643d0cd152286a13dd"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a7467f3a9a7961e643d0cd152286a13dd">rtabmap::StereoCameraModel::deserialize</a></div><div class="ttdeci">unsigned int deserialize(const std::vector< unsigned char > &data)</div><div class="ttdoc">Deserializes stereo camera model data from a byte vector.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a76bab07a51033de989fc522064ede024"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a76bab07a51033de989fc522064ede024">rtabmap::StereoCameraModel::StereoCameraModel</a></div><div class="ttdeci">StereoCameraModel(const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const Transform &extrinsics)</div><div class="ttdoc">Constructs a StereoCameraModel from two camera models and an extrinsic Transform between them.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a799e3f787d015b5cbd0189768f5b673c"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a799e3f787d015b5cbd0189768f5b673c">rtabmap::StereoCameraModel::getLeftSuffix</a></div><div class="ttdeci">const std::string & getLeftSuffix() const</div><div class="ttdoc">Gets the suffix used for the left camera calibration file.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00511">StereoCameraModel.h:511</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a7afd347afb3909a2039f154b3a048035"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a7afd347afb3909a2039f154b3a048035">rtabmap::StereoCameraModel::R</a></div><div class="ttdeci">const cv::Mat & R() const</div><div class="ttdoc">Stereo extrinsic rotation matrix.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00430">StereoCameraModel.h:430</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a82d60ddca8d0cdbe939b043ed02334b6"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a82d60ddca8d0cdbe939b043ed02334b6">rtabmap::StereoCameraModel::T</a></div><div class="ttdeci">const cv::Mat & T() const</div><div class="ttdoc">Stereo extrinsic translation vector.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00431">StereoCameraModel.h:431</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a799e3f787d015b5cbd0189768f5b673c"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a799e3f787d015b5cbd0189768f5b673c">rtabmap::StereoCameraModel::getLeftSuffix</a></div><div class="ttdeci">const std::string & getLeftSuffix() const</div><div class="ttdoc">Gets the suffix used for the left camera calibration file.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00556">StereoCameraModel.h:556</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a7afd347afb3909a2039f154b3a048035"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a7afd347afb3909a2039f154b3a048035">rtabmap::StereoCameraModel::R</a></div><div class="ttdeci">const cv::Mat & R() const</div><div class="ttdoc">Stereo extrinsic rotation matrix.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00475">StereoCameraModel.h:475</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a82d60ddca8d0cdbe939b043ed02334b6"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a82d60ddca8d0cdbe939b043ed02334b6">rtabmap::StereoCameraModel::T</a></div><div class="ttdeci">const cv::Mat & T() const</div><div class="ttdoc">Stereo extrinsic translation vector.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00476">StereoCameraModel.h:476</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a898c2eff7bfc4977703f8edb86ca1187"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a898c2eff7bfc4977703f8edb86ca1187">rtabmap::StereoCameraModel::setImageSize</a></div><div class="ttdeci">void setImageSize(const cv::Size &size)</div><div class="ttdoc">Sets the image size for both left and right cameras.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00263">StereoCameraModel.h:263</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a8ab6c698248837e4dcfe36c2e7b02546"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a8ab6c698248837e4dcfe36c2e7b02546">rtabmap::StereoCameraModel::E</a></div><div class="ttdeci">const cv::Mat & E() const</div><div class="ttdoc">Essential matrix.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00432">StereoCameraModel.h:432</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a8ab6c698248837e4dcfe36c2e7b02546"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a8ab6c698248837e4dcfe36c2e7b02546">rtabmap::StereoCameraModel::E</a></div><div class="ttdeci">const cv::Mat & E() const</div><div class="ttdoc">Essential matrix.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00477">StereoCameraModel.h:477</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a8dc48f95fcf68eb81da96941f778535f"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a8dc48f95fcf68eb81da96941f778535f">rtabmap::StereoCameraModel::baseline</a></div><div class="ttdeci">double baseline() const</div><div class="ttdoc">Returns the stereo baseline in meters.