From d094efe550c4b3ed9080341fcd92e0b51bb76d72 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" Date: Sun, 2 Aug 2026 01:36:11 +0000 Subject: [PATCH] Preview for PR #1492 25b41788677116f6905c26584214a5e014292ec9 --- .nojekyll | 0 preview/pr-1492/.nojekyll | 0 .../api/latest/BayesFilter_8h_source.html | 206 + .../api/latest/CameraDepthAI_8h_source.html | 222 + .../api/latest/CameraEvent_8h_source.html | 124 + .../api/latest/CameraFreenect2_8h_source.html | 206 + .../api/latest/CameraFreenect_8h_source.html | 182 + .../api/latest/CameraImages_8h_source.html | 339 ++ .../api/latest/CameraInfo_8h_source.html | 124 + .../api/latest/CameraK4A_8h_source.html | 204 + .../api/latest/CameraK4W2_8h_source.html | 200 + .../api/latest/CameraModel_8h_source.html | 317 ++ .../api/latest/CameraMyntEye_8h_source.html | 213 + .../api/latest/CameraOpenNI2_8h_source.html | 198 + .../api/latest/CameraOpenNICV_8h_source.html | 166 + .../api/latest/CameraOpenni_8h_source.html | 204 + 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+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
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+
BayesFilter.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef BAYESFILTER_H_
+
29#define BAYESFILTER_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <opencv2/core/core.hpp>
+
34#include <list>
+
35#include <set>
+
36#include "rtabmap/utilite/UEventsHandler.h"
+
37#include "rtabmap/core/Parameters.h"
+
38
+
+
39namespace rtabmap {
+
40
+
41class Memory;
+
42class Signature;
+
43
+
+
71class RTABMAP_CORE_EXPORT BayesFilter
+
72{
+
73public:
+
78 BayesFilter(const ParametersMap & parameters = ParametersMap());
+
79 virtual ~BayesFilter();
+
80
+
85 virtual void parseParameters(const ParametersMap & parameters);
+
86
+
99 const std::map<int, float> & computePosterior(const Memory * memory, const std::map<int, float> & likelihood);
+
100
+
104 void reset();
+
105
+
119 void setPredictionLC(const std::string & prediction);
+
120
+
125 const std::map<int, float> & getPosterior() const {return _posterior;}
+
126
+
131 float getVirtualPlacePrior() const {return _virtualPlacePrior;}
+
132
+
137 const std::vector<double> & getPredictionLC() const;
+
138
+
143 std::string getPredictionLCStr() const;
+
144
+
156 cv::Mat generatePrediction(const Memory * memory, const std::vector<int> & ids);
+
157
+
162 unsigned long getMemoryUsed() const;
+
163
+
164private:
+
168 cv::Mat updatePrediction(const cv::Mat & oldPrediction,
+
169 const Memory * memory,
+
170 const std::vector<int> & oldIds,
+
171 const std::vector<int> & newIds);
+
172
+
176 void updatePosterior(const Memory * memory, const std::vector<int> & likelihoodIds);
+
177
+
181 void normalize(cv::Mat & prediction, unsigned int index, float addedProbabilitiesSum, bool virtualPlaceUsed) const;
+
182
+
183private:
+
184 std::map<int, float> _posterior;
+
185 cv::Mat _prediction;
+
186 float _virtualPlacePrior;
+
187 std::vector<double> _predictionLC;
+
188 bool _fullPredictionUpdate;
+
189 float _totalPredictionLCValues;
+
190 float _predictionEpsilon;
+
191 std::map<int, std::map<int, int> > _neighborsIndex;
+
192};
+
+
193
+
194} // namespace rtabmap
+
+
195
+
196#endif /* BAYESFILTER_H_ */
+
rtabmap::BayesFilter
Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.
Definition BayesFilter.h:72
+
rtabmap::BayesFilter::getPredictionLCStr
std::string getPredictionLCStr() const
Returns the loop-closure prediction model as a space-separated string.
+
rtabmap::BayesFilter::getVirtualPlacePrior
float getVirtualPlacePrior() const
Returns the virtual place prior threshold.
Definition BayesFilter.h:131
+
rtabmap::BayesFilter::BayesFilter
BayesFilter(const ParametersMap &parameters=ParametersMap())
Constructs a Bayes filter with default or custom parameters.
+
rtabmap::BayesFilter::setPredictionLC
void setPredictionLC(const std::string &prediction)
Sets the loop-closure prediction model from a space-separated string.
+
rtabmap::BayesFilter::generatePrediction
cv::Mat generatePrediction(const Memory *memory, const std::vector< int > &ids)
Builds or updates the prediction (transition) matrix for the given signature ids.
+
rtabmap::BayesFilter::getMemoryUsed
unsigned long getMemoryUsed() const
Estimates memory usage of this object and its internal containers.
+
rtabmap::BayesFilter::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Updates internal settings from the parameter map.
+
rtabmap::BayesFilter::computePosterior
const std::map< int, float > & computePosterior(const Memory *memory, const std::map< int, float > &likelihood)
Runs one Bayes filter iteration (prediction + update).
+
rtabmap::BayesFilter::getPredictionLC
const std::vector< double > & getPredictionLC() const
Returns the loop-closure prediction model as a vector of values.
+
rtabmap::BayesFilter::getPosterior
const std::map< int, float > & getPosterior() const
Returns the current posterior probability map.
Definition BayesFilter.h:125
+
rtabmap::BayesFilter::reset
void reset()
Clears posterior, prediction matrix and cached neighbor indices.
+
rtabmap::Memory
Three-tiered memory management (STM, WM, LTM) for RTAB-Map.
Definition Memory.h:102
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraDepthAI_8h_source.html b/preview/pr-1492/api/latest/CameraDepthAI_8h_source.html new file mode 100644 index 00000000..7084ee8e --- /dev/null +++ b/preview/pr-1492/api/latest/CameraDepthAI_8h_source.html @@ -0,0 +1,222 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraDepthAI.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
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+ + +
+
+
CameraDepthAI.h
+
+
+
1/*
+
2Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/StereoCameraModel.h"
+
31#include "rtabmap/core/Camera.h"
+
32#include "rtabmap/core/Version.h"
+
33
+
34#ifdef RTABMAP_DEPTHAI
+
35#ifndef DEPTHAI_OPENCV_SUPPORT
+
36#define DEPTHAI_OPENCV_SUPPORT
+
37#endif
+
38#include <depthai/depthai.hpp>
+
39#endif
+
40
+
41namespace rtabmap
+
42{
+
43
+
+
44class RTABMAP_CORE_EXPORT CameraDepthAI :
+
45 public Camera
+
46{
+
47public:
+
48 static bool available();
+
49
+
50public:
+
51 CameraDepthAI(
+
52 const std::string & mxidOrName = "",
+
53 int imageWidth = 1280, // 640 or 1280
+
54 float imageRate = 0.0f,
+
55 const Transform & localTransform = Transform::getIdentity());
+
56 virtual ~CameraDepthAI();
+
57
+
58 void setOutputMode(int outputMode = 0);
+
59 void setDepthProfile(int confThreshold = 200, int lrcThreshold = 5);
+
60 void setExtendedDisparity(bool extendedDisparity = false, bool enableCompanding = false);
+
61 void setSubpixelMode(bool enabled = false, int fractionalBits = 3);
+
62 void setDisparityWidthAndFilter(int disparityWidth = 96, int medianFilter = 5);
+
63 void setRectification(bool useSpecTranslation = false, float alphaScaling = 0.0f, bool enabled = true);
+
64 void setIMU(bool imuPublished, bool publishInterIMU);
+
65 void setIrIntensity(float dotIntensity = 0.0f, float floodIntensity = 0.0f);
+
66 void setDetectFeatures(int detectFeatures = 0, const std::string & blobPath = "");
+
67 void setGFTTDetector(bool useHarrisDetector = false, float minDistance = 7.0f, int numTargetFeatures = 1000);
+
68 void setSuperPointDetector(float threshold = 0.01f, bool nms = true, int nmsRadius = 4);
+
69
+
70 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
71 virtual bool isCalibrated() const;
+
72 virtual std::string getSerial() const;
+
73
+
74protected:
+
75 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
76
+
77private:
+
78#ifdef RTABMAP_DEPTHAI
+
79 StereoCameraModel stereoModel_;
+
80 cv::Size targetSize_;
+
81 Transform imuLocalTransform_;
+
82 std::string mxidOrName_;
+
83 int outputMode_;
+
84 int confThreshold_;
+
85 int lrcThreshold_;
+
86 int imageWidth_;
+
87 bool extendedDisparity_;
+
88 bool enableCompanding_;
+
89 int subpixelFractionalBits_;
+
90 int disparityWidth_;
+
91 int medianFilter_;
+
92 bool useSpecTranslation_;
+
93 float alphaScaling_;
+
94 bool imagesRectified_;
+
95 bool imuPublished_;
+
96 bool publishInterIMU_;
+
97 float dotIntensity_;
+
98 float floodIntensity_;
+
99 int detectFeatures_;
+
100 bool useHarrisDetector_;
+
101 float minDistance_;
+
102 int numTargetFeatures_;
+
103 float threshold_;
+
104 bool nms_;
+
105 int nmsRadius_;
+
106 std::string blobPath_;
+
107 std::unique_ptr<dai::Device> device_;
+
108 std::shared_ptr<dai::DataOutputQueue> cameraQueue_;
+
109 std::map<double, cv::Vec3f> accBuffer_;
+
110 std::map<double, cv::Vec3f> gyroBuffer_;
+
111 UMutex imuMutex_;
+
112#endif
+
113};
+
+
114
+
115
+
116} // namespace rtabmap
+ + +
rtabmap::CameraDepthAI::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraDepthAI::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraEvent_8h_source.html b/preview/pr-1492/api/latest/CameraEvent_8h_source.html new file mode 100644 index 00000000..2f267829 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraEvent_8h_source.html @@ -0,0 +1,124 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/CameraEvent.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+ + +
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+
CameraEvent.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/SensorEvent.h"
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraFreenect2_8h_source.html b/preview/pr-1492/api/latest/CameraFreenect2_8h_source.html new file mode 100644 index 00000000..206a2fee --- /dev/null +++ b/preview/pr-1492/api/latest/CameraFreenect2_8h_source.html @@ -0,0 +1,206 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraFreenect2.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
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+ + +
+
+
CameraFreenect2.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/StereoCameraModel.h"
+
31#include "rtabmap/core/Camera.h"
+
32#include "rtabmap/core/Version.h"
+
33
+
34namespace libfreenect2
+
35{
+
36class Freenect2;
+
37class Freenect2Device;
+
38class SyncMultiFrameListener;
+
39class Registration;
+
40class PacketPipeline;
+
41}
+
42
+
43namespace rtabmap
+
44{
+
45
+
+
46class RTABMAP_CORE_EXPORT CameraFreenect2 :
+
47 public Camera
+
48{
+
49public:
+
50 static bool available();
+
51
+
52 enum Type{
+
53 kTypeColor2DepthSD,
+
54 kTypeDepth2ColorSD,
+
55 kTypeDepth2ColorHD,
+
56 kTypeDepth2ColorHD2,
+
57 kTypeIRDepth,
+
58 kTypeColorIR
+
59 };
+
60
+
61public:
+
62 // default local transform z in, x right, y down));
+
63 CameraFreenect2(int deviceId= 0,
+
64 Type type = kTypeDepth2ColorSD,
+
65 float imageRate=0.0f,
+
66 const Transform & localTransform = Transform::getIdentity(),
+
67 float minDepth = 0.3f,
+
68 float maxDepth = 12.0f,
+
69 bool bilateralFiltering = true,
+
70 bool edgeAwareFiltering = true,
+
71 bool noiseFiltering = true,
+
72 const std::string & pipelineName = "");
+
73 virtual ~CameraFreenect2();
+
74
+
75 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
76 virtual bool isCalibrated() const;
+
77 virtual std::string getSerial() const;
+
78
+
79protected:
+
80 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
81
+
82private:
+
83#ifdef RTABMAP_FREENECT2
+
84 int deviceId_;
+
85 Type type_;
+
86 StereoCameraModel stereoModel_;
+
87 libfreenect2::Freenect2 * freenect2_;
+
88 libfreenect2::Freenect2Device *dev_;
+
89 libfreenect2::SyncMultiFrameListener * listener_;
+
90 libfreenect2::Registration * reg_;
+
91 float minKinect2Depth_;
+
92 float maxKinect2Depth_;
+
93 bool bilateralFiltering_;
+
94 bool edgeAwareFiltering_;
+
95 bool noiseFiltering_;
+
96 std::string pipelineName_;
+
97#endif
+
98};
+
+
99
+
100
+
101} // namespace rtabmap
+ +
rtabmap::CameraFreenect2::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraFreenect2::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraFreenect_8h_source.html b/preview/pr-1492/api/latest/CameraFreenect_8h_source.html new file mode 100644 index 00000000..3e2b434e --- /dev/null +++ b/preview/pr-1492/api/latest/CameraFreenect_8h_source.html @@ -0,0 +1,182 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraFreenect.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+
+
+ + +
+
+
CameraFreenect.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
31
+
32#include "rtabmap/core/StereoCameraModel.h"
+
33#include "rtabmap/core/Camera.h"
+
34#include "rtabmap/core/Version.h"
+
35
+
36typedef struct _freenect_context freenect_context;
+
37typedef struct _freenect_device freenect_device;
+
38
+
39namespace rtabmap
+
40{
+
41
+
42class FreenectDevice;
+
43
+
+
44class RTABMAP_CORE_EXPORT CameraFreenect :
+
45 public Camera
+
46{
+
47public:
+
48 static bool available();
+
49 enum Type {kTypeColorDepth, kTypeIRDepth};
+
50
+
51public:
+
52 // default local transform z in, x right, y down));
+
53 CameraFreenect(int deviceId= 0,
+
54 Type type = kTypeColorDepth,
+
55 float imageRate=0.0f,
+
56 const Transform & localTransform = Transform::getIdentity());
+
57 virtual ~CameraFreenect();
+
58
+
59 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
60 virtual bool isCalibrated() const;
+
61 virtual std::string getSerial() const;
+
62
+
63protected:
+
64 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
65
+
66private:
+
67#ifdef RTABMAP_FREENECT
+
68 int deviceId_;
+
69 Type type_;
+
70 freenect_context * ctx_;
+
71 FreenectDevice * freenectDevice_;
+
72 StereoCameraModel stereoModel_;
+
73#endif
+
74};
+
+
75
+
76
+
77} // namespace rtabmap
+ +
rtabmap::CameraFreenect::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraFreenect::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraImages_8h_source.html b/preview/pr-1492/api/latest/CameraImages_8h_source.html new file mode 100644 index 00000000..ac4a5766 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraImages_8h_source.html @@ -0,0 +1,339 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraImages.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+
+
+ + +
+
+
CameraImages.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/Camera.h"
+
31#include "rtabmap/utilite/UTimer.h"
+
32#include <list>
+
33
+
34class UDirectory;
+
35
+
36namespace rtabmap
+
37{
+
38
+
+
39class RTABMAP_CORE_EXPORT CameraImages :
+
40 public Camera
+
41{
+
42public:
+
43 CameraImages();
+
44 CameraImages(
+
45 const std::string & path,
+
46 float imageRate = 0,
+
47 const Transform & localTransform = Transform::getIdentity());
+
48 virtual ~CameraImages();
+
49
+
50 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
51 virtual bool isCalibrated() const;
+
52 virtual std::string getSerial() const;
+
53 virtual bool odomProvided() const { return odometry_.size() > 0; }
+
54 std::string getPath() const {return _path;}
+
55 unsigned int imagesCount() const;
+
56 std::vector<std::string> filenames() const;
+
57 bool isImagesRectified() const {return _rectifyImages;}
+
58 int getBayerMode() const {return _bayerMode;}
+
59 const CameraModel & cameraModel() const {return _model;}
+
60
+
61 void setPath(const std::string & dir) {_path=dir;}
+
62 virtual void setStartIndex(int index) {_startAt = index;} // negative means last
+
63 virtual void setMaxFrames(int value) {_maxFrames = value;}
+
64 void setDirRefreshed(bool enabled) {_refreshDir = enabled;}
+
65 void setImagesRectified(bool enabled) {_rectifyImages = enabled;}
+
66 void setBayerMode(int mode) {_bayerMode = mode;} // -1=disabled (default) 0=BayerBG, 1=BayerGB, 2=BayerRG, 3=BayerGR
+
67
+
68 void setTimestamps(bool fileNamesAreStamps, const std::string & filePath = "", bool syncImageRateWithStamps=true)
+
69 {
+
70 _filenamesAreTimestamps = fileNamesAreStamps;
+
71 _timestampsPath=filePath;
+
72 _syncImageRateWithStamps = syncImageRateWithStamps;
+
73 }
+
74
+
75 void setConfigForEachFrame(bool value)
+
76 {
+
77 _hasConfigForEachFrame = value;
+
78 }
+
79 bool isConfigForEachFrame() const {return _hasConfigForEachFrame;}
+
80
+
81 // Enable multi-camera mode. Each image in the folder is expected to be the
+
82 // horizontal concatenation of N sub-camera images of a rig, sharing the same
+
83 // base name (timestamp or node id), e.g. "1780687370.031791.jpg" or "1.jpg".
