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@@ -396,160 +396,160 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span> </div>
<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87"> 730</a></span> <span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87">stereoCameraModels</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _stereoCameraModels;}</div>
<div class="line"><a id="l00731" name="l00731"></a><span class="lineno"> 731</span> </div>
<div class="line"><a id="l00740" name="l00740"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072"> 740</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072">setUserData</a>(<span class="keyword">const</span> cv::Mat &amp; userData, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00741" name="l00741"></a><span class="lineno"> 741</span> <span class="keyword">const</span> cv::Mat &amp; userDataRaw()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataRaw;}</div>
<div class="line"><a id="l00742" name="l00742"></a><span class="lineno"> 742</span> <span class="keyword">const</span> cv::Mat &amp; userDataCompressed()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataCompressed;}</div>
<div class="line"><a id="l00743" name="l00743"></a><span class="lineno"> 743</span> </div>
<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b"> 757</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b">setOccupancyGrid</a>(</div>
<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"> 758</span> <span class="keyword">const</span> cv::Mat &amp; ground,</div>
<div class="line"><a id="l00759" name="l00759"></a><span class="lineno"> 759</span> <span class="keyword">const</span> cv::Mat &amp; obstacles,</div>
<div class="line"><a id="l00760" name="l00760"></a><span class="lineno"> 760</span> <span class="keyword">const</span> cv::Mat &amp; empty,</div>
<div class="line"><a id="l00761" name="l00761"></a><span class="lineno"> 761</span> <span class="keywordtype">float</span> cellSize,</div>
<div class="line"><a id="l00762" name="l00762"></a><span class="lineno"> 762</span> <span class="keyword">const</span> cv::Point3f &amp; viewPoint);</div>
<div class="line"><a id="l00767" name="l00767"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4"> 767</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4">gridGroundCellsRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _groundCellsRaw;}</div>
<div class="line"><a id="l00768" name="l00768"></a><span class="lineno"> 768</span> </div>
<div class="line"><a id="l00774" name="l00774"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43"> 774</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43">gridGroundCellsCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _groundCellsCompressed;}</div>
<div class="line"><a id="l00775" name="l00775"></a><span class="lineno"> 775</span> </div>
<div class="line"><a id="l00780" name="l00780"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc"> 780</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc">gridObstacleCellsRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _obstacleCellsRaw;}</div>
<div class="line"><a id="l00781" name="l00781"></a><span class="lineno"> 781</span> </div>
<div class="line"><a id="l00787" name="l00787"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0"> 787</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0">gridObstacleCellsCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _obstacleCellsCompressed;}</div>
<div class="line"><a id="l00788" name="l00788"></a><span class="lineno"> 788</span> </div>
<div class="line"><a id="l00793" name="l00793"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe"> 793</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe">gridEmptyCellsRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _emptyCellsRaw;}</div>
<div class="line"><a id="l00794" name="l00794"></a><span class="lineno"> 794</span> </div>
<div class="line"><a id="l00800" name="l00800"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3"> 800</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3">gridEmptyCellsCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _emptyCellsCompressed;}</div>
<div class="line"><a id="l00801" name="l00801"></a><span class="lineno"> 801</span> </div>
<div class="line"><a id="l00806" name="l00806"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c"> 806</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">gridCellSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _cellSize;}</div>
<div class="line"><a id="l00807" name="l00807"></a><span class="lineno"> 807</span> </div>
<div class="line"><a id="l00812" name="l00812"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200"> 812</a></span> <span class="keyword">const</span> cv::Point3f &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200">gridViewPoint</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _viewPoint;}</div>
<div class="line"><a id="l00813" name="l00813"></a><span class="lineno"> 813</span> </div>
<div class="line"><a id="l00824" name="l00824"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3"> 824</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3">setFeatures</a>(<span class="keyword">const</span> std::vector&lt;cv::KeyPoint&gt; &amp; keypoints, <span class="keyword">const</span> std::vector&lt;cv::Point3f&gt; &amp; keypoints3D, <span class="keyword">const</span> cv::Mat &amp; descriptors);</div>
<div class="line"><a id="l00825" name="l00825"></a><span class="lineno"> 825</span> </div>
<div class="line"><a id="l00830" name="l00830"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94"> 830</a></span> <span class="keyword">const</span> std::vector&lt;cv::KeyPoint&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94">keypoints</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _keypoints;}</div>
<div class="line"><a id="l00831" name="l00831"></a><span class="lineno"> 831</span> </div>
<div class="line"><a id="l00836" name="l00836"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df"> 836</a></span> <span class="keyword">const</span> std::vector&lt;cv::Point3f&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df">keypoints3D</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _keypoints3D;}</div>
<div class="line"><a id="l00837" name="l00837"></a><span class="lineno"> 837</span> </div>
<div class="line"><a id="l00842" name="l00842"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26"> 842</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26">descriptors</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _descriptors;}</div>
<div class="line"><a id="l00843" name="l00843"></a><span class="lineno"> 843</span> </div>
<div class="line"><a id="l00848" name="l00848"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e"> 848</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e">addGlobalDescriptor</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptor.html">GlobalDescriptor</a> &amp; descriptor) {_globalDescriptors.push_back(descriptor);}</div>
<div class="line"><a id="l00849" name="l00849"></a><span class="lineno"> 849</span> </div>
<div class="line"><a id="l00854" name="l00854"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe"> 854</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe">setGlobalDescriptors</a>(<span class="keyword">const</span> std::vector&lt;GlobalDescriptor&gt; &amp; descriptors) {_globalDescriptors = descriptors;}</div>
<div class="line"><a id="l00855" name="l00855"></a><span class="lineno"> 855</span> </div>
<div class="line"><a id="l00859" name="l00859"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505"> 859</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505">clearGlobalDescriptors</a>() {_globalDescriptors.clear();}</div>
<div class="line"><a id="l00860" name="l00860"></a><span class="lineno"> 860</span> </div>
<div class="line"><a id="l00865" name="l00865"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8"> 865</a></span> <span class="keyword">const</span> std::vector&lt;GlobalDescriptor&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8">globalDescriptors</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _globalDescriptors;}</div>
<div class="line"><a id="l00866" name="l00866"></a><span class="lineno"> 866</span> </div>
<div class="line"><a id="l00871" name="l00871"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808"> 871</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808">setGroundTruth</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose) {groundTruth_ = pose;}</div>
<div class="line"><a id="l00872" name="l00872"></a><span class="lineno"> 872</span> </div>
<div class="line"><a id="l00877" name="l00877"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689"> 877</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689">groundTruth</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> groundTruth_;}</div>
<div class="line"><a id="l00878" name="l00878"></a><span class="lineno"> 878</span> </div>
<div class="line"><a id="l00884" name="l00884"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556"> 884</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556">setGlobalPose</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose, <span class="keyword">const</span> cv::Mat &amp; covariance) {globalPose_ = pose; globalPoseCovariance_ = covariance;}</div>
<div class="line"><a id="l00885" name="l00885"></a><span class="lineno"> 885</span> </div>
<div class="line"><a id="l00890" name="l00890"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87"> 890</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87">globalPose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> globalPose_;}</div>
<div class="line"><a id="l00891" name="l00891"></a><span class="lineno"> 891</span> </div>
<div class="line"><a id="l00896" name="l00896"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97"> 896</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97">globalPoseCovariance</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> globalPoseCovariance_;}</div>
<div class="line"><a id="l00897" name="l00897"></a><span class="lineno"> 897</span> </div>
<div class="line"><a id="l00902" name="l00902"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a"> 902</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a">setGPS</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> &amp; gps) {gps_ = gps;}</div>
<div class="line"><a id="l00903" name="l00903"></a><span class="lineno"> 903</span> </div>
<div class="line"><a id="l00908" name="l00908"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957"> 908</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957">gps</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> gps_;}</div>
<div class="line"><a id="l00909" name="l00909"></a><span class="lineno"> 909</span> </div>
<div class="line"><a id="l00916" name="l00916"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139"> 916</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139">setIMU</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> &amp; imu);</div>
<div class="line"><a id="l00917" name="l00917"></a><span class="lineno"> 917</span> </div>
<div class="line"><a id="l00922" name="l00922"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7"> 922</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7">imu</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> imu_;}</div>
<div class="line"><a id="l00923" name="l00923"></a><span class="lineno"> 923</span> </div>
<div class="line"><a id="l00928" name="l00928"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1"> 928</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1">setEnvSensors</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> &amp; sensors) {_envSensors = sensors;}</div>
<div class="line"><a id="l00929" name="l00929"></a><span class="lineno"> 929</span> </div>
<div class="line"><a id="l00934" name="l00934"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae"> 934</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae">addEnvSensor</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1EnvSensor.html">EnvSensor</a> &amp; sensor) {_envSensors.insert(std::make_pair(sensor.<a class="code hl_function" href="classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24">type</a>(), sensor));}</div>
<div class="line"><a id="l00935" name="l00935"></a><span class="lineno"> 935</span> </div>
<div class="line"><a id="l00940" name="l00940"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9"> 940</a></span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9">envSensors</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _envSensors;}</div>
<div class="line"><a id="l00941" name="l00941"></a><span class="lineno"> 941</span> </div>
<div class="line"><a id="l00947" name="l00947"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14"> 947</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14">setLandmarks</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> &amp; landmarks) {_landmarks = landmarks;}</div>
<div class="line"><a id="l00948" name="l00948"></a><span class="lineno"> 948</span> </div>
<div class="line"><a id="l00953" name="l00953"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8"> 953</a></span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8">landmarks</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _landmarks;}</div>
<div class="line"><a id="l00954" name="l00954"></a><span class="lineno"> 954</span> </div>
<div class="line"><a id="l00963" name="l00963"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc"> 963</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc">getMemoryUsed</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00968" name="l00968"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29"> 968</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29">clearCompressedData</a>(<span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00973" name="l00973"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2"> 973</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2">clearRawData</a>(<span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00974" name="l00974"></a><span class="lineno"> 974</span> </div>
<div class="line"><a id="l00984" name="l00984"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03"> 984</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03">isPointVisibleFromCameras</a>(<span class="keyword">const</span> cv::Point3f &amp; pt) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00985" name="l00985"></a><span class="lineno"> 985</span> </div>
<div class="line"><a id="l00986" name="l00986"></a><span class="lineno"> 986</span><span class="preprocessor">#ifdef HAVE_OPENCV_CUDEV</span></div>
<div class="line"><a id="l00991" name="l00991"></a><span class="lineno"> 991</span> <span class="keyword">const</span> cv::cuda::GpuMat &amp; imageRawGpu()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imageRawGpu;}</div>
<div class="line"><a id="l00992" name="l00992"></a><span class="lineno"> 992</span> </div>
<div class="line"><a id="l00997" name="l00997"></a><span class="lineno"> 997</span> <span class="keywordtype">void</span> setImageRawGpu(<span class="keyword">const</span> cv::cuda::GpuMat &amp; image) {_imageRawGpu = image;}</div>
<div class="line"><a id="l00998" name="l00998"></a><span class="lineno"> 998</span> </div>
