diff --git a/api/latest/SensorData_8h_source.html b/api/latest/SensorData_8h_source.html index 51e72182..61dfc314 100644 --- a/api/latest/SensorData_8h_source.html +++ b/api/latest/SensorData_8h_source.html @@ -396,160 +396,160 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
725
730 const std::vector<StereoCameraModel> & stereoCameraModels() const {return _stereoCameraModels;}
731
-
740 void setUserData(const cv::Mat & userData, bool clearPreviousData = true);
-
741 const cv::Mat & userDataRaw() const {return _userDataRaw;}
-
742 const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
-
743
-
757 void setOccupancyGrid(
-
758 const cv::Mat & ground,
-
759 const cv::Mat & obstacles,
-
760 const cv::Mat & empty,
-
761 float cellSize,
-
762 const cv::Point3f & viewPoint);
-
767 const cv::Mat & gridGroundCellsRaw() const {return _groundCellsRaw;}
-
768
-
774 const cv::Mat & gridGroundCellsCompressed() const {return _groundCellsCompressed;}
-
775
-
780 const cv::Mat & gridObstacleCellsRaw() const {return _obstacleCellsRaw;}
-
781
-
787 const cv::Mat & gridObstacleCellsCompressed() const {return _obstacleCellsCompressed;}
-
788
-
793 const cv::Mat & gridEmptyCellsRaw() const {return _emptyCellsRaw;}
-
794
-
800 const cv::Mat & gridEmptyCellsCompressed() const {return _emptyCellsCompressed;}
-
801
-
806 float gridCellSize() const {return _cellSize;}
-
807
-
812 const cv::Point3f & gridViewPoint() const {return _viewPoint;}
-
813
-
824 void setFeatures(const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & keypoints3D, const cv::Mat & descriptors);
-
825
-
830 const std::vector<cv::KeyPoint> & keypoints() const {return _keypoints;}
-
831
-
836 const std::vector<cv::Point3f> & keypoints3D() const {return _keypoints3D;}
-
837
-
842 const cv::Mat & descriptors() const {return _descriptors;}
-
843
-
848 void addGlobalDescriptor(const GlobalDescriptor & descriptor) {_globalDescriptors.push_back(descriptor);}
-
849
-
854 void setGlobalDescriptors(const std::vector<GlobalDescriptor> & descriptors) {_globalDescriptors = descriptors;}
-
855
-
859 void clearGlobalDescriptors() {_globalDescriptors.clear();}
-
860
-
865 const std::vector<GlobalDescriptor> & globalDescriptors() const {return _globalDescriptors;}
-
866
-
871 void setGroundTruth(const Transform & pose) {groundTruth_ = pose;}
-
872
-
877 const Transform & groundTruth() const {return groundTruth_;}
-
878
-
884 void setGlobalPose(const Transform & pose, const cv::Mat & covariance) {globalPose_ = pose; globalPoseCovariance_ = covariance;}
-
885
-
890 const Transform & globalPose() const {return globalPose_;}
-
891
-
896 const cv::Mat & globalPoseCovariance() const {return globalPoseCovariance_;}
-
897
-
902 void setGPS(const GPS & gps) {gps_ = gps;}
-
903
-
908 const GPS & gps() const {return gps_;}
-
909
-
916 void setIMU(const IMU & imu);
-
917
-
922 const IMU & imu() const {return imu_;}
-
923
-
928 void setEnvSensors(const EnvSensors & sensors) {_envSensors = sensors;}
-
929
-
934 void addEnvSensor(const EnvSensor & sensor) {_envSensors.insert(std::make_pair(sensor.type(), sensor));}
-
935
-
940 const EnvSensors & envSensors() const {return _envSensors;}
-
941
-
947 void setLandmarks(const Landmarks & landmarks) {_landmarks = landmarks;}
-
948
-
953 const Landmarks & landmarks() const {return _landmarks;}
-
954
-
963 unsigned long getMemoryUsed() const;
-
968 void clearCompressedData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
-
973 void clearRawData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
-
974
-
984 int isPointVisibleFromCameras(const cv::Point3f & pt) const;
-
985
-
986#ifdef HAVE_OPENCV_CUDEV
-
991 const cv::cuda::GpuMat & imageRawGpu() const {return _imageRawGpu;}
-
992
-
997 void setImageRawGpu(const cv::cuda::GpuMat & image) {_imageRawGpu = image;}
-
998
-
1003 const cv::cuda::GpuMat & depthOrRightRawGpu() const {return _depthOrRightRawGpu;}
-
1004
-
1009 void setDepthOrRightRawGpu(const cv::cuda::GpuMat & image) {_depthOrRightRawGpu = image;}
-
1010#endif
-
1011
-
1012private:
-
1013 int _id;
-
1014 double _stamp;
+
744 void setUserData(const cv::Mat & userData, bool clearPreviousData = true);
+
745 const cv::Mat & userDataRaw() const {return _userDataRaw;}
+
746 const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
+
747
+
761 void setOccupancyGrid(
+
762 const cv::Mat & ground,
+
763 const cv::Mat & obstacles,
+
764 const cv::Mat & empty,
+
765 float cellSize,
+
766 const cv::Point3f & viewPoint);
+
771 const cv::Mat & gridGroundCellsRaw() const {return _groundCellsRaw;}
+
772
+
778 const cv::Mat & gridGroundCellsCompressed() const {return _groundCellsCompressed;}
+
779
+
784 const cv::Mat & gridObstacleCellsRaw() const {return _obstacleCellsRaw;}
+
785
+
791 const cv::Mat & gridObstacleCellsCompressed() const {return _obstacleCellsCompressed;}
+
792
+
797 const cv::Mat & gridEmptyCellsRaw() const {return _emptyCellsRaw;}
+
798
+
804 const cv::Mat & gridEmptyCellsCompressed() const {return _emptyCellsCompressed;}
+
805
+
810 float gridCellSize() const {return _cellSize;}
+
811
+
816 const cv::Point3f & gridViewPoint() const {return _viewPoint;}