+
84 // One calibration file per sub-camera must exist in the calibrationFolder
+
85 // passed to init(), named "<prefix>_<index>.yaml" with index starting at 0
+
86 // (e.g. "1_0.yaml", "1_1.yaml", ...). The number of cameras is auto-detected.
+
87 // Each sub-image width is taken from the corresponding model's calibrated image
+
88 // size; if a model has no size, a uniform split (stackedWidth / N) is assumed.
+
89 // If setConfigForEachFrame() is enabled, one calibration set is loaded per frame
+
90 // using each image's base name as prefix. Otherwise a single calibration set is
+
91 // loaded and reused for all frames, using the cameraName passed to init() as
+
92 // prefix (it may differ from any image name), falling back to the first image's
+
93 // base name when cameraName is empty.
+
94 // Note that it is not recommended to use setConfigForEachFrame() if images have
+
95 // to be rectified, a rectification matrix would need to be re-initilaized for
+
96 // each frame.
+
97 void setMultiCameraCalibration(bool enabled)
+
98 {
+
99 _multiCameraCalib = enabled;
+
100 }
+
101
+
102 void setScanPath(
+
103 const std::string & dir,
+
104 int maxScanPts = 0,
+
105 const Transform & localTransform=Transform::getIdentity())
+
106 {
+
107 _scanPath = dir;
+
108 _scanLocalTransform = localTransform;
+
109 _scanMaxPts = maxScanPts;
+
110 }
+
111
+
112 void setDepthFromScan(bool enabled, int fillHoles = 1, bool fillHolesFromBorder = false)
+
113 {
+
114 _depthFromScan = enabled;
+
115 _depthFromScanFillHoles = fillHoles;
+
116 _depthFromScanFillHolesFromBorder = fillHolesFromBorder;
+
117 }
+
118
+
119 // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV, 12=rgbd_bonn
+
120 void setOdometryPath(const std::string & filePath, int format = 0)
+
121 {
+
122 _odometryPath = filePath;
+
123 _odometryFormat = format;
+
124 }
+
125
+
126 // 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV, 12=rgbd_bonn
+
127 void setGroundTruthPath(const std::string & filePath, int format = 0, const Transform & localTransform = Transform::getIdentity())
+
128 {
+
129 _groundTruthPath = filePath;
+
130 _groundTruthFormat = format;
+
131 _groundTruthLocalTransform = localTransform;
+
132 }
+
133
+
134 void setMaxPoseTimeDiff(double diff) {_maxPoseTimeDiff = diff;}
+
135 double getMaxPoseTimeDiff() const {return _maxPoseTimeDiff;}
+
136
+
137 void setDepth(bool isDepth, float depthScaleFactor = 1.0f)
+
138 {
+
139 _isDepth = isDepth;
+
140 _depthScaleFactor=depthScaleFactor;
+
141 }
+
142
+
143protected:
+
144 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
145
+
146 // File name (with extension, no directory) of the image returned by the last
+
147 // captureImage() call. Used by subclasses (e.g. stereo) to key per-frame
+
148 // calibration loaded on demand. Empty if no image was read.
+
149 const std::string & lastImageFileName() const {return _lastImageFileName;}
+
150
+
151 // Calibration folder passed to init(), kept to load per-frame calibration on
+
152 // demand. Shared with subclasses (e.g. stereo) that load calibration themselves.
+
153 std::string _calibrationFolder;
+
154
+
155 // Multi-camera mode state, shared with subclasses (e.g. stereo) that layer their
+
156 // own multi-camera handling over the base reader. Such subclasses temporarily set
+
157 // _multiCameraCalib to false while delegating to base init()/captureImage() so the
+
158 // base returns the raw stacked image instead of doing its own split, then restore it.
+
159 bool _multiCameraCalib;
+
160 int _multiCameraCount; // number of sub-cameras detected in multi-camera mode
+
161
+
162private:
+
163 bool readPoses(
+
164 std::list<Transform> & outputPoses,
+
165 std::list<double> & stamps,
+
166 const std::string & filePath,
+
167 int format,
+
168 double maxTimeDiff) const;
+
169
+
170 // Load the sub-camera models of a multi-camera rig from calibration files named
+
171 // "<baseName>_<index>.yaml" (index 0.._multiCameraCount-1) in _calibrationFolder.
+
172 // Returns an empty vector (and logs an error) if any model is missing or invalid.
+
173 std::vector<CameraModel> loadMultiCameraModels(const std::string & baseName) const;
+
174
+
175 // Load the single-camera model for one frame from a per-frame config file (RTAB-Map
+
176 // calibration or 3DScannerApp format). Returns an invalid model (and logs an error)
+
177 // on failure.
+
178 CameraModel loadConfigModel(const std::string & filePath);
+
179
+
180private:
+
181 std::string _path;
+
182 int _startAt;
+
183 int _maxFrames;
+
184 // If the list of files in the directory is refreshed
+
185 // on each call of takeImage()
+
186 bool _refreshDir;
+
187 bool _rectifyImages;
+
188 int _bayerMode;
+
189 bool _isDepth;
+
190 float _depthScaleFactor;
+
191 int _count;
+
192 int _framesPublished;
+
193 UDirectory * _dir;
+
194 std::string _lastFileName;
+
195 std::string _lastImageFileName; // file name of the image returned by the last captureImage()
+
196
+
197 int _countScan;
+
198 UDirectory * _scanDir;
+
199 std::string _lastScanFileName;
+
200 std::string _scanPath;
+
201 Transform _scanLocalTransform;
+
202 int _scanMaxPts;
+
203
+
204 bool _depthFromScan;
+
205 int _depthFromScanFillHoles; // <0:horizontal 0:disabled >0:vertical
+
206 bool _depthFromScanFillHolesFromBorder;
+
207
+
208 bool _filenamesAreTimestamps;
+
209 bool _hasConfigForEachFrame;
+
210 std::string _timestampsPath;
+
211 bool _syncImageRateWithStamps;
+
212
+
213 std::string _odometryPath;
+
214 int _odometryFormat;
+
215 std::string _groundTruthPath;
+
216 int _groundTruthFormat;
+
217 Transform _groundTruthLocalTransform;
+
218 double _maxPoseTimeDiff;
+
219
+
220 std::list<double> _stamps;
+
221 std::list<Transform> odometry_;
+
222 std::list<cv::Mat> covariances_;
+
223 std::list<Transform> groundTruth_;
+
224 CameraModel _model;
+
225 std::list<std::string> _modelFileNames; // per-frame single-camera config file paths (config-for-each-frame)
+
226 bool _configLocalTransformWarned; // warn only once when a per-frame config has no local_transform
+
227 std::vector<CameraModel> _multiModels; // sub-camera models, shared by all frames (multi-camera mode); empty when loaded per-frame
+
228
+
229 UTimer _captureTimer;
+
230 double _captureDelay;
+
231};
+
+
232
+
233
+
234} // namespace rtabmap
+ + + +
rtabmap::CameraImages::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraImages::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraImages::odomProvided
virtual bool odomProvided() const
Checks if the sensor provides odometry poses.
Definition CameraImages.h:53
+ +
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraInfo_8h_source.html b/preview/pr-1492/api/latest/CameraInfo_8h_source.html new file mode 100644 index 00000000..e60f543c --- /dev/null +++ b/preview/pr-1492/api/latest/CameraInfo_8h_source.html @@ -0,0 +1,124 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/CameraInfo.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
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+
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+
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+ + +
+
+
CameraInfo.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/SensorCaptureInfo.h"
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraK4A_8h_source.html b/preview/pr-1492/api/latest/CameraK4A_8h_source.html new file mode 100644 index 00000000..f613aeea --- /dev/null +++ b/preview/pr-1492/api/latest/CameraK4A_8h_source.html @@ -0,0 +1,204 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraK4A.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+ + +
+
+
CameraK4A.h
+
+
+
1/*
+
2Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/CameraModel.h"
+
31#include "rtabmap/core/Camera.h"
+
32#include "rtabmap/core/Version.h"
+
33#include "rtabmap/utilite/UTimer.h"
+
34
+
35#ifdef RTABMAP_K4A
+
36#include <k4a/k4atypes.h>
+
37#include <k4arecord/playback.h>
+
38#endif
+
39
+
40namespace rtabmap
+
41{
+
42
+
+
43class RTABMAP_CORE_EXPORT CameraK4A :
+
44 public Camera
+
45{
+
46public:
+
47 static bool available();
+
48
+
49public:
+
50 CameraK4A(int deviceId = 0,
+
51 float imageRate = 0.0f,
+
52 const Transform & localTransform = Transform::getIdentity());
+
53 CameraK4A(const std::string & fileName,
+
54 float imageRate = 0.0f,
+
55 const Transform & localTransform = Transform::getIdentity());
+
56 virtual ~CameraK4A();
+
57
+
58 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
59 virtual bool isCalibrated() const;
+
60 virtual std::string getSerial() const;
+
61
+
62 void setIRDepthFormat(bool enabled);
+
63 void setPreferences(int rgb_resolution, int framerate, int depth_resolution);
+
64
+
65protected:
+
66 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
67
+
68private:
+
69 void close();
+
70
+
71private:
+
72
+
73#ifdef RTABMAP_K4A
+
74 k4a_device_t deviceHandle_;
+
75 k4a_device_configuration_t config_;
+
76 k4a_calibration_t calibration_;
+
77 k4a_transformation_t transformationHandle_;
+
78 k4a_capture_t captureHandle_;
+
79 k4a_playback_t playbackHandle_;
+
80 std::string serial_number_;
+
81
+
82 CameraModel model_;
+
83 int deviceId_;
+
84 std::string fileName_;
+
85 int rgb_resolution_;
+
86 int framerate_;
+
87 int depth_resolution_;
+
88 bool ir_;
+
89 double previousStamp_;
+
90 double timestampOffset_;
+
91 UTimer timer_;
+
92 Transform imuLocalTransform_;
+
93#endif
+
94
+
95};
+
+
96
+
97
+
98} // namespace rtabmap
+ + +
rtabmap::CameraK4A::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraK4A::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraK4W2_8h_source.html b/preview/pr-1492/api/latest/CameraK4W2_8h_source.html new file mode 100644 index 00000000..5d9539a1 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraK4W2_8h_source.html @@ -0,0 +1,200 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraK4W2.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
CameraK4W2.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/CameraModel.h"
+
31#include "rtabmap/core/Camera.h"
+
32#include "rtabmap/core/Version.h"
+
33
+
34typedef struct IKinectSensor IKinectSensor;
+
35typedef struct ICoordinateMapper ICoordinateMapper;
+
36typedef struct _DepthSpacePoint DepthSpacePoint;
+
37typedef struct _ColorSpacePoint ColorSpacePoint;
+
38typedef struct tagRGBQUAD RGBQUAD;
+
39typedef struct IMultiSourceFrameReader IMultiSourceFrameReader;
+
40
+
41namespace rtabmap
+
42{
+
43
+
+
44class RTABMAP_CORE_EXPORT CameraK4W2 :
+
45 public Camera
+
46{
+
47public:
+
48 static bool available();
+
49
+
50 enum Type {
+
51 kTypeColor2DepthSD,
+
52 kTypeDepth2ColorSD,
+
53 kTypeDepth2ColorHD
+
54 };
+
55
+
56public:
+
57 static const int cDepthWidth = 512;
+
58 static const int cDepthHeight = 424;
+
59 static const int cColorWidth = 1920;
+
60 static const int cColorHeight = 1080;
+
61
+
62public:
+
63 // default local transform z in, x right, y down));
+
64 CameraK4W2(int deviceId = 0, // not used
+
65 Type type = kTypeDepth2ColorSD,
+
66 float imageRate = 0.0f,
+
67 const Transform & localTransform = Transform::getIdentity());
+
68 virtual ~CameraK4W2();
+
69
+
70 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
71 virtual bool isCalibrated() const;
+
72 virtual std::string getSerial() const;
+
73
+
74protected:
+
75 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
76
+
77private:
+
78 void close();
+
79
+
80private:
+
81#ifdef RTABMAP_K4W2
+
82 Type type_;
+
83 IKinectSensor* pKinectSensor_;
+
84 ICoordinateMapper* pCoordinateMapper_;
+
85 DepthSpacePoint* pDepthCoordinates_;
+
86 ColorSpacePoint* pColorCoordinates_;
+
87 IMultiSourceFrameReader* pMultiSourceFrameReader_;
+
88 RGBQUAD * pColorRGBX_;
+
89 INT_PTR hMSEvent;
+
90 CameraModel colorCameraModel_;
+
91#endif
+
92};
+
+
93
+
94
+
95} // namespace rtabmap
+ +
rtabmap::CameraK4W2::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraK4W2::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraModel_8h_source.html b/preview/pr-1492/api/latest/CameraModel_8h_source.html new file mode 100644 index 00000000..e97fdedb --- /dev/null +++ b/preview/pr-1492/api/latest/CameraModel_8h_source.html @@ -0,0 +1,317 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/CameraModel.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
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+
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+
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+
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+ + +
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+
CameraModel.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CAMERAMODEL_H_
+
29#define CAMERAMODEL_H_
+
30
+
31#include <opencv2/opencv.hpp>
+
32
+
33#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
34#include "rtabmap/core/Transform.h"
+
35
+
36namespace rtabmap {
+
37
+
+
52class RTABMAP_CORE_EXPORT CameraModel
+
53{
+
54public:
+
63 static Transform opticalRotation() {return Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0);}
+
64
+
65public:
+
66
+
68 CameraModel();
+
69
+
85 CameraModel(
+
86 const std::string & name,
+
87 const cv::Size & imageSize,
+
88 const cv::Mat & K,
+
89 const cv::Mat & D,
+
90 const cv::Mat & R,
+
91 const cv::Mat & P,
+
92 const Transform & localTransform = opticalRotation());
+
93
+
105 CameraModel(
+
106 double fx,
+
107 double fy,
+
108 double cx,
+
109 double cy,
+
110 const Transform & localTransform = opticalRotation(),
+
111 double Tx = 0.0f,
+
112 const cv::Size & imageSize = cv::Size(0,0));
+
113
+
117 CameraModel(
+
118 const std::string & name,
+
119 double fx,
+
120 double fy,
+
121 double cx,
+
122 double cy,
+
123 const Transform & localTransform = opticalRotation(),
+
124 double Tx = 0.0f,
+
125 const cv::Size & imageSize = cv::Size(0,0));
+
126
+
128 virtual ~CameraModel() {}
+
129
+
153 bool initRectificationMap();
+
154
+
159 bool isRectificationMapInitialized() const {return !mapX_.empty() && !mapY_.empty();}
+
160
+
164 bool isValidForProjection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0;}
+
168 bool isValidForReprojection() const {return fx()>0.0 && fy()>0.0 && cx()>0.0 && cy()>0.0 && imageWidth()>0 && imageHeight()>0;}
+
+
172 bool isValidForRectification() const
+
173 {
+
174 return imageSize_.width>0 &&
+
175 imageSize_.height>0 &&
+
176 !K_.empty() &&
+
177 !D_.empty() &&
+
178 !R_.empty() &&
+
179 !P_.empty();
+
180 }
+
+
181
+
183 void setName(const std::string & name) {name_=name;}
+
185 const std::string & name() const {return name_;}
+
186
+
188 double fx() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(0,0):P_.at<double>(0,0);}
+
190 double fy() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(1,1):P_.at<double>(1,1);}
+
192 double cx() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(0,2):P_.at<double>(0,2);}
+
194 double cy() const {return P_.empty()?K_.empty()?0.0:K_.at<double>(1,2):P_.at<double>(1,2);}
+
196 double Tx() const {return P_.empty()?0.0:P_.at<double>(0,3);}
+
197
+
199 cv::Mat K_raw() const {return K_;}
+
201 cv::Mat D_raw() const {return D_;}
+
203 cv::Mat K() const {return !P_.empty()?P_.colRange(0,3):K_;}
+
205 cv::Mat D() const {return P_.empty()&&!D_.empty()?D_:cv::Mat::zeros(1,5,CV_64FC1);} // if P exists, return rectified version
+
207 cv::Mat R() const {return R_;}
+
209 cv::Mat P() const {return P_;}
+
210
+
212 void setLocalTransform(const Transform & transform) {localTransform_ = transform;}
+
214 const Transform & localTransform() const {return localTransform_;}
+
215
+
235 void setImageSize(const cv::Size & size);
+
236 const cv::Size & imageSize() const {return imageSize_;}
+
237 int imageWidth() const {return imageSize_.width;}
+
238 int imageHeight() const {return imageSize_.height;}
+
239
+
250 double fovX() const;
+
251
+
262 double fovY() const;
+
263
+
271 double horizontalFOV() const;
+
272
+
280 double verticalFOV() const;
+
281
+
283 bool isFisheye() const {return D_.cols == 6;}
+
284
+
315 bool load(const std::string & filePath, bool initRectificationMaps = true);
+
316
+
329 bool load(const std::string & directory, const std::string & cameraName, bool initRectificationMaps = true);
+
330
+
354 bool save(const std::string & directory) const;
+
355
+
377 std::vector<unsigned char> serialize() const;
+
389 unsigned int deserialize(const std::vector<unsigned char>& data);
+
390
+
410 unsigned int deserialize(const unsigned char * data, unsigned int dataSize);
+
411
+
426 CameraModel scaled(double scale) const;
+
427
+
442 CameraModel roi(const cv::Rect & roi) const;
+
443
+
463 cv::Mat rectifyImage(const cv::Mat & raw, int interpolation = cv::INTER_LINEAR) const;
+
464
+
488 cv::Mat rectifyDepth(const cv::Mat & raw) const;
+
489
+
507 void project(float u, float v, float depth, float & x, float & y, float & z) const;
+
508
+
525 void reproject(float x, float y, float z, float & u, float & v) const;
+
526
+
542 void reproject(float x, float y, float z, int & u, int & v) const;
+
543
+
553 bool inFrame(int u, int v) const;
+
554
+
555private:
+
556 std::string name_;
+
557 cv::Size imageSize_;
+
558 cv::Mat K_;
+
559 cv::Mat D_;
+
560 cv::Mat R_;
+
561 cv::Mat P_;
+
562 cv::Mat mapX_;
+
563 cv::Mat mapY_;
+
564 Transform localTransform_;
+
565};
+
+
566
+
590RTABMAP_CORE_EXPORT std::ostream& operator<<(std::ostream& os, const CameraModel& model);
+
591
+
592} /* namespace rtabmap */
+
593#endif /* CAMERAMODEL_H_ */
+
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+
rtabmap::CameraModel::project
void project(float u, float v, float depth, float &x, float &y, float &z) const
Projects a 2D pixel and depth value into a 3D point in the camera coordinate frame (/camera_link).