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00378">StereoCameraModel.h:378</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a8e3a5c32e13727545f2d22dda05c96b0"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a8e3a5c32e13727545f2d22dda05c96b0">rtabmap::StereoCameraModel::StereoCameraModel</a></div><div class="ttdeci">StereoCameraModel(const std::string &name, double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0), const cv::Size &imageSize=cv::Size(0, 0))</div><div class="ttdoc">Minimal constructor that also sets a name, required if we want to save it to a file.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_a9c2d94b9bc335fdec7f5fa4f4c45a07c"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#a9c2d94b9bc335fdec7f5fa4f4c45a07c">rtabmap::StereoCameraModel::load</a></div><div class="ttdeci">bool load(const std::string &directory, const std::string &cameraName, bool ignoreStereoTransform=true, bool initRectificationMaps=true)</div><div class="ttdoc">Loads stereo camera calibration data from disk.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_aa35a73db2fc272f0f33b40220b75fa43"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#aa35a73db2fc272f0f33b40220b75fa43">rtabmap::StereoCameraModel::isRectificationMapInitialized</a></div><div class="ttdeci">bool isRectificationMapInitialized() const</div><div class="ttdoc">Returns true if rectification maps are initialized.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00239">StereoCameraModel.h:239</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_ab8061141407d8cc55d7f83211708af85"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#ab8061141407d8cc55d7f83211708af85">rtabmap::StereoCameraModel::right</a></div><div class="ttdeci">const CameraModel & right() const</div><div class="ttdoc">Returns the right camera model.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00506">StereoCameraModel.h:506</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_ab8061141407d8cc55d7f83211708af85"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#ab8061141407d8cc55d7f83211708af85">rtabmap::StereoCameraModel::right</a></div><div class="ttdeci">const CameraModel & right() const</div><div class="ttdoc">Returns the right camera model.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00551">StereoCameraModel.h:551</a></div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_abfafd0a24795186f3bf623082663b4cd"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#abfafd0a24795186f3bf623082663b4cd">rtabmap::StereoCameraModel::save</a></div><div class="ttdeci">bool save(const std::string &directory, bool ignoreStereoTransform=true) const</div><div class="ttdoc">Saves stereo camera calibration data to disk.</div></div>
|
||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_ac2fb1c489ae60bd7e4c104515db3c3a9"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#ac2fb1c489ae60bd7e4c104515db3c3a9">rtabmap::StereoCameraModel::roi</a></div><div class="ttdeci">void roi(const cv::Rect &roi)</div><div class="ttdoc">Applies region-of-interest (ROI) cropping to both cameras.</div></div>
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||||
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_ac5e22eec7815cb27e436afada2b5769f"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#ac5e22eec7815cb27e436afada2b5769f">rtabmap::StereoCameraModel::isValidForRectification</a></div><div class="ttdeci">bool isValidForRectification() const</div><div class="ttdoc">Returns true if both left and right models are valid for rectification.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00229">StereoCameraModel.h:229</a></div></div>
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@@ -312,7 +318,7 @@ $(document).ready(function(){initNavTree('StereoCameraModel_8h_source.html','');
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<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_ae759fe4ff0862f5305cf85257e0367a1"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#ae759fe4ff0862f5305cf85257e0367a1">rtabmap::StereoCameraModel::name</a></div><div class="ttdeci">const std::string & name() const</div><div class="ttdoc">Gets the camera name.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00258">StereoCameraModel.h:258</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_ae91c2717319f3cd7b6f40768e5adbb9f"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#ae91c2717319f3cd7b6f40768e5adbb9f">rtabmap::StereoCameraModel::StereoCameraModel</a></div><div class="ttdeci">StereoCameraModel(const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const cv::Mat &R=cv::Mat(), const cv::Mat &T=cv::Mat(), const cv::Mat &E=cv::Mat(), const cv::Mat &F=cv::Mat())</div><div class="ttdoc">Constructs a StereoCameraModel from two individual camera models and optional stereo extrinsic parame...</div></div>