+
817
+
828 void setFeatures(const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & keypoints3D, const cv::Mat & descriptors);
+
829
+
834 const std::vector<cv::KeyPoint> & keypoints() const {return _keypoints;}
+
835
+
840 const std::vector<cv::Point3f> & keypoints3D() const {return _keypoints3D;}
+
841
+
846 const cv::Mat & descriptors() const {return _descriptors;}
+
847
+
852 void addGlobalDescriptor(const GlobalDescriptor & descriptor) {_globalDescriptors.push_back(descriptor);}
+
853
+
858 void setGlobalDescriptors(const std::vector<GlobalDescriptor> & descriptors) {_globalDescriptors = descriptors;}
+
859
+
863 void clearGlobalDescriptors() {_globalDescriptors.clear();}
+
864
+
869 const std::vector<GlobalDescriptor> & globalDescriptors() const {return _globalDescriptors;}
+
870
+
875 void setGroundTruth(const Transform & pose) {groundTruth_ = pose;}
+
876
+
881 const Transform & groundTruth() const {return groundTruth_;}
+
882
+
888 void setGlobalPose(const Transform & pose, const cv::Mat & covariance) {globalPose_ = pose; globalPoseCovariance_ = covariance;}
+
889
+
894 const Transform & globalPose() const {return globalPose_;}
+
895
+
900 const cv::Mat & globalPoseCovariance() const {return globalPoseCovariance_;}
+
901
+
906 void setGPS(const GPS & gps) {gps_ = gps;}
+
907
+
912 const GPS & gps() const {return gps_;}
+
913
+
920 void setIMU(const IMU & imu);
+
921
+
926 const IMU & imu() const {return imu_;}
+
927
+
932 void setEnvSensors(const EnvSensors & sensors) {_envSensors = sensors;}
+
933
+
938 void addEnvSensor(const EnvSensor & sensor) {_envSensors.insert(std::make_pair(sensor.type(), sensor));}
+
939
+
944 const EnvSensors & envSensors() const {return _envSensors;}
+
945
+
951 void setLandmarks(const Landmarks & landmarks) {_landmarks = landmarks;}
+
952
+
957 const Landmarks & landmarks() const {return _landmarks;}
+
958
+
967 unsigned long getMemoryUsed() const;
+
972 void clearCompressedData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
+
977 void clearRawData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
+
978
+
988 int isPointVisibleFromCameras(const cv::Point3f & pt) const;
+
989
+
990#ifdef HAVE_OPENCV_CUDEV
+
995 const cv::cuda::GpuMat & imageRawGpu() const {return _imageRawGpu;}
+
996
+
1001 void setImageRawGpu(const cv::cuda::GpuMat & image) {_imageRawGpu = image;}
+
1002
+
1007 const cv::cuda::GpuMat & depthOrRightRawGpu() const {return _depthOrRightRawGpu;}
+
1008
+
1013 void setDepthOrRightRawGpu(const cv::cuda::GpuMat & image) {_depthOrRightRawGpu = image;}
+
1014#endif
1015
-
1016 // Compressed data
-
1017 cv::Mat _imageCompressed;
-
1018 cv::Mat _depthOrRightCompressed;
-
1019 cv::Mat _depthConfidenceCompressed;
-
1020 LaserScan _laserScanCompressed;
-
1021
-
1022 // Raw data
-
1023 cv::Mat _imageRaw;
-
1024 cv::Mat _depthOrRightRaw;
-
1025 cv::Mat _depthConfidenceRaw;
-
1026 LaserScan _laserScanRaw;
-
1027
-
1028 // Camera models
-
1029 std::vector<CameraModel> _cameraModels;
-
1030 std::vector<StereoCameraModel> _stereoCameraModels;
+
1016private:
+
1017 int _id;
+
1018 double _stamp;
+
1019
+
1020 // Compressed data
+
1021 cv::Mat _imageCompressed;
+
1022 cv::Mat _depthOrRightCompressed;
+
1023 cv::Mat _depthConfidenceCompressed;
+
1024 LaserScan _laserScanCompressed;
+
1025
+
1026 // Raw data
+
1027 cv::Mat _imageRaw;
+
1028 cv::Mat _depthOrRightRaw;
+
1029 cv::Mat _depthConfidenceRaw;
+
1030 LaserScan _laserScanRaw;
1031
-
1032 // User data
-
1033 cv::Mat _userDataCompressed;
-
1034 cv::Mat _userDataRaw;
+
1032 // Camera models
+
1033 std::vector<CameraModel> _cameraModels;
+
1034 std::vector<StereoCameraModel> _stereoCameraModels;
1035
-
1036 // Occupancy grid
-
1037 cv::Mat _groundCellsCompressed;
-
1038 cv::Mat _obstacleCellsCompressed;
-
1039 cv::Mat _emptyCellsCompressed;
-
1040 cv::Mat _groundCellsRaw;
-
1041 cv::Mat _obstacleCellsRaw;
-
1042 cv::Mat _emptyCellsRaw;
-
1043 float _cellSize;
-
1044 cv::Point3f _viewPoint;
-
1045
-
1046 // Environmental sensors
-
1047 EnvSensors _envSensors;
-
1048
-
1049 // Landmarks
-
1050 Landmarks _landmarks;
-
1051
-
1052 // Visual features
-
1053 std::vector<cv::KeyPoint> _keypoints;
-
1054 std::vector<cv::Point3f> _keypoints3D;
-
1055 cv::Mat _descriptors;
-
1056
-
1057 // Global descriptors
-
1058 std::vector<GlobalDescriptor> _globalDescriptors;
-
1059
-
1060 // Poses
-
1061 Transform groundTruth_;
-
1062 Transform globalPose_;
-
1063 cv::Mat globalPoseCovariance_;
-
1064
-
1065 // Sensor fusion
-
1066 GPS gps_;
-
1067 IMU imu_;
+
1036 // User data
+
1037 cv::Mat _userDataCompressed;
+
1038 cv::Mat _userDataRaw;
+
1039
+
1040 // Occupancy grid
+
1041 cv::Mat _groundCellsCompressed;
+
1042 cv::Mat _obstacleCellsCompressed;
+
1043 cv::Mat _emptyCellsCompressed;
+
1044 cv::Mat _groundCellsRaw;
+
1045 cv::Mat _obstacleCellsRaw;
+
1046 cv::Mat _emptyCellsRaw;
+
1047 float _cellSize;
+
1048 cv::Point3f _viewPoint;
+
1049
+
1050 // Environmental sensors
+
1051 EnvSensors _envSensors;
+
1052
+
1053 // Landmarks
+
1054 Landmarks _landmarks;
+
1055
+
1056 // Visual features
+