+
rtabmap::CameraModel::opticalRotation
static Transform opticalRotation()
Returns the default optical rotation to convert image coordinates to robot coordinates.
Definition CameraModel.h:63
+
rtabmap::CameraModel::horizontalFOV
double horizontalFOV() const
Returns the horizontal field of view in degrees.
+
rtabmap::CameraModel::rectifyImage
cv::Mat rectifyImage(const cv::Mat &raw, int interpolation=cv::INTER_LINEAR) const
Rectifies a raw image using the precomputed rectification maps.
+
rtabmap::CameraModel::deserialize
unsigned int deserialize(const unsigned char *data, unsigned int dataSize)
Deserializes a camera model from a raw byte buffer.
+
rtabmap::CameraModel::rectifyDepth
cv::Mat rectifyDepth(const cv::Mat &raw) const
Rectifies a raw depth image using the precomputed rectification maps.
+
rtabmap::CameraModel::load
bool load(const std::string &filePath, bool initRectificationMaps=true)
Loads the camera model parameters from a YAML calibration file.
+
rtabmap::CameraModel::roi
CameraModel roi(const cv::Rect &roi) const
Returns a new camera model adjusted for a given region of interest (ROI).
+
rtabmap::CameraModel::isFisheye
bool isFisheye() const
Checks if the distortion model is fisheye (6 coefficients: k1,k2,0,0,k3,k4).
Definition CameraModel.h:283
+
rtabmap::CameraModel::setName
void setName(const std::string &name)
Sets the camera name, used to set a camera name when saving to a file.
Definition CameraModel.h:183
+
rtabmap::CameraModel::setImageSize
void setImageSize(const cv::Size &size)
Sets the image size of the camera model and updates the principal point if undefined.
+
rtabmap::CameraModel::isValidForRectification
bool isValidForRectification() const
Checks if the model has sufficient data for image rectification.
Definition CameraModel.h:172
+
rtabmap::CameraModel::CameraModel
CameraModel(const std::string &name, const cv::Size &imageSize, const cv::Mat &K, const cv::Mat &D, const cv::Mat &R, const cv::Mat &P, const Transform &localTransform=opticalRotation())
Constructor using full camera parameters.
+
rtabmap::CameraModel::deserialize
unsigned int deserialize(const std::vector< unsigned char > &data)
Deserializes a camera model from a byte vector.
+
rtabmap::CameraModel::D
cv::Mat D() const
Returns the rectified distortion coefficients (1x5 filled with zeros) if the projection matrix P exis...
Definition CameraModel.h:205
+
rtabmap::CameraModel::initRectificationMap
bool initRectificationMap()
Initializes the rectification maps used to undistort and rectify images.
+
rtabmap::CameraModel::serialize
std::vector< unsigned char > serialize() const
Serializes the camera model to a binary format.
+
rtabmap::CameraModel::K
cv::Mat K() const
Returns the rectified camera intrinsic matrix if the projection matrix P exists, otherwise returns th...
Definition CameraModel.h:203
+
rtabmap::CameraModel::reproject
void reproject(float x, float y, float z, float &u, float &v) const
Reprojects a 3D point in the camera frame (/camera_link) into 2D image coordinates (floating-point).
+
rtabmap::CameraModel::Tx
double Tx() const
Returns the x translation (usually fx * baseline in case of stereo, otherwise would be 0).
Definition CameraModel.h:196
+
rtabmap::CameraModel::CameraModel
CameraModel(const std::string &name, double fx, double fy, double cx, double cy, const Transform &localTransform=opticalRotation(), double Tx=0.0f, const cv::Size &imageSize=cv::Size(0, 0))
Minimal constructor with name for saving.
+
rtabmap::CameraModel::isValidForProjection
bool isValidForProjection() const
Checks if the model is valid for 2D->3D projection.
Definition CameraModel.h:164
+
rtabmap::CameraModel::isRectificationMapInitialized
bool isRectificationMapInitialized() const
Checks if the rectification map has been initialized.
Definition CameraModel.h:159
+
rtabmap::CameraModel::D_raw
cv::Mat D_raw() const
Returns the raw distortion coefficients (before rectification).
Definition CameraModel.h:201
+
rtabmap::CameraModel::localTransform
const Transform & localTransform() const
Returns the local transform (base frame to optical frame).
Definition CameraModel.h:214
+
rtabmap::CameraModel::reproject
void reproject(float x, float y, float z, int &u, int &v) const
Reprojects a 3D point in the camera frame (/camera_link) into 2D image coordinates (rounded to int).
+
rtabmap::CameraModel::inFrame
bool inFrame(int u, int v) const
Checks if a given pixel coordinate lies within the image bounds.
+
rtabmap::CameraModel::setLocalTransform
void setLocalTransform(const Transform &transform)
Sets the local transform of the camera (base frame to optical frame).
Definition CameraModel.h:212
+
rtabmap::CameraModel::name
const std::string & name() const
Returns the camera name.
Definition CameraModel.h:185
+
rtabmap::CameraModel::cy
double cy() const
Returns principal point y.
Definition CameraModel.h:194
+
rtabmap::CameraModel::CameraModel
CameraModel(double fx, double fy, double cx, double cy, const Transform &localTransform=opticalRotation(), double Tx=0.0f, const cv::Size &imageSize=cv::Size(0, 0))
Minimal constructor using intrinsic parameters. This assumes the images are already rectified.
+
rtabmap::CameraModel::save
bool save(const std::string &directory) const
Saves the camera model parameters to a YAML calibration file in ROS format.
+
rtabmap::CameraModel::isValidForReprojection
bool isValidForReprojection() const
Checks if the model is valid for 3D->2D reprojection.
Definition CameraModel.h:168
+
rtabmap::CameraModel::load
bool load(const std::string &directory, const std::string &cameraName, bool initRectificationMaps=true)
Loads the camera model by constructing a file path from a directory and camera name.
+
rtabmap::CameraModel::fovX
double fovX() const
Returns the horizontal field of view (FoV) in radians.
+
rtabmap::CameraModel::fy
double fy() const
Returns focal length in y.
Definition CameraModel.h:190
+
rtabmap::CameraModel::P
cv::Mat P() const
Returns the projection matrix.
Definition CameraModel.h:209
+
rtabmap::CameraModel::fx
double fx() const
Returns focal length in x.
Definition CameraModel.h:188
+
rtabmap::CameraModel::R
cv::Mat R() const
Returns the rectification matrix.
Definition CameraModel.h:207
+
rtabmap::CameraModel::K_raw
cv::Mat K_raw() const
Returns the raw intrinsic matrix (before rectification).
Definition CameraModel.h:199
+
rtabmap::CameraModel::CameraModel
CameraModel()
Default constructor.
+
rtabmap::CameraModel::scaled
CameraModel scaled(double scale) const
Returns a new camera model with all intrinsic parameters scaled by a given factor.
+
rtabmap::CameraModel::fovY
double fovY() const
Returns the vertical field of view (FoV) in radians.
+
rtabmap::CameraModel::verticalFOV
double verticalFOV() const
Returns the vertical field of view in degrees.
+
rtabmap::CameraModel::~CameraModel
virtual ~CameraModel()
Destructor.
Definition CameraModel.h:128
+
rtabmap::CameraModel::cx
double cx() const
Returns principal point x.
Definition CameraModel.h:192
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
rtabmap::operator<<
RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)
Stream operator for printing a camera model to an output stream.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraMyntEye_8h_source.html b/preview/pr-1492/api/latest/CameraMyntEye_8h_source.html new file mode 100644 index 00000000..a8e083da --- /dev/null +++ b/preview/pr-1492/api/latest/CameraMyntEye_8h_source.html @@ -0,0 +1,213 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraMyntEye.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+ + +
+
+
CameraMyntEye.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/Camera.h"
+
31#include "rtabmap/core/Version.h"
+
32#include "rtabmap/utilite/USemaphore.h"
+
33#include <memory>
+
34
+
35namespace mynteye {
+
36class Device;
+
37class API;
+
38}
+
39
+
40namespace rtabmap
+
41{
+
42
+
+
47class RTABMAP_CORE_EXPORT CameraMyntEye : public Camera
+
48{
+
49public:
+
50 static bool available();
+
51
+
52public:
+
53 CameraMyntEye(const std::string & device = "", bool apiRectification = false, bool apiDepth = false, float imageRate = 0, const Transform & localTransform = Transform::getIdentity());
+
54 virtual ~CameraMyntEye();
+
55
+
56 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
57 virtual bool isCalibrated() const;
+
58 virtual std::string getSerial() const;
+
59 virtual bool odomProvided() const { return false; }
+
60
+
61 void publishInterIMU(bool enabled);
+
62 void setAutoExposure();
+
63 void setManualExposure(int gain=24, int brightness=120, int constrast=116);
+
64 void setIrControl(int value);
+
65
+
66protected:
+
70 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
71
+
72private:
+
73#ifdef RTABMAP_MYNTEYE
+
74 double hardTimeToSoftTime(std::uint64_t hardTime);
+
75 void getPoseAndIMU(const double & stamp, IMU & imu, int maxWaitTimeMs = 35) const;
+
76 double checkUpTimeStamp(std::uint64_t _hard_time, std::uint8_t stream);
+
77
+
78 std::shared_ptr<mynteye::Device> device_;
+
79 std::shared_ptr<mynteye::API> api_;
+
80 StereoCameraModel stereoModel_;
+
81 std::string deviceName_;
+
82 bool apiRectification_;
+
83 bool apiDepth_;
+
84 bool autoExposure_;
+
85 int gain_;
+
86 int brightness_;
+
87 int contrast_;
+
88 int irControl_;
+
89 USemaphore dataReady_;
+
90 UMutex dataMutex_;
+
91 cv::Mat leftFrameBuffer_;
+
92 cv::Mat rightFrameBuffer_;
+
93 std::pair<cv::Mat, cv::Mat> lastFrames_;
+
94 double lastFramesStamp_;
+
95 std::uint64_t stamp_;
+
96 bool publishInterIMU_;
+
97 Transform imuLocalTransform_;
+
98 std::map<double, std::pair<cv::Vec3f, cv::Vec3f> > imuBuffer_;
+
99 UMutex imuMutex_;
+
100
+
101 double softTimeBegin_;
+
102 std::uint64_t hardTimeBegin_;
+
103 std::uint64_t unitHardTime_;
+
104 std::vector<std::uint64_t> lastHardTimes_;
+
105 std::vector<std::uint64_t> acc_;
+
106#endif
+
107};
+
+
108
+
109
+
110} // namespace rtabmap
+ + + +
rtabmap::CameraMyntEye::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraMyntEye::odomProvided
virtual bool odomProvided() const
Checks if the sensor provides odometry poses.