<div class="line"><a id="l01003" name="l01003"></a><span class="lineno"> 1003</span> <span class="keyword">const</span> cv::cuda::GpuMat &amp; depthOrRightRawGpu()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightRawGpu;}</div>
<div class="line"><a id="l01004" name="l01004"></a><span class="lineno"> 1004</span> </div>
<div class="line"><a id="l01009" name="l01009"></a><span class="lineno"> 1009</span> <span class="keywordtype">void</span> setDepthOrRightRawGpu(<span class="keyword">const</span> cv::cuda::GpuMat &amp; image) {_depthOrRightRawGpu = image;}</div>
<div class="line"><a id="l01010" name="l01010"></a><span class="lineno"> 1010</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l01011" name="l01011"></a><span class="lineno"> 1011</span> </div>
<div class="line"><a id="l01012" name="l01012"></a><span class="lineno"> 1012</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l01013" name="l01013"></a><span class="lineno"> 1013</span> <span class="keywordtype">int</span> _id; </div>
<div class="line"><a id="l01014" name="l01014"></a><span class="lineno"> 1014</span> <span class="keywordtype">double</span> _stamp; </div>
<div class="line"><a id="l00744" name="l00744"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072"> 744</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072">setUserData</a>(<span class="keyword">const</span> cv::Mat &amp; userData, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00745" name="l00745"></a><span class="lineno"> 745</span> <span class="keyword">const</span> cv::Mat &amp; userDataRaw()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataRaw;}</div>
<div class="line"><a id="l00746" name="l00746"></a><span class="lineno"> 746</span> <span class="keyword">const</span> cv::Mat &amp; userDataCompressed()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataCompressed;}</div>
<div class="line"><a id="l00747" name="l00747"></a><span class="lineno"> 747</span> </div>
<div class="line"><a id="l00761" name="l00761"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b"> 761</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b">setOccupancyGrid</a>(</div>
<div class="line"><a id="l00762" name="l00762"></a><span class="lineno"> 762</span> <span class="keyword">const</span> cv::Mat &amp; ground,</div>
<div class="line"><a id="l00763" name="l00763"></a><span class="lineno"> 763</span> <span class="keyword">const</span> cv::Mat &amp; obstacles,</div>
<div class="line"><a id="l00764" name="l00764"></a><span class="lineno"> 764</span> <span class="keyword">const</span> cv::Mat &amp; empty,</div>
<div class="line"><a id="l00765" name="l00765"></a><span class="lineno"> 765</span> <span class="keywordtype">float</span> cellSize,</div>
<div class="line"><a id="l00766" name="l00766"></a><span class="lineno"> 766</span> <span class="keyword">const</span> cv::Point3f &amp; viewPoint);</div>
<div class="line"><a id="l00771" name="l00771"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4"> 771</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4">gridGroundCellsRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _groundCellsRaw;}</div>
<div class="line"><a id="l00772" name="l00772"></a><span class="lineno"> 772</span> </div>
<div class="line"><a id="l00778" name="l00778"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43"> 778</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43">gridGroundCellsCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _groundCellsCompressed;}</div>
<div class="line"><a id="l00779" name="l00779"></a><span class="lineno"> 779</span> </div>
<div class="line"><a id="l00784" name="l00784"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc"> 784</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc">gridObstacleCellsRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _obstacleCellsRaw;}</div>
<div class="line"><a id="l00785" name="l00785"></a><span class="lineno"> 785</span> </div>
<div class="line"><a id="l00791" name="l00791"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0"> 791</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0">gridObstacleCellsCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _obstacleCellsCompressed;}</div>
<div class="line"><a id="l00792" name="l00792"></a><span class="lineno"> 792</span> </div>
<div class="line"><a id="l00797" name="l00797"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe"> 797</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe">gridEmptyCellsRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _emptyCellsRaw;}</div>
<div class="line"><a id="l00798" name="l00798"></a><span class="lineno"> 798</span> </div>
<div class="line"><a id="l00804" name="l00804"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3"> 804</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3">gridEmptyCellsCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _emptyCellsCompressed;}</div>
<div class="line"><a id="l00805" name="l00805"></a><span class="lineno"> 805</span> </div>
<div class="line"><a id="l00810" name="l00810"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c"> 810</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">gridCellSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _cellSize;}</div>
<div class="line"><a id="l00811" name="l00811"></a><span class="lineno"> 811</span> </div>
<div class="line"><a id="l00816" name="l00816"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200"> 816</a></span> <span class="keyword">const</span> cv::Point3f &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200">gridViewPoint</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _viewPoint;}</div>
<div class="line"><a id="l00817" name="l00817"></a><span class="lineno"> 817</span> </div>
<div class="line"><a id="l00828" name="l00828"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3"> 828</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3">setFeatures</a>(<span class="keyword">const</span> std::vector&lt;cv::KeyPoint&gt; &amp; keypoints, <span class="keyword">const</span> std::vector&lt;cv::Point3f&gt; &amp; keypoints3D, <span class="keyword">const</span> cv::Mat &amp; descriptors);</div>
<div class="line"><a id="l00829" name="l00829"></a><span class="lineno"> 829</span> </div>
<div class="line"><a id="l00834" name="l00834"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94"> 834</a></span> <span class="keyword">const</span> std::vector&lt;cv::KeyPoint&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94">keypoints</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _keypoints;}</div>
<div class="line"><a id="l00835" name="l00835"></a><span class="lineno"> 835</span> </div>
<div class="line"><a id="l00840" name="l00840"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df"> 840</a></span> <span class="keyword">const</span> std::vector&lt;cv::Point3f&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df">keypoints3D</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _keypoints3D;}</div>
<div class="line"><a id="l00841" name="l00841"></a><span class="lineno"> 841</span> </div>
<div class="line"><a id="l00846" name="l00846"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26"> 846</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26">descriptors</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _descriptors;}</div>
<div class="line"><a id="l00847" name="l00847"></a><span class="lineno"> 847</span> </div>
<div class="line"><a id="l00852" name="l00852"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e"> 852</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e">addGlobalDescriptor</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptor.html">GlobalDescriptor</a> &amp; descriptor) {_globalDescriptors.push_back(descriptor);}</div>
<div class="line"><a id="l00853" name="l00853"></a><span class="lineno"> 853</span> </div>
<div class="line"><a id="l00858" name="l00858"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe"> 858</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe">setGlobalDescriptors</a>(<span class="keyword">const</span> std::vector&lt;GlobalDescriptor&gt; &amp; descriptors) {_globalDescriptors = descriptors;}</div>
<div class="line"><a id="l00859" name="l00859"></a><span class="lineno"> 859</span> </div>
<div class="line"><a id="l00863" name="l00863"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505"> 863</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505">clearGlobalDescriptors</a>() {_globalDescriptors.clear();}</div>
<div class="line"><a id="l00864" name="l00864"></a><span class="lineno"> 864</span> </div>
<div class="line"><a id="l00869" name="l00869"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8"> 869</a></span> <span class="keyword">const</span> std::vector&lt;GlobalDescriptor&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8">globalDescriptors</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _globalDescriptors;}</div>
<div class="line"><a id="l00870" name="l00870"></a><span class="lineno"> 870</span> </div>
<div class="line"><a id="l00875" name="l00875"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808"> 875</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808">setGroundTruth</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose) {groundTruth_ = pose;}</div>
<div class="line"><a id="l00876" name="l00876"></a><span class="lineno"> 876</span> </div>
<div class="line"><a id="l00881" name="l00881"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689"> 881</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689">groundTruth</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> groundTruth_;}</div>
<div class="line"><a id="l00882" name="l00882"></a><span class="lineno"> 882</span> </div>
<div class="line"><a id="l00888" name="l00888"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556"> 888</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556">setGlobalPose</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose, <span class="keyword">const</span> cv::Mat &amp; covariance) {globalPose_ = pose; globalPoseCovariance_ = covariance;}</div>
<div class="line"><a id="l00889" name="l00889"></a><span class="lineno"> 889</span> </div>
<div class="line"><a id="l00894" name="l00894"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87"> 894</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87">globalPose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> globalPose_;}</div>
<div class="line"><a id="l00895" name="l00895"></a><span class="lineno"> 895</span> </div>
<div class="line"><a id="l00900" name="l00900"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97"> 900</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97">globalPoseCovariance</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> globalPoseCovariance_;}</div>
<div class="line"><a id="l00901" name="l00901"></a><span class="lineno"> 901</span> </div>
<div class="line"><a id="l00906" name="l00906"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a"> 906</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a">setGPS</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> &amp; gps) {gps_ = gps;}</div>
<div class="line"><a id="l00907" name="l00907"></a><span class="lineno"> 907</span> </div>
<div class="line"><a id="l00912" name="l00912"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957"> 912</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957">gps</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> gps_;}</div>
<div class="line"><a id="l00913" name="l00913"></a><span class="lineno"> 913</span> </div>
<div class="line"><a id="l00920" name="l00920"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139"> 920</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139">setIMU</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> &amp; imu);</div>
<div class="line"><a id="l00921" name="l00921"></a><span class="lineno"> 921</span> </div>
<div class="line"><a id="l00926" name="l00926"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7"> 926</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7">imu</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> imu_;}</div>
<div class="line"><a id="l00927" name="l00927"></a><span class="lineno"> 927</span> </div>
<div class="line"><a id="l00932" name="l00932"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1"> 932</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1">setEnvSensors</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> &amp; sensors) {_envSensors = sensors;}</div>
<div class="line"><a id="l00933" name="l00933"></a><span class="lineno"> 933</span> </div>
<div class="line"><a id="l00938" name="l00938"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae"> 938</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae">addEnvSensor</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1EnvSensor.html">EnvSensor</a> &amp; sensor) {_envSensors.insert(std::make_pair(sensor.<a class="code hl_function" href="classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24">type</a>(), sensor));}</div>
<div class="line"><a id="l00939" name="l00939"></a><span class="lineno"> 939</span> </div>
<div class="line"><a id="l00944" name="l00944"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9"> 944</a></span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9">envSensors</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _envSensors;}</div>
<div class="line"><a id="l00945" name="l00945"></a><span class="lineno"> 945</span> </div>
<div class="line"><a id="l00951" name="l00951"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14"> 951</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14">setLandmarks</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> &amp; landmarks) {_landmarks = landmarks;}</div>
<div class="line"><a id="l00952" name="l00952"></a><span class="lineno"> 952</span> </div>
<div class="line"><a id="l00957" name="l00957"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8"> 957</a></span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8">landmarks</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _landmarks;}</div>
<div class="line"><a id="l00958" name="l00958"></a><span class="lineno"> 958</span> </div>
<div class="line"><a id="l00967" name="l00967"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc"> 967</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc">getMemoryUsed</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00972" name="l00972"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29"> 972</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29">clearCompressedData</a>(<span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00977" name="l00977"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2"> 977</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2">clearRawData</a>(<span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00978" name="l00978"></a><span class="lineno"> 978</span> </div>
<div class="line"><a id="l00988" name="l00988"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03"> 988</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03">isPointVisibleFromCameras</a>(<span class="keyword">const</span> cv::Point3f &amp; pt) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00989" name="l00989"></a><span class="lineno"> 989</span> </div>
<div class="line"><a id="l00990" name="l00990"></a><span class="lineno"> 990</span><span class="preprocessor">#ifdef HAVE_OPENCV_CUDEV</span></div>