1057 std::vector<cv::KeyPoint> _keypoints;
+
1058 std::vector<cv::Point3f> _keypoints3D;
+
1059 cv::Mat _descriptors;
+
1060
+
1061 // Global descriptors
+
1062 std::vector<GlobalDescriptor> _globalDescriptors;
+
1063
+
1064 // Poses
+
1065 Transform groundTruth_;
+
1066 Transform globalPose_;
+
1067 cv::Mat globalPoseCovariance_;
1068
-
1069#ifdef HAVE_OPENCV_CUDEV
-
1076 cv::cuda::GpuMat _imageRawGpu;
-
1077 cv::cuda::GpuMat _depthOrRightRawGpu;
-
1078#endif
-
1079};
+
1069 // Sensor fusion
+
1070 GPS gps_;
+
1071 IMU imu_;
+
1072
+
1073#ifdef HAVE_OPENCV_CUDEV
+
1080 cv::cuda::GpuMat _imageRawGpu;
+
1081 cv::cuda::GpuMat _depthOrRightRawGpu;
+
1082#endif
+
1083};
-
1080
-
1081}
-
1082
-
1083
-
1084#endif /* SENSORDATA_H_ */
+
1084
+
1085}
+
1086
+
1087
+
1088#endif /* SENSORDATA_H_ */
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
rtabmap::EnvSensor
Single environmental measurement (type, value, timestamp).
Definition EnvSensor.h:51
rtabmap::EnvSensor::type
const Type & type() const
Definition EnvSensor.h:101
@@ -558,44 +558,44 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
-
rtabmap::SensorData::imu
const IMU & imu() const
Returns IMU data.
Definition SensorData.h:922
+
rtabmap::SensorData::imu
const IMU & imu() const
Returns IMU data.
Definition SensorData.h:926
rtabmap::SensorData::depthConfidenceRaw
const cv::Mat & depthConfidenceRaw() const
Returns the raw depth confidence map.
Definition SensorData.h:579
-
rtabmap::SensorData::gridObstacleCellsRaw
const cv::Mat & gridObstacleCellsRaw() const
Returns raw obstacle cells.
Definition SensorData.h:780
-
rtabmap::SensorData::addEnvSensor
void addEnvSensor(const EnvSensor &sensor)
Adds a single environmental sensor.
Definition SensorData.h:934
+
rtabmap::SensorData::gridObstacleCellsRaw
const cv::Mat & gridObstacleCellsRaw() const
Returns raw obstacle cells.
Definition SensorData.h:784
+
rtabmap::SensorData::addEnvSensor
void addEnvSensor(const EnvSensor &sensor)
Adds a single environmental sensor.
Definition SensorData.h:938
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &image, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Mono camera constructor.
rtabmap::SensorData::laserScanCompressed
const LaserScan & laserScanCompressed() const
Returns the compressed laser scan.
Definition SensorData.h:560
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Stereo camera constructor.
-
rtabmap::SensorData::gps
const GPS & gps() const
Returns GPS data.
Definition SensorData.h:908
+
rtabmap::SensorData::gps
const GPS & gps() const
Returns GPS data.
Definition SensorData.h:912
rtabmap::SensorData::depthRaw
cv::Mat depthRaw() const
Returns the depth image (convenience method)
Definition SensorData.h:639
rtabmap::SensorData::setRGBDImage
void setRGBDImage(const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &model, bool clearPreviousData=true)
rtabmap::SensorData::setIMU
void setIMU(const IMU &imu)
Sets IMU data.
rtabmap::SensorData::depthOrRightRaw
const cv::Mat & depthOrRightRaw() const
Returns the raw depth or right stereo image.
Definition SensorData.h:573
rtabmap::SensorData::SensorData
SensorData(const IMU &imu, int id=0, double stamp=0.0)
IMU-only constructor.
-
rtabmap::SensorData::gridGroundCellsRaw
const cv::Mat & gridGroundCellsRaw() const
Returns raw ground cells.
Definition SensorData.h:767
+
rtabmap::SensorData::gridGroundCellsRaw
const cv::Mat & gridGroundCellsRaw() const
Returns raw ground cells.
Definition SensorData.h:771
rtabmap::SensorData::uncompressDataConst
void uncompressDataConst(cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0, cv::Mat *depthConfidenceRaw=0) const
Uncompresses compressed data into provided output buffers (const version)
rtabmap::SensorData::isPointVisibleFromCameras
int isPointVisibleFromCameras(const cv::Point3f &pt) const
Checks if a 3D point is visible from any camera.
rtabmap::SensorData::clearCompressedData
void clearCompressedData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)
-
rtabmap::SensorData::clearGlobalDescriptors
void clearGlobalDescriptors()
Clears all global descriptors.
Definition SensorData.h:859
-
rtabmap::SensorData::gridEmptyCellsRaw
const cv::Mat & gridEmptyCellsRaw() const
Returns raw empty cells.
Definition SensorData.h:793
-
rtabmap::SensorData::envSensors
const EnvSensors & envSensors() const
Returns all environmental sensors.
Definition SensorData.h:940
+
rtabmap::SensorData::clearGlobalDescriptors
void clearGlobalDescriptors()
Clears all global descriptors.
Definition SensorData.h:863
+
rtabmap::SensorData::gridEmptyCellsRaw
const cv::Mat & gridEmptyCellsRaw() const
Returns raw empty cells.
Definition SensorData.h:797
+
rtabmap::SensorData::envSensors
const EnvSensors & envSensors() const
Returns all environmental sensors.
Definition SensorData.h:944
rtabmap::SensorData::setId
void setId(int id)
Sets the sensor data ID.
Definition SensorData.h:521
-
rtabmap::SensorData::gridObstacleCellsCompressed
const cv::Mat & gridObstacleCellsCompressed() const
Returns compressed obstacle cells.
Definition SensorData.h:787
-
rtabmap::SensorData::gridViewPoint
const cv::Point3f & gridViewPoint() const