Definition CameraMyntEye.h:59
+
rtabmap::CameraMyntEye::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraMyntEye::captureImage
virtual SensorData captureImage(SensorCaptureInfo *info=0)
+ +
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
+
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraOpenNI2_8h_source.html b/preview/pr-1492/api/latest/CameraOpenNI2_8h_source.html new file mode 100644 index 00000000..1fa2f4cc --- /dev/null +++ b/preview/pr-1492/api/latest/CameraOpenNI2_8h_source.html @@ -0,0 +1,198 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraOpenNI2.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+ + +
+
+
CameraOpenNI2.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/StereoCameraModel.h"
+
31#include "rtabmap/core/Camera.h"
+
32#include "rtabmap/core/Version.h"
+
33
+
34namespace openni
+
35{
+
36class Device;
+
37class VideoStream;
+
38}
+
39
+
40namespace rtabmap
+
41{
+
+
42class RTABMAP_CORE_EXPORT CameraOpenNI2 :
+
43 public Camera
+
44{
+
45
+
46public:
+
47 static bool available();
+
48 static bool exposureGainAvailable();
+
49 enum Type {kTypeColorDepth, kTypeIRDepth, kTypeIR};
+
50
+
51public:
+
52 CameraOpenNI2(const std::string & deviceId = "",
+
53 Type type = kTypeColorDepth,
+
54 float imageRate = 0,
+
55 const Transform & localTransform = Transform::getIdentity());
+
56 virtual ~CameraOpenNI2();
+
57
+
58 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
59 virtual bool isCalibrated() const;
+
60 virtual std::string getSerial() const;
+
61
+
62 bool setAutoWhiteBalance(bool enabled);
+
63 bool setAutoExposure(bool enabled);
+
64 bool setExposure(int value);
+
65 bool setGain(int value);
+
66 bool setMirroring(bool enabled);
+
67 void setOpenNI2StampsAndIDsUsed(bool used);
+
68 void setIRDepthShift(int horizontal, int vertical);
+
69 void setDepthDecimation(int decimation);
+
70
+
71protected:
+
72 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
73
+
74private:
+
75#ifdef RTABMAP_OPENNI2
+
76 Type _type;
+
77 openni::Device * _device;
+
78 openni::VideoStream * _color;
+
79 openni::VideoStream * _depth;
+
80 float _depthFx;
+
81 float _depthFy;
+
82 std::string _deviceId;
+
83 bool _openNI2StampsAndIDsUsed;
+
84 StereoCameraModel _stereoModel;
+
85 int _depthHShift;
+
86 int _depthVShift;
+
87 int _depthDecimation;
+
88#endif
+
89};
+
+
90
+
91
+
92
+
93} // namespace rtabmap
+ +
rtabmap::CameraOpenNI2::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraOpenNI2::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraOpenNICV_8h_source.html b/preview/pr-1492/api/latest/CameraOpenNICV_8h_source.html new file mode 100644 index 00000000..d5fdb3ec --- /dev/null +++ b/preview/pr-1492/api/latest/CameraOpenNICV_8h_source.html @@ -0,0 +1,166 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraOpenNICV.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
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+ + +
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+
CameraOpenNICV.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/Camera.h"
+
31#include "rtabmap/core/Version.h"
+
32
+
33namespace rtabmap
+
34{
+
35
+
+
36class RTABMAP_CORE_EXPORT CameraOpenNICV :
+
37 public Camera
+
38{
+
39
+
40public:
+
41 static bool available();
+
42
+
43public:
+
44 CameraOpenNICV(bool asus = false,
+
45 float imageRate = 0,
+
46 const Transform & localTransform = Transform::getIdentity());
+
47 virtual ~CameraOpenNICV();
+
48
+
49 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
50 virtual bool isCalibrated() const;
+
51 virtual std::string getSerial() const {return "";} // unknown with OpenCV
+
52
+
53protected:
+
54 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
55
+
56private:
+
57 bool _asus;
+
58 cv::VideoCapture _capture;
+
59 float _depthFocal;
+
60};
+
+
61
+
62} // namespace rtabmap
+ +
rtabmap::CameraOpenNICV::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
Definition CameraOpenNICV.h:51
+
rtabmap::CameraOpenNICV::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraOpenni_8h_source.html b/preview/pr-1492/api/latest/CameraOpenni_8h_source.html new file mode 100644 index 00000000..f8fa3c4e --- /dev/null +++ b/preview/pr-1492/api/latest/CameraOpenni_8h_source.html @@ -0,0 +1,204 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraOpenni.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
+ + +
+
+
CameraOpenni.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/utilite/UMutex.h"
+
31#include "rtabmap/utilite/USemaphore.h"
+
32#include "rtabmap/core/Camera.h"
+
33#include "rtabmap/core/Version.h"
+
34
+
35#include <pcl/pcl_config.h>
+
36
+
37#ifdef RTABMAP_OPENNI
+
38#if __linux__ && __i386__ && __cplusplus >= 201103L
+
39#warning "Openni driver is not available on i386 when building with c++11 support"
+
40#endif
+
41#include <pcl/io/openni_camera/openni_depth_image.h>
+
42#include <pcl/io/openni_camera/openni_image.h>
+
43#endif
+
44
+
45#include <boost/signals2/connection.hpp>
+
46
+
47namespace pcl
+
48{
+
49class Grabber;
+
50}
+
51
+
52namespace rtabmap
+
53{
+
+
57class RTABMAP_CORE_EXPORT CameraOpenni :
+
58 public Camera
+
59{
+
60public:
+
61 static bool available();
+
62
+
63public:
+
64 // default local transform z in, x right, y down));
+
65 CameraOpenni(const std::string & deviceId="",
+
66 float imageRate = 0,
+
67 const Transform & localTransform = Transform::getIdentity());
+
68 virtual ~CameraOpenni();
+
69#ifdef RTABMAP_OPENNI
+
70#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
+
71 void image_cb (
+
72 const std::shared_ptr<openni_wrapper::Image>& rgb,
+
73 const std::shared_ptr<openni_wrapper::DepthImage>& depth,
+
74 float constant);
+
75#else
+
76 void image_cb (
+
77 const boost::shared_ptr<openni_wrapper::Image>& rgb,
+
78 const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
+
79 float constant);
+
80#endif
+
81#endif
+
82
+
83 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
84 virtual bool isCalibrated() const;
+
85 virtual std::string getSerial() const;
+
86
+
87protected:
+
88 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
89
+
90private:
+
91 pcl::Grabber* interface_;
+
92 std::string deviceId_;
+
93 boost::signals2::connection connection_;
+
94 cv::Mat depth_;
+
95 cv::Mat rgb_;
+
96 float depthConstant_;
+
97 UMutex dataMutex_;
+
98 USemaphore dataReady_;
+
99};
+
+
100
+
101} // namespace rtabmap
+ + +
rtabmap::CameraOpenni
OpenNI driver for cameras like Kinect for Xbox 360.
Definition CameraOpenni.h:59
+
rtabmap::CameraOpenni::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraOpenni::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraOrbbecSDK_8h_source.html b/preview/pr-1492/api/latest/CameraOrbbecSDK_8h_source.html new file mode 100644 index 00000000..f8075156 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraOrbbecSDK_8h_source.html @@ -0,0 +1,211 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraOrbbecSDK.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
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+ + +
+
+
CameraOrbbecSDK.h
+
+
+
1/*
+
2Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/CameraModel.h"
+
31#include "rtabmap/core/Camera.h"
+
32#include "rtabmap/core/Version.h"
+
33
+
34#ifdef RTABMAP_ORBBEC_SDK
+
35namespace ob
+
36{
+
37 class Pipeline;
+
38 class Align;
+
39}
+
40#endif
+
41
+
42namespace rtabmap
+
43{
+
44
+
+
45class RTABMAP_CORE_EXPORT CameraOrbbecSDK :
+
46 public Camera
+
47{
+
48public:
+
49 static bool available();
+
50
+
51public:
+
52 // deviceId can be either an index (e.g., "0"), an UID (e.g, "2-1-2" or "gmsl-1") or a serial ("AAA6454S")
+
53 CameraOrbbecSDK(
+
54 std::string deviceId = "",
+
55 unsigned int colorWidth = 800,
+
56 unsigned int colorHeight = 600,
+
57 unsigned int depthWidth = 800,
+
58 unsigned int depthHeight = 600,
+
59 float imageRate = 0.0f,
+
60 const Transform & localTransform = Transform::getIdentity());
+
61 virtual ~CameraOrbbecSDK();
+
62
+
63 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
64 virtual bool isCalibrated() const;
+
65 virtual std::string getSerial() const;
+
66
+
67 void close();
+
68
+
69 // Should be set before initializing
+
70 void enableColorRectification(bool enabled);
+
71 void enableImu(bool enabled);
+
72
+
73 void enableDepthMM(bool enabled);
+
74
+
75protected:
+
76 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
77
+
78private:
+
79
+
80#ifdef RTABMAP_ORBBEC_SDK
+
81 std::string deviceId_;
+
82 unsigned int colorWidth_;
+
83 unsigned int colorHeight_;
+
84 unsigned int depthWidth_;
+
85 unsigned int depthHeight_;
+
86 ob::Pipeline * pipeline_;
+
87 ob::Pipeline * imuPipeline_;
+
88 ob::Align * alignFilter_;
+
89 CameraModel model_;
+
90 Transform imuLocalTransform_;
+
91 bool imuLocalTransformInitialized_;
+
92 uint64_t lastAccStamp_;
+
93 uint64_t lastImageStamp_;
+
94 bool globalTimestampAvailable_;
+
95 bool rectifyColor_;
+
96 bool convertDepthToMM_;
+
97 bool imuPublished_;
+
98 std::map<double, cv::Vec6f> imuBuffer_;
+
99 UMutex imuMutex_;
+
100#endif
+
101
+
102};
+
+
103
+
104
+
105} // namespace rtabmap
+ +
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+ +
rtabmap::CameraOrbbecSDK::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraOrbbecSDK::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraRGBDImages_8h_source.html b/preview/pr-1492/api/latest/CameraRGBDImages_8h_source.html new file mode 100644 index 00000000..40a21da2 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraRGBDImages_8h_source.html @@ -0,0 +1,163 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraRGBDImages.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
No Matches
+
+
+
+
+ + +
+
+
CameraRGBDImages.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include <rtabmap/core/camera/CameraImages.h>
+
31
+
32namespace rtabmap
+
33{
+
34
+
+
35class RTABMAP_CORE_EXPORT CameraRGBDImages :
+
36 public CameraImages
+
37{
+
38public:
+
39 static bool available();
+
40
+
41public:
+
42 CameraRGBDImages(
+
43 const std::string & pathRGBImages,
+
44 const std::string & pathDepthImages,
+
45 float depthScaleFactor = 1.0f,
+
46 float imageRate=0.0f,
+
47 const Transform & localTransform = Transform::getIdentity());
+
48 virtual ~CameraRGBDImages();
+
49
+
50 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
51
+
52 virtual void setStartIndex(int index) {CameraImages::setStartIndex(index);cameraDepth_.setStartIndex(index);} // negative means last
+
53 virtual void setMaxFrames(int value) {CameraImages::setMaxFrames(value);cameraDepth_.setMaxFrames(value);}
+
54
+
55protected:
+
56 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
57
+
58private:
+
59 CameraImages cameraDepth_;
+
60};
+
+
61
+
62} // namespace rtabmap
+ + +
rtabmap::CameraRGBDImages::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraRGBD_8h_source.html b/preview/pr-1492/api/latest/CameraRGBD_8h_source.html new file mode 100644 index 00000000..d2afbc8d --- /dev/null +++ b/preview/pr-1492/api/latest/CameraRGBD_8h_source.html @@ -0,0 +1,135 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/CameraRGBD.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
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+
+
+
+
+ + +
+
+
CameraRGBD.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include <rtabmap/core/camera/CameraFreenect.h>
+
31#include <rtabmap/core/camera/CameraFreenect2.h>
+
32#include <rtabmap/core/camera/CameraK4W2.h>
+
33#include <rtabmap/core/camera/CameraOpenni.h>
+
34#include <rtabmap/core/camera/CameraOpenNI2.h>
+
35#include <rtabmap/core/camera/CameraOpenNICV.h>
+
36#include <rtabmap/core/camera/CameraRealSense.h>
+
37#include <rtabmap/core/camera/CameraRealSense2.h>
+
38#include <rtabmap/core/camera/CameraRGBDImages.h>
+
39#include <rtabmap/core/camera/CameraK4A.h>
+
40#include <rtabmap/core/camera/CameraSeerSense.h>
+
41#include <rtabmap/core/camera/CameraOrbbecSDK.h>
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraRGB_8h_source.html b/preview/pr-1492/api/latest/CameraRGB_8h_source.html new file mode 100644 index 00000000..988a69ab --- /dev/null +++ b/preview/pr-1492/api/latest/CameraRGB_8h_source.html @@ -0,0 +1,125 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/CameraRGB.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
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+
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+
+
+
+
+ + +
+
+
CameraRGB.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include <rtabmap/core/camera/CameraImages.h>
+
31#include <rtabmap/core/camera/CameraVideo.h>
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraRealSense2_8h_source.html b/preview/pr-1492/api/latest/CameraRealSense2_8h_source.html new file mode 100644 index 00000000..b048b825 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraRealSense2_8h_source.html @@ -0,0 +1,263 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraRealSense2.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
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+
+
+
+
+ + +
+
+
CameraRealSense2.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/CameraModel.h"
+
31#include "rtabmap/core/Camera.h"
+
32#include "rtabmap/core/Version.h"
+
33
+
34#include <pcl/pcl_config.h>
+
35
+
36#ifdef RTABMAP_REALSENSE2
+
37#include <librealsense2/rs.hpp>
+
38#include <librealsense2/hpp/rs_frame.hpp>
+
39#endif
+
40
+
41
+
42namespace rs2
+
43{
+
44 class context;
+
45 class device;
+
46 class syncer;
+
47}
+
48struct rs2_intrinsics;
+
49struct rs2_extrinsics;
+
50
+
51namespace rtabmap
+
52{
+
53
+
+
54class RTABMAP_CORE_EXPORT CameraRealSense2 :
+
55 public Camera
+
56{
+
57public:
+
58 static bool available();
+
59
+
60public:
+
61 CameraRealSense2(
+
62 const std::string & deviceId = "",
+
63 float imageRate = 0,
+
64 const Transform & localTransform = Transform::getIdentity());
+
65 virtual ~CameraRealSense2();
+
66
+
67 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
68 virtual bool isCalibrated() const;
+
69 virtual std::string getSerial() const;
+
70 virtual bool odomProvided() const;
+
71 virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.06);
+
72
+
73 // parameters are set during initialization
+
74 // D400 series
+
75 void setEmitterEnabled(bool enabled);
+
76 void setIRFormat(bool enabled, bool useDepthInsteadOfRightImage);
+
77 void setResolution(int width, int height, int fps = 30);
+
78 void setDepthResolution(int width, int height, int fps = 30);
+
79 void setGlobalTimeSync(bool enabled);
+
80
+
86 void setDualMode(bool enabled, const Transform & extrinsics);
+
87 void setJsonConfig(const std::string & json);
+
88 // T265 related parameters
+
89 void setImagesRectified(bool enabled);
+
90 void setOdomProvided(bool enabled, bool imageStreamsDisabled=false, bool onlyLeftStream = false);
+
91
+
92#ifdef RTABMAP_REALSENSE2
+
93private:
+
94 void close();
+
95 void imu_callback(rs2::frame frame);
+
96 void pose_callback(rs2::frame frame);
+
97 void frame_callback(rs2::frame frame);
+
98 void multiple_message_callback(rs2::frame frame);
+
99 void getPoseAndIMU(
+
100 const double & stamp,
+
101 Transform & pose,
+
102 unsigned int & poseConfidence,
+
103 IMU & imu,
+
104 int maxWaitTimeMs = 35);
+
105#endif
+
106
+
107protected:
+
108 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
109
+
110private:
+
111#ifdef RTABMAP_REALSENSE2
+
112 rs2::context ctx_;
+
113 std::vector<rs2::device> dev_;
+
114 std::string deviceId_;
+
115 rs2::syncer syncer_;
+
116 float depth_scale_meters_;
+
117 cv::Mat depthBuffer_;
+
118 cv::Mat rgbBuffer_;
+
119 CameraModel model_;
+
120 StereoCameraModel stereoModel_;
+
121 Transform imuLocalTransform_;
+
122 std::map<double, cv::Vec3f> accBuffer_;
+
123 std::map<double, cv::Vec3f> gyroBuffer_;
+
124 std::map<double, std::pair<Transform, unsigned int> > poseBuffer_; // <stamp, <Pose, confidence: 1=lost, 2=low, 3=high> >
+
125 UMutex poseMutex_;
+
126 UMutex imuMutex_;
+
127 double lastImuStamp_;
+
128 bool clockSyncWarningShown_;
+
129 bool imuGlobalSyncWarningShown_;
+
130
+
131 bool emitterEnabled_;
+
132 bool ir_;
+
133 bool irDepth_;
+
134 bool rectifyImages_;
+
135 bool odometryProvided_;
+
136 bool odometryImagesDisabled_;
+
137 bool odometryOnlyLeftStream_;
+
138 int cameraWidth_;
+
139 int cameraHeight_;
+
140 int cameraFps_;
+
141 int cameraDepthWidth_;
+
142 int cameraDepthHeight_;
+
143 int cameraDepthFps_;
+
144 bool globalTimeSync_;
+
145 bool dualMode_;
+
146 Transform dualExtrinsics_;
+
147 std::string jsonConfig_;
+
148 bool closing_;
+
149 bool playback_;
+
150
+
151 static Transform realsense2PoseRotation_;
+
152 static Transform realsense2PoseRotationInv_;
+
153#endif
+
154};
+
+
155
+
156
+
157} // namespace rtabmap
+ +
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+ +
rtabmap::CameraRealSense2::getPose
virtual bool getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
Gets the sensor's pose estimate at a specific timestamp.