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<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_aecf8b2a628ead0bc422dbf791d683f5b"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#aecf8b2a628ead0bc422dbf791d683f5b">rtabmap::StereoCameraModel::computeDisparity</a></div><div class="ttdeci">float computeDisparity(float depth) const</div><div class="ttdoc">Computes the disparity value from a given depth.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_aee77882ceca428a560f5fd3713a330fb"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#aee77882ceca428a560f5fd3713a330fb">rtabmap::StereoCameraModel::setLocalTransform</a></div><div class="ttdeci">void setLocalTransform(const Transform &transform)</div><div class="ttdoc">Sets the local transform from left camera to robot base.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00466">StereoCameraModel.h:466</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_aee77882ceca428a560f5fd3713a330fb"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#aee77882ceca428a560f5fd3713a330fb">rtabmap::StereoCameraModel::setLocalTransform</a></div><div class="ttdeci">void setLocalTransform(const Transform &transform)</div><div class="ttdoc">Sets the local transform from left camera to robot base.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00511">StereoCameraModel.h:511</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_afaa6d8cf4c9b503cc8c8a03fb25ecdf3"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#afaa6d8cf4c9b503cc8c8a03fb25ecdf3">rtabmap::StereoCameraModel::~StereoCameraModel</a></div><div class="ttdeci">virtual ~StereoCameraModel()</div><div class="ttdoc">Destructor.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00219">StereoCameraModel.h:219</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html_afdec3f5bab7ab9b4c339edaa30e639db"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html#afdec3f5bab7ab9b4c339edaa30e639db">rtabmap::StereoCameraModel::deserialize</a></div><div class="ttdeci">unsigned int deserialize(const unsigned char *data, unsigned int dataSize)</div><div class="ttdoc">Deserializes stereo camera model data from a raw byte array.</div></div>
|
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<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>
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<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html#a5257cde3d51bbee7c51c3f36d0c7741f">localTransform</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html#ae759fe4ff0862f5305cf85257e0367a1">name</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html#a7afd347afb3909a2039f154b3a048035">R</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
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<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html#a084e3e40c8b0caf66269d508a8fcffbc">reproject</a>(float x, float y, float z, float &uLeft, float &vLeft, float &uRight, float &vRight) const</td><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></td><td class="entry"></td></tr>
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||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html#a626b8f54940ebc77ec504921004dda3a">reproject</a>(float x, float y, float z, int &uLeft, int &vLeft, int &uRight, int &vRight) const</td><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html#ab8061141407d8cc55d7f83211708af85">right</a>() const</td><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></td><td class="entry"><span class="mlabel">inline</span></td></tr>
|
||||
<tr class="even"><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html#ac2fb1c489ae60bd7e4c104515db3c3a9">roi</a>(const cv::Rect &roi)</td><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></td><td class="entry"></td></tr>
|
||||
<tr class="odd"><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html#abfafd0a24795186f3bf623082663b4cd">save</a>(const std::string &directory, bool ignoreStereoTransform=true) const</td><td class="entry"><a class="el" href="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></td><td class="entry"></td></tr>
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@@ -184,6 +184,12 @@ Public Member Functions</h2></td></tr>
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<tr class="memitem:a28230b8236ed778729ed1e1ceb590f31" id="r_a28230b8236ed778729ed1e1ceb590f31"><td class="memItemLeft" align="right" valign="top">float </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoCameraModel.html#a28230b8236ed778729ed1e1ceb590f31">computeDisparity</a> (unsigned short depth) const</td></tr>
|
