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Update documentation (latest) b03344842e

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api/latest/SensorData_8h_source.html
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@@ -288,268 +288,273 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> </div> <div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> </div>
<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a94f4e8970ae34d652100dce131cc9e44"> 467</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a94f4e8970ae34d652100dce131cc9e44">~SensorData</a>();</div> <div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a94f4e8970ae34d652100dce131cc9e44"> 467</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a94f4e8970ae34d652100dce131cc9e44">~SensorData</a>();</div>
<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> </div> <div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> </div>
<div class="foldopen" id="foldopen00485" data-start="{" data-end="}"> <div class="foldopen" id="foldopen00491" data-start="{" data-end="}">
<div class="line"><a id="l00485" name="l00485"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad620676ab1a971846ab80ef646aa5882"> 485</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad620676ab1a971846ab80ef646aa5882">isValid</a>()<span class="keyword"> const </span>{</div> <div class="line"><a id="l00491" name="l00491"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad620676ab1a971846ab80ef646aa5882"> 491</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad620676ab1a971846ab80ef646aa5882">isValid</a>()<span class="keyword"> const </span>{</div>
<div class="line"><a id="l00486" name="l00486"></a><span class="lineno"> 486</span> <span class="keywordflow">return</span> !(_id == 0 &amp;&amp;</div> <div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> <span class="keywordtype">bool</span> hasCameraModel = <span class="keyword">false</span>;</div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"> 487</span> _stamp == 0.0 &amp;&amp;</div> <div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i &lt; _cameraModels.size() &amp;&amp; !hasCameraModel; ++i)</div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> _imageRaw.empty() &amp;&amp;</div> <div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> hasCameraModel = _cameraModels[i].isValidForProjection();</div>
<div class="line"><a id="l00489" name="l00489"></a><span class="lineno"> 489</span> _imageCompressed.empty() &amp;&amp;</div> <div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span> <span class="keywordflow">if</span> (!hasCameraModel)</div>
<div class="line"><a id="l00490" name="l00490"></a><span class="lineno"> 490</span> _depthOrRightRaw.empty() &amp;&amp;</div> <div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i &lt; _stereoCameraModels.size() &amp;&amp; !hasCameraModel; ++i)</div>
<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"> 491</span> _depthOrRightCompressed.empty() &amp;&amp;</div> <div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> hasCameraModel = _stereoCameraModels[i].isValidForProjection();</div>
<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> _depthConfidenceRaw.empty() &amp;&amp;</div> <div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> </div>
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> _depthConfidenceCompressed.empty() &amp;&amp;</div> <div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> <span class="keywordflow">return</span> !(_id == 0 &amp;&amp;</div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> _laserScanRaw.isEmpty() &amp;&amp;</div> <div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span> _imageRaw.empty() &amp;&amp;</div>
<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span> _laserScanCompressed.isEmpty() &amp;&amp;</div> <div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> _imageCompressed.empty() &amp;&amp;</div>
<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> _cameraModels.empty() &amp;&amp;</div> <div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> _depthOrRightRaw.empty() &amp;&amp;</div>
<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> _stereoCameraModels.empty() &amp;&amp;</div> <div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> _depthOrRightCompressed.empty() &amp;&amp;</div>
<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> _userDataRaw.empty() &amp;&amp;</div> <div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> _depthConfidenceRaw.empty() &amp;&amp;</div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> _userDataCompressed.empty() &amp;&amp;</div> <div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> _depthConfidenceCompressed.empty() &amp;&amp;</div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span> _keypoints.size() == 0 &amp;&amp;</div> <div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> _laserScanRaw.isEmpty() &amp;&amp;</div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> _descriptors.empty() &amp;&amp;</div> <div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> _laserScanCompressed.isEmpty() &amp;&amp;</div>
<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> _groundCellsRaw.empty() &amp;&amp;</div> <div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> !hasCameraModel &amp;&amp;</div>
<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> _groundCellsCompressed.empty() &amp;&amp;</div> <div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> _userDataRaw.empty() &amp;&amp;</div>
<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> _obstacleCellsRaw.empty() &amp;&amp;</div> <div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> _userDataCompressed.empty() &amp;&amp;</div>
<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> _obstacleCellsCompressed.empty() &amp;&amp;</div> <div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> _keypoints.size() == 0 &amp;&amp;</div>
<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> _emptyCellsRaw.empty() &amp;&amp;</div> <div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> _descriptors.empty() &amp;&amp;</div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> _emptyCellsCompressed.empty() &amp;&amp;</div> <div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> _groundCellsRaw.empty() &amp;&amp;</div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> imu_.empty());</div> <div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> _groundCellsCompressed.empty() &amp;&amp;</div>
<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> }</div> <div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> _obstacleCellsRaw.empty() &amp;&amp;</div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> _obstacleCellsCompressed.empty() &amp;&amp;</div>
<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> _emptyCellsRaw.empty() &amp;&amp;</div>
<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> _emptyCellsCompressed.empty() &amp;&amp;</div>
<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> imu_.empty());</div>
<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> }</div>
</div> </div>
<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> </div> <div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> </div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a84fbcb16e51018d96065d3ce240650c6"> 515</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a84fbcb16e51018d96065d3ce240650c6">id</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _id;}</div> <div class="line"><a id="l00526" name="l00526"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a84fbcb16e51018d96065d3ce240650c6"> 526</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a84fbcb16e51018d96065d3ce240650c6">id</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _id;}</div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> </div> <div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> </div>
<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a4d0f4615a747eaef142b51a1ab1e5527"> 521</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a4d0f4615a747eaef142b51a1ab1e5527">setId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {_id = id;}</div> <div class="line"><a id="l00532" name="l00532"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a4d0f4615a747eaef142b51a1ab1e5527"> 532</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a4d0f4615a747eaef142b51a1ab1e5527">setId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {_id = id;}</div>
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> </div> <div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> </div>
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb"> 527</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb">stamp</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _stamp;}</div> <div class="line"><a id="l00538" name="l00538"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb"> 538</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb">stamp</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _stamp;}</div>
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> </div> <div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> </div>
<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5c0844e94d3fff50a8bfec2decf2f94c"> 533</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a5c0844e94d3fff50a8bfec2decf2f94c">setStamp</a>(<span class="keywordtype">double</span> stamp) {_stamp = stamp;}</div> <div class="line"><a id="l00544" name="l00544"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5c0844e94d3fff50a8bfec2decf2f94c"> 544</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a5c0844e94d3fff50a8bfec2decf2f94c">setStamp</a>(<span class="keywordtype">double</span> stamp) {_stamp = stamp;}</div>
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> </div> <div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> </div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029"> 540</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029">imageCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imageCompressed;}</div> <div class="line"><a id="l00551" name="l00551"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029"> 551</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029">imageCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imageCompressed;}</div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> </div> <div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> </div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a85b36ca12b0936a99d61b768908097da"> 547</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a85b36ca12b0936a99d61b768908097da">depthOrRightCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightCompressed;}</div> <div class="line"><a id="l00558" name="l00558"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a85b36ca12b0936a99d61b768908097da"> 558</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a85b36ca12b0936a99d61b768908097da">depthOrRightCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightCompressed;}</div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> </div> <div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> </div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aebbab80906082f6e35ce5731fa67ca26"> 554</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aebbab80906082f6e35ce5731fa67ca26">depthConfidenceCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthConfidenceCompressed;}</div> <div class="line"><a id="l00565" name="l00565"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aebbab80906082f6e35ce5731fa67ca26"> 565</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aebbab80906082f6e35ce5731fa67ca26">depthConfidenceCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthConfidenceCompressed;}</div>
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span> </div> <div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> </div>
<div class="line"><a id="l00560" name="l00560"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1522af81a95c27b76e316919df95a869"> 560</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a1522af81a95c27b76e316919df95a869">laserScanCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _laserScanCompressed;}</div> <div class="line"><a id="l00571" name="l00571"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1522af81a95c27b76e316919df95a869"> 571</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a1522af81a95c27b76e316919df95a869">laserScanCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _laserScanCompressed;}</div>