+
rtabmap::CameraRealSense2::odomProvided
virtual bool odomProvided() const
Checks if the sensor provides odometry poses.
+
rtabmap::CameraRealSense2::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraRealSense2::setDualMode
void setDualMode(bool enabled, const Transform &extrinsics)
+
rtabmap::CameraRealSense2::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+ +
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
+
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraRealSense_8h_source.html b/preview/pr-1492/api/latest/CameraRealSense_8h_source.html new file mode 100644 index 00000000..808dd8a7 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraRealSense_8h_source.html @@ -0,0 +1,209 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraRealSense.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
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+
+
+
+
+ + +
+
+
CameraRealSense.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/utilite/UMutex.h"
+
31#include "rtabmap/utilite/USemaphore.h"
+
32#include "rtabmap/core/CameraModel.h"
+
33#include "rtabmap/core/Camera.h"
+
34#include "rtabmap/core/Version.h"
+
35
+
36namespace rs
+
37{
+
38 class context;
+
39 class device;
+
40 namespace slam {
+
41 class slam;
+
42 }
+
43}
+
44
+
45namespace rtabmap
+
46{
+
47
+
48class slam_event_handler;
+
+
49class RTABMAP_CORE_EXPORT CameraRealSense :
+
50 public Camera
+
51{
+
52public:
+
53 static bool available();
+
54 enum RGBSource {kColor, kInfrared, kFishEye};
+
55
+
56public:
+
57 // default local transform z in, x right, y down));
+
58 CameraRealSense(
+
59 int deviceId = 0,
+
60 int presetRGB = 0, // 0=best quality, 1=largest image, 2=highest framerate
+
61 int presetDepth = 0, // 0=best quality, 1=largest image, 2=highest framerate
+
62 bool computeOdometry = false,
+
63 float imageRate = 0,
+
64 const Transform & localTransform = Transform::getIdentity());
+
65 virtual ~CameraRealSense();
+
66
+
67 void setDepthScaledToRGBSize(bool enabled);
+
68 void setRGBSource(RGBSource source);
+
69 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
70 virtual bool isCalibrated() const;
+
71 virtual std::string getSerial() const;
+
72 virtual bool odomProvided() const;
+
73
+
74protected:
+
75 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
76
+
77private:
+
78#ifdef RTABMAP_REALSENSE
+
79 rs::context * ctx_;
+
80 rs::device * dev_;
+
81 int deviceId_;
+
82 int presetRGB_;
+
83 int presetDepth_;
+
84 bool computeOdometry_;
+
85 bool depthScaledToRGBSize_;
+
86 RGBSource rgbSource_;
+
87 CameraModel cameraModel_;
+
88 std::vector<int> rsRectificationTable_;
+
89
+
90 int motionSeq_[2];
+
91 rs::slam::slam * slam_;
+
92 UMutex slamLock_;
+
93
+
94 std::map<double, std::pair<cv::Mat, cv::Mat> > bufferedFrames_;
+
95 std::pair<cv::Mat, cv::Mat> lastSyncFrames_;
+
96 UMutex dataMutex_;
+
97 USemaphore dataReady_;
+
98#endif
+
99};
+
+
100
+
101} // namespace rtabmap
+ + +
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+ +
rtabmap::CameraRealSense::odomProvided
virtual bool odomProvided() const
Checks if the sensor provides odometry poses.
+
rtabmap::CameraRealSense::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraRealSense::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraSeerSense_8h_source.html b/preview/pr-1492/api/latest/CameraSeerSense_8h_source.html new file mode 100644 index 00000000..09af63f0 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraSeerSense_8h_source.html @@ -0,0 +1,161 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraSeerSense.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+ + +
+
+
CameraSeerSense.h
+
+
+
1#pragma once
+
2
+
3#include "rtabmap/core/Camera.h"
+
4#include "rtabmap/core/Version.h"
+
5#include "rtabmap/utilite/USemaphore.h"
+
6
+
7#ifdef RTABMAP_XVSDK
+
8#include <xv-sdk.h>
+
9#endif
+
10
+
11namespace rtabmap
+
12{
+
13
+
+
14class RTABMAP_CORE_EXPORT CameraSeerSense :
+
15 public Camera
+
16{
+
17public:
+
18 static bool available();
+
19
+
20public:
+
21 CameraSeerSense(
+
22 bool computeOdometry = false,
+
23 float imageRate = 0.0f,
+
24 const Transform & localTransform = Transform::getIdentity()
+
25 );
+
26 virtual ~CameraSeerSense();
+
27
+
28 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
29 virtual bool isCalibrated() const;
+
30 virtual std::string getSerial() const;
+
31 virtual bool odomProvided() const;
+
32 virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.0);
+
33
+
34protected:
+
35 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
36
+
37private:
+
38#ifdef RTABMAP_XVSDK
+
39 CameraModel cameraModel_;
+
40 bool computeOdometry_;
+
41 int imuId_;
+
42 int tofId_;
+
43 std::shared_ptr<xv::Device> device_;
+
44 std::map<double, std::pair<cv::Vec3d, cv::Vec3d>> imuBuffer_;
+
45 std::pair<double, std::pair<cv::Mat, cv::Mat>> lastData_;
+
46 UMutex imuMutex_;
+
47 UMutex dataMutex_;
+
48 USemaphore dataReady_;
+
49#endif
+
50};
+
+
51
+
52} // namespace rtabmap
+ + +
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+ +
rtabmap::CameraSeerSense::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraSeerSense::getPose
virtual bool getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.0)
Gets the sensor's pose estimate at a specific timestamp.
+
rtabmap::CameraSeerSense::odomProvided
virtual bool odomProvided() const
Checks if the sensor provides odometry poses.
+
rtabmap::CameraSeerSense::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraStereoDC1394_8h_source.html b/preview/pr-1492/api/latest/CameraStereoDC1394_8h_source.html new file mode 100644 index 00000000..7a0b3f1a --- /dev/null +++ b/preview/pr-1492/api/latest/CameraStereoDC1394_8h_source.html @@ -0,0 +1,169 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraStereoDC1394.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+ + +
+
+
CameraStereoDC1394.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/StereoCameraModel.h"
+
31#include "rtabmap/core/Camera.h"
+
32#include "rtabmap/core/Version.h"
+
33
+
34namespace rtabmap
+
35{
+
36
+
37class DC1394Device;
+
38
+
+
39class RTABMAP_CORE_EXPORT CameraStereoDC1394 :
+
40 public Camera
+
41{
+
42public:
+
43 static bool available();
+
44
+
45public:
+
46 CameraStereoDC1394( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
+
47 virtual ~CameraStereoDC1394();
+
48
+
49 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
50 virtual bool isCalibrated() const;
+
51 virtual std::string getSerial() const;
+
52
+
53protected:
+
54 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
55
+
56private:
+
57#ifdef RTABMAP_DC1394
+
58 DC1394Device *device_;
+
59 StereoCameraModel stereoModel_;
+
60#endif
+
61};
+
+
62
+
63
+
64} // namespace rtabmap
+ +
rtabmap::CameraStereoDC1394::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraStereoDC1394::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraStereoFlyCapture2_8h_source.html b/preview/pr-1492/api/latest/CameraStereoFlyCapture2_8h_source.html new file mode 100644 index 00000000..d566ec65 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraStereoFlyCapture2_8h_source.html @@ -0,0 +1,170 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraStereoFlyCapture2.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
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+ + +
+
+
CameraStereoFlyCapture2.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/Camera.h"
+
31#include "rtabmap/core/Version.h"
+
32
+
33namespace FlyCapture2
+
34{
+
35class Camera;
+
36}
+
37
+
38namespace rtabmap
+
39{
+
40
+
+
41class RTABMAP_CORE_EXPORT CameraStereoFlyCapture2 :
+
42 public Camera
+
43{
+
44public:
+
45 static bool available();
+
46
+
47public:
+
48 CameraStereoFlyCapture2( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
+
49 virtual ~CameraStereoFlyCapture2();
+
50
+
51 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
52 virtual bool isCalibrated() const;
+
53 virtual std::string getSerial() const;
+
54
+
55protected:
+
56 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
57
+
58private:
+
59#ifdef RTABMAP_FLYCAPTURE2
+
60 FlyCapture2::Camera * camera_;
+
61 void * triclopsCtx_; // TriclopsContext
+
62#endif
+
63};
+
+
64
+
65
+
66} // namespace rtabmap
+ +
rtabmap::CameraStereoFlyCapture2::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraStereoFlyCapture2::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraStereoImages_8h_source.html b/preview/pr-1492/api/latest/CameraStereoImages_8h_source.html new file mode 100644 index 00000000..5b7b65ca --- /dev/null +++ b/preview/pr-1492/api/latest/CameraStereoImages_8h_source.html @@ -0,0 +1,205 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraStereoImages.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+ + +
+
+
CameraStereoImages.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include <rtabmap/core/camera/CameraImages.h>
+
31
+
32#include "rtabmap/core/StereoCameraModel.h"
+
33#include "rtabmap/core/Version.h"
+
34
+
35namespace rtabmap
+
36{
+
37
+
38class CameraImages;
+
+
39class RTABMAP_CORE_EXPORT CameraStereoImages :
+
40 public CameraImages
+
41{
+
42public:
+
43 static bool available();
+
44
+
45public:
+
46 CameraStereoImages(
+
47 const std::string & pathLeftImages,
+
48 const std::string & pathRightImages,
+
49 bool rectifyImages = false,
+
50 float imageRate=0.0f,
+
51 const Transform & localTransform = Transform::getIdentity());
+
52 CameraStereoImages(
+
53 const std::string & pathLeftRightImages,
+
54 bool rectifyImages = false,
+
55 float imageRate=0.0f,
+
56 const Transform & localTransform = Transform::getIdentity());
+
57 virtual ~CameraStereoImages();
+
58
+
59 void setRightGrayScale(bool enabled = true) {rightGrayScale_ = enabled;}
+
60
+
61 // Enable multi-camera stereo mode. Each left/right image in the folders is
+
62 // expected to be the horizontal concatenation of N sub-camera images of a
+
63 // stereo rig, all sharing the same base name (timestamp or node id), e.g.
+
64 // "1779318290.502227.jpg". Two calibration files per sub-camera must exist in
+
65 // the calibrationFolder passed to init(), named "<prefix>_<index>_left.yaml"
+
66 // and "<prefix>_<index>_right.yaml" with index starting at 0. The number of
+
67 // cameras is auto-detected. Sub-images are split using a uniform width
+
68 // (stackedWidth / N).
+
69 // If setConfigForEachFrame() is enabled, one calibration set is loaded per frame
+
70 // using each image's base name as prefix. Otherwise a single calibration set is
+
71 // loaded and reused for all frames, using the cameraName passed to init() as
+
72 // prefix (it may differ from any image name), falling back to the first image's
+
73 // base name when cameraName is empty.
+
74 // Note that it is not recommended to use setConfigForEachFrame() if images have
+
75 // to be rectified, a rectification matrix would need to be re-initilaized for each
+
76 // frame.
+
77 void setMultiCameraCalibration(bool enabled) {CameraImages::setMultiCameraCalibration(enabled);}
+
78
+
79 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
80 virtual bool isCalibrated() const;
+
81 virtual std::string getSerial() const;
+
82
+
83 virtual void setStartIndex(int index) {CameraImages::setStartIndex(index);camera2_->setStartIndex(index);} // negative means last
+
84 virtual void setMaxFrames(int value) {CameraImages::setMaxFrames(value);camera2_->setMaxFrames(value);}
+
85
+
86protected:
+
87 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
88
+
89private:
+
90 // Load the sub-camera stereo models of a frame from calibration files named
+
91 // "<baseName>_<index>_{left,right}.yaml" (index 0.._multiCameraCount-1) in
+
92 // _calibrationFolder. Returns an empty vector (and logs an error) on failure.