<div class="line"><a id="l00995" name="l00995"></a><span class="lineno"> 995</span> <span class="keyword">const</span> cv::cuda::GpuMat &amp; imageRawGpu()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imageRawGpu;}</div>
<div class="line"><a id="l00996" name="l00996"></a><span class="lineno"> 996</span> </div>
<div class="line"><a id="l01001" name="l01001"></a><span class="lineno"> 1001</span> <span class="keywordtype">void</span> setImageRawGpu(<span class="keyword">const</span> cv::cuda::GpuMat &amp; image) {_imageRawGpu = image;}</div>
<div class="line"><a id="l01002" name="l01002"></a><span class="lineno"> 1002</span> </div>
<div class="line"><a id="l01007" name="l01007"></a><span class="lineno"> 1007</span> <span class="keyword">const</span> cv::cuda::GpuMat &amp; depthOrRightRawGpu()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightRawGpu;}</div>
<div class="line"><a id="l01008" name="l01008"></a><span class="lineno"> 1008</span> </div>
<div class="line"><a id="l01013" name="l01013"></a><span class="lineno"> 1013</span> <span class="keywordtype">void</span> setDepthOrRightRawGpu(<span class="keyword">const</span> cv::cuda::GpuMat &amp; image) {_depthOrRightRawGpu = image;}</div>
<div class="line"><a id="l01014" name="l01014"></a><span class="lineno"> 1014</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l01015" name="l01015"></a><span class="lineno"> 1015</span> </div>
<div class="line"><a id="l01016" name="l01016"></a><span class="lineno"> 1016</span> <span class="comment">// Compressed data</span></div>
<div class="line"><a id="l01017" name="l01017"></a><span class="lineno"> 1017</span> cv::Mat _imageCompressed; </div>
<div class="line"><a id="l01018" name="l01018"></a><span class="lineno"> 1018</span> cv::Mat _depthOrRightCompressed; </div>
<div class="line"><a id="l01019" name="l01019"></a><span class="lineno"> 1019</span> cv::Mat _depthConfidenceCompressed; </div>
<div class="line"><a id="l01020" name="l01020"></a><span class="lineno"> 1020</span> LaserScan _laserScanCompressed; </div>
<div class="line"><a id="l01021" name="l01021"></a><span class="lineno"> 1021</span> </div>
<div class="line"><a id="l01022" name="l01022"></a><span class="lineno"> 1022</span> <span class="comment">// Raw data</span></div>
<div class="line"><a id="l01023" name="l01023"></a><span class="lineno"> 1023</span> cv::Mat _imageRaw; </div>
<div class="line"><a id="l01024" name="l01024"></a><span class="lineno"> 1024</span> cv::Mat _depthOrRightRaw; </div>
<div class="line"><a id="l01025" name="l01025"></a><span class="lineno"> 1025</span> cv::Mat _depthConfidenceRaw; </div>
<div class="line"><a id="l01026" name="l01026"></a><span class="lineno"> 1026</span> LaserScan _laserScanRaw; </div>
<div class="line"><a id="l01027" name="l01027"></a><span class="lineno"> 1027</span> </div>
<div class="line"><a id="l01028" name="l01028"></a><span class="lineno"> 1028</span> <span class="comment">// Camera models</span></div>
<div class="line"><a id="l01029" name="l01029"></a><span class="lineno"> 1029</span> std::vector&lt;CameraModel&gt; _cameraModels; </div>
<div class="line"><a id="l01030" name="l01030"></a><span class="lineno"> 1030</span> std::vector&lt;StereoCameraModel&gt; _stereoCameraModels; </div>
<div class="line"><a id="l01016" name="l01016"></a><span class="lineno"> 1016</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l01017" name="l01017"></a><span class="lineno"> 1017</span> <span class="keywordtype">int</span> _id; </div>
<div class="line"><a id="l01018" name="l01018"></a><span class="lineno"> 1018</span> <span class="keywordtype">double</span> _stamp; </div>
<div class="line"><a id="l01019" name="l01019"></a><span class="lineno"> 1019</span> </div>
<div class="line"><a id="l01020" name="l01020"></a><span class="lineno"> 1020</span> <span class="comment">// Compressed data</span></div>
<div class="line"><a id="l01021" name="l01021"></a><span class="lineno"> 1021</span> cv::Mat _imageCompressed; </div>
<div class="line"><a id="l01022" name="l01022"></a><span class="lineno"> 1022</span> cv::Mat _depthOrRightCompressed; </div>
<div class="line"><a id="l01023" name="l01023"></a><span class="lineno"> 1023</span> cv::Mat _depthConfidenceCompressed; </div>
<div class="line"><a id="l01024" name="l01024"></a><span class="lineno"> 1024</span> LaserScan _laserScanCompressed; </div>
<div class="line"><a id="l01025" name="l01025"></a><span class="lineno"> 1025</span> </div>
<div class="line"><a id="l01026" name="l01026"></a><span class="lineno"> 1026</span> <span class="comment">// Raw data</span></div>
<div class="line"><a id="l01027" name="l01027"></a><span class="lineno"> 1027</span> cv::Mat _imageRaw; </div>
<div class="line"><a id="l01028" name="l01028"></a><span class="lineno"> 1028</span> cv::Mat _depthOrRightRaw; </div>
<div class="line"><a id="l01029" name="l01029"></a><span class="lineno"> 1029</span> cv::Mat _depthConfidenceRaw; </div>
<div class="line"><a id="l01030" name="l01030"></a><span class="lineno"> 1030</span> LaserScan _laserScanRaw; </div>
<div class="line"><a id="l01031" name="l01031"></a><span class="lineno"> 1031</span> </div>
<div class="line"><a id="l01032" name="l01032"></a><span class="lineno"> 1032</span> <span class="comment">// User data</span></div>
<div class="line"><a id="l01033" name="l01033"></a><span class="lineno"> 1033</span> cv::Mat _userDataCompressed; </div>
<div class="line"><a id="l01034" name="l01034"></a><span class="lineno"> 1034</span> cv::Mat _userDataRaw; </div>
<div class="line"><a id="l01032" name="l01032"></a><span class="lineno"> 1032</span> <span class="comment">// Camera models</span></div>
<div class="line"><a id="l01033" name="l01033"></a><span class="lineno"> 1033</span> std::vector&lt;CameraModel&gt; _cameraModels; </div>
<div class="line"><a id="l01034" name="l01034"></a><span class="lineno"> 1034</span> std::vector&lt;StereoCameraModel&gt; _stereoCameraModels; </div>
<div class="line"><a id="l01035" name="l01035"></a><span class="lineno"> 1035</span> </div>
<div class="line"><a id="l01036" name="l01036"></a><span class="lineno"> 1036</span> <span class="comment">// Occupancy grid</span></div>
<div class="line"><a id="l01037" name="l01037"></a><span class="lineno"> 1037</span> cv::Mat _groundCellsCompressed; </div>
<div class="line"><a id="l01038" name="l01038"></a><span class="lineno"> 1038</span> cv::Mat _obstacleCellsCompressed; </div>
<div class="line"><a id="l01039" name="l01039"></a><span class="lineno"> 1039</span> cv::Mat _emptyCellsCompressed; </div>
<div class="line"><a id="l01040" name="l01040"></a><span class="lineno"> 1040</span> cv::Mat _groundCellsRaw; </div>
<div class="line"><a id="l01041" name="l01041"></a><span class="lineno"> 1041</span> cv::Mat _obstacleCellsRaw; </div>
<div class="line"><a id="l01042" name="l01042"></a><span class="lineno"> 1042</span> cv::Mat _emptyCellsRaw; </div>
<div class="line"><a id="l01043" name="l01043"></a><span class="lineno"> 1043</span> <span class="keywordtype">float</span> _cellSize; </div>
<div class="line"><a id="l01044" name="l01044"></a><span class="lineno"> 1044</span> cv::Point3f _viewPoint; </div>
<div class="line"><a id="l01045" name="l01045"></a><span class="lineno"> 1045</span> </div>
<div class="line"><a id="l01046" name="l01046"></a><span class="lineno"> 1046</span> <span class="comment">// Environmental sensors</span></div>
<div class="line"><a id="l01047" name="l01047"></a><span class="lineno"> 1047</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> _envSensors; </div>
<div class="line"><a id="l01048" name="l01048"></a><span class="lineno"> 1048</span> </div>
<div class="line"><a id="l01049" name="l01049"></a><span class="lineno"> 1049</span> <span class="comment">// Landmarks</span></div>
<div class="line"><a id="l01050" name="l01050"></a><span class="lineno"> 1050</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> _landmarks; </div>
<div class="line"><a id="l01051" name="l01051"></a><span class="lineno"> 1051</span> </div>
<div class="line"><a id="l01052" name="l01052"></a><span class="lineno"> 1052</span> <span class="comment">// Visual features</span></div>
<div class="line"><a id="l01053" name="l01053"></a><span class="lineno"> 1053</span> std::vector&lt;cv::KeyPoint&gt; _keypoints; </div>
<div class="line"><a id="l01054" name="l01054"></a><span class="lineno"> 1054</span> std::vector&lt;cv::Point3f&gt; _keypoints3D; </div>
<div class="line"><a id="l01055" name="l01055"></a><span class="lineno"> 1055</span> cv::Mat _descriptors; </div>
<div class="line"><a id="l01056" name="l01056"></a><span class="lineno"> 1056</span> </div>
<div class="line"><a id="l01057" name="l01057"></a><span class="lineno"> 1057</span> <span class="comment">// Global descriptors</span></div>
<div class="line"><a id="l01058" name="l01058"></a><span class="lineno"> 1058</span> std::vector&lt;GlobalDescriptor&gt; _globalDescriptors; </div>
<div class="line"><a id="l01059" name="l01059"></a><span class="lineno"> 1059</span> </div>
<div class="line"><a id="l01060" name="l01060"></a><span class="lineno"> 1060</span> <span class="comment">// Poses</span></div>
<div class="line"><a id="l01061" name="l01061"></a><span class="lineno"> 1061</span> Transform groundTruth_; </div>
<div class="line"><a id="l01062" name="l01062"></a><span class="lineno"> 1062</span> Transform globalPose_; </div>
<div class="line"><a id="l01063" name="l01063"></a><span class="lineno"> 1063</span> cv::Mat globalPoseCovariance_; </div>
<div class="line"><a id="l01064" name="l01064"></a><span class="lineno"> 1064</span> </div>
<div class="line"><a id="l01065" name="l01065"></a><span class="lineno"> 1065</span> <span class="comment">// Sensor fusion</span></div>
<div class="line"><a id="l01066" name="l01066"></a><span class="lineno"> 1066</span> GPS gps_; </div>
<div class="line"><a id="l01067" name="l01067"></a><span class="lineno"> 1067</span> IMU imu_; </div>
<div class="line"><a id="l01036" name="l01036"></a><span class="lineno"> 1036</span> <span class="comment">// User data</span></div>
<div class="line"><a id="l01037" name="l01037"></a><span class="lineno"> 1037</span> cv::Mat _userDataCompressed; </div>
<div class="line"><a id="l01038" name="l01038"></a><span class="lineno"> 1038</span> cv::Mat _userDataRaw; </div>
<div class="line"><a id="l01039" name="l01039"></a><span class="lineno"> 1039</span> </div>
<div class="line"><a id="l01040" name="l01040"></a><span class="lineno"> 1040</span> <span class="comment">// Occupancy grid</span></div>
<div class="line"><a id="l01041" name="l01041"></a><span class="lineno"> 1041</span> cv::Mat _groundCellsCompressed; </div>
<div class="line"><a id="l01042" name="l01042"></a><span class="lineno"> 1042</span> cv::Mat _obstacleCellsCompressed; </div>
<div class="line"><a id="l01043" name="l01043"></a><span class="lineno"> 1043</span> cv::Mat _emptyCellsCompressed; </div>
<div class="line"><a id="l01044" name="l01044"></a><span class="lineno"> 1044</span> cv::Mat _groundCellsRaw; </div>
<div class="line"><a id="l01045" name="l01045"></a><span class="lineno"> 1045</span> cv::Mat _obstacleCellsRaw; </div>
<div class="line"><a id="l01046" name="l01046"></a><span class="lineno"> 1046</span> cv::Mat _emptyCellsRaw; </div>
<div class="line"><a id="l01047" name="l01047"></a><span class="lineno"> 1047</span> <span class="keywordtype">float</span> _cellSize; </div>
<div class="line"><a id="l01048" name="l01048"></a><span class="lineno"> 1048</span> cv::Point3f _viewPoint; </div>
<div class="line"><a id="l01049" name="l01049"></a><span class="lineno"> 1049</span> </div>
<div class="line"><a id="l01050" name="l01050"></a><span class="lineno"> 1050</span> <span class="comment">// Environmental sensors</span></div>
<div class="line"><a id="l01051" name="l01051"></a><span class="lineno"> 1051</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> _envSensors; </div>
<div class="line"><a id="l01052" name="l01052"></a><span class="lineno"> 1052</span> </div>
<div class="line"><a id="l01053" name="l01053"></a><span class="lineno"> 1053</span> <span class="comment">// Landmarks</span></div>
<div class="line"><a id="l01054" name="l01054"></a><span class="lineno"> 1054</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> _landmarks; </div>
<div class="line"><a id="l01055" name="l01055"></a><span class="lineno"> 1055</span> </div>
<div class="line"><a id="l01056" name="l01056"></a><span class="lineno"> 1056</span> <span class="comment">// Visual features</span></div>
<div class="line"><a id="l01057" name="l01057"></a><span class="lineno"> 1057</span> std::vector&lt;cv::KeyPoint&gt; _keypoints; </div>
<div class="line"><a id="l01058" name="l01058"></a><span class="lineno"> 1058</span> std::vector&lt;cv::Point3f&gt; _keypoints3D; </div>
<div class="line"><a id="l01059" name="l01059"></a><span class="lineno"> 1059</span> cv::Mat _descriptors; </div>
<div class="line"><a id="l01060" name="l01060"></a><span class="lineno"> 1060</span> </div>
<div class="line"><a id="l01061" name="l01061"></a><span class="lineno"> 1061</span> <span class="comment">// Global descriptors</span></div>
<div class="line"><a id="l01062" name="l01062"></a><span class="lineno"> 1062</span> std::vector&lt;GlobalDescriptor&gt; _globalDescriptors; </div>
<div class="line"><a id="l01063" name="l01063"></a><span class="lineno"> 1063</span> </div>
<div class="line"><a id="l01064" name="l01064"></a><span class="lineno"> 1064</span> <span class="comment">// Poses</span></div>
<div class="line"><a id="l01065" name="l01065"></a><span class="lineno"> 1065</span> Transform groundTruth_; </div>
<div class="line"><a id="l01066" name="l01066"></a><span class="lineno"> 1066</span> Transform globalPose_; </div>
<div class="line"><a id="l01067" name="l01067"></a><span class="lineno"> 1067</span> cv::Mat globalPoseCovariance_; </div>
<div class="line"><a id="l01068" name="l01068"></a><span class="lineno"> 1068</span> </div>
<div class="line"><a id="l01069" name="l01069"></a><span class="lineno"> 1069</span><span class="preprocessor">#ifdef HAVE_OPENCV_CUDEV</span></div>
<div class="line"><a id="l01076" name="l01076"></a><span class="lineno"> 1076</span> cv::cuda::GpuMat _imageRawGpu; </div>
<div class="line"><a id="l01077" name="l01077"></a><span class="lineno"> 1077</span> cv::cuda::GpuMat _depthOrRightRawGpu; </div>
<div class="line"><a id="l01078" name="l01078"></a><span class="lineno"> 1078</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l01079" name="l01079"></a><span class="lineno"> 1079</span>};</div>
<div class="line"><a id="l01069" name="l01069"></a><span class="lineno"> 1069</span> <span class="comment">// Sensor fusion</span></div>
<div class="line"><a id="l01070" name="l01070"></a><span class="lineno"> 1070</span> GPS gps_; </div>
<div class="line"><a id="l01071" name="l01071"></a><span class="lineno"> 1071</span> IMU imu_; </div>
<div class="line"><a id="l01072" name="l01072"></a><span class="lineno"> 1072</span> </div>
<div class="line"><a id="l01073" name="l01073"></a><span class="lineno"> 1073</span><span class="preprocessor">#ifdef HAVE_OPENCV_CUDEV</span></div>
<div class="line"><a id="l01080" name="l01080"></a><span class="lineno"> 1080</span> cv::cuda::GpuMat _imageRawGpu; </div>
<div class="line"><a id="l01081" name="l01081"></a><span class="lineno"> 1081</span> cv::cuda::GpuMat _depthOrRightRawGpu; </div>
<div class="line"><a id="l01082" name="l01082"></a><span class="lineno"> 1082</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l01083" name="l01083"></a><span class="lineno"> 1083</span>};</div>