<div class="line"><a id="l00561" name="l00561"></a><span class="lineno"> 561</span> </div> <div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> </div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef"> 566</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef">imageRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imageRaw;}</div> <div class="line"><a id="l00577" name="l00577"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef"> 577</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef">imageRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imageRaw;}</div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span> </div> <div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span> </div>
<div class="line"><a id="l00573" name="l00573"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2476c59283ef2e24d7a3f10301433327"> 573</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a2476c59283ef2e24d7a3f10301433327">depthOrRightRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightRaw;}</div> <div class="line"><a id="l00584" name="l00584"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2476c59283ef2e24d7a3f10301433327"> 584</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a2476c59283ef2e24d7a3f10301433327">depthOrRightRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightRaw;}</div>
<div class="line"><a id="l00574" name="l00574"></a><span class="lineno"> 574</span> </div> <div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> </div>
<div class="line"><a id="l00579" name="l00579"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a0cfb7cee085b7959c9ddf1d7854ed910"> 579</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a0cfb7cee085b7959c9ddf1d7854ed910">depthConfidenceRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthConfidenceRaw;}</div> <div class="line"><a id="l00590" name="l00590"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a0cfb7cee085b7959c9ddf1d7854ed910"> 590</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a0cfb7cee085b7959c9ddf1d7854ed910">depthConfidenceRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthConfidenceRaw;}</div>
<div class="line"><a id="l00580" name="l00580"></a><span class="lineno"> 580</span> </div> <div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> </div>
<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d"> 585</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d">laserScanRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _laserScanRaw;}</div> <div class="line"><a id="l00596" name="l00596"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d"> 596</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d">laserScanRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _laserScanRaw;}</div>
<div class="line"><a id="l00586" name="l00586"></a><span class="lineno"> 586</span> </div> <div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> </div>
<div class="line"><a id="l00592" name="l00592"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24"> 592</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24">setRGBDImage</a>(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; model, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div> <div class="line"><a id="l00603" name="l00603"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24"> 603</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24">setRGBDImage</a>(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; model, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00593" name="l00593"></a><span class="lineno"> 593</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> cv::Mat &amp; depth_confidence, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; model, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div> <div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> cv::Mat &amp; depth_confidence, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; model, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00594" name="l00594"></a><span class="lineno"> 594</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div> <div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00595" name="l00595"></a><span class="lineno"> 595</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> cv::Mat &amp; depth_confidence, <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div> <div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat &amp; rgb, <span class="keyword">const</span> cv::Mat &amp; depth, <span class="keyword">const</span> cv::Mat &amp; depth_confidence, <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"> 596</span> <span class="keywordtype">void</span> setStereoImage(<span class="keyword">const</span> cv::Mat &amp; left, <span class="keyword">const</span> cv::Mat &amp; right, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> &amp; stereoCameraModel, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div> <div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> <span class="keywordtype">void</span> setStereoImage(<span class="keyword">const</span> cv::Mat &amp; left, <span class="keyword">const</span> cv::Mat &amp; right, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> &amp; stereoCameraModel, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> <span class="keywordtype">void</span> setStereoImage(<span class="keyword">const</span> cv::Mat &amp; left, <span class="keyword">const</span> cv::Mat &amp; right, <span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; stereoCameraModels, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div> <div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <span class="keywordtype">void</span> setStereoImage(<span class="keyword">const</span> cv::Mat &amp; left, <span class="keyword">const</span> cv::Mat &amp; right, <span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; stereoCameraModels, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00598" name="l00598"></a><span class="lineno"> 598</span> </div> <div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> </div>
<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0"> 604</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0">setLaserScan</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; laserScan, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div> <div class="line"><a id="l00615" name="l00615"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0"> 615</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0">setLaserScan</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; laserScan, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> </div> <div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> </div>
<div class="line"><a id="l00610" name="l00610"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f"> 610</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f">setCameraModel</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; model) {_cameraModels.clear(); _cameraModels.push_back(model);}</div> <div class="line"><a id="l00621" name="l00621"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f"> 621</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f">setCameraModel</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; model) {_cameraModels.clear(); _cameraModels.push_back(model);}</div>
<div class="line"><a id="l00611" name="l00611"></a><span class="lineno"> 611</span> </div> <div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> </div>
<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719"> 616</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719">setCameraModels</a>(<span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models) {_cameraModels = models;}</div> <div class="line"><a id="l00627" name="l00627"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719"> 627</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719">setCameraModels</a>(<span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; models) {_cameraModels = models;}</div>
<div class="line"><a id="l00617" name="l00617"></a><span class="lineno"> 617</span> </div> <div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span> </div>
<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003"> 622</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003">setStereoCameraModel</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> &amp; stereoCameraModel) {_stereoCameraModels.clear(); _stereoCameraModels.push_back(stereoCameraModel);}</div> <div class="line"><a id="l00633" name="l00633"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003"> 633</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003">setStereoCameraModel</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> &amp; stereoCameraModel) {_stereoCameraModels.clear(); _stereoCameraModels.push_back(stereoCameraModel);}</div>
<div class="line"><a id="l00623" name="l00623"></a><span class="lineno"> 623</span> </div> <div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> </div>
<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e"> 628</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e">setStereoCameraModels</a>(<span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; stereoCameraModels) {_stereoCameraModels = stereoCameraModels;}</div> <div class="line"><a id="l00639" name="l00639"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e"> 639</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e">setStereoCameraModels</a>(<span class="keyword">const</span> std::vector&lt;StereoCameraModel&gt; &amp; stereoCameraModels) {_stereoCameraModels = stereoCameraModels;}</div>
<div class="line"><a id="l00629" name="l00629"></a><span class="lineno"> 629</span> </div> <div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> </div>
<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73"> 639</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73">depthRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> !(_depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3) ? _depthOrRightRaw : cv::Mat();}</div> <div class="line"><a id="l00650" name="l00650"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73"> 650</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73">depthRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> !(_depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3) ? _depthOrRightRaw : cv::Mat();}</div>
<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> </div> <div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span> </div>
<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30"> 650</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30">rightRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3 ? _depthOrRightRaw : cv::Mat();}</div> <div class="line"><a id="l00661" name="l00661"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30"> 661</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30">rightRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3 ? _depthOrRightRaw : cv::Mat();}</div>
<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span> </div> <div class="line"><a id="l00662" name="l00662"></a><span class="lineno"> 662</span> </div>
<div class="line"><a id="l00652" name="l00652"></a><span class="lineno"> 652</span> <span class="comment">// Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn&#39;t clear compressed data.</span></div> <div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> <span class="comment">// Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn&#39;t clear compressed data.</span></div>
<div class="line"><a id="l00653" name="l00653"></a><span class="lineno"> 653</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setImageRaw(<span class="keyword">const</span> cv::Mat &amp; image);</div> <div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setImageRaw(<span class="keyword">const</span> cv::Mat &amp; image);</div>