+
93 std::vector<StereoCameraModel> loadStereoCameraModels(const std::string & baseName, bool rectify) const;
+
94
+
95private:
+
96 CameraImages * camera2_;
+
97 StereoCameraModel stereoModel_;
+
98 bool rightGrayScale_;
+
99 std::vector<StereoCameraModel> multiStereoModels_; // sub-camera stereo models shared by all frames (multi-camera mode); empty when loaded per-frame
+
100};
+
+
101
+
102
+
103} // namespace rtabmap
+ + +
rtabmap::CameraStereoImages::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraStereoImages::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraStereoTara_8h_source.html b/preview/pr-1492/api/latest/CameraStereoTara_8h_source.html new file mode 100644 index 00000000..a8db9347 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraStereoTara_8h_source.html @@ -0,0 +1,173 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraStereoTara.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+ + +
+
+
CameraStereoTara.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
33#pragma once
+
34
+
35#include "rtabmap/core/StereoCameraModel.h"
+
36#include "rtabmap/core/camera/CameraVideo.h"
+
37#include "rtabmap/core/Version.h"
+
38
+
39
+
40namespace rtabmap
+
41{
+
42
+
+
43class RTABMAP_CORE_EXPORT CameraStereoTara :
+
44public Camera
+
45{
+
46public:
+
47 static bool available();
+
48public:
+
49
+
50 CameraStereoTara(
+
51 int device,
+
52 bool rectifyImages = false,
+
53 float imageRate = 0.0f,
+
54 const Transform & localTransform = Transform::getIdentity());
+
55
+
56 virtual ~CameraStereoTara();
+
57
+
58 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
59 virtual bool isCalibrated() const;
+
60 virtual std::string getSerial() const;
+
61
+
62protected:
+
63 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
64
+
65private:
+
66 cv::VideoCapture capture_;
+
67 bool rectifyImages_;
+
68 StereoCameraModel stereoModel_;
+
69 std::string cameraName_;
+
70 int usbDevice_;
+
71};
+
+
72
+
73} // namespace rtabmap
+ +
rtabmap::CameraStereoTara::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraStereoTara::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraStereoVideo_8h_source.html b/preview/pr-1492/api/latest/CameraStereoVideo_8h_source.html new file mode 100644 index 00000000..19673513 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraStereoVideo_8h_source.html @@ -0,0 +1,197 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraStereoVideo.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
CameraStereoVideo.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/StereoCameraModel.h"
+
31#include "rtabmap/core/camera/CameraVideo.h"
+
32
+
33namespace rtabmap
+
34{
+
35
+
+
36class RTABMAP_CORE_EXPORT CameraStereoVideo :
+
37 public Camera
+
38{
+
39public:
+
40 static bool available();
+
41
+
42public:
+
43 CameraStereoVideo(
+
44 const std::string & pathSideBySide,
+
45 bool rectifyImages = false,
+
46 float imageRate=0.0f,
+
47 const Transform & localTransform = Transform::getIdentity());
+
48 CameraStereoVideo(
+
49 const std::string & pathLeft,
+
50 const std::string & pathRight,
+
51 bool rectifyImages = false,
+
52 float imageRate=0.0f,
+
53 const Transform & localTransform = Transform::getIdentity());
+
54 CameraStereoVideo(
+
55 int device,
+
56 bool rectifyImages = false,
+
57 float imageRate = 0.0f,
+
58 const Transform & localTransform = Transform::getIdentity());
+
59 CameraStereoVideo(
+
60 int deviceLeft,
+
61 int deviceRight,
+
62 bool rectifyImages = false,
+
63 float imageRate = 0.0f,
+
64 const Transform & localTransform = Transform::getIdentity());
+
65 virtual ~CameraStereoVideo();
+
66
+
67 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
68 virtual bool isCalibrated() const;
+
69 virtual std::string getSerial() const;
+
70
+
71 void setResolution(int width, int height) {_width=width, _height=height;}
+
72 void setFOURCC(const std::string & fourcc) { _fourcc = fourcc; }
+
73 void setRightGrayScale(bool enabled = true) {rightGrayScale_ = enabled;}
+
74
+
75protected:
+
76 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
77
+
78private:
+
79 cv::VideoCapture capture_;
+
80 cv::VideoCapture capture2_;
+
81 std::string path_;
+
82 std::string path2_;
+
83 bool rectifyImages_;
+
84 StereoCameraModel stereoModel_;
+
85 std::string cameraName_;
+
86 CameraVideo::Source src_;
+
87 int usbDevice_;
+
88 int usbDevice2_;
+
89 int _width;
+
90 int _height;
+
91 std::string _fourcc;
+
92 bool rightGrayScale_;
+
93};
+
+
94
+
95} // namespace rtabmap
+ +
rtabmap::CameraStereoVideo::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraStereoVideo::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+ +
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraStereoZedOC_8h_source.html b/preview/pr-1492/api/latest/CameraStereoZedOC_8h_source.html new file mode 100644 index 00000000..9b772eac --- /dev/null +++ b/preview/pr-1492/api/latest/CameraStereoZedOC_8h_source.html @@ -0,0 +1,189 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraStereoZedOC.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
CameraStereoZedOC.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/StereoCameraModel.h"
+
31#include "rtabmap/core/Camera.h"
+
32#include "rtabmap/core/Version.h"
+
33
+
34namespace sl_oc {
+
35namespace video {
+
36class VideoCapture;
+
37}
+
38namespace sensors {
+
39class SensorCapture;
+
40}
+
41}
+
42
+
43namespace rtabmap
+
44{
+
45class ZedOCThread;
+
46
+
+
47class RTABMAP_CORE_EXPORT CameraStereoZedOC :
+
48 public Camera
+
49{
+
50public:
+
51 static bool available();
+
52
+
53public:
+
54 CameraStereoZedOC(
+
55 int deviceId,
+
56 int resolution = 3, // 0=HD2K, 1=HD1080, 2=HD720, 3=VGA
+
57 float imageRate=0.0f,
+
58 const Transform & localTransform = Transform::getIdentity());
+
59 virtual ~CameraStereoZedOC();
+
60
+
61 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
62 virtual bool isCalibrated() const;
+
63 virtual std::string getSerial() const;
+
64
+
65 void setRightGrayScale(bool enabled = true);
+
66
+
67protected:
+
68 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
69
+
70private:
+
71#ifdef RTABMAP_ZEDOC
+
72 sl_oc::video::VideoCapture * zed_;
+
73 sl_oc::sensors::SensorCapture * sensors_;
+
74 ZedOCThread * imuThread_;
+
75 StereoCameraModel stereoModel_;
+
76 int usbDevice_;
+
77 int resolution_;
+
78 uint64_t lastStamp_;
+
79 bool rightGrayScale_;
+
80#endif
+
81};
+
+
82
+
83
+
84} // namespace rtabmap
+ +
rtabmap::CameraStereoZedOC::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraStereoZedOC::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraStereoZed_8h_source.html b/preview/pr-1492/api/latest/CameraStereoZed_8h_source.html new file mode 100644 index 00000000..1f050d94 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraStereoZed_8h_source.html @@ -0,0 +1,221 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraStereoZed.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
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+
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+
+
+
+
+ + +
+
+
CameraStereoZed.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/StereoCameraModel.h"
+
31#include "rtabmap/core/camera/CameraVideo.h"
+
32#include "rtabmap/core/Version.h"
+
33
+
34namespace sl
+
35{
+
36class Camera;
+
37}
+
38
+
39namespace rtabmap
+
40{
+
41class ZedIMUThread;
+
42
+
+
43class RTABMAP_CORE_EXPORT CameraStereoZed :
+
44 public Camera
+
45{
+
46public:
+
47 static bool available();
+
48 static int sdkVersion();
+
49public:
+
50 CameraStereoZed(
+
51 int deviceId,
+
52 int resolution = -1, // -1 = AUTO, 0=HD4K 1=QHDPLUS 2=HD2K 3=HD1536 4=HD1080 5=HD1200 6=HD720 7=SVGA 8=VGA 9=XVGA 10=TXVGA
+
53 int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY, 3=ULTRA, 4=NEURAL_LIGHT, 5=NEURAL, 6=NEURAL_ULTRA
+
54 int sensingMode = 0,// 0=STANDARD, 1=FILL
+
55 int confidenceThr = 100,
+
56 bool computeOdometry = false,
+
57 float imageRate=0.0f,
+
58 const Transform & localTransform = Transform::getIdentity(),
+
59 bool selfCalibration = true,
+
60 bool odomForce3DoF = false,
+
61 int texturenessConfidenceThr = 90); // introduced with ZED SDK 3
+
62 CameraStereoZed(
+
63 const std::string & svoFilePath,
+
64 int quality = 1, // 0=NONE, 1=PERFORMANCE, 2=QUALITY, 3=ULTRA, 4=NEURAL_LIGHT, 5=NEURAL, 6=NEURAL_ULTRA
+
65 int sensingMode = 0,// 0=STANDARD, 1=FILL
+
66 int confidenceThr = 100,
+
67 bool computeOdometry = false,
+
68 float imageRate=0.0f,
+
69 const Transform & localTransform = Transform::getIdentity(),
+
70 bool selfCalibration = true,
+
71 bool odomForce3DoF = false,
+
72 int texturenessConfidenceThr = 90); // introduced with ZED SDK 3
+
73 virtual ~CameraStereoZed();
+
74
+
75 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
76 virtual bool isCalibrated() const;
+
77 virtual std::string getSerial() const;
+
78 virtual bool odomProvided() const;
+
79 virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.0);
+
80
+
81 void postInterIMUPublic(const IMU & imu, double stamp);
+
82 void setRightGrayScale(bool enabled = true);
+
83
+
91 static std::string getNeuralModelWarning(int quality);
+
92
+
93protected:
+
94 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
95
+
96private:
+
97#ifdef RTABMAP_ZED
+
98 sl::Camera * zed_;
+
99 StereoCameraModel stereoModel_;
+
100 Transform imuLocalTransform_;
+
101 CameraVideo::Source src_;
+
102 int usbDevice_;
+
103 std::string svoFilePath_;
+
104 int resolution_;
+
105 int quality_;
+
106 bool selfCalibration_;
+
107 int sensingMode_;
+
108 int confidenceThr_;
+
109 int texturenessConfidenceThr_; // introduced with ZED SDK 3
+
110 bool computeOdometry_;
+
111 bool lost_;
+
112 bool force3DoF_;
+
113 bool rightGrayScale_;
+
114 ZedIMUThread * imuPublishingThread_;
+
115#endif
+
116};
+
+
117
+
118
+
119} // namespace rtabmap
+ +
rtabmap::CameraStereoZed::getPose
virtual bool getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.0)
Gets the sensor's pose estimate at a specific timestamp.
+
rtabmap::CameraStereoZed::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraStereoZed::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::CameraStereoZed::getNeuralModelWarning
static std::string getNeuralModelWarning(int quality)
+
rtabmap::CameraStereoZed::odomProvided
virtual bool odomProvided() const
Checks if the sensor provides odometry poses.
+ +
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
+
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraStereo_8h_source.html b/preview/pr-1492/api/latest/CameraStereo_8h_source.html new file mode 100644 index 00000000..8c9303e0 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraStereo_8h_source.html @@ -0,0 +1,132 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/CameraStereo.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
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+
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+ + +
+
+
CameraStereo.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include <rtabmap/core/camera/CameraStereoDC1394.h>
+
31#include <rtabmap/core/camera/CameraStereoFlyCapture2.h>
+
32#include <rtabmap/core/camera/CameraStereoImages.h>
+
33#include <rtabmap/core/camera/CameraStereoVideo.h>
+
34#include <rtabmap/core/camera/CameraStereoZed.h>
+
35#include <rtabmap/core/camera/CameraStereoZedOC.h>
+
36#include <rtabmap/core/camera/CameraStereoTara.h>
+
37#include <rtabmap/core/camera/CameraMyntEye.h>
+
38#include <rtabmap/core/camera/CameraDepthAI.h>
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraThread_8h_source.html b/preview/pr-1492/api/latest/CameraThread_8h_source.html new file mode 100644 index 00000000..b8c43200 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraThread_8h_source.html @@ -0,0 +1,124 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/CameraThread.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
CameraThread.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/SensorCaptureThread.h"
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CameraVideo_8h_source.html b/preview/pr-1492/api/latest/CameraVideo_8h_source.html new file mode 100644 index 00000000..75372697 --- /dev/null +++ b/preview/pr-1492/api/latest/CameraVideo_8h_source.html @@ -0,0 +1,187 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/camera/CameraVideo.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+ + +
+
+
CameraVideo.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include <opencv2/highgui/highgui.hpp>
+
31#include "rtabmap/core/Camera.h"
+
32
+
33namespace rtabmap
+
34{
+
35
+
+
36class RTABMAP_CORE_EXPORT CameraVideo :
+
37 public Camera
+
38{
+
39public:
+
40 enum Source{kVideoFile, kUsbDevice};
+
41
+
42public:
+
43 CameraVideo(int usbDevice = 0,
+
44 bool rectifyImages = false,
+
45 float imageRate = 0,
+
46 const Transform & localTransform = Transform::getIdentity());
+
47 CameraVideo(const std::string & filePath,
+
48 bool rectifyImages = false,
+
49 float imageRate = 0,
+
50 const Transform & localTransform = Transform::getIdentity());
+
51 virtual ~CameraVideo();
+
52
+
53 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+
54 virtual bool isCalibrated() const;
+
55 virtual std::string getSerial() const;
+
56 int getUsbDevice() const {return _usbDevice;}
+
57 const std::string & getFilePath() const {return _filePath;}
+
58
+
64 void setResolution(int width, int height) {_width=width, _height=height;}
+
65 void setFOURCC(const std::string & fourcc) { _fourcc = fourcc; }
+
66
+
67protected:
+
68 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
69
+
70private:
+
71 // File type
+
72 std::string _filePath;
+
73 bool _rectifyImages;
+
74
+
75 cv::VideoCapture _capture;
+
76 Source _src;
+
77
+
78 // Usb camera
+
79 int _usbDevice;
+
80 std::string _guid;
+
81 int _width;
+
82 int _height;
+
83 std::string _fourcc;
+
84
+
85 CameraModel _model;
+
86};
+
+
87
+
88
+
89} // namespace rtabmap
+ +
rtabmap::CameraVideo::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::CameraVideo::setResolution
void setResolution(int width, int height)
Definition CameraVideo.h:64
+
rtabmap::CameraVideo::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+ +
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Camera_8h_source.html b/preview/pr-1492/api/latest/Camera_8h_source.html new file mode 100644 index 00000000..03fbcb1d --- /dev/null +++ b/preview/pr-1492/api/latest/Camera_8h_source.html @@ -0,0 +1,175 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Camera.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+
+
+ + +
+
+
Camera.h
+
+
+
1/*
+
2Copyright (c) 2010-2022, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
31#include <rtabmap/core/SensorCapture.h>
+
32#include <rtabmap/core/IMU.h>
+
33
+
34namespace rtabmap
+
35{
+
36
+
37class IMUFilter;
+
38
+
+
43class RTABMAP_CORE_EXPORT Camera : public SensorCapture
+
44{
+
45public:
+
46 virtual ~Camera();
+
47
+
48 SensorData takeImage(SensorCaptureInfo * info = 0) {return takeData(info);}
+
49 float getImageRate() const {return getFrameRate();}
+
50 void setImageRate(float imageRate) {setFrameRate(imageRate);}
+
51 void setInterIMUPublishing(bool enabled, IMUFilter * filter = 0, bool baseFrameConversion = false); // Take ownership of filter
+
52 bool isInterIMUPublishing() const {return publishInterIMU_;}
+
53
+
54 bool initFromFile(const std::string & calibrationPath);
+
55 virtual bool isCalibrated() const = 0;
+
56
+
57protected:
+
64 Camera(float imageRate = 0, const Transform & localTransform = Transform::getIdentity());
+
65
+
66 virtual SensorData captureImage(SensorCaptureInfo * info = 0) = 0;
+
67
+
68 void postInterIMU(const IMU & imu, double stamp);
+
69
+
70private:
+
71 virtual SensorData captureData(SensorCaptureInfo * info = 0) {return captureImage(info);}
+
72
+
73private:
+
74 IMUFilter * imuFilter_;
+
75 bool publishInterIMU_;
+
76 bool imuBaseFrameConversion_;
+
77};
+
+
78
+
79
+
80} // namespace rtabmap
+ +
rtabmap::Camera::Camera
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())
+
rtabmap::IMUFilter
Fuses gyroscope and accelerometer samples into an orientation quaternion.
Definition IMUFilter.h:59
+
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
+
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorCapture
Abstract base class for sensor data capture (cameras, lidars, etc.)
Definition SensorCapture.h:79
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/CloudMap_8h_source.html b/preview/pr-1492/api/latest/CloudMap_8h_source.html new file mode 100644 index 00000000..dac1d0e1 --- /dev/null +++ b/preview/pr-1492/api/latest/CloudMap_8h_source.html @@ -0,0 +1,167 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/global_map/CloudMap.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+
+
+ + +
+
+
CloudMap.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_SRC_CLOUDMAP_H_
+
29#define CORELIB_SRC_CLOUDMAP_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/GlobalMap.h>
+
34
+
35#include <pcl/point_cloud.h>
+
36#include <pcl/point_types.h>
+
37
+
38namespace rtabmap {
+
39
+
+
40class RTABMAP_CORE_EXPORT CloudMap : public GlobalMap
+
41{
+
42public:
+
43 CloudMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
+
44
+
45 virtual void clear();
+
46
+
47 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapGround() const {return assembledGround_;}
+
48 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & getMapObstacles() const {return assembledObstacles_;}
+
49 const pcl::PointCloud<pcl::PointXYZ>::Ptr & getMapEmptyCells() const {return assembledEmptyCells_;}
+
50
+
51 unsigned long getMemoryUsed() const;
+
52
+
53protected:
+
54 virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses);
+
55
+
56private:
+
57 pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledGround_;
+
58 pcl::PointCloud<pcl::PointXYZRGB>::Ptr assembledObstacles_;
+
59 pcl::PointCloud<pcl::PointXYZ>::Ptr assembledEmptyCells_;
+
60};
+
+
61
+
62}
+
63
+
64#endif /* CORELIB_SRC_CLOUDMAP_H_ */
+ +
rtabmap::CloudMap::getMemoryUsed
unsigned long getMemoryUsed() const
Approximate memory used by assembled-node bookkeeping (bytes).
+
rtabmap::CloudMap::clear
virtual void clear()
Clears assembled nodes and grid bounds; does not clear LocalGridCache.
+
rtabmap::CloudMap::assemble
virtual void assemble(const std::list< std::pair< int, Transform > > &newPoses)
Subclass hook: merge newPoses into the global map; call addAssembledNode().
+
rtabmap::GlobalMap
Abstract base for assembling per-node LocalGrid data into a global map.
Definition GlobalMap.h:56
+
rtabmap::LocalGridCache
Cache of LocalGrid entries keyed by map node id.