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<tr class="memdesc:a28230b8236ed778729ed1e1ceb590f31"><td class="mdescLeft"> </td><td class="mdescRight">Computes the disparity value from a depth given in unsigned short format (millimeters). <br /></td></tr>
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<tr class="separator:a28230b8236ed778729ed1e1ceb590f31"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a084e3e40c8b0caf66269d508a8fcffbc" id="r_a084e3e40c8b0caf66269d508a8fcffbc"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoCameraModel.html#a084e3e40c8b0caf66269d508a8fcffbc">reproject</a> (float x, float y, float z, float &uLeft, float &vLeft, float &uRight, float &vRight) const</td></tr>
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||||
<tr class="memdesc:a084e3e40c8b0caf66269d508a8fcffbc"><td class="mdescLeft"> </td><td class="mdescRight">Reprojects a 3D point of the left camera frame into both image planes (floating-point). <br /></td></tr>
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<tr class="separator:a084e3e40c8b0caf66269d508a8fcffbc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a626b8f54940ebc77ec504921004dda3a" id="r_a626b8f54940ebc77ec504921004dda3a"><td class="memItemLeft" align="right" valign="top">void </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoCameraModel.html#a626b8f54940ebc77ec504921004dda3a">reproject</a> (float x, float y, float z, int &uLeft, int &vLeft, int &uRight, int &vRight) const</td></tr>
|
||||
<tr class="memdesc:a626b8f54940ebc77ec504921004dda3a"><td class="mdescLeft"> </td><td class="mdescRight">Reprojects a 3D point of the left camera frame into both image planes (rounded to int). <br /></td></tr>
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<tr class="separator:a626b8f54940ebc77ec504921004dda3a"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a7afd347afb3909a2039f154b3a048035" id="r_a7afd347afb3909a2039f154b3a048035"><td class="memItemLeft" align="right" valign="top">const cv::Mat & </td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoCameraModel.html#a7afd347afb3909a2039f154b3a048035">R</a> () const</td></tr>
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<tr class="memdesc:a7afd347afb3909a2039f154b3a048035"><td class="mdescLeft"> </td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching.">Stereo</a> extrinsic rotation matrix. <br /></td></tr>
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@@ -1305,6 +1311,157 @@ If the serialized data type is not stereo (type != 1), deserialization will fail
|
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<dl class="section return"><dt>Returns</dt><dd>The computed disparity in pixels. Returns 0 if depth is zero or if the model is not valid for projection.</dd></dl>
|
||||
<dl class="section note"><dt>Note</dt><dd>This function requires the stereo camera to be valid for projection (i.e., calibrated and rectified). </dd></dl>
|
||||
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||||
</div>
|
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<a id="a084e3e40c8b0caf66269d508a8fcffbc" name="a084e3e40c8b0caf66269d508a8fcffbc"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a084e3e40c8b0caf66269d508a8fcffbc">◆ </a></span>reproject() <span class="overload">[1/2]</span></h2>
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<td class="memname">void rtabmap::StereoCameraModel::reproject </td>
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<td>(</td>
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<td class="paramtype">float </td>
|
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<td class="paramname"><em>x</em>, </td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>y</em>, </td>
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<td class="paramtype">float </td>
|
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<td class="paramname"><em>z</em>, </td>
|
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|
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<td class="paramkey"></td>
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<td></td>
|
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<td class="paramtype">float & </td>
|
||||
<td class="paramname"><em>uLeft</em>, </td>
|
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|
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|
||||
<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
|
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<td class="paramname"><em>vLeft</em>, </td>
|
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|
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">float & </td>
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<td class="paramname"><em>uRight</em>, </td>
|
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<td></td>