<div class="line"><a id="l00654" name="l00654"></a><span class="lineno"> 654</span> <span class="comment">// Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn&#39;t clear compressed data.</span></div> <div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="comment">// Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn&#39;t clear compressed data.</span></div>
<div class="line"><a id="l00655" name="l00655"></a><span class="lineno"> 655</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setDepthOrRightRaw(<span class="keyword">const</span> cv::Mat &amp; image);</div> <div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setDepthOrRightRaw(<span class="keyword">const</span> cv::Mat &amp; image);</div>
<div class="line"><a id="l00656" name="l00656"></a><span class="lineno"> 656</span> <span class="comment">// Use setLaserScan() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn&#39;t clear compressed data.</span></div> <div class="line"><a id="l00667" name="l00667"></a><span class="lineno"> 667</span> <span class="comment">// Use setLaserScan() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn&#39;t clear compressed data.</span></div>
<div class="line"><a id="l00657" name="l00657"></a><span class="lineno"> 657</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setLaserScanRaw(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; scan);</div> <div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setLaserScanRaw(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> &amp; scan);</div>
<div class="line"><a id="l00658" name="l00658"></a><span class="lineno"> 658</span> <span class="comment">// Use setUserData() or removeRawData() instead.</span></div> <div class="line"><a id="l00669" name="l00669"></a><span class="lineno"> 669</span> <span class="comment">// Use setUserData() or removeRawData() instead.</span></div>
<div class="line"><a id="l00659" name="l00659"></a><span class="lineno"> 659</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setUserDataRaw(<span class="keyword">const</span> cv::Mat &amp; data);</div> <div class="line"><a id="l00670" name="l00670"></a><span class="lineno"> 670</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setUserDataRaw(<span class="keyword">const</span> cv::Mat &amp; data);</div>
<div class="line"><a id="l00660" name="l00660"></a><span class="lineno"> 660</span> </div> <div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> </div>
<div class="line"><a id="l00667" name="l00667"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52"> 667</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52">uncompressData</a>();</div> <div class="line"><a id="l00678" name="l00678"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52"> 678</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52">uncompressData</a>();</div>
<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span> </div> <div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> </div>
<div class="line"><a id="l00686" name="l00686"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158"> 686</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158">uncompressData</a>(</div> <div class="line"><a id="l00697" name="l00697"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158"> 697</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158">uncompressData</a>(</div>
<div class="line"><a id="l00687" name="l00687"></a><span class="lineno"> 687</span> cv::Mat * imageRaw,</div> <div class="line"><a id="l00698" name="l00698"></a><span class="lineno"> 698</span> cv::Mat * imageRaw,</div>
<div class="line"><a id="l00688" name="l00688"></a><span class="lineno"> 688</span> cv::Mat * depthOrRightRaw,</div> <div class="line"><a id="l00699" name="l00699"></a><span class="lineno"> 699</span> cv::Mat * depthOrRightRaw,</div>
<div class="line"><a id="l00689" name="l00689"></a><span class="lineno"> 689</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> * laserScanRaw = 0,</div> <div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> * laserScanRaw = 0,</div>
<div class="line"><a id="l00690" name="l00690"></a><span class="lineno"> 690</span> cv::Mat * userDataRaw = 0,</div> <div class="line"><a id="l00701" name="l00701"></a><span class="lineno"> 701</span> cv::Mat * userDataRaw = 0,</div>
<div class="line"><a id="l00691" name="l00691"></a><span class="lineno"> 691</span> cv::Mat * groundCellsRaw = 0,</div> <div class="line"><a id="l00702" name="l00702"></a><span class="lineno"> 702</span> cv::Mat * groundCellsRaw = 0,</div>
<div class="line"><a id="l00692" name="l00692"></a><span class="lineno"> 692</span> cv::Mat * obstacleCellsRaw = 0,</div> <div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> cv::Mat * obstacleCellsRaw = 0,</div>
<div class="line"><a id="l00693" name="l00693"></a><span class="lineno"> 693</span> cv::Mat * emptyCellsRaw = 0,</div> <div class="line"><a id="l00704" name="l00704"></a><span class="lineno"> 704</span> cv::Mat * emptyCellsRaw = 0,</div>
<div class="line"><a id="l00694" name="l00694"></a><span class="lineno"> 694</span> cv::Mat * depthConfidenceRaw = 0);</div> <div class="line"><a id="l00705" name="l00705"></a><span class="lineno"> 705</span> cv::Mat * depthConfidenceRaw = 0);</div>
<div class="line"><a id="l00695" name="l00695"></a><span class="lineno"> 695</span> </div> <div class="line"><a id="l00706" name="l00706"></a><span class="lineno"> 706</span> </div>
<div class="line"><a id="l00710" name="l00710"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f"> 710</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f">uncompressDataConst</a>(</div> <div class="line"><a id="l00721" name="l00721"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f"> 721</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f">uncompressDataConst</a>(</div>
<div class="line"><a id="l00711" name="l00711"></a><span class="lineno"> 711</span> cv::Mat * imageRaw,</div> <div class="line"><a id="l00722" name="l00722"></a><span class="lineno"> 722</span> cv::Mat * imageRaw,</div>
<div class="line"><a id="l00712" name="l00712"></a><span class="lineno"> 712</span> cv::Mat * depthOrRightRaw,</div> <div class="line"><a id="l00723" name="l00723"></a><span class="lineno"> 723</span> cv::Mat * depthOrRightRaw,</div>
<div class="line"><a id="l00713" name="l00713"></a><span class="lineno"> 713</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> * laserScanRaw = 0,</div> <div class="line"><a id="l00724" name="l00724"></a><span class="lineno"> 724</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> * laserScanRaw = 0,</div>
<div class="line"><a id="l00714" name="l00714"></a><span class="lineno"> 714</span> cv::Mat * userDataRaw = 0,</div> <div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span> cv::Mat * userDataRaw = 0,</div>
<div class="line"><a id="l00715" name="l00715"></a><span class="lineno"> 715</span> cv::Mat * groundCellsRaw = 0,</div> <div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> cv::Mat * groundCellsRaw = 0,</div>
<div class="line"><a id="l00716" name="l00716"></a><span class="lineno"> 716</span> cv::Mat * obstacleCellsRaw = 0,</div> <div class="line"><a id="l00727" name="l00727"></a><span class="lineno"> 727</span> cv::Mat * obstacleCellsRaw = 0,</div>
<div class="line"><a id="l00717" name="l00717"></a><span class="lineno"> 717</span> cv::Mat * emptyCellsRaw = 0,</div> <div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> cv::Mat * emptyCellsRaw = 0,</div>
<div class="line"><a id="l00718" name="l00718"></a><span class="lineno"> 718</span> cv::Mat * depthConfidenceRaw = 0) <span class="keyword">const</span>;</div> <div class="line"><a id="l00729" name="l00729"></a><span class="lineno"> 729</span> cv::Mat * depthConfidenceRaw = 0) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00719" name="l00719"></a><span class="lineno"> 719</span> </div> <div class="line"><a id="l00730" name="l00730"></a><span class="lineno"> 730</span> </div>
<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92"> 724</a></span> <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">cameraModels</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _cameraModels;}</div> <div class="line"><a id="l00735" name="l00735"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92"> 735</a></span> <span class="keyword">const</span> std::vector&lt;CameraModel&gt; &amp; <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">cameraModels</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _cameraModels;}</div>
<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span> </div> <div class="line"><a id="l00736" name="l00736"></a><span class="lineno"> 736</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="l00741" name="l00741"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87"> 741</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="l00742" name="l00742"></a><span class="lineno"> 742</span> </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="l00755" name="l00755"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072"> 755</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="l00756" name="l00756"></a><span class="lineno"> 756</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="l00757" name="l00757"></a><span class="lineno"> 757</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="l00758" name="l00758"></a><span class="lineno"> 758</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="l00772" name="l00772"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b"> 772</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="l00773" name="l00773"></a><span class="lineno"> 773</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="l00774" name="l00774"></a><span class="lineno"> 774</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="l00775" name="l00775"></a><span class="lineno"> 775</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="l00776" name="l00776"></a><span class="lineno"> 776</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="l00777" name="l00777"></a><span class="lineno"> 777</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="l00782" name="l00782"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4"> 782</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="l00783" name="l00783"></a><span class="lineno"> 783</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="l00789" name="l00789"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43"> 789</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="l00790" name="l00790"></a><span class="lineno"> 790</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="l00795" name="l00795"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc"> 795</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="l00796" name="l00796"></a><span class="lineno"> 796</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="l00802" name="l00802"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0"> 802</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="l00803" name="l00803"></a><span class="lineno"> 803</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="l00808" name="l00808"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe"> 808</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="l00809" name="l00809"></a><span class="lineno"> 809</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="l00815" name="l00815"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3"> 815</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="l00816" name="l00816"></a><span class="lineno"> 816</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="l00821" name="l00821"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c"> 821</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="l00822" name="l00822"></a><span class="lineno"> 822</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="l00827" name="l00827"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200"> 827</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"> 828</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="l00839" name="l00839"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3"> 839</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="l00840" name="l00840"></a><span class="lineno"> 840</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="l00845" name="l00845"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94"> 845</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="l00846" name="l00846"></a><span class="lineno"> 