Definition LocalGrid.h:98
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Compression_8h_source.html b/preview/pr-1492/api/latest/Compression_8h_source.html new file mode 100644 index 00000000..30da129b --- /dev/null +++ b/preview/pr-1492/api/latest/Compression_8h_source.html @@ -0,0 +1,190 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Compression.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+
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+ + +
+
+
Compression.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef COMPRESSION_H_
+
29#define COMPRESSION_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/rvl_codec.h>
+
34#include <rtabmap/utilite/UThread.h>
+
35#include <opencv2/opencv.hpp>
+
36
+
37namespace rtabmap {
+
38
+
+
67class RTABMAP_CORE_EXPORT CompressionThread : public UThread
+
68{
+
69public:
+
75 CompressionThread(const cv::Mat & mat, const std::string & format = "");
+
81 CompressionThread(const cv::Mat & bytes, bool isImage);
+
83 const cv::Mat & getCompressedData() const {return compressedData_;}
+
85 cv::Mat & getUncompressedData() {return uncompressedData_;}
+
86protected:
+
87 virtual void mainLoop();
+
88private:
+
89 cv::Mat compressedData_;
+
90 cv::Mat uncompressedData_;
+
91 std::string format_;
+
92 bool image_;
+
93 bool compressMode_;
+
94};
+
+
95
+
97std::vector<unsigned char> RTABMAP_CORE_EXPORT compressImage(const cv::Mat & image, const std::string & format = ".png");
+
99cv::Mat RTABMAP_CORE_EXPORT compressImage2(const cv::Mat & image, const std::string & format = ".png");
+
100
+
102cv::Mat RTABMAP_CORE_EXPORT uncompressImage(const cv::Mat & bytes);
+
104cv::Mat RTABMAP_CORE_EXPORT uncompressImage(const std::vector<unsigned char> & bytes);
+
105
+
107std::vector<unsigned char> RTABMAP_CORE_EXPORT compressData(const cv::Mat & data);
+
109cv::Mat RTABMAP_CORE_EXPORT compressData2(const cv::Mat & data);
+
110
+
112cv::Mat RTABMAP_CORE_EXPORT uncompressData(const cv::Mat & bytes);
+
114cv::Mat RTABMAP_CORE_EXPORT uncompressData(const std::vector<unsigned char> & bytes);
+
116cv::Mat RTABMAP_CORE_EXPORT uncompressData(const unsigned char * bytes, unsigned long size);
+
117
+
119cv::Mat RTABMAP_CORE_EXPORT compressString(const std::string & str);
+
121std::string RTABMAP_CORE_EXPORT uncompressString(const cv::Mat & bytes);
+
122
+
127std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const cv::Mat & bytes);
+
129std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const std::vector<unsigned char> & bytes);
+
131std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const unsigned char * bytes, size_t size);
+
132
+
133} /* namespace rtabmap */
+
134#endif /* COMPRESSION_H_ */
+ +
rtabmap::CompressionThread
Background thread to compress or uncompress images and generic matrices.
Definition Compression.h:68
+ +
rtabmap::CompressionThread::getCompressedData
const cv::Mat & getCompressedData() const
Definition Compression.h:83
+
rtabmap::CompressionThread::CompressionThread
CompressionThread(const cv::Mat &mat, const std::string &format="")
Constructs a thread in compress mode.
+
rtabmap::CompressionThread::CompressionThread
CompressionThread(const cv::Mat &bytes, bool isImage)
Constructs a thread in uncompress mode.
+
rtabmap::CompressionThread::getUncompressedData
cv::Mat & getUncompressedData()
Definition Compression.h:85
+ +
rtabmap::uncompressImage
cv::Mat RTABMAP_CORE_EXPORT uncompressImage(const cv::Mat &bytes)
Decodes compressed image bytes to a @cv::Mat.
+
rtabmap::compressString
cv::Mat RTABMAP_CORE_EXPORT compressString(const std::string &str)
Compresses a null-terminated string using compressData2().
+
rtabmap::compressImage
std::vector< unsigned char > RTABMAP_CORE_EXPORT compressImage(const cv::Mat &image, const std::string &format=".png")
Encodes image to a byte buffer (OpenCV imencode or RVL for depth).
+
rtabmap::compressedDepthFormat
std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const cv::Mat &bytes)
Detects the compression format of depth image bytes.
+
rtabmap::uncompressData
cv::Mat RTABMAP_CORE_EXPORT uncompressData(const cv::Mat &bytes)
Restores a matrix compressed with compressData() or compressData2().
+
rtabmap::compressData
std::vector< unsigned char > RTABMAP_CORE_EXPORT compressData(const cv::Mat &data)
Compresses a matrix with zlib; appends rows, cols and type at the end.
+
rtabmap::uncompressString
std::string RTABMAP_CORE_EXPORT uncompressString(const cv::Mat &bytes)
Decompresses a string produced by compressString().
+
rtabmap::compressImage2
cv::Mat RTABMAP_CORE_EXPORT compressImage2(const cv::Mat &image, const std::string &format=".png")
Same as compressImage() but returns a CV_8UC1 row matrix.
+
rtabmap::compressData2
cv::Mat RTABMAP_CORE_EXPORT compressData2(const cv::Mat &data)
Same as compressData() but returns a CV_8UC1 row matrix.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/DBDriverSqlite3_8h_source.html b/preview/pr-1492/api/latest/DBDriverSqlite3_8h_source.html new file mode 100644 index 00000000..b6febb50 --- /dev/null +++ b/preview/pr-1492/api/latest/DBDriverSqlite3_8h_source.html @@ -0,0 +1,343 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/DBDriverSqlite3.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+ + +
+
+
DBDriverSqlite3.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef DBDRIVERSQLITE3_H_
+
29#define DBDRIVERSQLITE3_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32#include "rtabmap/core/DBDriver.h"
+
33#if CV_MAJOR_VERSION < 5
+
34#include <opencv2/features2d/features2d.hpp>
+
35#else
+
36#include <opencv2/features.hpp>
+
37#endif
+
38
+
39typedef struct sqlite3_stmt sqlite3_stmt;
+
40typedef struct sqlite3 sqlite3;
+
41
+
42namespace rtabmap {
+
43
+
+
70class RTABMAP_CORE_EXPORT DBDriverSqlite3: public DBDriver {
+
71public:
+
76 DBDriverSqlite3(const ParametersMap & parameters = ParametersMap());
+
77 virtual ~DBDriverSqlite3();
+
78
+
80 virtual void parseParameters(const ParametersMap & parameters);
+
85 virtual bool isInMemory() const {return getUrl().empty() || _dbInMemory;}
+
90 void setDbInMemory(bool dbInMemory);
+
110 void setJournalMode(int journalMode);
+
111
+
123 void setCacheSize(unsigned int cacheSize);
+
124
+
140 void setSynchronous(int synchronous);
+
141
+
156 void setTempStore(int tempStore);
+
157
+
158protected:
+
159 virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false);
+
160 virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "");
+
161 virtual bool isConnectedQuery() const;
+
162 virtual unsigned long getMemoryUsedQuery() const; // In bytes
+
163 virtual bool getDatabaseVersionQuery(std::string & version) const;
+
164 virtual long getNodesMemoryUsedQuery() const;
+
165 virtual long getLinksMemoryUsedQuery() const;
+
166 virtual long getImagesMemoryUsedQuery() const;
+
167 virtual long getDepthImagesMemoryUsedQuery() const;
+
168 virtual long getCalibrationsMemoryUsedQuery() const;
+
169 virtual long getGridsMemoryUsedQuery() const;
+
170 virtual long getLaserScansMemoryUsedQuery() const;
+
171 virtual long getUserDataMemoryUsedQuery() const;
+
172 virtual long getWordsMemoryUsedQuery() const;
+
173 virtual long getFeaturesMemoryUsedQuery() const;
+
174 virtual long getStatisticsMemoryUsedQuery() const;
+
175 virtual int getLastNodesSizeQuery() const;
+
176 virtual int getLastDictionarySizeQuery() const;
+
177 virtual int getTotalNodesSizeQuery() const;
+
178 virtual int getTotalDictionarySizeQuery() const;
+
179 virtual ParametersMap getLastParametersQuery() const;
+
180 virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const;
+
181 virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const;
+
182 virtual std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() const;
+
183
+
184 virtual void executeNoResultQuery(const std::string & sql) const;
+
185
+
186 virtual void getWeightQuery(int signatureId, int & weight) const;
+
187
+
188 virtual void saveQuery(const std::list<Signature *> & signatures);
+
189 virtual void saveQuery(const std::list<VisualWord *> & words) const;
+
190 virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const;
+
191 virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const;
+
192
+
193 virtual void addLinkQuery(const Link & link) const;
+
194 virtual void updateLinkQuery(const Link & link) const;
+
195
+
196 virtual void updateOccupancyGridQuery(
+
197 int nodeId,
+
198 const cv::Mat & ground,
+
199 const cv::Mat & obstacles,
+
200 const cv::Mat & empty,
+
201 float cellSize,
+
202 const cv::Point3f & viewpoint) const;
+
203
+
204 virtual void updateCalibrationQuery(
+
205 int nodeId,
+
206 const std::vector<CameraModel> & models,
+
207 const std::vector<StereoCameraModel> & stereoModels) const;
+
208
+
209 virtual void updateDepthImageQuery(
+
210 int nodeId,
+
211 const cv::Mat & image,
+
212 const std::string & format) const;
+
213
+
214 void updateLaserScanQuery(
+
215 int nodeId,
+
216 const LaserScan & scan) const;
+
217
+
218 virtual void addStatisticsQuery(const Statistics & statistics, bool saveWmState) const;
+
219 virtual void savePreviewImageQuery(const cv::Mat & image) const;
+
220 virtual cv::Mat loadPreviewImageQuery() const;
+
221 virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
+
222 virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose = 0) const;
+
223 virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
+
224 virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const;
+
225 virtual void saveOptimizedMeshQuery(
+
226 const cv::Mat & cloud,
+
227 const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,
+
228#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+
229 const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
+
230#else
+
231 const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
+
232#endif
+
233 const cv::Mat & textures) const;
+
234 virtual cv::Mat loadOptimizedMeshQuery(
+
235 std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,
+
236#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+
237 std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
+
238#else
+
239 std::vector<std::vector<Eigen::Vector2f> > * texCoords,
+
240#endif
+
241 cv::Mat * textures) const;
+
242
+
243 virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const;
+
244
+
245 // Load objects
+
246 virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true, bool idsOnly = false) const;
+
247 virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const;
+
248 virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const;
+
249 virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const;
+
250 virtual void loadLinksQuery(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;
+
251
+
252 virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const;
+
253 virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const;
+
254 virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const;
+
255 virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
+
256 virtual void getLocalFeaturesQuery(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const;
+
257 virtual void getLastNodeIdsQuery(std::set<int> & ids) const;
+
258 virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const;
+
259 virtual void getAllOdomPosesQuery(std::map<int, Transform> & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const;
+
260 virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const;
+
261 virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const;
+
262 virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const;
+
263 virtual void getNodesObservingLandmarkQuery(int landmarkId, std::map<int, Link> & nodes) const;
+
264 virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const;
+
265 virtual void getAllLabelsQuery(std::map<int, std::string> & labels) const;
+
266
+
267private:
+
268 std::string queryStepNode() const;
+
269 std::string queryStepImage() const;
+
270 std::string queryStepDepth() const;
+
271 std::string queryStepCalibrationUpdate() const;
+
272 std::string queryStepDepthUpdate() const;
+
273 std::string queryStepScanUpdate() const;
+
274 std::string queryStepSensorData() const;
+
275 std::string queryStepLinkUpdate() const;
+
276 std::string queryStepLink() const;
+
277 std::string queryStepWordsChanged() const;
+
278 std::string queryStepKeypoint() const;
+
279 std::string queryStepGlobalDescriptor() const;
+
280 std::string queryStepOccupancyGridUpdate() const;
+
281 void stepNode(sqlite3_stmt * ppStmt, const Signature * s) const;
+
282 void stepImage(sqlite3_stmt * ppStmt, int id, const cv::Mat & imageBytes) const;
+
283 void stepDepth(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
+
284 void stepCalibrationUpdate(sqlite3_stmt * ppStmt, int nodeId, const std::vector<CameraModel> & models, const std::vector<StereoCameraModel> & stereoModels) const;
+
285 void stepDepthUpdate(sqlite3_stmt * ppStmt, int nodeId, const cv::Mat & image, const std::string & format) const;
+
286 void stepScanUpdate(sqlite3_stmt * ppStmt, int nodeId, const LaserScan & image) const;
+
287 void stepSensorData(sqlite3_stmt * ppStmt, const SensorData & sensorData) const;
+
288 void stepLink(sqlite3_stmt * ppStmt, const Link & link) const;
+
289 void stepWordsChanged(sqlite3_stmt * ppStmt, int signatureId, int oldWordId, int newWordId) const;
+
290 void stepKeypoint(sqlite3_stmt * ppStmt, int nodeID, int wordId, const cv::KeyPoint & kp, const cv::Point3f & pt, const cv::Mat & descriptor) const;
+
291 void stepGlobalDescriptor(sqlite3_stmt * ppStmt, int nodeId, const GlobalDescriptor & descriptor) const;
+
292 void stepOccupancyGridUpdate(sqlite3_stmt * ppStmt,
+
293 int nodeId,
+
294 const cv::Mat & ground,
+
295 const cv::Mat & obstacles,
+
296 const cv::Mat & empty,
+
297 float cellSize,
+
298 const cv::Point3f & viewpoint) const;
+
299
+
300private:
+
301 void loadWordsQuery(std::list<Signature *> & signatures) const;
+
302 void loadWordIdsQuery(std::list<Signature *> & signatures) const;
+
303 void loadLinksQuery(std::list<Signature *> & signatures) const;
+
304 int loadOrSaveDb(sqlite3 *pInMemory, const std::string & fileName, int isSave) const;
+
305
+
306protected:
+
307 sqlite3 * _ppDb;
+
308 std::string _version;
+
309
+
310private:
+
311 unsigned long _memoryUsedEstimate;
+
312 bool _dbInMemory;
+
313 unsigned int _cacheSize;
+
314 int _journalMode;
+
315 int _synchronous;
+
316 int _tempStore;
+
317};
+
+
318
+
319}
+
320
+
321#endif /* DBDRIVERSQLITE3_H_ */
+
rtabmap::DBDriverSqlite3
SQLite3 implementation of DBDriver for RTAB-Map map databases.
Definition DBDriverSqlite3.h:70
+
rtabmap::DBDriverSqlite3::setDbInMemory
void setDbInMemory(bool dbInMemory)
Enable or disable in-memory mode. If connected, the connection is closed and reopened with the new mo...
+
rtabmap::DBDriverSqlite3::_ppDb
sqlite3 * _ppDb
Open SQLite connection (null when disconnected)
Definition DBDriverSqlite3.h:307
+
rtabmap::DBDriverSqlite3::_version
std::string _version
Schema version read from the database.
Definition DBDriverSqlite3.h:308
+
rtabmap::DBDriverSqlite3::setSynchronous
void setSynchronous(int synchronous)
Set how aggressively SQLite syncs the database file to disk (PRAGMA synchronous).
+
rtabmap::DBDriverSqlite3::DBDriverSqlite3
DBDriverSqlite3(const ParametersMap &parameters=ParametersMap())
Construct driver with optional SQLite-specific parameters.
+
rtabmap::DBDriverSqlite3::setTempStore
void setTempStore(int tempStore)
Set where SQLite stores temporary tables and indices (PRAGMA temp_store).
+
rtabmap::DBDriverSqlite3::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Apply SQLite parameters from the map; forwards to DBDriver::parseParameters().
+
rtabmap::DBDriverSqlite3::setJournalMode
void setJournalMode(int journalMode)
Set SQLite rollback journal mode (PRAGMA journal_mode).
+
rtabmap::DBDriverSqlite3::isInMemory
virtual bool isInMemory() const
True when the database runs in RAM instead of on disk.
Definition DBDriverSqlite3.h:85
+
rtabmap::DBDriverSqlite3::setCacheSize
void setCacheSize(unsigned int cacheSize)
Set the number of database pages kept in SQLite's page cache (PRAGMA cache_size).
+
rtabmap::DBDriver
Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).
Definition DBDriver.h:72
+
rtabmap::GPS
WGS84 GPS fix attached to a sensor sample or graph node.