Returns the occupancy grid viewpoint.
Definition SensorData.h:812
+
rtabmap::SensorData::gridObstacleCellsCompressed
const cv::Mat & gridObstacleCellsCompressed() const
Returns compressed obstacle cells.
Definition SensorData.h:791
+
rtabmap::SensorData::gridViewPoint
const cv::Point3f & gridViewPoint() const
Returns the occupancy grid viewpoint.
Definition SensorData.h:816
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
RGB-D constructor with depth confidence and laser scan.
rtabmap::SensorData::clearRawData
void clearRawData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)
-
rtabmap::SensorData::globalPose
const Transform & globalPose() const
Returns the global pose.
Definition SensorData.h:890
+
rtabmap::SensorData::globalPose
const Transform & globalPose() const
Returns the global pose.
Definition SensorData.h:894
rtabmap::SensorData::stamp
double stamp() const
Returns the timestamp.
Definition SensorData.h:527
-
rtabmap::SensorData::globalPoseCovariance
const cv::Mat & globalPoseCovariance() const
Returns the global pose covariance.
Definition SensorData.h:896
+
rtabmap::SensorData::globalPoseCovariance
const cv::Mat & globalPoseCovariance() const
Returns the global pose covariance.
Definition SensorData.h:900
rtabmap::SensorData::setStamp
void setStamp(double stamp)
Sets the timestamp.
Definition SensorData.h:533
rtabmap::SensorData::setOccupancyGrid
void setOccupancyGrid(const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint)
Sets occupancy grid data.
-
rtabmap::SensorData::descriptors
const cv::Mat & descriptors() const
Returns the feature descriptors.
Definition SensorData.h:842
+
rtabmap::SensorData::descriptors
const cv::Mat & descriptors() const
Returns the feature descriptors.
Definition SensorData.h:846
rtabmap::SensorData::getMemoryUsed
unsigned long getMemoryUsed() const
Computes the memory usage of this sensor data.
rtabmap::SensorData::cameraModels
const std::vector< CameraModel > & cameraModels() const
Returns the camera models.
Definition SensorData.h:724
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera stereo constructor.
-
rtabmap::SensorData::setGroundTruth
void setGroundTruth(const Transform &pose)
Sets the ground truth pose.
Definition SensorData.h:871
+
rtabmap::SensorData::setGroundTruth
void setGroundTruth(const Transform &pose)
Sets the ground truth pose.
Definition SensorData.h:875
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera RGB-D constructor with depth confidence.
-
rtabmap::SensorData::setGlobalPose
void setGlobalPose(const Transform &pose, const cv::Mat &covariance)
Sets the global pose with covariance.
Definition SensorData.h:884
-
rtabmap::SensorData::landmarks
const Landmarks & landmarks() const
Returns landmarks.
Definition SensorData.h:953
+
rtabmap::SensorData::setGlobalPose
void setGlobalPose(const Transform &pose, const cv::Mat &covariance)
Sets the global pose with covariance.
Definition SensorData.h:888
+
rtabmap::SensorData::landmarks
const Landmarks & landmarks() const
Returns landmarks.
Definition SensorData.h:957
rtabmap::SensorData::id
int id() const
Returns the sensor data ID.
Definition SensorData.h:515
rtabmap::SensorData::depthOrRightCompressed
const cv::Mat & depthOrRightCompressed() const
Returns the compressed depth or right stereo image.
Definition SensorData.h:547
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depth_confidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
RGB-D constructor with depth confidence.
@@ -603,26 +603,26 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
rtabmap::SensorData::setLaserScan
void setLaserScan(const LaserScan &laserScan, bool clearPreviousData=true)
rtabmap::SensorData::SensorData
SensorData()
Default constructor.
rtabmap::SensorData::~SensorData
virtual ~SensorData()
Virtual destructor.
-
rtabmap::SensorData::gridCellSize
float gridCellSize() const
Returns the occupancy grid cell size.
Definition SensorData.h:806
+
rtabmap::SensorData::gridCellSize
float gridCellSize() const
Returns the occupancy grid cell size.
Definition SensorData.h:810
rtabmap::SensorData::uncompressData
void uncompressData()
Uncompresses all compressed data in-place.
rtabmap::SensorData::rightRaw
cv::Mat rightRaw() const
Returns the right stereo image (convenience method)
Definition SensorData.h:650
rtabmap::SensorData::imageCompressed
const cv::Mat & imageCompressed() const
Returns the compressed RGB/grayscale image.
Definition SensorData.h:540
rtabmap::SensorData::stereoCameraModels
const std::vector< StereoCameraModel > & stereoCameraModels() const
Returns the stereo camera models.
Definition SensorData.h:730
-
rtabmap::SensorData::keypoints3D
const std::vector< cv::Point3f > & keypoints3D() const
Returns the 3D keypoints.
Definition SensorData.h:836
+
rtabmap::SensorData::keypoints3D
const std::vector< cv::Point3f > & keypoints3D() const
Returns the 3D keypoints.
Definition SensorData.h:840
rtabmap::SensorData::setStereoCameraModel
void setStereoCameraModel(const StereoCameraModel &stereoCameraModel)
Sets a single stereo camera model (clears previous models)
Definition SensorData.h:622