846</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="l00851" name="l00851"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df"> 851</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="l00852" name="l00852"></a><span class="lineno"> 852</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="l00857" name="l00857"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26"> 857</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="l00858" name="l00858"></a><span class="lineno"> 858</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="l00863" name="l00863"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e"> 863</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="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="l00869" name="l00869"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe"> 869</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="l00870" name="l00870"></a><span class="lineno"> 870</span> </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="l00874" name="l00874"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505"> 874</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="l00876" name="l00876"></a><span class="lineno"> 876</span> </div> <div class="line"><a id="l00875" name="l00875"></a><span class="lineno"> 875</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="l00880" name="l00880"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8"> 880</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="l00882" name="l00882"></a><span class="lineno"> 882</span> </div> <div class="line"><a id="l00881" name="l00881"></a><span class="lineno"> 881</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="l00886" name="l00886"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808"> 886</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="l00889" name="l00889"></a><span class="lineno"> 889</span> </div> <div class="line"><a id="l00887" name="l00887"></a><span class="lineno"> 887</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="l00892" name="l00892"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689"> 892</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="l00895" name="l00895"></a><span class="lineno"> 895</span> </div> <div class="line"><a id="l00893" name="l00893"></a><span class="lineno"> 893</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="l00899" name="l00899"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556"> 899</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="l00901" name="l00901"></a><span class="lineno"> 901</span> </div> <div class="line"><a id="l00900" name="l00900"></a><span class="lineno"> 900</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="l00905" name="l00905"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87"> 905</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="l00907" name="l00907"></a><span class="lineno"> 907</span> </div> <div class="line"><a id="l00906" name="l00906"></a><span class="lineno"> 906</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="l00911" name="l00911"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97"> 911</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="l00913" name="l00913"></a><span class="lineno"> 913</span> </div> <div class="line"><a id="l00912" name="l00912"></a><span class="lineno"> 912</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="l00917" name="l00917"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a"> 917</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="l00921" name="l00921"></a><span class="lineno"> 921</span> </div> <div class="line"><a id="l00918" name="l00918"></a><span class="lineno"> 918</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="l00923" name="l00923"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957"> 923</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="l00927" name="l00927"></a><span class="lineno"> 927</span> </div> <div class="line"><a id="l00924" name="l00924"></a><span class="lineno"> 924</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="l00931" name="l00931"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139"> 931</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="l00933" name="l00933"></a><span class="lineno"> 933</span> </div> <div class="line"><a id="l00932" name="l00932"></a><span class="lineno"> 932</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="l00937" name="l00937"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7"> 937</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="l00939" name="l00939"></a><span class="lineno"> 939</span> </div> <div class="line"><a id="l00938" name="l00938"></a><span class="lineno"> 938</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="l00943" name="l00943"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1"> 943</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="l00945" name="l00945"></a><span class="lineno"> 945</span> </div> <div class="line"><a id="l00944" name="l00944"></a><span class="lineno"> 944</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="l00949" name="l00949"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae"> 949</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="l00952" name="l00952"></a><span class="lineno"> 952</span> </div> <div class="line"><a id="l00950" name="l00950"></a><span class="lineno"> 950</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="l00955" name="l00955"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9"> 955</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="l00958" name="l00958"></a><span class="lineno"> 958</span> </div> <div class="line"><a id="l00956" name="l00956"></a><span class="lineno"> 956</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="l00962" name="l00962"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14"> 962</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="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="l00963" name="l00963"></a><span class="lineno"> 963</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="l00968" name="l00968"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8"> 968</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="l00978" name="l00978"></a><span class="lineno"> 978</span> </div> <div class="line"><a id="l00969" name="l00969"></a><span class="lineno"> 969</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="l00978" name="l00978"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc"> 978</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="l00983" name="l00983"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29"> 983</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="l00988" name="l00988"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2"> 988</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="l00989" name="l00989"></a><span class="lineno"> 989</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="l00999" name="l00999"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03"> 999</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="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="l01000" name="l01000"></a><span class="lineno"> 1000</span> </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="preprocessor">#ifdef HAVE_OPENCV_CUDEV</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="l01006" name="l01006"></a><span class="lineno"> 1006</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="l01002" name="l01002"></a><span class="lineno"> 1002</span> </div> <div class="line"><a id="l01007" name="l01007"></a><span class="lineno"> 1007</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="l01012" name="l01012"></a><span class="lineno"> 1012</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="l01008" name="l01008"></a><span class="lineno"> 1008</span> </div> <div class="line"><a id="l01013" name="l01013"></a><span class="lineno"> 1013</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="l01018" name="l01018"></a><span class="lineno"> 1018</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="l01014" name="l01014"></a><span class="lineno"> 1014</span><span class="preprocessor">#endif</span></div> <div class="line"><a id="l01019" name="l01019"></a><span class="lineno"> 1019</span> </div>
<div class="line"><a id="l01015" name="l01015"></a><span class="lineno"> 1015</span> </div> <div class="line"><a id="l01024" name="l01024"></a><span class="lineno"> 1024</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="l01016" name="l01016"></a><span class="lineno"> 1016</span><span class="keyword">private</span>:</div> <div class="line"><a id="l01025" name="l01025"></a><span class="lineno"> 1025</span><span class="preprocessor">#endif</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="l01026" name="l01026"></a><span class="lineno"> 1026</span> </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="l01027" name="l01027"></a><span class="lineno"> 1027</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l01019" name="l01019"></a><span class="lineno"> 1019</span> </div> <div class="line"><a id="l01028" name="l01028"></a><span class="lineno"> 1028</span> <span class="keywordtype">int</span> _id; </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="l01029" name="l01029"></a><span class="lineno"> 1029</span> <span class="keywordtype">double</span> _stamp; </div>
<div class="line"><a id="l01021" name="l01021"></a><span class="lineno"> 1021</span> cv::Mat _imageCompressed; </div> <div class="line"><a id="l01030" name="l01030"></a><span class="lineno"> 1030</span> </div>
<div class="line"><a id="l01022" name="l01022"></a><span class="lineno"> 1022</span> cv::Mat _depthOrRightCompressed; </div> <div class="line"><a id="l01031" name="l01031"></a><span class="lineno"> 1031</span> <span class="comment">// Compressed data</span></div>
<div class="line"><a id="l01023" name="l01023"></a><span class="lineno"> 1023</span> cv::Mat _depthConfidenceCompressed; </div> <div class="line"><a id="l01032" name="l01032"></a><span class="lineno"> 1032</span> cv::Mat _imageCompressed; </div>
<div class="line"><a id="l01024" name="l01024"></a><span class="lineno"> 1024</span> LaserScan _laserScanCompressed; </div> <div class="line"><a id="l01033" name="l01033"></a><span class="lineno"> 1033</span> cv::Mat _depthOrRightCompressed; </div>
<div class="line"><a id="l01025" name="l01025"></a><span class="lineno"> 1025</span> </div> <div class="line"><a id="l01034" name="l01034"></a><span class="lineno"> 1034</span> cv::Mat _depthConfidenceCompressed; </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="l01035" name="l01035"></a><span class="lineno"> 1035</span> LaserScan _laserScanCompressed; </div>
<div class="line"><a id="l01027" name="l01027"></a><span class="lineno"> 1027</span> cv::Mat _imageRaw; </div> <div class="line"><a id="l01036" name="l01036"></a><span class="lineno"> 1036</span> </div>
<div class="line"><a id="l01028" name="l01028"></a><span class="lineno"> 1028</span> cv::Mat _depthOrRightRaw; </div> <div class="line"><a id="l01037" name="l01037"></a><span class="lineno"> 1037</span> <span class="comment">// Raw data</span></div>
<div class="line"><a id="l01029" name="l01029"></a><span class="lineno"> 1029</span> cv::Mat _depthConfidenceRaw; </div> <div class="line"><a id="l01038" name="l01038"></a><span class="lineno"> 1038</span> cv::Mat _imageRaw; </div>
<div class="line"><a id="l01030" name="l01030"></a><span class="lineno"> 1030</span> LaserScan _laserScanRaw; </div> <div class="line"><a id="l01039" name="l01039"></a><span class="lineno"> 1039</span> cv::Mat _depthOrRightRaw; </div>
<div class="line"><a id="l01031" name="l01031"></a><span class="lineno"> 1031</span> </div> <div class="line"><a id="l01040" name="l01040"></a><span class="lineno"> 1040</span> cv::Mat _depthConfidenceRaw; </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="l01041" name="l01041"></a><span class="lineno"> 1041</span> LaserScan _laserScanRaw; </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="l01042" name="l01042"></a><span class="lineno"> 1042</span> </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="l01043" name="l01043"></a><span class="lineno"> 1043</span> <span class="comment">// Camera models</span></div>