</div>
<div class="line"><a id="l01080" name="l01080"></a><span class="lineno"> 1080</span> </div>
<div class="line"><a id="l01081" name="l01081"></a><span class="lineno"> 1081</span>}</div>
<div class="line"><a id="l01082" name="l01082"></a><span class="lineno"> 1082</span> </div>
<div class="line"><a id="l01083" name="l01083"></a><span class="lineno"> 1083</span> </div>
<div class="line"><a id="l01084" name="l01084"></a><span class="lineno"> 1084</span><span class="preprocessor">#endif </span><span class="comment">/* SENSORDATA_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a id="l01084" name="l01084"></a><span class="lineno"> 1084</span> </div>
<div class="line"><a id="l01085" name="l01085"></a><span class="lineno"> 1085</span>}</div>
<div class="line"><a id="l01086" name="l01086"></a><span class="lineno"> 1086</span> </div>
<div class="line"><a id="l01087" name="l01087"></a><span class="lineno"> 1087</span> </div>
<div class="line"><a id="l01088" name="l01088"></a><span class="lineno"> 1088</span><span class="preprocessor">#endif </span><span class="comment">/* SENSORDATA_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1CameraModel_html"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><div class="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00052">CameraModel.h:53</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html">rtabmap::EnvSensor</a></div><div class="ttdoc">Single environmental measurement (type, value, timestamp).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00050">EnvSensor.h:51</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_abae79475fe7e568269a4b4ef4c5a7d24"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24">rtabmap::EnvSensor::type</a></div><div class="ttdeci">const Type &amp; type() const</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00101">EnvSensor.h:101</a></div></div>
@@ -558,44 +558,44 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
<div class="ttc" id="aclassrtabmap_1_1IMU_html"><div class="ttname"><a href="classrtabmap_1_1IMU.html">rtabmap::IMU</a></div><div class="ttdoc">Inertial measurement sample (ROS sensor_msgs/Imu-like fields).</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00056">IMU.h:57</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a056056de80edf1bc20505fd992cdc6e7"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7">rtabmap::SensorData::imu</a></div><div class="ttdeci">const IMU &amp; imu() const</div><div class="ttdoc">Returns IMU data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00922">SensorData.h:922</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a056056de80edf1bc20505fd992cdc6e7"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7">rtabmap::SensorData::imu</a></div><div class="ttdeci">const IMU &amp; imu() const</div><div class="ttdoc">Returns IMU data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00926">SensorData.h:926</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a0cfb7cee085b7959c9ddf1d7854ed910"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a0cfb7cee085b7959c9ddf1d7854ed910">rtabmap::SensorData::depthConfidenceRaw</a></div><div class="ttdeci">const cv::Mat &amp; depthConfidenceRaw() const</div><div class="ttdoc">Returns the raw depth confidence map.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00579">SensorData.h:579</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a0f2e804ebbcff5be648a43f0a41e9dfc"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc">rtabmap::SensorData::gridObstacleCellsRaw</a></div><div class="ttdeci">const cv::Mat &amp; gridObstacleCellsRaw() const</div><div class="ttdoc">Returns raw obstacle cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00780">SensorData.h:780</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a1006dbcfb640b599f0587af3b0ba46ae"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae">rtabmap::SensorData::addEnvSensor</a></div><div class="ttdeci">void addEnvSensor(const EnvSensor &amp;sensor)</div><div class="ttdoc">Adds a single environmental sensor.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00934">SensorData.h:934</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a0f2e804ebbcff5be648a43f0a41e9dfc"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc">rtabmap::SensorData::gridObstacleCellsRaw</a></div><div class="ttdeci">const cv::Mat &amp; gridObstacleCellsRaw() const</div><div class="ttdoc">Returns raw obstacle cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00784">SensorData.h:784</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a1006dbcfb640b599f0587af3b0ba46ae"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae">rtabmap::SensorData::addEnvSensor</a></div><div class="ttdeci">void addEnvSensor(const EnvSensor &amp;sensor)</div><div class="ttdoc">Adds a single environmental sensor.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00938">SensorData.h:938</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a14f7a5c64b5d27842cb654e247d1fd20"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a14f7a5c64b5d27842cb654e247d1fd20">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &amp;image, const CameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Mono camera constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a1522af81a95c27b76e316919df95a869"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a1522af81a95c27b76e316919df95a869">rtabmap::SensorData::laserScanCompressed</a></div><div class="ttdeci">const LaserScan &amp; laserScanCompressed() const</div><div class="ttdoc">Returns the compressed laser scan.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00560">SensorData.h:560</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a1534d36fee45c3df70679438ec9d00a3"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a1534d36fee45c3df70679438ec9d00a3">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &amp;left, const cv::Mat &amp;right, const StereoCameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Stereo camera constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a176b8160afc549fc6eaa2d0567c12957"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957">rtabmap::SensorData::gps</a></div><div class="ttdeci">const GPS &amp; gps() const</div><div class="ttdoc">Returns GPS data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00908">SensorData.h:908</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a176b8160afc549fc6eaa2d0567c12957"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957">rtabmap::SensorData::gps</a></div><div class="ttdeci">const GPS &amp; gps() const</div><div class="ttdoc">Returns GPS data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00912">SensorData.h:912</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a1970cd319999fb371873553b53b07d73"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73">rtabmap::SensorData::depthRaw</a></div><div class="ttdeci">cv::Mat depthRaw() const</div><div class="ttdoc">Returns the depth image (convenience method)</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00639">SensorData.h:639</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a203770ef217dfdc67b98ca593b2cab24"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24">rtabmap::SensorData::setRGBDImage</a></div><div class="ttdeci">void setRGBDImage(const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const CameraModel &amp;model, bool clearPreviousData=true)</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a2297bfc9d81c077852d8f832231ba139"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139">rtabmap::SensorData::setIMU</a></div><div class="ttdeci">void setIMU(const IMU &amp;imu)</div><div class="ttdoc">Sets IMU data.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a2476c59283ef2e24d7a3f10301433327"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a2476c59283ef2e24d7a3f10301433327">rtabmap::SensorData::depthOrRightRaw</a></div><div class="ttdeci">const cv::Mat &amp; depthOrRightRaw() const</div><div class="ttdoc">Returns the raw depth or right stereo image.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00573">SensorData.h:573</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a25efb0e7904a3daa7f4ee7cd814a24ff"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const IMU &amp;imu, int id=0, double stamp=0.0)</div><div class="ttdoc">IMU-only constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a2db9b9dbbe3d0943a47cdc4a5a9051d4"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4">rtabmap::SensorData::gridGroundCellsRaw</a></div><div class="ttdeci">const cv::Mat &amp; gridGroundCellsRaw() const</div><div class="ttdoc">Returns raw ground cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00767">SensorData.h:767</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a2db9b9dbbe3d0943a47cdc4a5a9051d4"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4">rtabmap::SensorData::gridGroundCellsRaw</a></div><div class="ttdeci">const cv::Mat &amp; gridGroundCellsRaw() const</div><div class="ttdoc">Returns raw ground cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00771">SensorData.h:771</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a2e0be45871fa8dbce1c3cf727953358f"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f">rtabmap::SensorData::uncompressDataConst</a></div><div class="ttdeci">void uncompressDataConst(cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0, cv::Mat *depthConfidenceRaw=0) const</div><div class="ttdoc">Uncompresses compressed data into provided output buffers (const version)</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a30f069ee8ffa263ec2c18bc714713e03"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03">rtabmap::SensorData::isPointVisibleFromCameras</a></div><div class="ttdeci">int isPointVisibleFromCameras(const cv::Point3f &amp;pt) const</div><div class="ttdoc">Checks if a 3D point is visible from any camera.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a33244e8049bfae5bea9ecf80057bcd29"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29">rtabmap::SensorData::clearCompressedData</a></div><div class="ttdeci">void clearCompressedData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a37c2569419731afc855a3ce984c11505"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505">rtabmap::SensorData::clearGlobalDescriptors</a></div><div class="ttdeci">void clearGlobalDescriptors()</div><div class="ttdoc">Clears all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00859">SensorData.h:859</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a490e96f3f1d16cc559b3a004e2ec4fbe"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe">rtabmap::SensorData::gridEmptyCellsRaw</a></div><div class="ttdeci">const cv::Mat &amp; gridEmptyCellsRaw() const</div><div class="ttdoc">Returns raw empty cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00793">SensorData.h:793</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a4cce095c69f9fa8f0035c9f2f51c0ff9"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9">rtabmap::SensorData::envSensors</a></div><div class="ttdeci">const EnvSensors &amp; envSensors() const</div><div class="ttdoc">Returns all environmental sensors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00940">SensorData.h:940</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a37c2569419731afc855a3ce984c11505"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505">rtabmap::SensorData::clearGlobalDescriptors</a></div><div class="ttdeci">void clearGlobalDescriptors()</div><div class="ttdoc">Clears all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00863">SensorData.h:863</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a490e96f3f1d16cc559b3a004e2ec4fbe"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe">rtabmap::SensorData::gridEmptyCellsRaw</a></div><div class="ttdeci">const cv::Mat &amp; gridEmptyCellsRaw() const</div><div class="ttdoc">Returns raw empty cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00797">SensorData.h:797</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a4cce095c69f9fa8f0035c9f2f51c0ff9"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9">rtabmap::SensorData::envSensors</a></div><div class="ttdeci">const EnvSensors &amp; envSensors() const</div><div class="ttdoc">Returns all environmental sensors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00944">SensorData.h:944</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a4d0f4615a747eaef142b51a1ab1e5527"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a4d0f4615a747eaef142b51a1ab1e5527">rtabmap::SensorData::setId</a></div><div class="ttdeci">void setId(int id)</div><div class="ttdoc">Sets the sensor data ID.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00521">SensorData.h:521</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a50b09c52de6c8c6a6a95ee08886845a0"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0">rtabmap::SensorData::gridObstacleCellsCompressed</a></div><div class="ttdeci">const cv::Mat &amp; gridObstacleCellsCompressed() const</div><div class="ttdoc">Returns compressed obstacle cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00787">SensorData.h:787</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a51f21b98088ceec4c5d108d0fbe03200"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200">rtabmap::SensorData::gridViewPoint</a></div><div class="ttdeci">const cv::Point3f &amp; gridViewPoint() const</div><div class="ttdoc">Returns the occupancy grid viewpoint.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00812">SensorData.h:812</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a50b09c52de6c8c6a6a95ee08886845a0"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0">rtabmap::SensorData::gridObstacleCellsCompressed</a></div><div class="ttdeci">const cv::Mat &amp; gridObstacleCellsCompressed() const</div><div class="ttdoc">Returns compressed obstacle cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00791">SensorData.h:791</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a51f21b98088ceec4c5d108d0fbe03200"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200">rtabmap::SensorData::gridViewPoint</a></div><div class="ttdeci">const cv::Point3f &amp; gridViewPoint() const</div><div class="ttdoc">Returns the occupancy grid viewpoint.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00816">SensorData.h:816</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a52b215e8d320bbcbd464e3b7181a077b"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a52b215e8d320bbcbd464e3b7181a077b">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const LaserScan &amp;laserScan, const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const cv::Mat &amp;depthConfidence, const CameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">RGB-D constructor with depth confidence and laser scan.