-
rtabmap::SensorData::setEnvSensors
void setEnvSensors(const EnvSensors &sensors)
Sets all environmental sensors.
Definition SensorData.h:928
-
rtabmap::SensorData::gridGroundCellsCompressed
const cv::Mat & gridGroundCellsCompressed() const
Returns compressed ground cells.
Definition SensorData.h:774
+
rtabmap::SensorData::setEnvSensors
void setEnvSensors(const EnvSensors &sensors)
Sets all environmental sensors.
Definition SensorData.h:932
+
rtabmap::SensorData::gridGroundCellsCompressed
const cv::Mat & gridGroundCellsCompressed() const
Returns compressed ground cells.
Definition SensorData.h:778
rtabmap::SensorData::setStereoCameraModels
void setStereoCameraModels(const std::vector< StereoCameraModel > &stereoCameraModels)
Sets multiple stereo camera models.
Definition SensorData.h:628
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &image, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Appearance-only constructor.
-
rtabmap::SensorData::setGlobalDescriptors
void setGlobalDescriptors(const std::vector< GlobalDescriptor > &descriptors)
Sets all global descriptors.
Definition SensorData.h:854
+
rtabmap::SensorData::setGlobalDescriptors
void setGlobalDescriptors(const std::vector< GlobalDescriptor > &descriptors)
Sets all global descriptors.
Definition SensorData.h:858
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Stereo camera constructor with laser scan.
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
RGB-D constructor with laser scan.
-
rtabmap::SensorData::gridEmptyCellsCompressed
const cv::Mat & gridEmptyCellsCompressed() const
Returns compressed empty cells.
Definition SensorData.h:800
-
rtabmap::SensorData::addGlobalDescriptor
void addGlobalDescriptor(const GlobalDescriptor &descriptor)
Adds a global descriptor.
Definition SensorData.h:848
+
rtabmap::SensorData::gridEmptyCellsCompressed
const cv::Mat & gridEmptyCellsCompressed() const
Returns compressed empty cells.
Definition SensorData.h:804
+
rtabmap::SensorData::addGlobalDescriptor
void addGlobalDescriptor(const GlobalDescriptor &descriptor)
Adds a global descriptor.
Definition SensorData.h:852
rtabmap::SensorData::setUserData
void setUserData(const cv::Mat &userData, bool clearPreviousData=true)
-
rtabmap::SensorData::globalDescriptors
const std::vector< GlobalDescriptor > & globalDescriptors() const
Returns all global descriptors.
Definition SensorData.h:865
+
rtabmap::SensorData::globalDescriptors
const std::vector< GlobalDescriptor > & globalDescriptors() const
Returns all global descriptors.
Definition SensorData.h:869
rtabmap::SensorData::setFeatures
void setFeatures(const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &keypoints3D, const cv::Mat &descriptors)
Sets visual features (keypoints, 3D points, descriptors)
-
rtabmap::SensorData::setGPS
void setGPS(const GPS &gps)
Sets GPS data.
Definition SensorData.h:902
+
rtabmap::SensorData::setGPS
void setGPS(const GPS &gps)
Sets GPS data.
Definition SensorData.h:906
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera stereo constructor with laser scan.
rtabmap::SensorData::isValid
bool isValid() const
Checks if the sensor data is valid.
Definition SensorData.h:485
rtabmap::SensorData::setCameraModel
void setCameraModel(const CameraModel &model)
Sets a single camera model (clears previous models)
Definition SensorData.h:610
@@ -633,10 +633,10 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
RGB-D constructor.
rtabmap::SensorData::depthConfidenceCompressed
const cv::Mat & depthConfidenceCompressed() const
Returns the compressed depth confidence map.
Definition SensorData.h:554
rtabmap::SensorData::laserScanRaw
const LaserScan & laserScanRaw() const
Returns the raw laser scan.
Definition SensorData.h:585
-
rtabmap::SensorData::groundTruth
const Transform & groundTruth() const
Returns the ground truth pose.
Definition SensorData.h:877
-
rtabmap::SensorData::setLandmarks
void setLandmarks(const Landmarks &landmarks)
Sets landmarks.
Definition SensorData.h:947
+
rtabmap::SensorData::groundTruth
const Transform & groundTruth() const
Returns the ground truth pose.
Definition SensorData.h:881
+
rtabmap::SensorData::setLandmarks
void setLandmarks(const Landmarks &landmarks)
Sets landmarks.
Definition SensorData.h:951
rtabmap::SensorData::setCameraModels
void setCameraModels(const std::vector< CameraModel > &models)
Sets multiple camera models.
Definition SensorData.h:616
-
rtabmap::SensorData::keypoints
const std::vector< cv::KeyPoint > & keypoints() const
Returns the 2D keypoints.
Definition SensorData.h:830
+
rtabmap::SensorData::keypoints
const std::vector< cv::KeyPoint > & keypoints() const
Returns the 2D keypoints.
Definition SensorData.h:834
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap
Definition BayesFilter.h:42
diff --git a/api/latest/classrtabmap_1_1SensorData.html b/api/latest/classrtabmap_1_1SensorData.html index 58119979..aafadaf9 100644 --- a/api/latest/classrtabmap_1_1SensorData.html +++ b/api/latest/classrtabmap_1_1SensorData.html @@ -2473,9 +2473,9 @@ The class manages memory efficiently by storing either raw or compressed data (o
-