<div class="line"><a id="l01035" name="l01035"></a><span class="lineno"> 1035</span> </div> <div class="line"><a id="l01044" name="l01044"></a><span class="lineno"> 1044</span> std::vector&lt;CameraModel&gt; _cameraModels; </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="l01045" name="l01045"></a><span class="lineno"> 1045</span> std::vector&lt;StereoCameraModel&gt; _stereoCameraModels; </div>
<div class="line"><a id="l01037" name="l01037"></a><span class="lineno"> 1037</span> cv::Mat _userDataCompressed; </div> <div class="line"><a id="l01046" name="l01046"></a><span class="lineno"> 1046</span> </div>
<div class="line"><a id="l01038" name="l01038"></a><span class="lineno"> 1038</span> cv::Mat _userDataRaw; </div> <div class="line"><a id="l01047" name="l01047"></a><span class="lineno"> 1047</span> <span class="comment">// User data</span></div>
<div class="line"><a id="l01039" name="l01039"></a><span class="lineno"> 1039</span> </div> <div class="line"><a id="l01048" name="l01048"></a><span class="lineno"> 1048</span> cv::Mat _userDataCompressed; </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="l01049" name="l01049"></a><span class="lineno"> 1049</span> cv::Mat _userDataRaw; </div>
<div class="line"><a id="l01041" name="l01041"></a><span class="lineno"> 1041</span> cv::Mat _groundCellsCompressed; </div> <div class="line"><a id="l01050" name="l01050"></a><span class="lineno"> 1050</span> </div>
<div class="line"><a id="l01042" name="l01042"></a><span class="lineno"> 1042</span> cv::Mat _obstacleCellsCompressed; </div> <div class="line"><a id="l01051" name="l01051"></a><span class="lineno"> 1051</span> <span class="comment">// Occupancy grid</span></div>
<div class="line"><a id="l01043" name="l01043"></a><span class="lineno"> 1043</span> cv::Mat _emptyCellsCompressed; </div> <div class="line"><a id="l01052" name="l01052"></a><span class="lineno"> 1052</span> cv::Mat _groundCellsCompressed; </div>
<div class="line"><a id="l01044" name="l01044"></a><span class="lineno"> 1044</span> cv::Mat _groundCellsRaw; </div> <div class="line"><a id="l01053" name="l01053"></a><span class="lineno"> 1053</span> cv::Mat _obstacleCellsCompressed; </div>
<div class="line"><a id="l01045" name="l01045"></a><span class="lineno"> 1045</span> cv::Mat _obstacleCellsRaw; </div> <div class="line"><a id="l01054" name="l01054"></a><span class="lineno"> 1054</span> cv::Mat _emptyCellsCompressed; </div>
<div class="line"><a id="l01046" name="l01046"></a><span class="lineno"> 1046</span> cv::Mat _emptyCellsRaw; </div> <div class="line"><a id="l01055" name="l01055"></a><span class="lineno"> 1055</span> cv::Mat _groundCellsRaw; </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="l01056" name="l01056"></a><span class="lineno"> 1056</span> cv::Mat _obstacleCellsRaw; </div>
<div class="line"><a id="l01048" name="l01048"></a><span class="lineno"> 1048</span> cv::Point3f _viewPoint; </div> <div class="line"><a id="l01057" name="l01057"></a><span class="lineno"> 1057</span> cv::Mat _emptyCellsRaw; </div>
<div class="line"><a id="l01049" name="l01049"></a><span class="lineno"> 1049</span> </div> <div class="line"><a id="l01058" name="l01058"></a><span class="lineno"> 1058</span> <span class="keywordtype">float</span> _cellSize; </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="l01059" name="l01059"></a><span class="lineno"> 1059</span> cv::Point3f _viewPoint; </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="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="l01061" name="l01061"></a><span class="lineno"> 1061</span> <span class="comment">// Environmental sensors</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="l01062" name="l01062"></a><span class="lineno"> 1062</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> _envSensors; </div>
<div class="line"><a id="l01063" name="l01063"></a><span class="lineno"> 1063</span> </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="l01064" name="l01064"></a><span class="lineno"> 1064</span> <span class="comment">// Landmarks</span></div>
<div class="line"><a id="l01065" name="l01065"></a><span class="lineno"> 1065</span> Transform groundTruth_; </div> <div class="line"><a id="l01065" name="l01065"></a><span class="lineno"> 1065</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> _landmarks; </div>
<div class="line"><a id="l01066" name="l01066"></a><span class="lineno"> 1066</span> Transform globalPose_; </div> <div class="line"><a id="l01066" name="l01066"></a><span class="lineno"> 1066</span> </div>
<div class="line"><a id="l01067" name="l01067"></a><span class="lineno"> 1067</span> cv::Mat globalPoseCovariance_; </div> <div class="line"><a id="l01067" name="l01067"></a><span class="lineno"> 1067</span> <span class="comment">// Visual features</span></div>
<div class="line"><a id="l01068" name="l01068"></a><span class="lineno"> 1068</span> </div> <div class="line"><a id="l01068" name="l01068"></a><span class="lineno"> 1068</span> std::vector&lt;cv::KeyPoint&gt; _keypoints; </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="l01069" name="l01069"></a><span class="lineno"> 1069</span> std::vector&lt;cv::Point3f&gt; _keypoints3D; </div>
<div class="line"><a id="l01070" name="l01070"></a><span class="lineno"> 1070</span> GPS gps_; </div> <div class="line"><a id="l01070" name="l01070"></a><span class="lineno"> 1070</span> cv::Mat _descriptors; </div>
<div class="line"><a id="l01071" name="l01071"></a><span class="lineno"> 1071</span> IMU imu_; </div> <div class="line"><a id="l01071" name="l01071"></a><span class="lineno"> 1071</span> </div>
<div class="line"><a id="l01072" name="l01072"></a><span class="lineno"> 1072</span> </div> <div class="line"><a id="l01072" name="l01072"></a><span class="lineno"> 1072</span> <span class="comment">// Global descriptors</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="l01073" name="l01073"></a><span class="lineno"> 1073</span> std::vector&lt;GlobalDescriptor&gt; _globalDescriptors; </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="l01074" name="l01074"></a><span class="lineno"> 1074</span> </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="l01075" name="l01075"></a><span class="lineno"> 1075</span> <span class="comment">// Poses</span></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="l01076" name="l01076"></a><span class="lineno"> 1076</span> Transform groundTruth_; </div>
<div class="line"><a id="l01083" name="l01083"></a><span class="lineno"> 1083</span>};</div> <div class="line"><a id="l01077" name="l01077"></a><span class="lineno"> 1077</span> Transform globalPose_; </div>
<div class="line"><a id="l01078" name="l01078"></a><span class="lineno"> 1078</span> cv::Mat globalPoseCovariance_; </div>
<div class="line"><a id="l01079" name="l01079"></a><span class="lineno"> 1079</span> </div>
<div class="line"><a id="l01080" name="l01080"></a><span class="lineno"> 1080</span> <span class="comment">// Sensor fusion</span></div>
<div class="line"><a id="l01081" name="l01081"></a><span class="lineno"> 1081</span> GPS gps_; </div>
<div class="line"><a id="l01082" name="l01082"></a><span class="lineno"> 1082</span> IMU imu_; </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">#ifdef HAVE_OPENCV_CUDEV</span></div>
<div class="line"><a id="l01091" name="l01091"></a><span class="lineno"> 1091</span> cv::cuda::GpuMat _imageRawGpu; </div>
<div class="line"><a id="l01092" name="l01092"></a><span class="lineno"> 1092</span> cv::cuda::GpuMat _depthOrRightRawGpu; </div>
<div class="line"><a id="l01093" name="l01093"></a><span class="lineno"> 1093</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l01094" name="l01094"></a><span class="lineno"> 1094</span>};</div>
</div> </div>
<div class="line"><a id="l01084" name="l01084"></a><span class="lineno"> 1084</span> </div> <div class="line"><a id="l01095" name="l01095"></a><span class="lineno"> 1095</span> </div>
<div class="line"><a id="l01085" name="l01085"></a><span class="lineno"> 1085</span>}</div> <div class="line"><a id="l01096" name="l01096"></a><span class="lineno"> 1096</span>}</div>
<div class="line"><a id="l01086" name="l01086"></a><span class="lineno"> 1086</span> </div> <div class="line"><a id="l01097" name="l01097"></a><span class="lineno"> 1097</span> </div>
<div class="line"><a id="l01087" name="l01087"></a><span class="lineno"> 1087</span> </div> <div class="line"><a id="l01098" name="l01098"></a><span class="lineno"> 1098</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="line"><a id="l01099" name="l01099"></a><span class="lineno"> 1099</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_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"><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> <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>
@@ -558,85 +563,85 @@ $(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_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_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"><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#l00926">SensorData.h:926</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#l00937">SensorData.h:937</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_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#l00590">SensorData.h:590</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_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#l00795">SensorData.h:795</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_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#l00949">SensorData.h:949</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_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_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#l00571">SensorData.h:571</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_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#l00912">SensorData.h:912</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#l00923">SensorData.h:923</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_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#l00650">SensorData.h:650</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_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_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_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#l00584">SensorData.h:584</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_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#l00771">SensorData.h:771</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#l00782">SensorData.h:782</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_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_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_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#l00863">SensorData.h:863</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#l00874">SensorData.h:874</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_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#l00808">SensorData.h:808</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_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#l00955">SensorData.h:955</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_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#l00532">SensorData.h:532</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_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#l00802">SensorData.h:802</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_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#l00827">SensorData.h:827</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_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_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#l00894">SensorData.h:894</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#l00905">SensorData.h:905</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_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#l00538">SensorData.h:538</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_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#l00911">SensorData.h:911</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_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#l00544">SensorData.h:544</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_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#l00846">SensorData.h:846</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#l00857">SensorData.h:857</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_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_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#l00735">SensorData.h:735</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_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#l00875">SensorData.h:875</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#l00886">SensorData.h:886</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_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#l00888">SensorData.h:888</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#l00899">SensorData.h:899</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_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#l00968">SensorData.h:968</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_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#l00526">SensorData.h:526</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_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#l00558">SensorData.h:558</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> <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>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a8c3364f43f7c0a57261720408a088158"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158">rtabmap::SensorData::uncompressData</a></div><div class="ttdeci">void uncompressData(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)</div><div class="ttdoc">Uncompresses compressed data into provided output buffers.