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<td class="paramtype">float & </td>
|
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<td class="paramname"><em>vRight</em> </td>
|
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|
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<td>)</td>
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<td></td><td> const</td>
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||||
<p>Reprojects a 3D point of the left camera frame into both image planes (floating-point). </p>
|
||||
<p>The point is given in the rectified left camera frame (/camera_link), the same frame used by <a class="el" href="classrtabmap_1_1CameraModel.html#a637a730717e42939449cd9f09e20db26" title="Reprojects a 3D point in the camera frame (/camera_link) into 2D image coordinates (floating-point).">CameraModel::reproject()</a> of <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a064d29601c0ba13fc47584849e26b81b" title="Returns the left camera model.">left()</a>. 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.</p>
|
||||
<dl class="section note"><dt>Note</dt><dd>Unlike this function, <a class="el" href="classrtabmap_1_1CameraModel.html#a637a730717e42939449cd9f09e20db26" title="Reprojects a 3D point in the camera frame (/camera_link) into 2D image coordinates (floating-point).">CameraModel::reproject()</a> 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).</dd></dl>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramdir"></td><td class="paramname">x</td><td>X coordinate in the left camera space. </td></tr>
|
||||
<tr><td class="paramdir"></td><td class="paramname">y</td><td>Y coordinate in the left camera space. </td></tr>
|
||||
<tr><td class="paramdir"></td><td class="paramname">z</td><td>Z coordinate in the left camera space (must be non-zero). </td></tr>
|
||||
<tr><td class="paramdir">[out]</td><td class="paramname">uLeft</td><td>Output horizontal image coordinate in the left image (float). </td></tr>
|
||||
<tr><td class="paramdir">[out]</td><td class="paramname">vLeft</td><td>Output vertical image coordinate in the left image (float). </td></tr>
|
||||
<tr><td class="paramdir">[out]</td><td class="paramname">uRight</td><td>Output horizontal image coordinate in the right image (float). </td></tr>
|
||||
<tr><td class="paramdir">[out]</td><td class="paramname">vRight</td><td>Output vertical image coordinate in the right image (float).</td></tr>
|
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</table>
|
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</dd>
|
||||
</dl>
|
||||
<dl class="section pre"><dt>Precondition</dt><dd><code>z != 0</code></dd></dl>
|
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<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1CameraModel.html#a637a730717e42939449cd9f09e20db26" title="Reprojects a 3D point in the camera frame (/camera_link) into 2D image coordinates (floating-point).">CameraModel::reproject()</a>, reproject(int&, int&, int&, int&) </dd></dl>
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</div>
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</div>
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<a id="a626b8f54940ebc77ec504921004dda3a" name="a626b8f54940ebc77ec504921004dda3a"></a>
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<h2 class="memtitle"><span class="permalink"><a href="#a626b8f54940ebc77ec504921004dda3a">◆ </a></span>reproject() <span class="overload">[2/2]</span></h2>
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<td class="memname">void rtabmap::StereoCameraModel::reproject </td>
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<td>(</td>
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<td class="paramtype">float </td>
|
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<td class="paramname"><em>x</em>, </td>
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<td class="paramtype">float </td>
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<td class="paramname"><em>y</em>, </td>
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<td class="paramtype">float </td>
|
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<td class="paramname"><em>z</em>, </td>
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<td class="paramtype">int & </td>
|
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<td class="paramname"><em>uLeft</em>, </td>
|
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<td class="paramkey"></td>
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<td></td>
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<td class="paramtype">int & </td>
|
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<td class="paramname"><em>vLeft</em>, </td>
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|