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.

Parameters
+

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 clearPreviousData=false), 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.

Parameters
- +
clearPreviousData,clearprevious raw and compressed user data before setting the new one.
clearPreviousData,clearprevious 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 setLaserScan() and setRGBDImage() do.
@@ -2505,7 +2505,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
-

Definition at line 741 of file SensorData.h.

+

Definition at line 745 of file SensorData.h.

@@ -2532,7 +2532,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
-

Definition at line 742 of file SensorData.h.

+

Definition at line 746 of file SensorData.h.

@@ -2621,7 +2621,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns raw ground cells.

Returns
Const reference to raw ground cells matrix
-

Definition at line 767 of file SensorData.h.

+

Definition at line 771 of file SensorData.h.

@@ -2652,7 +2652,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
Returns
Const reference to compressed ground cells matrix
Note
Use Compression::uncompressData() to uncompress the data.
-

Definition at line 774 of file SensorData.h.

+

Definition at line 778 of file SensorData.h.

@@ -2682,7 +2682,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns raw obstacle cells.

Returns
Const reference to raw obstacle cells matrix
-

Definition at line 780 of file SensorData.h.

+

Definition at line 784 of file SensorData.h.

@@ -2713,7 +2713,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
Returns
Const reference to compressed obstacle cells matrix
Note
Use Compression::uncompressData() to uncompress the data.
-

Definition at line 787 of file SensorData.h.

+

Definition at line 791 of file SensorData.h.

@@ -2743,7 +2743,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns raw empty cells.

Returns
Const reference to raw empty cells matrix
-

Definition at line 793 of file SensorData.h.

+

Definition at line 797 of file SensorData.h.

@@ -2774,7 +2774,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
Returns
Const reference to compressed empty cells matrix
Note
Use Compression::uncompressData() to uncompress the data.
-

Definition at line 800 of file SensorData.h.

+

Definition at line 804 of file SensorData.h.

@@ -2804,7 +2804,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the occupancy grid cell size.

Returns
Cell size in meters
-

Definition at line 806 of file SensorData.h.

+

Definition at line 810 of file SensorData.h.

@@ -2834,7 +2834,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the occupancy grid viewpoint.

Returns
Const reference to viewpoint/origin 3D point
-

Definition at line 812 of file SensorData.h.

+

Definition at line 816 of file SensorData.h.

@@ -2909,7 +2909,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the 2D keypoints.

Returns
Const reference to vector of 2D keypoints
-

Definition at line 830 of file SensorData.h.

+

Definition at line 834 of file SensorData.h.

@@ -2939,7 +2939,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the 3D keypoints.

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

Definition at line 836 of file SensorData.h.

+

Definition at line 840 of file SensorData.h.

@@ -2969,7 +2969,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the feature descriptors.

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

Definition at line 842 of file SensorData.h.

+

Definition at line 846 of file SensorData.h.

@@ -3005,7 +3005,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 848 of file SensorData.h.

+

Definition at line 852 of file SensorData.h.

@@ -3041,7 +3041,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 854 of file SensorData.h.

+

Definition at line 858 of file SensorData.h.

@@ -3070,7 +3070,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Clears all global descriptors.

-

Definition at line 859 of file SensorData.h.

+

Definition at line 863 of file SensorData.h.

@@ -3100,7 +3100,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns all global descriptors.

Returns
Const reference to vector of global descriptors
-

Definition at line 865 of file SensorData.h.

+

Definition at line 869 of file SensorData.h.

@@ -3136,7 +3136,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 871 of file SensorData.h.

+

Definition at line 875 of file SensorData.h.

@@ -3166,7 +3166,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the ground truth pose.

Returns
Const reference to ground truth transform
-

Definition at line 877 of file SensorData.h.

+

Definition at line 881 of file SensorData.h.

@@ -3213,7 +3213,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 884 of file SensorData.h.

+

Definition at line 888 of file SensorData.h.

@@ -3243,7 +3243,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the global pose.

Returns
Const reference to global pose transform
-

Definition at line 890 of file SensorData.h.

+

Definition at line 894 of file SensorData.h.

@@ -3273,7 +3273,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns the global pose covariance.

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

Definition at line 896 of file SensorData.h.

+

Definition at line 900 of file SensorData.h.

@@ -3309,7 +3309,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 902 of file SensorData.h.

+

Definition at line 906 of file SensorData.h.

@@ -3339,7 +3339,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns GPS data.

Returns
Const reference to GPS data
-

Definition at line 908 of file SensorData.h.

+

Definition at line 912 of file SensorData.h.

@@ -3396,7 +3396,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns IMU data.

Returns
Const reference to IMU data
-

Definition at line 922 of file SensorData.h.

+

Definition at line 926 of file SensorData.h.

@@ -3432,7 +3432,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 928 of file SensorData.h.