</div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html_a8c3364f43f7c0a57261720408a088158"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158">rtabmap::SensorData::uncompressData</a></div><div class="ttdeci">void uncompressData(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)</div><div class="ttdoc">Uncompresses compressed data into provided output buffers.</div></div>
<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_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_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_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#l00810">SensorData.h:810</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#l00821">SensorData.h:821</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_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_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#l00661">SensorData.h:661</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_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#l00551">SensorData.h:551</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_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#l00741">SensorData.h:741</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_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#l00851">SensorData.h:851</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_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#l00633">SensorData.h:633</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_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#l00943">SensorData.h:943</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_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#l00789">SensorData.h:789</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_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#l00639">SensorData.h:639</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_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#l00858">SensorData.h:858</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#l00869">SensorData.h:869</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_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_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#l00804">SensorData.h:804</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#l00815">SensorData.h:815</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_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#l00863">SensorData.h:863</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_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#l00869">SensorData.h:869</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#l00880">SensorData.h:880</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_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#l00906">SensorData.h:906</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#l00917">SensorData.h:917</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_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_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#l00491">SensorData.h:491</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> <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#l00621">SensorData.h:621</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ada69a11125b0b3072add73a3a2f1b5f2"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ada69a11125b0b3072add73a3a2f1b5f2">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; 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 laser scan.</div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html_ada69a11125b0b3072add73a3a2f1b5f2"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ada69a11125b0b3072add73a3a2f1b5f2">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; 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 laser scan.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ae0370b88671bb41812c2d39fd0cfc3ce"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ae0370b88671bb41812c2d39fd0cfc3ce">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 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 and laser scan.</div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html_ae0370b88671bb41812c2d39fd0cfc3ce"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ae0370b88671bb41812c2d39fd0cfc3ce">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 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 and laser scan.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ae4498a6d017e83202dfe86618e91fa57"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ae4498a6d017e83202dfe86618e91fa57">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &amp;rgb, const cv::Mat &amp;depth, 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.</div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html_ae4498a6d017e83202dfe86618e91fa57"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ae4498a6d017e83202dfe86618e91fa57">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &amp;rgb, const cv::Mat &amp;depth, 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.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ae9e44401d0d6faee8fcb801090936fef"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef">rtabmap::SensorData::imageRaw</a></div><div class="ttdeci">const cv::Mat &amp; imageRaw() const</div><div class="ttdoc">Returns the raw RGB/grayscale image.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00566">SensorData.h:566</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html_ae9e44401d0d6faee8fcb801090936fef"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef">rtabmap::SensorData::imageRaw</a></div><div class="ttdeci">const cv::Mat &amp; imageRaw() const</div><div class="ttdoc">Returns the raw RGB/grayscale image.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00577">SensorData.h:577</a></div></div>
<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_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_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#l00565">SensorData.h:565</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_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#l00596">SensorData.h:596</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_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#l00892">SensorData.h:892</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_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#l00962">SensorData.h:962</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_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#l00627">SensorData.h:627</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_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#l00845">SensorData.h:845</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_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="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> <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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<div class="line"><a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> stitchedData(stitchedRgb, stitchedDepth, models, 0, data1.<a class="code hl_function" href="classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb">stamp</a>());</div> <div class="line"><a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> stitchedData(stitchedRgb, stitchedDepth, models, 0, data1.<a class="code hl_function" href="classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb">stamp</a>());</div>
<div class="ttc" id="aclassrtabmap_1_1Camera_html"><div class="ttname"><a href="classrtabmap_1_1Camera.html">rtabmap::Camera</a></div><div class="ttdef"><b>Definition</b> <a href="Camera_8h_source.html#l00043">Camera.h:44</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Camera_html"><div class="ttname"><a href="classrtabmap_1_1Camera.html">rtabmap::Camera</a></div><div class="ttdef"><b>Definition</b> <a href="Camera_8h_source.html#l00043">Camera.h:44</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"><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_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_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#l00584">SensorData.h:584</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_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#l00538">SensorData.h:538</a></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_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#l00735">SensorData.h:735</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ae9e44401d0d6faee8fcb801090936fef"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef">rtabmap::SensorData::imageRaw</a></div><div class="ttdeci">const cv::Mat &amp; imageRaw() const</div><div class="ttdoc">Returns the raw RGB/grayscale image.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00566">SensorData.h:566</a></div></div> <div class="ttc" id="aclassrtabmap_1_1SensorData_html_ae9e44401d0d6faee8fcb801090936fef"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef">rtabmap::SensorData::imageRaw</a></div><div class="ttdeci">const cv::Mat &amp; imageRaw() const</div><div class="ttdoc">Returns the raw RGB/grayscale image.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00577">SensorData.h:577</a></div></div>
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@@ -1531,19 +1531,21 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Checks if the sensor data is valid. </p> <p>Checks if the sensor data is valid. </p>
<p>Returns true if the sensor data contains at least one of:</p><ul> <p>Returns true if the sensor data contains at least one of:</p><ul>
<li>Valid ID (&gt; 0) or non-zero stamp</li> <li>Valid ID (&gt; 0)</li>
<li>Images (raw or compressed)</li> <li>Images (raw or compressed)</li>
<li>Depth/right images (raw or compressed)</li> <li>Depth/right images (raw or compressed)</li>
<li>Depth confidence (raw or compressed)</li> <li>Depth confidence (raw or compressed)</li>
<li>Laser scan (raw or compressed)</li> <li>Laser scan (raw or compressed)</li>
<li><a class="el" href="classrtabmap_1_1Camera.html">Camera</a> models (mono or stereo)</li> <li><a class="el" href="classrtabmap_1_1Camera.html">Camera</a> models (mono or stereo), at least one valid for projection (see <a class="el" href="classrtabmap_1_1CameraModel.html#a7b6db41415e085d52bf363d09d5e6d67" title="Checks if the model is valid for 2D-&gt;3D projection.">CameraModel::isValidForProjection()</a> and <a class="el" href="classrtabmap_1_1StereoCameraModel.html#a6c16870b83978d286003b166fd6949cf" title="Returns true if both left and right models are valid for projection and the baseline is positive.">StereoCameraModel::isValidForProjection()</a>)</li>
<li>User data (raw or compressed)</li> <li>User data (raw or compressed)</li>