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a53040403970a08a677e69d824a31f7b2"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2">rtabmap::SensorData::clearRawData</a></div><div class="ttdeci">void clearRawData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a55e6ca21bfd11b7afb375451a2a77b87"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87">rtabmap::SensorData::globalPose</a></div><div class="ttdeci">const Transform &amp; globalPose() const</div><div class="ttdoc">Returns the global pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00890">SensorData.h:890</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a55e6ca21bfd11b7afb375451a2a77b87"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87">rtabmap::SensorData::globalPose</a></div><div class="ttdeci">const Transform &amp; globalPose() const</div><div class="ttdoc">Returns the global pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00894">SensorData.h:894</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a566e5600bc0369f2f88ff0c597cefcfb"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb">rtabmap::SensorData::stamp</a></div><div class="ttdeci">double stamp() const</div><div class="ttdoc">Returns the timestamp.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00527">SensorData.h:527</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a569af71e8757105dc040251a3805fe97"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97">rtabmap::SensorData::globalPoseCovariance</a></div><div class="ttdeci">const cv::Mat &amp; globalPoseCovariance() const</div><div class="ttdoc">Returns the global pose covariance.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00896">SensorData.h:896</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a569af71e8757105dc040251a3805fe97"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97">rtabmap::SensorData::globalPoseCovariance</a></div><div class="ttdeci">const cv::Mat &amp; globalPoseCovariance() const</div><div class="ttdoc">Returns the global pose covariance.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00900">SensorData.h:900</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a5c0844e94d3fff50a8bfec2decf2f94c"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a5c0844e94d3fff50a8bfec2decf2f94c">rtabmap::SensorData::setStamp</a></div><div class="ttdeci">void setStamp(double stamp)</div><div class="ttdoc">Sets the timestamp.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00533">SensorData.h:533</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a5c12949c62c65281bade9ffcc681462b"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b">rtabmap::SensorData::setOccupancyGrid</a></div><div class="ttdeci">void setOccupancyGrid(const cv::Mat &amp;ground, const cv::Mat &amp;obstacles, const cv::Mat &amp;empty, float cellSize, const cv::Point3f &amp;viewPoint)</div><div class="ttdoc">Sets occupancy grid data.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a5cf732793c05b16bb67f144524882b26"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26">rtabmap::SensorData::descriptors</a></div><div class="ttdeci">const cv::Mat &amp; descriptors() const</div><div class="ttdoc">Returns the feature descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00842">SensorData.h:842</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a5cf732793c05b16bb67f144524882b26"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26">rtabmap::SensorData::descriptors</a></div><div class="ttdeci">const cv::Mat &amp; descriptors() const</div><div class="ttdoc">Returns the feature descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00846">SensorData.h:846</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a60b3b2366bb66c914cfa7799204828fc"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc">rtabmap::SensorData::getMemoryUsed</a></div><div class="ttdeci">unsigned long getMemoryUsed() const</div><div class="ttdoc">Computes the memory usage of this sensor data.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a6ace7b2b8ebae5f7ab18e159fe6e8a92"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">rtabmap::SensorData::cameraModels</a></div><div class="ttdeci">const std::vector&lt; CameraModel &gt; &amp; cameraModels() const</div><div class="ttdoc">Returns the camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00724">SensorData.h:724</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a6ccaccf892f950b0caa03c07de3eab98"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a6ccaccf892f950b0caa03c07de3eab98">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const std::vector&lt; StereoCameraModel &gt; &amp;cameraModels, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Multi-camera stereo constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a7051ea8c13bafd7eaffb5f5a93064808"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808">rtabmap::SensorData::setGroundTruth</a></div><div class="ttdeci">void setGroundTruth(const Transform &amp;pose)</div><div class="ttdoc">Sets the ground truth pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00871">SensorData.h:871</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a7051ea8c13bafd7eaffb5f5a93064808"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808">rtabmap::SensorData::setGroundTruth</a></div><div class="ttdeci">void setGroundTruth(const Transform &amp;pose)</div><div class="ttdoc">Sets the ground truth pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00875">SensorData.h:875</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a72a0250435fc194b1189241d4a47254d"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a72a0250435fc194b1189241d4a47254d">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const cv::Mat &amp;depthConfidence, const std::vector&lt; CameraModel &gt; &amp;cameraModels, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Multi-camera RGB-D constructor with depth confidence.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a72f0ce5a2989f478149f5cf2d5a36556"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556">rtabmap::SensorData::setGlobalPose</a></div><div class="ttdeci">void setGlobalPose(const Transform &amp;pose, const cv::Mat &amp;covariance)</div><div class="ttdoc">Sets the global pose with covariance.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00884">SensorData.h:884</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a73ba0bb1cb31a3438b3ffee161b16ff8"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8">rtabmap::SensorData::landmarks</a></div><div class="ttdeci">const Landmarks &amp; landmarks() const</div><div class="ttdoc">Returns landmarks.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00953">SensorData.h:953</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a72f0ce5a2989f478149f5cf2d5a36556"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556">rtabmap::SensorData::setGlobalPose</a></div><div class="ttdeci">void setGlobalPose(const Transform &amp;pose, const cv::Mat &amp;covariance)</div><div class="ttdoc">Sets the global pose with covariance.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00888">SensorData.h:888</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a73ba0bb1cb31a3438b3ffee161b16ff8"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8">rtabmap::SensorData::landmarks</a></div><div class="ttdeci">const Landmarks &amp; landmarks() const</div><div class="ttdoc">Returns landmarks.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00957">SensorData.h:957</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a84fbcb16e51018d96065d3ce240650c6"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a84fbcb16e51018d96065d3ce240650c6">rtabmap::SensorData::id</a></div><div class="ttdeci">int id() const</div><div class="ttdoc">Returns the sensor data ID.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00515">SensorData.h:515</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a85b36ca12b0936a99d61b768908097da"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a85b36ca12b0936a99d61b768908097da">rtabmap::SensorData::depthOrRightCompressed</a></div><div class="ttdeci">const cv::Mat &amp; depthOrRightCompressed() const</div><div class="ttdoc">Returns the compressed depth or right stereo image.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00547">SensorData.h:547</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a87424cc9915dababe9aa3bc418e85197"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a87424cc9915dababe9aa3bc418e85197">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const cv::Mat &amp;depth_confidence, const CameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">RGB-D constructor with depth confidence.</div></div>
@@ -603,26 +603,26 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a8fc1c848518793a1fe65c47a3ff729b0"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0">rtabmap::SensorData::setLaserScan</a></div><div class="ttdeci">void setLaserScan(const LaserScan &amp;laserScan, bool clearPreviousData=true)</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a941f907890fe9e0e9becec0a665581cd"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a941f907890fe9e0e9becec0a665581cd">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData()</div><div class="ttdoc">Default constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a94f4e8970ae34d652100dce131cc9e44"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a94f4e8970ae34d652100dce131cc9e44">rtabmap::SensorData::~SensorData</a></div><div class="ttdeci">virtual ~SensorData()</div><div class="ttdoc">Virtual destructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a984ce55b6b75152a63441bd07288dc6c"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">rtabmap::SensorData::gridCellSize</a></div><div class="ttdeci">float gridCellSize() const</div><div class="ttdoc">Returns the occupancy grid cell size.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00806">SensorData.h:806</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a984ce55b6b75152a63441bd07288dc6c"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">rtabmap::SensorData::gridCellSize</a></div><div class="ttdeci">float gridCellSize() const</div><div class="ttdoc">Returns the occupancy grid cell size.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00810">SensorData.h:810</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aa356c9d5e9e7ea55ccdbe99c215bcb52"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52">rtabmap::SensorData::uncompressData</a></div><div class="ttdeci">void uncompressData()</div><div class="ttdoc">Uncompresses all compressed data in-place.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aaa7408cb13ea2cbe33438e007b80de30"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30">rtabmap::SensorData::rightRaw</a></div><div class="ttdeci">cv::Mat rightRaw() const</div><div class="ttdoc">Returns the right stereo image (convenience method)</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00650">SensorData.h:650</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aafcc6b483798b7a99fafa8f929db1029"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029">rtabmap::SensorData::imageCompressed</a></div><div class="ttdeci">const cv::Mat &amp; imageCompressed() const</div><div class="ttdoc">Returns the compressed RGB/grayscale image.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00540">SensorData.h:540</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab02d686ac7ef8b389655e913768b4d87"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87">rtabmap::SensorData::stereoCameraModels</a></div><div class="ttdeci">const std::vector&lt; StereoCameraModel &gt; &amp; stereoCameraModels() const</div><div class="ttdoc">Returns the stereo camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00730">SensorData.h:730</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab17daf3d7c2cd1253306e6d5991549df"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df">rtabmap::SensorData::keypoints3D</a></div><div class="ttdeci">const std::vector&lt; cv::Point3f &gt; &amp; keypoints3D() const</div><div class="ttdoc">Returns the 3D keypoints.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00836">SensorData.h:836</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab17daf3d7c2cd1253306e6d5991549df"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df">rtabmap::SensorData::keypoints3D</a></div><div class="ttdeci">const std::vector&lt; cv::Point3f &gt; &amp; keypoints3D() const</div><div class="ttdoc">Returns the 3D keypoints.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00840">SensorData.h:840</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab2f74509af5e3f56d1c4d5e31c0c6003"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003">rtabmap::SensorData::setStereoCameraModel</a></div><div class="ttdeci">void setStereoCameraModel(const StereoCameraModel &amp;stereoCameraModel)</div><div class="ttdoc">Sets a single stereo camera model (clears previous models)</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00622">SensorData.h:622</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab3a5ebf180d5f2f106877b78aee6d1d1"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1">rtabmap::SensorData::setEnvSensors</a></div><div class="ttdeci">void setEnvSensors(const EnvSensors &amp;sensors)</div><div class="ttdoc">Sets all environmental sensors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00928">SensorData.h:928</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab3c515b23322cd31c3fcbcb054588e43"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43">rtabmap::SensorData::gridGroundCellsCompressed</a></div><div class="ttdeci">const cv::Mat &amp; gridGroundCellsCompressed() const</div><div class="ttdoc">Returns compressed ground cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00774">SensorData.h:774</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab3a5ebf180d5f2f106877b78aee6d1d1"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1">rtabmap::SensorData::setEnvSensors</a></div><div class="ttdeci">void setEnvSensors(const EnvSensors &amp;sensors)</div><div class="ttdoc">Sets all environmental sensors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00932">SensorData.h:932</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab3c515b23322cd31c3fcbcb054588e43"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43">rtabmap::SensorData::gridGroundCellsCompressed</a></div><div class="ttdeci">const cv::Mat &amp; gridGroundCellsCompressed() const</div><div class="ttdoc">Returns compressed ground cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00778">SensorData.h:778</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab4e6b5d917155b94d8b4b6242fe56c6e"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e">rtabmap::SensorData::setStereoCameraModels</a></div><div class="ttdeci">void setStereoCameraModels(const std::vector&lt; StereoCameraModel &gt; &amp;stereoCameraModels)</div><div class="ttdoc">Sets multiple stereo camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00628">SensorData.h:628</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab6201ea27482207308f000bd4cc90081"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab6201ea27482207308f000bd4cc90081">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &amp;image, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Appearance-only constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab6f18f2eb0340c8f6e800a695424bbbe"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe">rtabmap::SensorData::setGlobalDescriptors</a></div><div class="ttdeci">void setGlobalDescriptors(const std::vector&lt; GlobalDescriptor &gt; &amp;descriptors)</div><div class="ttdoc">Sets all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00854">SensorData.h:854</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab6f18f2eb0340c8f6e800a695424bbbe"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe">rtabmap::SensorData::setGlobalDescriptors</a></div><div class="ttdeci">void setGlobalDescriptors(const std::vector&lt; GlobalDescriptor &gt; &amp;descriptors)</div><div class="ttdoc">Sets all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00858">SensorData.h:858</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_abdd07b6e248e165959468bb31897bc20"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#abdd07b6e248e165959468bb31897bc20">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const LaserScan &amp;laserScan, const cv::Mat &amp;left, const cv::Mat &amp;right, const StereoCameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Stereo camera constructor with laser scan.