||||
<td class="paramtype">int & </td>
|
||||
<td class="paramname"><em>uRight</em>, </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td class="paramkey"></td>
|
||||
<td></td>
|
||||
<td class="paramtype">int & </td>
|
||||
<td class="paramname"><em>vRight</em> </td>
|
||||
</tr>
|
||||
<tr>
|
||||
<td></td>
|
||||
<td>)</td>
|
||||
<td></td><td> const</td>
|
||||
</tr>
|
||||
</table>
|
||||
</div><div class="memdoc">
|
||||
|
||||
<p>Reprojects a 3D point of the left camera frame into both image planes (rounded to int). </p>
|
||||
<p>This version of <code><a class="el" href="classrtabmap_1_1StereoCameraModel.html#a084e3e40c8b0caf66269d508a8fcffbc" title="Reprojects a 3D point of the left camera frame into both image planes (floating-point).">reproject()</a></code> returns integer pixel indices, computed from the 3D position.</p>
|
||||
<dl class="params"><dt>Parameters</dt><dd>
|
||||
<table class="params">
|
||||
<tr><td class="paramdir"></td><td class="paramname">x</td><td>X coordinate in the left camera space. </td></tr>
|
||||
<tr><td class="paramdir"></td><td class="paramname">y</td><td>Y coordinate in the left camera space. </td></tr>
|
||||
<tr><td class="paramdir"></td><td class="paramname">z</td><td>Z coordinate in the left camera space (must be non-zero). </td></tr>
|
||||
<tr><td class="paramdir">[out]</td><td class="paramname">uLeft</td><td>Output horizontal image coordinate in the left image (integer pixel). </td></tr>
|
||||
<tr><td class="paramdir">[out]</td><td class="paramname">vLeft</td><td>Output vertical image coordinate in the left image (integer pixel). </td></tr>
|
||||
<tr><td class="paramdir">[out]</td><td class="paramname">uRight</td><td>Output horizontal image coordinate in the right image (integer pixel). </td></tr>
|
||||
<tr><td class="paramdir">[out]</td><td class="paramname">vRight</td><td>Output vertical image coordinate in the right image (integer pixel).</td></tr>
|
||||
</table>
|
||||
</dd>
|
||||
</dl>
|
||||
<dl class="section pre"><dt>Precondition</dt><dd><code>z != 0</code></dd></dl>
|
||||
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1CameraModel.html#a637a730717e42939449cd9f09e20db26" title="Reprojects a 3D point in the camera frame (/camera_link) into 2D image coordinates (floating-point).">CameraModel::reproject()</a>, reproject(float&, float&, float&, float&) </dd></dl>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
<a id="a7afd347afb3909a2039f154b3a048035" name="a7afd347afb3909a2039f154b3a048035"></a>
|
||||
@@ -1332,7 +1489,7 @@ If the serialized data type is not stereo (type != 1), deserialization will fail
|
||||
|
||||
<p><a class="el" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching.">Stereo</a> extrinsic rotation matrix. </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00430">430</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00475">475</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1361,7 +1518,7 @@ If the serialized data type is not stereo (type != 1), deserialization will fail
|
||||
|
||||
<p><a class="el" href="classrtabmap_1_1Stereo.html" title="Sparse stereo matching using block matching.">Stereo</a> extrinsic translation vector. </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00431">431</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00476">476</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1390,7 +1547,7 @@ If the serialized data type is not stereo (type != 1), deserialization will fail
|
||||
|
||||
<p>Essential matrix. </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00432">432</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00477">477</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1419,7 +1576,7 @@ If the serialized data type is not stereo (type != 1), deserialization will fail
|
||||
|
||||
<p>Fundamental matrix. </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00433">433</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00478">478</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1511,7 +1668,7 @@ Only valid camera models are adjusted. Invalid models are left unchanged. </dd><
|
||||
|
||||
<p>Sets the local transform from left camera to robot base. </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00466">466</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00511">511</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1540,7 +1697,7 @@ Only valid camera models are adjusted. Invalid models are left unchanged. </dd><
|
||||
|
||||
<p>Gets the local transform from left camera to robot base. </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00471">471</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00516">516</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1597,7 +1754,7 @@ Only valid camera models are adjusted. Invalid models are left unchanged. </dd><