<li>Keypoints and descriptors</li> <li>Keypoints and descriptors</li>
<li>Occupancy grid cells (ground, obstacles or empty)</li>
<li><a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> data</li> <li><a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> data</li>
</ul> </ul>
<dl class="section note"><dt>Note</dt><dd>The stamp is not considered: a <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> with only a stamp set is not valid (e.g., an empty message converted from ROS still has its header stamp and a camera model created from an empty camera info).</dd></dl>
<dl class="section return"><dt>Returns</dt><dd>True if the sensor data contains any valid information, false otherwise </dd></dl> <dl class="section return"><dt>Returns</dt><dd>True if the sensor data contains any valid information, false otherwise </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00485">485</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#l00491">491</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -1573,7 +1575,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the sensor data ID. </p> <p>Returns the sensor data ID. </p>
<dl class="section return"><dt>Returns</dt><dd>The unique sensor data ID (0 if invalid/uninitialized) </dd></dl> <dl class="section return"><dt>Returns</dt><dd>The unique sensor data ID (0 if invalid/uninitialized) </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00515">515</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#l00526">526</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd> </dd>
</dl> </dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00521">521</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#l00532">532</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -1639,7 +1641,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the timestamp. </p> <p>Returns the timestamp. </p>
<dl class="section return"><dt>Returns</dt><dd>Timestamp in seconds (typically seconds since epoch) </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Timestamp in seconds (typically seconds since epoch) </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00527">527</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#l00538">538</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd> </dd>
</dl> </dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00533">533</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#l00544">544</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -1706,7 +1708,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<dl class="section return"><dt>Returns</dt><dd>Compressed image (CV_8UC1 with 1 row, JPEG/PNG-compressed bytes) </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Compressed image (CV_8UC1 with 1 row, JPEG/PNG-compressed bytes) </dd></dl>
<dl class="section note"><dt>Note</dt><dd>Use Compression::uncompressImage() to uncompress the image. </dd></dl> <dl class="section note"><dt>Note</dt><dd>Use Compression::uncompressImage() to uncompress the image. </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00540">540</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#l00551">551</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -1737,7 +1739,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<dl class="section return"><dt>Returns</dt><dd>Compressed depth/right image (CV_8UC1 with 1 row, compressed bytes) </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Compressed depth/right image (CV_8UC1 with 1 row, compressed bytes) </dd></dl>
<dl class="section note"><dt>Note</dt><dd>Use Compression::uncompressImage() to uncompress the image. </dd></dl> <dl class="section note"><dt>Note</dt><dd>Use Compression::uncompressImage() to uncompress the image. </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00547">547</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#l00558">558</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -1768,7 +1770,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<dl class="section return"><dt>Returns</dt><dd>Compressed depth confidence (CV_8UC1 with 1 row, compressed bytes) </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Compressed depth confidence (CV_8UC1 with 1 row, compressed bytes) </dd></dl>
<dl class="section note"><dt>Note</dt><dd>Use Compression::uncompressData() to uncompress the data. </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#l00554">554</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#l00565">565</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -1798,7 +1800,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the compressed laser scan. </p> <p>Returns the compressed laser scan. </p>
<dl class="section return"><dt>Returns</dt><dd>Compressed laser scan </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Compressed laser scan </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00560">560</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#l00571">571</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -1828,7 +1830,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the raw RGB/grayscale image. </p> <p>Returns the raw RGB/grayscale image. </p>
<dl class="section return"><dt>Returns</dt><dd>Raw image (CV_8UC1 for grayscale or CV_8UC3 for RGB) </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Raw image (CV_8UC1 for grayscale or CV_8UC3 for RGB) </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00566">566</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#l00577">577</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -1858,7 +1860,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the raw depth or right stereo image. </p> <p>Returns the raw depth or right stereo image. </p>
<dl class="section return"><dt>Returns</dt><dd>Raw depth (CV_16UC1 for millimeters or CV_32FC1 for meters) or right stereo image (CV_8UC1 or CV_8UC3) </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Raw depth (CV_16UC1 for millimeters or CV_32FC1 for meters) or right stereo image (CV_8UC1 or CV_8UC3) </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00573">573</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#l00584">584</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -1888,7 +1890,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the raw depth confidence map. </p> <p>Returns the raw depth confidence map. </p>
<dl class="section return"><dt>Returns</dt><dd>Raw depth confidence (CV_8UC1, typically 0-100) </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Raw depth confidence (CV_8UC1, typically 0-100) </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00579">579</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#l00590">590</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -1918,7 +1920,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the raw laser scan. </p> <p>Returns the raw laser scan. </p>
<dl class="section return"><dt>Returns</dt><dd>Raw laser scan (2D or 3D) </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Raw laser scan (2D or 3D) </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00585">585</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#l00596">596</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd> </dd>
</dl> </dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00610">610</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#l00621">621</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd> </dd>
</dl> </dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00616">616</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#l00627">627</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2106,7 +2108,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
</dd> </dd>
</dl> </dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00622">622</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#l00633">633</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd> </dd>
</dl> </dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00628">628</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#l00639">639</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2173,7 +2175,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the depth image if <code>_depthOrRightRaw</code> contains depth data (not a right stereo image). Depth images are CV_16UC1 or CV_32FC1, while right stereo images are CV_8UC1 or CV_8UC3.</p> <p>Returns the depth image if <code>_depthOrRightRaw</code> contains depth data (not a right stereo image). Depth images are CV_16UC1 or CV_32FC1, while right stereo images are CV_8UC1 or CV_8UC3.</p>
<dl class="section return"><dt>Returns</dt><dd>Depth image if available, empty Mat if right stereo image or empty </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Depth image if available, empty Mat if right stereo image or empty </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00639">639</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#l00650">650</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2204,7 +2206,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the right stereo image if <code>_depthOrRightRaw</code> contains stereo data (not a depth image). Right stereo images are CV_8UC1 or CV_8UC3, while depth images are CV_16UC1 or CV_32FC1.</p> <p>Returns the right stereo image if <code>_depthOrRightRaw</code> contains stereo data (not a depth image). Right stereo images are CV_8UC1 or CV_8UC3, while depth images are CV_16UC1 or CV_32FC1.</p>
<dl class="section return"><dt>Returns</dt><dd>Right stereo image if available, empty Mat if depth image or empty </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Right stereo image if available, empty Mat if depth image or empty </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00650">650</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#l00661">661</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2414,7 +2416,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the camera models. </p> <p>Returns the camera models. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to vector of mono camera models </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Const reference to vector of mono camera models </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00724">724</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#l00735">735</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2444,7 +2446,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the stereo camera models. </p> <p>Returns the stereo camera models. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to vector of stereo camera models </dd></dl> <dl class="section return"><dt>Returns</dt><dd>Const reference to vector of stereo camera models </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00730">730</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#l00741">741</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</table> </table>
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<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> <p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00756">756</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</table> </table>