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ac06b8207850c5412cc52f5f0e0e4ba7b"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ac06b8207850c5412cc52f5f0e0e4ba7b">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const LaserScan &amp;laserScan, const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const CameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">RGB-D constructor with laser scan.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ac2bae4f0747795f778275102b4ebf1b3"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3">rtabmap::SensorData::gridEmptyCellsCompressed</a></div><div class="ttdeci">const cv::Mat &amp; gridEmptyCellsCompressed() const</div><div class="ttdoc">Returns compressed empty cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00800">SensorData.h:800</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_acc0ac26f01ad9f5185f80f8f09da252e"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e">rtabmap::SensorData::addGlobalDescriptor</a></div><div class="ttdeci">void addGlobalDescriptor(const GlobalDescriptor &amp;descriptor)</div><div class="ttdoc">Adds a global descriptor.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00848">SensorData.h:848</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ac2bae4f0747795f778275102b4ebf1b3"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3">rtabmap::SensorData::gridEmptyCellsCompressed</a></div><div class="ttdeci">const cv::Mat &amp; gridEmptyCellsCompressed() const</div><div class="ttdoc">Returns compressed empty cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00804">SensorData.h:804</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_acc0ac26f01ad9f5185f80f8f09da252e"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e">rtabmap::SensorData::addGlobalDescriptor</a></div><div class="ttdeci">void addGlobalDescriptor(const GlobalDescriptor &amp;descriptor)</div><div class="ttdoc">Adds a global descriptor.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00852">SensorData.h:852</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_accb5f254667af3074993a073a4e1f072"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072">rtabmap::SensorData::setUserData</a></div><div class="ttdeci">void setUserData(const cv::Mat &amp;userData, bool clearPreviousData=true)</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_acd46b940bac6e1d53ff2826be309b4c8"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8">rtabmap::SensorData::globalDescriptors</a></div><div class="ttdeci">const std::vector&lt; GlobalDescriptor &gt; &amp; globalDescriptors() const</div><div class="ttdoc">Returns all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00865">SensorData.h:865</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_acd46b940bac6e1d53ff2826be309b4c8"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8">rtabmap::SensorData::globalDescriptors</a></div><div class="ttdeci">const std::vector&lt; GlobalDescriptor &gt; &amp; globalDescriptors() const</div><div class="ttdoc">Returns all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00869">SensorData.h:869</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ad083f0a1e7769ff62183a0fa47279ae3"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3">rtabmap::SensorData::setFeatures</a></div><div class="ttdeci">void setFeatures(const std::vector&lt; cv::KeyPoint &gt; &amp;keypoints, const std::vector&lt; cv::Point3f &gt; &amp;keypoints3D, const cv::Mat &amp;descriptors)</div><div class="ttdoc">Sets visual features (keypoints, 3D points, descriptors)</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ad09e3e0fc1f60d233d81288a4cf8f56a"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a">rtabmap::SensorData::setGPS</a></div><div class="ttdeci">void setGPS(const GPS &amp;gps)</div><div class="ttdoc">Sets GPS data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00902">SensorData.h:902</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ad09e3e0fc1f60d233d81288a4cf8f56a"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a">rtabmap::SensorData::setGPS</a></div><div class="ttdeci">void setGPS(const GPS &amp;gps)</div><div class="ttdoc">Sets GPS data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00906">SensorData.h:906</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ad34a0a4ca3eac4a1c91fb7fb5068fb04"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ad34a0a4ca3eac4a1c91fb7fb5068fb04">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const LaserScan &amp;laserScan, const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const std::vector&lt; StereoCameraModel &gt; &amp;cameraModels, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">Multi-camera stereo constructor with laser scan.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ad620676ab1a971846ab80ef646aa5882"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ad620676ab1a971846ab80ef646aa5882">rtabmap::SensorData::isValid</a></div><div class="ttdeci">bool isValid() const</div><div class="ttdoc">Checks if the sensor data is valid.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00485">SensorData.h:485</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ad8ae172220b7bfffeb09bb1eac60f28f"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f">rtabmap::SensorData::setCameraModel</a></div><div class="ttdeci">void setCameraModel(const CameraModel &amp;model)</div><div class="ttdoc">Sets a single camera model (clears previous models)</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00610">SensorData.h:610</a></div></div>
@@ -633,10 +633,10 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aead598774e0cb15375828a2965b3ab80"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aead598774e0cb15375828a2965b3ab80">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &amp;rgb, const cv::Mat &amp;depth, const CameraModel &amp;cameraModel, int id=0, double stamp=0.0, const cv::Mat &amp;userData=cv::Mat())</div><div class="ttdoc">RGB-D constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aebbab80906082f6e35ce5731fa67ca26"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aebbab80906082f6e35ce5731fa67ca26">rtabmap::SensorData::depthConfidenceCompressed</a></div><div class="ttdeci">const cv::Mat &amp; depthConfidenceCompressed() const</div><div class="ttdoc">Returns the compressed depth confidence map.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00554">SensorData.h:554</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aeebafe56f302f9e8e4f06c5ad750248d"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d">rtabmap::SensorData::laserScanRaw</a></div><div class="ttdeci">const LaserScan &amp; laserScanRaw() const</div><div class="ttdoc">Returns the raw laser scan.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00585">SensorData.h:585</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aef9e0c36efdc8915536c3bc082108689"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689">rtabmap::SensorData::groundTruth</a></div><div class="ttdeci">const Transform &amp; groundTruth() const</div><div class="ttdoc">Returns the ground truth pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00877">SensorData.h:877</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_af0873bbd79209dca371792e94e020e14"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14">rtabmap::SensorData::setLandmarks</a></div><div class="ttdeci">void setLandmarks(const Landmarks &amp;landmarks)</div><div class="ttdoc">Sets landmarks.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00947">SensorData.h:947</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aef9e0c36efdc8915536c3bc082108689"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689">rtabmap::SensorData::groundTruth</a></div><div class="ttdeci">const Transform &amp; groundTruth() const</div><div class="ttdoc">Returns the ground truth pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00881">SensorData.h:881</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_af0873bbd79209dca371792e94e020e14"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14">rtabmap::SensorData::setLandmarks</a></div><div class="ttdeci">void setLandmarks(const Landmarks &amp;landmarks)</div><div class="ttdoc">Sets landmarks.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00951">SensorData.h:951</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_af841bbc9ea6de17124f8c871fa5d0719"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719">rtabmap::SensorData::setCameraModels</a></div><div class="ttdeci">void setCameraModels(const std::vector&lt; CameraModel &gt; &amp;models)</div><div class="ttdoc">Sets multiple camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00616">SensorData.h:616</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_afdc0db8c8176c4108e78e66df54b7d94"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94">rtabmap::SensorData::keypoints</a></div><div class="ttdeci">const std::vector&lt; cv::KeyPoint &gt; &amp; keypoints() const</div><div class="ttdoc">Returns the 2D keypoints.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00830">SensorData.h:830</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_afdc0db8c8176c4108e78e66df54b7d94"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94">rtabmap::SensorData::keypoints</a></div><div class="ttdeci">const std::vector&lt; cv::KeyPoint &gt; &amp; keypoints() const</div><div class="ttdoc">Returns the 2D keypoints.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00834">SensorData.h:834</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></div><div class="ttdoc">A class representing a calibrated stereo camera system.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00053">StereoCameraModel.h:54</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></div></div>
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<p>Set user data. Detect automatically if raw or compressed. If raw, the data is compressed too. A matrix of type CV_8UC1 with 1 row is considered as compressed. If you have one dimension unsigned 8 bits raw data, make sure to transpose it (to have multiple rows instead of multiple columns) in order to be detected as not compressed. </p><dl class="params"><dt>Parameters</dt><dd>
<p>Set user data. Detect automatically if raw or compressed. If raw, the data is compressed too, unless compressed user data is already set (only possible with <code>clearPreviousData=false</code>), which is then assumed to be that raw data compressed and kept as is. A matrix of type CV_8UC1 with 1 row is considered as compressed. If you have one dimension unsigned 8 bits raw data, make sure to transpose it (to have multiple rows instead of multiple columns) in order to be detected as not compressed. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">clearPreviousData,clear</td><td>previous raw and compressed user data before setting the new one. </td></tr>
<tr><td class="paramname">clearPreviousData,clear</td><td>previous raw and compressed user data before setting the new one. With false, setting the raw data of compressed user data already set keeps the compressed one, like <a class="el" href="classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0">setLaserScan()</a> and <a class="el" href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24">setRGBDImage()</a> do. </td></tr>
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<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00741">741</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00745">745</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00742">742</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00746">746</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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<p>Returns raw ground cells. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to raw ground cells matrix </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00767">767</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00771">771</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>Const reference to compressed ground cells matrix </dd></dl>
<dl class="section note"><dt>Note</dt><dd>Use Compression::uncompressData() to uncompress the data. </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00774">774</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00778">778</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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<p>Returns raw obstacle cells. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to raw obstacle cells matrix </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00780">780</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00784">784</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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<dl class="section return"><dt>Returns</dt><dd>Const reference to compressed obstacle cells matrix </dd></dl>
<dl class="section note"><dt>Note</dt><dd>Use Compression::uncompressData() to uncompress the data. </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00787">787</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00791">791</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2743,7 +2743,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns raw empty cells. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to raw empty cells matrix </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00793">793</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00797">797</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
</div>
@@ -2774,7 +2774,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<dl class="section return"><dt>Returns</dt><dd>Const reference to compressed empty cells matrix </dd></dl>
<dl class="section note"><dt>Note</dt><dd>Use Compression::uncompressData() to uncompress the data. </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00800">800</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00804">804</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
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@@ -2804,7 +2804,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the occupancy grid cell size. </p>