|
||||
|
||||
<p>Returns the left camera model. </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00502">502</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00547">547</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1626,7 +1783,7 @@ Only valid camera models are adjusted. Invalid models are left unchanged. </dd><
|
||||
|
||||
<p>Returns the right camera model. </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00506">506</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00551">551</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1655,7 +1812,7 @@ Only valid camera models are adjusted. Invalid models are left unchanged. </dd><
|
||||
|
||||
<p>Gets the suffix used for the left camera calibration file. </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00511">511</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00556">556</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
@@ -1684,7 +1841,7 @@ Only valid camera models are adjusted. Invalid models are left unchanged. </dd><
|
||||
|
||||
<p>Gets the suffix used for the right camera calibration file. </p>
|
||||
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00515">515</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
<p class="definition">Definition at line <a class="el" href="StereoCameraModel_8h_source.html#l00560">560</a> of file <a class="el" href="StereoCameraModel_8h_source.html">StereoCameraModel.h</a>.</p>
|
||||
|
||||
</div>
|
||||
</div>
|
||||
|
||||
@@ -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 ],
|
||||
|
||||
@@ -134,7 +134,7 @@ $(document).ready(function(){initNavTree('functions_func_r.html',''); initResiza
|
||||
<li>removeWords() : <a class="el" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4">rtabmap::VWDictionary</a></li>
|
||||
<li>rename() : <a class="el" href="classUFile.html#a725e2edf4b5f603bfc688e96c76858d4">UFile</a></li>
|
||||
<li>repeatOnce() : <a class="el" href="classrtabmap_1_1Registration.html#a7a9163259eaebff421953e194a623864">rtabmap::Registration</a></li>
|
||||
<li>reproject() : <a class="el" href="classrtabmap_1_1CameraModel.html#a99204ef1a884478cf45b1503432b235b">rtabmap::CameraModel</a></li>
|
||||
<li>reproject() : <a class="el" href="classrtabmap_1_1CameraModel.html#a637a730717e42939449cd9f09e20db26">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a084e3e40c8b0caf66269d508a8fcffbc">rtabmap::StereoCameraModel</a></li>
|
||||
<li>reset() : <a class="el" href="classrtabmap_1_1BayesFilter.html#ad415ee334d31eebc3685e61862f32573">rtabmap::BayesFilter</a>, <a class="el" href="classrtabmap_1_1IMUFilter.html#a45b68e2127fc5a687ef6b7920bf9b39b">rtabmap::IMUFilter</a>, <a class="el" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">rtabmap::Odometry</a>, <a class="el" href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742">rtabmap::OdometryCuVSLAM</a>, <a class="el" href="classrtabmap_1_1OdometryDVO.html#aa20fb31a7bf255caa1f13b0b69b2ee65">rtabmap::OdometryDVO</a>, <a class="el" href="classrtabmap_1_1OdometryF2F.html#a7fb0eb46ed5b40e15299bc40b5cd4eb5">rtabmap::OdometryF2F</a>, <a class="el" href="classrtabmap_1_1OdometryF2M.html#a7a4b7219e339bbea7761601027f192d2">rtabmap::OdometryF2M</a>, <a class="el" href="classrtabmap_1_1OdometryFLOAM.html#a85105e691f68317b2816566cb7440e46">rtabmap::OdometryFLOAM</a>, <a class="el" href="classrtabmap_1_1OdometryFovis.html#a0175e1e923673028f1d647aaa185447c">rtabmap::OdometryFovis</a>, <a class="el" href="classrtabmap_1_1OdometryLIOSAM.html#a7f72dbc28081ae774303dbf2d8cb5535">rtabmap::OdometryLIOSAM</a>, <a class="el" href="classrtabmap_1_1OdometryLOAM.html#a6acc7b4f164a8915ada550ba7c23ac0e">rtabmap::OdometryLOAM</a>, <a class="el" href="classrtabmap_1_1OdometryMono.html#a9574ccc748b5c4f664c059d460742457">rtabmap::OdometryMono</a>, <a class="el" href="classrtabmap_1_1OdometryMSCKF.html#a3be4ada7eebf234c87a3127a85988d97">rtabmap::OdometryMSCKF</a>, <a class="el" href="classrtabmap_1_1OdometryOkvis.html#a81f51ca0b6f3b48f9e6a6e0e2d7b7118">rtabmap::OdometryOkvis</a>, <a class="el" href="classrtabmap_1_1OdometryOpen3D.html#a21fecb34185676d02d92c7ad18f13970">rtabmap::OdometryOpen3D</a>, <a class="el" href="classrtabmap_1_1OdometryOpenVINS.html#abbf8f6be20990f3e39ad23325d72b41b">rtabmap::OdometryOpenVINS</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM2.html#ab127fac7aae296a68a9bf68ab02ffbbc">rtabmap::OdometryORBSLAM2</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM3.html#a57626265fa4c23fab95140ca9c1f8f93">rtabmap::OdometryORBSLAM3</a>, <a class="el" href="classrtabmap_1_1OdometryVINSFusion.html#aa2fdb97067ad27d76c6315125a513ed3">rtabmap::OdometryVINSFusion</a>, <a class="el" href="classrtabmap_1_1OdometryViso2.html#ad442b8186b72e220feace5fb0b0fec5c">rtabmap::OdometryViso2</a>, <a class="el" href="classULogger.html#a007b617547d616325e58003eb4352a19">ULogger</a></li>