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<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> <p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00757">757</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2621,7 +2623,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns raw ground cells. </p> <p>Returns raw ground cells. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to raw ground cells matrix </dd></dl> <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#l00771">771</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#l00782">782</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2652,7 +2654,7 @@ 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 ground cells matrix </dd></dl> <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> <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#l00778">778</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#l00789">789</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> <p>Returns raw obstacle cells. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to raw obstacle cells matrix </dd></dl> <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#l00784">784</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#l00795">795</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2713,7 +2715,7 @@ 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 obstacle cells matrix </dd></dl> <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> <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#l00791">791</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#l00802">802</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2743,7 +2745,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns raw empty cells. </p> <p>Returns raw empty cells. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to raw empty cells matrix </dd></dl> <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#l00797">797</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#l00808">808</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2774,7 +2776,7 @@ 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 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> <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#l00804">804</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#l00815">815</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2804,7 +2806,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the occupancy grid cell size. </p> <p>Returns the occupancy grid cell size. </p>
<dl class="section return"><dt>Returns</dt><dd>Cell size in meters </dd></dl> <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#l00810">810</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#l00821">821</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2834,7 +2836,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the occupancy grid viewpoint. </p> <p>Returns the occupancy grid viewpoint. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to viewpoint/origin 3D point </dd></dl> <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#l00816">816</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#l00827">827</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2909,7 +2911,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the 2D keypoints. </p> <p>Returns the 2D keypoints. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to vector of 2D keypoints </dd></dl> <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#l00834">834</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#l00845">845</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -2939,7 +2941,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the 3D keypoints. </p> <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> <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#l00840">840</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#l00851">851</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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<p>Returns the feature descriptors. </p> <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> <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#l00846">846</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#l00857">857</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd> </dd>
</dl> </dl>
<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> <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>
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</dd> </dd>
</dl> </dl>
<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> <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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<p>Clears all global descriptors. </p> <p>Clears all global descriptors. </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> <p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00874">874</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3100,7 +3102,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns all global descriptors. </p> <p>Returns all global descriptors. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to vector of global descriptors </dd></dl> <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#l00869">869</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#l00880">880</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd> </dd>
</dl> </dl>
<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> <p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00886">886</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3166,7 +3168,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the ground truth pose. </p> <p>Returns the ground truth pose. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to ground truth transform </dd></dl> <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#l00881">881</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#l00892">892</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd> </dd>
</dl> </dl>
<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> <p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00899">899</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3243,7 +3245,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the global pose. </p> <p>Returns the global pose. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to global pose transform </dd></dl> <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#l00894">894</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#l00905">905</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3273,7 +3275,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns the global pose covariance. </p> <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> <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#l00900">900</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#l00911">911</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd> </dd>
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<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> <p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00917">917</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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<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> <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> <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#l00912">912</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#l00923">923</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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<p>Returns <a class="el" href="classrtabmap_1_1IMU.html" title="Inertial measurement sample (ROS sensor_msgs/Imu-like fields).">IMU</a> data. </p> <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> <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#l00926">926</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#l00937">937</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd> </dd>
</dl> </dl>
<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> <p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00943">943</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dd> </dd>
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<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> <p class="definition">Definition at line <a class="el" href="SensorData_8h_source.html#l00949">949</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3498,7 +3500,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns all environmental sensors. </p> <p>Returns all environmental sensors. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to map of environmental sensors </dd></dl> <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#l00944">944</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#l00955">955</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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</dl> </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> <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#l00951">951</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#l00962">962</a> of file <a class="el" href="SensorData_8h_source.html">SensorData.h</a>.</p>
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@@ -3565,7 +3567,7 @@ The class manages memory efficiently by storing either raw or compressed data (o
<p>Returns landmarks. </p> <p>Returns landmarks. </p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to map of landmarks </dd></dl> <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#l00957">957</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#l00968">968</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_1Odometry_html_ac8992df0b92a86c10fe8e8da2b5f3627"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">rtabmap::Odometry::create</a></div><div class="ttdeci">static Odometry * create(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Creates an odometry instance from Parameters::kOdomStrategy() in parameters.</div></div> <div class="ttc" id="aclassrtabmap_1_1Odometry_html_ac8992df0b92a86c10fe8e8da2b5f3627"><div class="ttname"><a href="classrtabmap_1_1Odometry.html#ac8992df0b92a86c10fe8e8da2b5f3627">rtabmap::Odometry::create</a></div><div class="ttdeci">static Odometry * create(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Creates an odometry instance from Parameters::kOdomStrategy() in parameters.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Rtabmap_html"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html">rtabmap::Rtabmap</a></div><div class="ttdoc">Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00193">Rtabmap.h:194</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Rtabmap_html"><div class="ttname"><a href="classrtabmap_1_1Rtabmap.html">rtabmap::Rtabmap</a></div><div class="ttdoc">Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).</div><div class="ttdef"><b>Definition</b> <a href="Rtabmap_8h_source.html#l00193">Rtabmap.h:194</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"><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_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_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#l00538">SensorData.h:538</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html"><div class="ttname"><a href="classrtabmap_1_1Statistics.html">rtabmap::Statistics</a></div><div class="ttdoc">Collects and manages runtime statistics for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00107">Statistics.h:108</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Statistics_html"><div class="ttname"><a href="classrtabmap_1_1Statistics.html">rtabmap::Statistics</a></div><div class="ttdoc">Collects and manages runtime statistics for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00107">Statistics.h:108</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Statistics_html_a775992631cd8d976a94ea6c1560dad0d"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a775992631cd8d976a94ea6c1560dad0d">rtabmap::Statistics::mapCorrection</a></div><div class="ttdeci">const Transform &amp; mapCorrection() const</div><div class="ttdoc">Returns the map correction transform.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00657">Statistics.h:657</a></div></div> <div class="ttc" id="aclassrtabmap_1_1Statistics_html_a775992631cd8d976a94ea6c1560dad0d"><div class="ttname"><a href="classrtabmap_1_1Statistics.html#a775992631cd8d976a94ea6c1560dad0d">rtabmap::Statistics::mapCorrection</a></div><div class="ttdeci">const Transform &amp; mapCorrection() const</div><div class="ttdoc">Returns the map correction transform.</div><div class="ttdef"><b>Definition</b> <a href="Statistics_8h_source.html#l00657">Statistics.h:657</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="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>
@@ -217,8 +217,8 @@ Occupancy grid</h1>
<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_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_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_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#l00816">SensorData.h:816</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#l00827">SensorData.h:827</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_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#l00821">SensorData.h:821</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"><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_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> <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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