<dl class="section return"><dt>Returns</dt><dd>Cell size in meters </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00806">806</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00810">810</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2834,7 +2834,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the occupancy grid viewpoint. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to viewpoint/origin 3D point </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00812">812</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00816">816</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2909,7 +2909,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the 2D keypoints. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to vector of 2D keypoints </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00830">830</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00834">834</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2939,7 +2939,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the 3D keypoints. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to vector of 3D points (in base_link frame) </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00836">836</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00840">840</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2969,7 +2969,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the feature descriptors. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to descriptors matrix (one row per keypoint) </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00842">842</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00846">846</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3005,7 +3005,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00848">848</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00852">852</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3041,7 +3041,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00854">854</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00858">858</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3070,7 +3070,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Clears all global descriptors. </p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00859">859</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00863">863</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
</div>
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@@ -3100,7 +3100,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns all global descriptors. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to vector of global descriptors </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00865">865</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00869">869</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3136,7 +3136,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00871">871</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00875">875</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3166,7 +3166,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the ground truth pose. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to ground truth transform </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00877">877</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00881">881</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3213,7 +3213,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00884">884</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00888">888</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3243,7 +3243,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the global pose. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to global pose transform </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00890">890</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00894">894</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3273,7 +3273,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the global pose covariance. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to pose covariance matrix (6x6, CV_64FC1) </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00896">896</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00900">900</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3309,7 +3309,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00902">902</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00906">906</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3339,7 +3339,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns <a class="el" href="classrtabmap_1_1GPS.html" title="WGS84 GPS fix attached to a sensor sample or graph node.">GPS</a> data. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to <a class="el" href="classrtabmap_1_1GPS.html" title="WGS84 GPS fix attached to a sensor sample or graph node.">GPS</a> data </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00908">908</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00912">912</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3396,7 +3396,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> data. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> data </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00922">922</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00926">926</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3432,7 +3432,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00928">928</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00932">932</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3468,7 +3468,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd>
</dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00934">934</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00938">938</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3498,7 +3498,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns all environmental sensors. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to map of environmental sensors </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00940">940</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00944">944</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3535,7 +3535,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dl>
<dl class="section note"><dt>Note</dt><dd><a class="el" href="classrtabmap_1_1Landmark.html" title="Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map.">Landmark</a> IDs should be positive and non-zero. </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00947">947</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00951">951</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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<p>Returns landmarks. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to map of landmarks </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00953">953</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00957">957</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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<div class="ttc" id="aclassrtabmap_1_1LocalGridCache_html_a2e83e9c0c11051b5da84bf04b603a99b"><div class="ttname"><a href="classrtabmap_1_1LocalGridCache.html#a2e83e9c0c11051b5da84bf04b603a99b">rtabmap::LocalGridCache::add</a></div><div class="ttdeci">void add(int nodeId, const cv::Mat &amp;ground, const cv::Mat &amp;obstacles, const cv::Mat &amp;empty, float cellSize, const cv::Point3f &amp;viewPoint=cv::Point3f(0, 0, 0))</div><div class="ttdoc">Inserts or replaces the grid for nodeId (from separate cell mats).</div></div>
<div class="ttc" id="aclassrtabmap_1_1OccupancyGrid_html"><div class="ttname"><a href="classrtabmap_1_1OccupancyGrid.html">rtabmap::OccupancyGrid</a></div><div class="ttdef"><b>Definition</b> <a href="global__map_2OccupancyGrid_8h_source.html#l00040">OccupancyGrid.h:41</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a2e0be45871fa8dbce1c3cf727953358f"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f">rtabmap::SensorData::uncompressDataConst</a></div><div class="ttdeci">void uncompressDataConst(cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0, cv::Mat *depthConfidenceRaw=0) const</div><div class="ttdoc">Uncompresses compressed data into provided output buffers (const version)</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a51f21b98088ceec4c5d108d0fbe03200"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200">rtabmap::SensorData::gridViewPoint</a></div><div class="ttdeci">const cv::Point3f &amp; gridViewPoint() const</div><div class="ttdoc">Returns the occupancy grid viewpoint.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00812">SensorData.h:812</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a984ce55b6b75152a63441bd07288dc6c"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">rtabmap::SensorData::gridCellSize</a></div><div class="ttdeci">float gridCellSize() const</div><div class="ttdoc">Returns the occupancy grid cell size.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00806">SensorData.h:806</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a51f21b98088ceec4c5d108d0fbe03200"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200">rtabmap::SensorData::gridViewPoint</a></div><div class="ttdeci">const cv::Point3f &amp; gridViewPoint() const</div><div class="ttdoc">Returns the occupancy grid viewpoint.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00816">SensorData.h:816</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a984ce55b6b75152a63441bd07288dc6c"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">rtabmap::SensorData::gridCellSize</a></div><div class="ttdeci">float gridCellSize() const</div><div class="ttdoc">Returns the occupancy grid cell size.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00810">SensorData.h:810</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html"><div class="ttname"><a href="classrtabmap_1_1Signature.html">rtabmap::Signature</a></div><div class="ttdoc">Represents a node in RTAB-Map's pose graph.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00083">Signature.h:84</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html_a24c257c2ff3fe156910ac82c41de8738"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a24c257c2ff3fe156910ac82c41de8738">rtabmap::Signature::sensorData</a></div><div class="ttdeci">SensorData &amp; sensorData()</div><div class="ttdoc">Returns mutable access to the sensor data.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00597">Signature.h:597</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Signature_html_a31c6e7b7e720eca20fb5935e0ee1d9f9"><div class="ttname"><a href="classrtabmap_1_1Signature.html#a31c6e7b7e720eca20fb5935e0ee1d9f9">rtabmap::Signature::id</a></div><div class="ttdeci">int id() const</div><div class="ttdoc">Returns the signature ID.</div><div class="ttdef"><b>Definition</b> <a href="Signature_8h_source.html#l00168">Signature.h:168</a></div></div>
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@@ -1072,9 +1072,6 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="b
<tr class="memitem:ad426e396a196d6f69a004bb55982f9f7" id="r_ad426e396a196d6f69a004bb55982f9f7"><td class="memItemLeft" align="right" valign="top">void RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap_1_1util3d.html#ad426e396a196d6f69a004bb55982f9f7">solvePnPRansac</a> (const std::vector&lt; cv::Point3f &gt; &amp;objectPoints, const std::vector&lt; cv::Point2f &gt; &amp;imagePoints, const cv::Mat &amp;cameraMatrix, const cv::Mat &amp;distCoeffs, cv::Mat &amp;rvec, cv::Mat &amp;tvec, bool useExtrinsicGuess, int iterationsCount, float reprojectionError, int minInliersCount, std::vector&lt; int &gt; &amp;inliers, int flags, int refineIterations=1, float refineSigma=3.0f)</td></tr>
<tr class="memdesc:ad426e396a196d6f69a004bb55982f9f7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimates the camera pose using the PnP RANSAC algorithm and optionally refines it. <br /></td></tr>
<tr class="separator:ad426e396a196d6f69a004bb55982f9f7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9e74a9f79f348c573edc1f22debe7ddd" id="r_a9e74a9f79f348c573edc1f22debe7ddd"><td class="memItemLeft" align="right" valign="top"><a id="a9e74a9f79f348c573edc1f22debe7ddd" name="a9e74a9f79f348c573edc1f22debe7ddd"></a>
int RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>getCorrespondencesCount</b> (const pcl::PointCloud&lt; pcl::PointXYZ &gt;::ConstPtr &amp;cloud_source, const pcl::PointCloud&lt; pcl::PointXYZ &gt;::ConstPtr &amp;cloud_target, float maxDistance)</td></tr>
<tr class="separator:a9e74a9f79f348c573edc1f22debe7ddd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a56797352c7d47f815c694bc4ccb1faea" id="r_a56797352c7d47f815c694bc4ccb1faea"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap_1_1util3d.html#a56797352c7d47f815c694bc4ccb1faea">transformFromXYZCorrespondencesSVD</a> (const pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud1, const pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud2)</td></tr>
<tr class="memdesc:a56797352c7d47f815c694bc4ccb1faea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Estimates the rigid 3D transformation between two point clouds using SVD. <br /></td></tr>
<tr class="separator:a56797352c7d47f815c694bc4ccb1faea"><td class="memSeparator" colspan="2">&#160;</td></tr>
api/latest/util3d__registration_8h_source.html
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@@ -149,104 +149,100 @@ $(document).ready(function(){initNavTree('util3d__registration_8h_source.html','
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="keyword">namespace </span>util3d</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span>{</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="keywordtype">int</span> RTABMAP_CORE_EXPORT getCorrespondencesCount(<span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloud_source,</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloud_target,</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keywordtype">float</span> maxDistance);</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a56797352c7d47f815c694bc4ccb1faea"> 68</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a56797352c7d47f815c694bc4ccb1faea">transformFromXYZCorrespondencesSVD</a>(</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud1,</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud2);</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> </div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aab3ff771d2b43075bb8e7ca6e730c37c"> 101</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aab3ff771d2b43075bb8e7ca6e730c37c">transformFromXYZCorrespondences</a>(</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloud1,</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloud2,</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">double</span> inlierThreshold = 0.02,</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">int</span> iterations = 100,</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">int</span> refineModelIterations = 10,</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">double</span> refineModelSigma = 3.0,</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> std::vector&lt;int&gt; * inliers = 0,</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> cv::Mat * variance = 0);</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665"> 139</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::ConstPtr &amp; cloudA,</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::ConstPtr &amp; cloudB,</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keywordtype">double</span> maxCorrespondenceAngle, <span class="comment">// &lt;=0 means that we don&#39;t care about normal angle difference</span></div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keywordtype">double</span> &amp; variance,</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keywordtype">int</span> &amp; correspondencesOut,</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keywordtype">bool</span> reciprocal);</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#gaae6ddd0517614e9332669c37c6816777"> 