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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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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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