+

Definition at line 932 of file SensorData.h.

@@ -3468,7 +3468,7 @@ The class manages memory efficiently by storing either raw or compressed data (o -

Definition at line 934 of file SensorData.h.

+

Definition at line 938 of file SensorData.h.

@@ -3498,7 +3498,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns all environmental sensors.

Returns
Const reference to map of environmental sensors
-

Definition at line 940 of file SensorData.h.

+

Definition at line 944 of file SensorData.h.

@@ -3535,7 +3535,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
Note
Landmark IDs should be positive and non-zero.
-

Definition at line 947 of file SensorData.h.

+

Definition at line 951 of file SensorData.h.

@@ -3565,7 +3565,7 @@ The class manages memory efficiently by storing either raw or compressed data (o

Returns landmarks.

Returns
Const reference to map of landmarks
-

Definition at line 953 of file SensorData.h.

+

Definition at line 957 of file SensorData.h.

diff --git a/api/latest/index.html b/api/latest/index.html index 70949bb4..5735afdf 100644 --- a/api/latest/index.html +++ b/api/latest/index.html @@ -217,8 +217,8 @@ Occupancy grid
rtabmap::LocalGridCache::add
void add(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))
Inserts or replaces the grid for nodeId (from separate cell mats).
rtabmap::OccupancyGrid
Definition OccupancyGrid.h:41
rtabmap::SensorData::uncompressDataConst
void uncompressDataConst(cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0, cv::Mat *depthConfidenceRaw=0) const
Uncompresses compressed data into provided output buffers (const version)
-
rtabmap::SensorData::gridViewPoint
const cv::Point3f & gridViewPoint() const
Returns the occupancy grid viewpoint.
Definition SensorData.h:812
-
rtabmap::SensorData::gridCellSize
float gridCellSize() const
Returns the occupancy grid cell size.
Definition SensorData.h:806
+
rtabmap::SensorData::gridViewPoint
const cv::Point3f & gridViewPoint() const
Returns the occupancy grid viewpoint.
Definition SensorData.h:816
+
rtabmap::SensorData::gridCellSize
float gridCellSize() const
Returns the occupancy grid cell size.
Definition SensorData.h:810
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
rtabmap::Signature::sensorData
SensorData & sensorData()
Returns mutable access to the sensor data.
Definition Signature.h:597
rtabmap::Signature::id
int id() const
Returns the signature ID.
Definition Signature.h:168
diff --git a/api/latest/namespacertabmap_1_1util3d.html b/api/latest/namespacertabmap_1_1util3d.html index d41667c4..c5b57b72 100644 --- a/api/latest/namespacertabmap_1_1util3d.html +++ b/api/latest/namespacertabmap_1_1util3d.html @@ -1072,9 +1072,6 @@ pcl::IndicesPtr RTABMAP_CORE_EXPORT void RTABMAP_CORE_EXPORT solvePnPRansac (const std::vector< cv::Point3f > &objectPoints, const std::vector< cv::Point2f > &imagePoints, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, cv::Mat &rvec, cv::Mat &tvec, bool useExtrinsicGuess, int iterationsCount, float reprojectionError, int minInliersCount, std::vector< int > &inliers, int flags, int refineIterations=1, float refineSigma=3.0f)  Estimates the camera pose using the PnP RANSAC algorithm and optionally refines it.
  - -int RTABMAP_CORE_EXPORT getCorrespondencesCount (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, float maxDistance) -  Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD (const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)  Estimates the rigid 3D transformation between two point clouds using SVD.
  diff --git a/api/latest/util3d__registration_8h_source.html b/api/latest/util3d__registration_8h_source.html index 1640ffce..69147830 100644 --- a/api/latest/util3d__registration_8h_source.html +++ b/api/latest/util3d__registration_8h_source.html @@ -149,104 +149,100 @@ $(document).ready(function(){initNavTree('util3d__registration_8h_source.html','
41namespace util3d
42{
43
-
44int RTABMAP_CORE_EXPORT getCorrespondencesCount(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
-
45 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
-
46 float maxDistance);
-
47
-
68Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(
-
69 const pcl::PointCloud<pcl::PointXYZ> & cloud1,
-
70 const pcl::PointCloud<pcl::PointXYZ> & cloud2);
-
71
-
101Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(
-
102 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,
-
103 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,
-
104 double inlierThreshold = 0.02,
-
105 int iterations = 100,
-
106 int refineModelIterations = 10,
-
107 double refineModelSigma = 3.0,
-
108 std::vector<int> * inliers = 0,
-
109 cv::Mat * variance = 0);
-
110
-
139void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
-
140 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,
-
141 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,
-
142 double maxCorrespondenceDistance,
-
143 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
-
144 double & variance,
-
145 int & correspondencesOut,
-
146 bool reciprocal);
-
148void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
-
149 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,
-
150 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,
-
151 double maxCorrespondenceDistance,
-
152 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
-
153 double & variance,
-
154 int & correspondencesOut,
-
155 bool reciprocal);
-
157void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
-
158 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,
-
159 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
-
160 double maxCorrespondenceDistance,
-
161 double & variance,
-
162 int & correspondencesOut,
-
163 bool reciprocal);
-
165void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
-
166 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,
-
167 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,
-
168 double maxCorrespondenceDistance,
-
169 double & variance,
-
170 int & correspondencesOut,
-
171 bool reciprocal);
-
199Transform RTABMAP_CORE_EXPORT icp(
-
200 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
-
201 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
-
202 double maxCorrespondenceDistance,
-
203 int maximumIterations,
-