148</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZINormal&gt;::ConstPtr &amp; cloudA,</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZINormal&gt;::ConstPtr &amp; cloudB,</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="keywordtype">double</span> maxCorrespondenceAngle, <span class="comment">// &lt;=0 means that we don&#39;t care about normal angle difference</span></div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> <span class="keywordtype">double</span> &amp; variance,</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keywordtype">int</span> &amp; correspondencesOut,</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keywordtype">bool</span> reciprocal);</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#ga92518a7b79e9265380f3a047e46ec247"> 157</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloudA,</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloudB,</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">double</span> &amp; variance,</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keywordtype">int</span> &amp; correspondencesOut,</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">bool</span> reciprocal);</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#ga7d90c0848a13e35f37588addf3637fe2"> 165</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::ConstPtr &amp; cloudA,</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::ConstPtr &amp; cloudB,</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> <span class="keywordtype">double</span> &amp; variance,</div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="keywordtype">int</span> &amp; correspondencesOut,</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="keywordtype">bool</span> reciprocal);</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967"> 199</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967">icp</a>(</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloud_source,</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloud_target,</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keywordtype">int</span> maximumIterations,</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">bool</span> &amp; hasConverged,</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud_source_registered,</div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a1a153cf0e597dd206c6a850957f6c1ef"> 218</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967">icp</a>(</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::ConstPtr &amp; cloud_source,</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::ConstPtr &amp; cloud_target,</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordtype">int</span> maximumIterations,</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keywordtype">bool</span> &amp; hasConverged,</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> pcl::PointCloud&lt;pcl::PointXYZI&gt; &amp; cloud_source_registered,</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> </div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303"> 255</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303">icpPointToPlane</a>(</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::ConstPtr &amp; cloud_source,</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::ConstPtr &amp; cloud_target,</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="keywordtype">int</span> maximumIterations,</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keywordtype">bool</span> &amp; hasConverged,</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> pcl::PointCloud&lt;pcl::PointNormal&gt; &amp; cloud_source_registered,</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
<div class="line"><a id="l00263" name="l00263"></a><span class="lineno"> 263</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"> 264</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a12d008fea5babe6a208fca7b1fb719d3"> 274</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303">icpPointToPlane</a>(</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZINormal&gt;::ConstPtr &amp; cloud_source,</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZINormal&gt;::ConstPtr &amp; cloud_target,</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordtype">int</span> maximumIterations,</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <span class="keywordtype">bool</span> &amp; hasConverged,</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> pcl::PointCloud&lt;pcl::PointXYZINormal&gt; &amp; cloud_source_registered,</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> </div>
<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span>} <span class="comment">// namespace util3d</span></div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> </div>
<div class="line"><a id="l00289" name="l00289"></a><span class="lineno"> 289</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_REGISTRATION_H_ */</span><span class="preprocessor"></span></div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a56797352c7d47f815c694bc4ccb1faea"> 64</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a56797352c7d47f815c694bc4ccb1faea">transformFromXYZCorrespondencesSVD</a>(</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud1,</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud2);</div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#aab3ff771d2b43075bb8e7ca6e730c37c"> 97</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#aab3ff771d2b43075bb8e7ca6e730c37c">transformFromXYZCorrespondences</a>(</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloud1,</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloud2,</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordtype">double</span> inlierThreshold = 0.02,</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> <span class="keywordtype">int</span> iterations = 100,</div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keywordtype">int</span> refineModelIterations = 10,</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keywordtype">double</span> refineModelSigma = 3.0,</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> std::vector&lt;int&gt; * inliers = 0,</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> cv::Mat * variance = 0);</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> </div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665"> 135</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::ConstPtr &amp; cloudA,</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::ConstPtr &amp; cloudB,</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keywordtype">double</span> maxCorrespondenceAngle, <span class="comment">// &lt;=0 means that we don&#39;t care about normal angle difference</span></div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keywordtype">double</span> &amp; variance,</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keywordtype">int</span> &amp; correspondencesOut,</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordtype">bool</span> reciprocal);</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#gaae6ddd0517614e9332669c37c6816777"> 144</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZINormal&gt;::ConstPtr &amp; cloudA,</div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZINormal&gt;::ConstPtr &amp; cloudB,</div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="keywordtype">double</span> maxCorrespondenceAngle, <span class="comment">// &lt;=0 means that we don&#39;t care about normal angle difference</span></div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keywordtype">double</span> &amp; variance,</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> <span class="keywordtype">int</span> &amp; correspondencesOut,</div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="keywordtype">bool</span> reciprocal);</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#ga92518a7b79e9265380f3a047e46ec247"> 153</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloudA,</div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloudB,</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keywordtype">double</span> &amp; variance,</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keywordtype">int</span> &amp; correspondencesOut,</div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">bool</span> reciprocal);</div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"><a class="line" href="group__ComputeVarianceAndCorrespondences.html#ga7d90c0848a13e35f37588addf3637fe2"> 161</a></span><span class="keywordtype">void</span> RTABMAP_CORE_EXPORT <a class="code hl_function" href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">computeVarianceAndCorrespondences</a>(</div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::ConstPtr &amp; cloudA,</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::ConstPtr &amp; cloudB,</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> <span class="keywordtype">double</span> &amp; variance,</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keywordtype">int</span> &amp; correspondencesOut,</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">bool</span> reciprocal);</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967"> 195</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967">icp</a>(</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloud_source,</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZ&gt;::ConstPtr &amp; cloud_target,</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordtype">int</span> maximumIterations,</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keywordtype">bool</span> &amp; hasConverged,</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> pcl::PointCloud&lt;pcl::PointXYZ&gt; &amp; cloud_source_registered,</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a1a153cf0e597dd206c6a850957f6c1ef"> 214</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#af9f16d681288b1f91ce6e5a8ee9f6967">icp</a>(</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::ConstPtr &amp; cloud_source,</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZI&gt;::ConstPtr &amp; cloud_target,</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">int</span> maximumIterations,</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> <span class="keywordtype">bool</span> &amp; hasConverged,</div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> pcl::PointCloud&lt;pcl::PointXYZI&gt; &amp; cloud_source_registered,</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> </div>
<div class="line"><a id="l00251" name="l00251"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303"> 251</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303">icpPointToPlane</a>(</div>
<div class="line"><a id="l00252" name="l00252"></a><span class="lineno"> 252</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::ConstPtr &amp; cloud_source,</div>
<div class="line"><a id="l00253" name="l00253"></a><span class="lineno"> 253</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointNormal&gt;::ConstPtr &amp; cloud_target,</div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"> 254</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> <span class="keywordtype">int</span> maximumIterations,</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> <span class="keywordtype">bool</span> &amp; hasConverged,</div>
<div class="line"><a id="l00257" name="l00257"></a><span class="lineno"> 257</span> pcl::PointCloud&lt;pcl::PointNormal&gt; &amp; cloud_source_registered,</div>
<div class="line"><a id="l00258" name="l00258"></a><span class="lineno"> 258</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
<div class="line"><a id="l00259" name="l00259"></a><span class="lineno"> 259</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00260" name="l00260"></a><span class="lineno"> 260</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"> 261</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"><a class="line" href="namespacertabmap_1_1util3d.html#a12d008fea5babe6a208fca7b1fb719d3"> 270</a></span><a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap_1_1util3d.html#a6ac0f56608f1760d60eda7861b8dc303">icpPointToPlane</a>(</div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZINormal&gt;::ConstPtr &amp; cloud_source,</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> <span class="keyword">const</span> pcl::PointCloud&lt;pcl::PointXYZINormal&gt;::ConstPtr &amp; cloud_target,</div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> <span class="keywordtype">double</span> maxCorrespondenceDistance,</div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span> <span class="keywordtype">int</span> maximumIterations,</div>
<div class="line"><a id="l00275" name="l00275"></a><span class="lineno"> 275</span> <span class="keywordtype">bool</span> &amp; hasConverged,</div>
<div class="line"><a id="l00276" name="l00276"></a><span class="lineno"> 276</span> pcl::PointCloud&lt;pcl::PointXYZINormal&gt; &amp; cloud_source_registered,</div>
<div class="line"><a id="l00277" name="l00277"></a><span class="lineno"> 277</span> <span class="keywordtype">float</span> epsilon = 0.0f,</div>
<div class="line"><a id="l00278" name="l00278"></a><span class="lineno"> 278</span> <span class="keywordtype">bool</span> icp2D = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00279" name="l00279"></a><span class="lineno"> 279</span> <span class="keywordtype">float</span> ransacOutlierRatio = 0.0f,</div>
<div class="line"><a id="l00280" name="l00280"></a><span class="lineno"> 280</span> <span class="keywordtype">int</span> * iterationsDone = <span class="keyword">nullptr</span>);</div>
<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"> 281</span> </div>
<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span>} <span class="comment">// namespace util3d</span></div>
<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> </div>
<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span><span class="preprocessor">#endif </span><span class="comment">/* UTIL3D_REGISTRATION_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="agroup__ComputeVarianceAndCorrespondences_html_gaf474f9fb6eaaf532e9b18af63b9e1665"><div class="ttname"><a href="group__ComputeVarianceAndCorrespondences.html#gaf474f9fb6eaaf532e9b18af63b9e1665">rtabmap::util3d::computeVarianceAndCorrespondences</a></div><div class="ttdeci">void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(const pcl::PointCloud&lt; pcl::PointNormal &gt;::ConstPtr &amp;cloudA, const pcl::PointCloud&lt; pcl::PointNormal &gt;::ConstPtr &amp;cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &amp;variance, int &amp;correspondencesOut, bool reciprocal)</div><div class="ttdoc">Compute with variance and correspondences of pcl::PointNormal point cloud type.</div></div>
<div class="ttc" id="anamespacertabmap_1_1util3d_html_a56797352c7d47f815c694bc4ccb1faea"><div class="ttname"><a href="namespacertabmap_1_1util3d.html#a56797352c7d47f815c694bc4ccb1faea">rtabmap::util3d::transformFromXYZCorrespondencesSVD</a></div><div class="ttdeci">Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(const pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud1, const pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud2)</div><div class="ttdoc">Estimates the rigid 3D transformation between two point clouds using SVD.</div></div>
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