|
||||
<li>resetMemory() : <a class="el" href="classrtabmap_1_1Rtabmap.html#af12ae46226f33adf8c4cafbe1bcf544c">rtabmap::Rtabmap</a></li>
|
||||
<li>resetTimer() : <a class="el" href="classrtabmap_1_1SensorCapture.html#afa9923bb4a3b88e6dbf4c8ae7f060437">rtabmap::SensorCapture</a></li>
|
||||
|
||||
@@ -135,9 +135,9 @@ $(document).ready(function(){initNavTree('functions_r.html',''); initResizable()
|
||||
<li>removeRawData() : <a class="el" href="classrtabmap_1_1Memory.html#acab72b1076370287ac28a1d464d480f0">rtabmap::Memory</a></li>
|
||||
<li>removeVirtualLinks() : <a class="el" href="classrtabmap_1_1Memory.html#aa77fb0f90185a274b3e9d0c609ce14ed">rtabmap::Memory</a>, <a class="el" href="classrtabmap_1_1Signature.html#a328419f90f9dd8113dee4e38c9e30367">rtabmap::Signature</a></li>
|
||||
<li>removeWords() : <a class="el" href="classrtabmap_1_1VWDictionary.html#a7a506e15bf83d16cc98aaa34057216f4">rtabmap::VWDictionary</a></li>
|
||||
<li>rename() : <a class="el" href="classUFile.html#a4918a111f92f2fdb7406fbd1661a1587">UFile</a></li>
|
||||
<li>rename() : <a class="el" href="classUFile.html#a725e2edf4b5f603bfc688e96c76858d4">UFile</a></li>
|
||||
<li>repeatOnce() : <a class="el" href="classrtabmap_1_1Registration.html#a7a9163259eaebff421953e194a623864">rtabmap::Registration</a></li>
|
||||
<li>reproject() : <a class="el" href="classrtabmap_1_1CameraModel.html#a99204ef1a884478cf45b1503432b235b">rtabmap::CameraModel</a></li>
|
||||
<li>reproject() : <a class="el" href="classrtabmap_1_1CameraModel.html#a99204ef1a884478cf45b1503432b235b">rtabmap::CameraModel</a>, <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a626b8f54940ebc77ec504921004dda3a">rtabmap::StereoCameraModel</a></li>
|
||||
<li>reset() : <a class="el" href="classrtabmap_1_1BayesFilter.html#ad415ee334d31eebc3685e61862f32573">rtabmap::BayesFilter</a>, <a class="el" href="classrtabmap_1_1IMUFilter.html#a45b68e2127fc5a687ef6b7920bf9b39b">rtabmap::IMUFilter</a>, <a class="el" href="classrtabmap_1_1Odometry.html#a0ea20c39ae597a21e896b706662bb31c">rtabmap::Odometry</a>, <a class="el" href="classrtabmap_1_1OdometryCuVSLAM.html#a4cb0a09fc8eb184b2e0d915980b02742">rtabmap::OdometryCuVSLAM</a>, <a class="el" href="classrtabmap_1_1OdometryDVO.html#aa20fb31a7bf255caa1f13b0b69b2ee65">rtabmap::OdometryDVO</a>, <a class="el" href="classrtabmap_1_1OdometryF2F.html#a7fb0eb46ed5b40e15299bc40b5cd4eb5">rtabmap::OdometryF2F</a>, <a class="el" href="classrtabmap_1_1OdometryF2M.html#a7a4b7219e339bbea7761601027f192d2">rtabmap::OdometryF2M</a>, <a class="el" href="classrtabmap_1_1OdometryFLOAM.html#a85105e691f68317b2816566cb7440e46">rtabmap::OdometryFLOAM</a>, <a class="el" href="classrtabmap_1_1OdometryFovis.html#a0175e1e923673028f1d647aaa185447c">rtabmap::OdometryFovis</a>, <a class="el" href="classrtabmap_1_1OdometryLIOSAM.html#a7f72dbc28081ae774303dbf2d8cb5535">rtabmap::OdometryLIOSAM</a>, <a class="el" href="classrtabmap_1_1OdometryLOAM.html#a6acc7b4f164a8915ada550ba7c23ac0e">rtabmap::OdometryLOAM</a>, <a class="el" href="classrtabmap_1_1OdometryMono.html#a9574ccc748b5c4f664c059d460742457">rtabmap::OdometryMono</a>, <a class="el" href="classrtabmap_1_1OdometryMSCKF.html#a3be4ada7eebf234c87a3127a85988d97">rtabmap::OdometryMSCKF</a>, <a class="el" href="classrtabmap_1_1OdometryOkvis.html#a81f51ca0b6f3b48f9e6a6e0e2d7b7118">rtabmap::OdometryOkvis</a>, <a class="el" href="classrtabmap_1_1OdometryOpen3D.html#a21fecb34185676d02d92c7ad18f13970">rtabmap::OdometryOpen3D</a>, <a class="el" href="classrtabmap_1_1OdometryOpenVINS.html#abbf8f6be20990f3e39ad23325d72b41b">rtabmap::OdometryOpenVINS</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM2.html#ab127fac7aae296a68a9bf68ab02ffbbc">rtabmap::OdometryORBSLAM2</a>, <a class="el" href="classrtabmap_1_1OdometryORBSLAM3.html#a57626265fa4c23fab95140ca9c1f8f93">rtabmap::OdometryORBSLAM3</a>, <a class="el" href="classrtabmap_1_1OdometryVINSFusion.html#aa2fdb97067ad27d76c6315125a513ed3">rtabmap::OdometryVINSFusion</a>, <a class="el" href="classrtabmap_1_1OdometryViso2.html#ad442b8186b72e220feace5fb0b0fec5c">rtabmap::OdometryViso2</a>, <a class="el" href="classULogger.html#a007b617547d616325e58003eb4352a19">ULogger</a></li>
|
||||
<li>resetMemory() : <a class="el" href="classrtabmap_1_1Rtabmap.html#af12ae46226f33adf8c4cafbe1bcf544c">rtabmap::Rtabmap</a></li>
|
||||
<li>resetTimer() : <a class="el" href="classrtabmap_1_1SensorCapture.html#afa9923bb4a3b88e6dbf4c8ae7f060437">rtabmap::SensorCapture</a></li>
|
||||
|
||||
@@ -139,10 +139,10 @@ var NAVTREEINDEX =
|
||||
"classrtabmap_1_1SensorCaptureInfo.html#a31eca8aee2a61df0d35d91edbc54ac53",
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