204 bool & hasConverged,
-
205 pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,
-
206 float epsilon = 0.0f,
-
207 bool icp2D = false,
-
208 float ransacOutlierRatio = 0.0f,
-
209 int * iterationsDone = nullptr);
-
218Transform RTABMAP_CORE_EXPORT icp(
-
219 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,
-
220 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,
-
221 double maxCorrespondenceDistance,
-
222 int maximumIterations,
-
223 bool & hasConverged,
-
224 pcl::PointCloud<pcl::PointXYZI> & cloud_source_registered,
-
225 float epsilon = 0.0f,
-
226 bool icp2D = false,
-
227 float ransacOutlierRatio = 0.0f,
-
228 int * iterationsDone = nullptr);
-
229
-
255Transform RTABMAP_CORE_EXPORT icpPointToPlane(
-
256 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,
-
257 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,
-
258 double maxCorrespondenceDistance,
-
259 int maximumIterations,
-
260 bool & hasConverged,
-
261 pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,
-
262 float epsilon = 0.0f,
-
263 bool icp2D = false,
-
264 float ransacOutlierRatio = 0.0f,
-
265 int * iterationsDone = nullptr);
-
274Transform RTABMAP_CORE_EXPORT icpPointToPlane(
-
275 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,
-
276 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,
-
277 double maxCorrespondenceDistance,
-
278 int maximumIterations,
-
279 bool & hasConverged,
-
280 pcl::PointCloud<pcl::PointXYZINormal> & cloud_source_registered,
-
281 float epsilon = 0.0f,
-
282 bool icp2D = false,
-
283 float ransacOutlierRatio = 0.0f,
-
284 int * iterationsDone = nullptr);
-
285
-
286} // namespace util3d
-
287} // namespace rtabmap
-
288
-
289#endif /* UTIL3D_REGISTRATION_H_ */
+
64Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(
+
65 const pcl::PointCloud<pcl::PointXYZ> & cloud1,
+
66 const pcl::PointCloud<pcl::PointXYZ> & cloud2);
+
67
+
97Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(
+
98 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,
+
99 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,
+
100 double inlierThreshold = 0.02,
+
101 int iterations = 100,
+
102 int refineModelIterations = 10,
+
103 double refineModelSigma = 3.0,
+
104 std::vector<int> * inliers = 0,
+
105 cv::Mat * variance = 0);
+
106
+
135void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
+
136 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,
+
137 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,
+
138 double maxCorrespondenceDistance,
+
139 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
+
140 double & variance,
+
141 int & correspondencesOut,
+
142 bool reciprocal);
+
144void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
+
145 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,
+
146 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,
+
147 double maxCorrespondenceDistance,
+
148 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
+
149 double & variance,
+
150 int & correspondencesOut,
+
151 bool reciprocal);
+
153void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
+
154 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,
+
155 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
+
156 double maxCorrespondenceDistance,
+
157 double & variance,
+
158 int & correspondencesOut,
+
159 bool reciprocal);
+
161void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
+
162 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,
+
163 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,
+
164 double maxCorrespondenceDistance,
+
165 double & variance,
+
166 int & correspondencesOut,
+
167 bool reciprocal);
+
195Transform RTABMAP_CORE_EXPORT icp(
+
196 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
+
197 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
+
198 double maxCorrespondenceDistance,
+
199 int maximumIterations,
+
200 bool & hasConverged,
+
201 pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,
+
202 float epsilon = 0.0f,
+
203 bool icp2D = false,
+
204 float ransacOutlierRatio = 0.0f,
+
205 int * iterationsDone = nullptr);
+
214Transform RTABMAP_CORE_EXPORT icp(
+
215 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,
+
216 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,
+
217 double maxCorrespondenceDistance,
+
218 int maximumIterations,
+
219 bool & hasConverged,
+
220 pcl::PointCloud<pcl::PointXYZI> & cloud_source_registered,
+
221 float epsilon = 0.0f,
+
222 bool icp2D = false,
+
223 float ransacOutlierRatio = 0.0f,
+
224 int * iterationsDone = nullptr);
+
225
+
251Transform RTABMAP_CORE_EXPORT icpPointToPlane(
+
252 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,
+
253 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,
+
254 double maxCorrespondenceDistance,
+
255 int maximumIterations,
+
256 bool & hasConverged,
+
257 pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,
+
258 float epsilon = 0.0f,
+
259 bool icp2D = false,
+
260 float ransacOutlierRatio = 0.0f,
+
261 int * iterationsDone = nullptr);
+
270Transform RTABMAP_CORE_EXPORT icpPointToPlane(
+
271 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,
+
272 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,
+
273 double maxCorrespondenceDistance,
+
274 int maximumIterations,
+
275 bool & hasConverged,
+
276 pcl::PointCloud<pcl::PointXYZINormal> & cloud_source_registered,
+
277 float epsilon = 0.0f,
+
278 bool icp2D = false,
+
279 float ransacOutlierRatio = 0.0f,
+
280 int * iterationsDone = nullptr);
+
281
+
282} // namespace util3d
+
283} // namespace rtabmap
+
284
+
285#endif /* UTIL3D_REGISTRATION_H_ */
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
rtabmap::util3d::computeVarianceAndCorrespondences
void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)
Compute with variance and correspondences of pcl::PointNormal point cloud type.
rtabmap::util3d::transformFromXYZCorrespondencesSVD
Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(const pcl::PointCloud< pcl::PointXYZ > &cloud1, const pcl::PointCloud< pcl::PointXYZ > &cloud2)
Estimates the rigid 3D transformation between two point clouds using SVD.
diff --git a/index.html b/index.html index 09e068fc..c1115de5 100644 --- a/index.html +++ b/index.html @@ -5,7 +5,7 @@ - + RTAB-Map | Real-Time Appearance-Based Mapping