Definition GPS.h:47
+ +
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
+ + +
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+
rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:66
+ +
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/DBDriver_8h_source.html b/preview/pr-1492/api/latest/DBDriver_8h_source.html new file mode 100644 index 00000000..35330116 --- /dev/null +++ b/preview/pr-1492/api/latest/DBDriver_8h_source.html @@ -0,0 +1,456 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/DBDriver.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+
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+ + +
+
+
DBDriver.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef DBDRIVER_H_
+
29#define DBDRIVER_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <string>
+
34#include <list>
+
35#include <map>
+
36#include <set>
+
37#include <opencv2/core/core.hpp>
+
38#include "rtabmap/utilite/UMutex.h"
+
39#include "rtabmap/utilite/UThreadNode.h"
+
40#include "rtabmap/core/Parameters.h"
+
41#include "rtabmap/core/SensorData.h"
+
42#include <rtabmap/core/Statistics.h>
+
43
+
44#include <rtabmap/core/Transform.h>
+
45#include <rtabmap/core/Link.h>
+
46
+
47namespace rtabmap {
+
48
+
49class Signature;
+
50class VWDictionary;
+
51class VisualWord;
+
52
+
+
71class RTABMAP_CORE_EXPORT DBDriver : public UThreadNode
+
72{
+
73public:
+
79 static DBDriver * create(const ParametersMap & parameters = ParametersMap());
+
80
+
81public:
+
82 virtual ~DBDriver();
+
83
+
85 virtual void parseParameters(const ParametersMap & parameters);
+
90 virtual bool isInMemory() const {return _url.empty();}
+
92 const std::string & getUrl() const {return _url;}
+
94 const std::string & getTargetVersion() const {return _targetVersion;}
+
95
+
97 void asyncSave(Signature * s);
+
99 void asyncSave(VisualWord * vw);
+
104 void emptyTrashes(bool async = false);
+
105 double getEmptyTrashesTime() const {return _emptyTrashesTime;}
+
106 void setTimestampUpdateEnabled(bool enabled) {_timestampUpdate = enabled;} // used on Update Signature and Word queries
+
107
+
115 void generateGraph(
+
116 const std::string & fileName,
+
117 const std::set<int> & ids = std::set<int>(),
+
118 const std::map<int, Signature *> & otherSignatures = std::map<int, Signature *>());
+
119
+
126 void addLink(const Link & link);
+
128 void removeLink(int from, int to);
+
130 void updateLink(const Link & link);
+
138 void updateOccupancyGrid(
+
139 int nodeId,
+
140 const cv::Mat & ground,
+
141 const cv::Mat & obstacles,
+
142 const cv::Mat & empty,
+
143 float cellSize,
+
144 const cv::Point3f & viewpoint);
+
146 void updateCalibration(
+
147 int nodeId,
+
148 const std::vector<CameraModel> & models,
+
149 const std::vector<StereoCameraModel> & stereoModels);
+
156 void updateDepthImage(int nodeId, const cv::Mat & image, const std::string & format);
+
162 void updateLaserScan(int nodeId, const LaserScan & scan);
+
165public:
+
170 void addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap & parameters) const;
+
176 void addStatistics(const Statistics & statistics, bool saveWmState) const;
+
182 void savePreviewImage(const cv::Mat & image) const;
+
184 cv::Mat loadPreviewImage() const;
+
186 void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
+
188 std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose = 0) const;
+
190 void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
+
192 cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
+
200 void saveOptimizedMesh(
+
201 const cv::Mat & cloud,
+
202 const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons = std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >(), // Textures -> polygons -> vertices
+
203#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+
204 const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
+
205#else
+
206 const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
+
207#endif
+
208 const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size);
+
209 cv::Mat loadOptimizedMesh(
+
210 std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,
+
211#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+
212 std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
+
213#else
+
214 std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
+
215#endif
+
216 cv::Mat * textures = 0) const;
+
222 void saveFlannIndex(const std::vector<unsigned char> & indexData) const;
+
225public:
+
231 bool openConnection(const std::string & url, bool overwritten = false, bool readOnly = false);
+
233 void closeConnection(bool save = true, const std::string & outputUrl = "");
+
235 bool isConnected() const;
+
236 unsigned long getMemoryUsed() const; // In bytes
+
238 std::string getDatabaseVersion() const;
+
239 long getNodesMemoryUsed() const;
+
240 long getLinksMemoryUsed() const;
+
241 long getImagesMemoryUsed() const;
+
242 long getDepthImagesMemoryUsed() const;
+
243 long getCalibrationsMemoryUsed() const;
+
244 long getGridsMemoryUsed() const;
+
245 long getLaserScansMemoryUsed() const;
+
246 long getUserDataMemoryUsed() const;
+
247 long getWordsMemoryUsed() const;
+
248 long getFeaturesMemoryUsed() const;
+
249 long getStatisticsMemoryUsed() const;
+
250 int getLastNodesSize() const; // working memory
+
251 int getLastDictionarySize() const; // working memory
+
252 int getTotalNodesSize() const;
+
253 int getTotalDictionarySize() const;
+
254 ParametersMap getLastParameters() const;
+
255 std::map<std::string, float> getStatistics(int nodeId, double & stamp, std::vector<int> * wmState=0) const;
+
256 std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatistics() const;
+
257 std::map<int, std::vector<int> > getAllStatisticsWmStates() const;
+
258
+
275 void executeNoResult(const std::string & sql) const;
+
276
+
282 // Load objects
+
283 void load(VWDictionary & dictionary, bool lastStateOnly = true, bool idsOnly = false) const;
+
284 void loadLastNodes(std::list<Signature *> & signatures, bool loadWordIdsOnly = false) const; // returned signatures must be freed after usage
+
286 Signature * loadSignature(int id, bool * loadedFromTrash = 0); // returned signature must be freed after usage, call loadSignatures() instead if more than one signature should be loaded
+
287 void loadSignatures(const std::list<int> & ids, std::list<Signature *> & signatures, std::set<int> * loadedFromTrash = 0, bool loadWordIdsOnly = false); // returned signatures must be freed after usage
+
288 void loadWords(const std::set<int> & wordIds, std::list<VisualWord *> & vws); // returned words must be freed after usage
+
289
+
290 // Specific queries...
+
291 void loadNodeData(Signature & signature, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
+
292 void loadNodeData(std::list<Signature *> & signatures, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
+
293 void getNodeData(int signatureId, SensorData & data, bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true) const;
+
294 bool getCalibration(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const;
+
295 bool getLaserScanInfo(int signatureId, LaserScan & info) const;
+
296 bool getNodeInfo(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const;
+
297 void getLocalFeatures(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const;
+
299 void loadLinks(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const;
+
300 void getWeight(int signatureId, int & weight) const;
+
301 void getLastNodeIds(std::set<int> & ids) const;
+
302 void getAllNodeIds(std::set<int> & ids, bool ignoreChildren = false, bool ignoreBadSignatures = false, bool ignoreIntermediateNodes = false) const;
+
303 void getAllOdomPoses(std::map<int, Transform> & poses, bool ignoreChildren = false, bool ignoreIntermediateNodes = false) const;
+
304 void getAllLinks(std::multimap<int, Link> & links, bool ignoreNullLinks = true, bool withLandmarks = false) const;
+
305 void getLastNodeId(int & id) const;
+
306 void getLastMapId(int & mapId) const;
+
307 void getLastWordId(int & id) const;
+
308 void getInvertedIndexNi(int signatureId, int & ni) const;
+
309 void getNodesObservingLandmark(int landmarkId, std::map<int, Link> & nodes) const;
+
310 void getNodeIdByLabel(const std::string & label, int & id) const;
+
311 void getAllLabels(std::map<int, std::string> & labels) const;
+
314protected:
+
318 DBDriver(const ParametersMap & parameters = ParametersMap());
+
319
+
324 virtual bool connectDatabaseQuery(const std::string & url, bool overwritten = false, bool readOnly = false) = 0;
+
325 virtual void disconnectDatabaseQuery(bool save = true, const std::string & outputUrl = "") = 0;
+
326 virtual bool isConnectedQuery() const = 0;
+
327 virtual unsigned long getMemoryUsedQuery() const = 0; // In bytes
+
328 virtual bool getDatabaseVersionQuery(std::string & version) const = 0;
+
329 virtual long getNodesMemoryUsedQuery() const = 0;
+
330 virtual long getLinksMemoryUsedQuery() const = 0;
+
331 virtual long getImagesMemoryUsedQuery() const = 0;
+
332 virtual long getDepthImagesMemoryUsedQuery() const = 0;
+
333 virtual long getCalibrationsMemoryUsedQuery() const = 0;
+
334 virtual long getGridsMemoryUsedQuery() const = 0;
+
335 virtual long getLaserScansMemoryUsedQuery() const = 0;
+
336 virtual long getUserDataMemoryUsedQuery() const = 0;
+
337 virtual long getWordsMemoryUsedQuery() const = 0;
+
338 virtual long getFeaturesMemoryUsedQuery() const = 0;
+
339 virtual long getStatisticsMemoryUsedQuery() const = 0;
+
340 virtual int getLastNodesSizeQuery() const = 0;
+
341 virtual int getLastDictionarySizeQuery() const = 0;
+
342 virtual int getTotalNodesSizeQuery() const = 0;
+
343 virtual int getTotalDictionarySizeQuery() const = 0;
+
344 virtual ParametersMap getLastParametersQuery() const = 0;
+
345 virtual std::map<std::string, float> getStatisticsQuery(int nodeId, double & stamp, std::vector<int> * wmState) const = 0;
+
346 virtual std::map<int, std::pair<std::map<std::string, float>, double> > getAllStatisticsQuery() const = 0;
+
347 virtual std::map<int, std::vector<int> > getAllStatisticsWmStatesQuery() const = 0;
+
348
+
349 virtual void executeNoResultQuery(const std::string & sql) const = 0;
+
350
+
351 virtual void getWeightQuery(int signatureId, int & weight) const = 0;
+
352
+
353 virtual void saveQuery(const std::list<Signature *> & signatures) = 0;
+
354 virtual void saveQuery(const std::list<VisualWord *> & words) const = 0;
+
355 virtual void updateQuery(const std::list<Signature *> & signatures, bool updateTimestamp) const = 0;
+
356 virtual void updateQuery(const std::list<VisualWord *> & words, bool updateTimestamp) const = 0;
+
357
+
358 virtual void addLinkQuery(const Link & link) const = 0;
+
359 virtual void updateLinkQuery(const Link & link) const = 0;
+
360
+
361 virtual void updateOccupancyGridQuery(
+
362 int nodeId,
+
363 const cv::Mat & ground,
+
364 const cv::Mat & obstacles,
+
365 const cv::Mat & empty,
+
366 float cellSize,
+
367 const cv::Point3f & viewpoint) const = 0;
+
368
+
369 virtual void updateCalibrationQuery(
+
370 int nodeId,
+
371 const std::vector<CameraModel> & models,
+
372 const std::vector<StereoCameraModel> & stereoModels) const = 0;
+
373
+
374 virtual void updateDepthImageQuery(
+
375 int nodeId,
+
376 const cv::Mat & image,
+
377 const std::string & format) const = 0;
+
378
+
379 virtual void updateLaserScanQuery(
+
380 int nodeId,
+
381 const LaserScan & scan) const = 0;
+
382
+
383 virtual void addStatisticsQuery(const Statistics & statistics, bool saveWmState) const = 0;
+
384 virtual void savePreviewImageQuery(const cv::Mat & image) const = 0;
+
385 virtual cv::Mat loadPreviewImageQuery() const = 0;
+
386 virtual void saveOptimizedPosesQuery(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const = 0;
+
387 virtual std::map<int, Transform> loadOptimizedPosesQuery(Transform * lastlocalizationPose = 0) const = 0;
+
388 virtual void save2DMapQuery(const cv::Mat & map, float xMin, float yMin, float cellSize) const = 0;
+
389 virtual cv::Mat load2DMapQuery(float & xMin, float & yMin, float & cellSize) const = 0;
+
390 virtual void saveOptimizedMeshQuery(
+
391 const cv::Mat & cloud,
+
392 const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,
+
393#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+
394 const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
+
395#else
+
396 const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
+
397#endif
+
398 const cv::Mat & textures) const = 0;
+
399 virtual cv::Mat loadOptimizedMeshQuery(
+
400 std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons,
+
401#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+
402 std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords,
+
403#else
+
404 std::vector<std::vector<Eigen::Vector2f> > * texCoords,
+
405#endif
+
406 cv::Mat * textures) const = 0;
+
407 virtual void saveFlannIndexQuery(const std::vector<unsigned char> & indexData) const = 0;
+
408
+
409 // Load objects
+
410 virtual void loadQuery(VWDictionary & dictionary, bool lastStateOnly = true, bool idsOnly = false) const = 0;
+
411 virtual void loadLastNodesQuery(std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
+
412 virtual void loadSignaturesQuery(const std::list<int> & ids, std::list<Signature *> & signatures, bool loadWordIdsOnly) const = 0;
+
413 virtual void loadWordsQuery(const std::set<int> & wordIds, std::list<VisualWord *> & vws) const = 0;
+
414 virtual void loadLinksQuery(int signatureId, std::multimap<int, Link> & links, Link::Type type = Link::kUndef) const = 0;
+
415
+
416 virtual void loadNodeDataQuery(std::list<Signature *> & signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const = 0;
+
417 virtual bool getCalibrationQuery(int signatureId, std::vector<CameraModel> & models, std::vector<StereoCameraModel> & stereoModels) const = 0;
+
418 virtual bool getLaserScanInfoQuery(int signatureId, LaserScan & info) const = 0;
+
419 virtual bool getNodeInfoQuery(int signatureId, Transform & pose, int & mapId, int & weight, std::string & label, double & stamp, Transform & groundTruthPose, std::vector<float> & velocity, GPS & gps, EnvSensors & sensors) const = 0;
+
420 virtual void getLocalFeaturesQuery(int signatureId, std::multimap<int, int> & words, std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & points, cv::Mat & descriptors) const = 0;
+
421 virtual void getLastNodeIdsQuery(std::set<int> & ids) const = 0;
+
422 virtual void getAllNodeIdsQuery(std::set<int> & ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const = 0;
+
423 virtual void getAllOdomPosesQuery(std::map<int, Transform> & poses, bool ignoreChildren, bool ignoreIntermediateNodes) const = 0;
+
424 virtual void getAllLinksQuery(std::multimap<int, Link> & links, bool ignoreNullLinks, bool withLandmarks) const = 0;
+
425 virtual void getLastIdQuery(const std::string & tableName, int & id, const std::string & fieldName="id") const = 0;
+
426 virtual void getInvertedIndexNiQuery(int signatureId, int & ni) const = 0;
+
427 virtual void getNodesObservingLandmarkQuery(int landmarkId, std::map<int, Link> & nodes) const = 0;
+
428 virtual void getNodeIdByLabelQuery(const std::string & label, int & id) const = 0;
+
429 virtual void getAllLabelsQuery(std::map<int, std::string> & labels) const = 0;
+
432private:
+
434 void beginTransaction() const;
+
436 void commit() const;
+
437
+
438 //non-abstract methods
+
439 void saveOrUpdate(const std::vector<Signature *> & signatures);
+
440 void saveOrUpdate(const std::vector<VisualWord *> & words) const;
+
441
+
442 //thread stuff
+
443 virtual void mainLoop();
+
444
+
445private:
+
446 UMutex _transactionMutex;
+
447 std::map<int, Signature *> _trashSignatures;//<id, Signature*>
+
448 std::map<int, VisualWord *> _trashVisualWords; //<id, VisualWord*>
+
449 UMutex _trashesMutex;
+
450 UMutex _dbSafeAccessMutex;
+
451 USemaphore _addSem;
+
452 double _emptyTrashesTime;
+
453 std::string _url;
+
454 std::string _targetVersion;
+
455 bool _timestampUpdate;
+
456};
+
+
457
+
458}
+
459
+
460#endif /* DBDRIVER_H_ */
+ + + +
rtabmap::DBDriver
Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).
Definition DBDriver.h:72
+
rtabmap::DBDriver::loadSignature
Signature * loadSignature(int id, bool *loadedFromTrash=0)
Load one signature by id; caller must delete the returned pointer.
+
rtabmap::DBDriver::isInMemory
virtual bool isInMemory() const
True when no database file URL was set at open time.
Definition DBDriver.h:90
+
rtabmap::DBDriver::create
static DBDriver * create(const ParametersMap &parameters=ParametersMap())
Factory: returns a SQLite database driver (DBDriverSqlite3).
+
rtabmap::DBDriver::saveOptimizedMesh
void saveOptimizedMesh(const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) const
Persist the global optimized 3D mesh to the database.
+
rtabmap::DBDriver::updateOccupancyGrid
void updateOccupancyGrid(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint)
Update occupancy grid cells for a node.
+
rtabmap::DBDriver::saveFlannIndex
void saveFlannIndex(const std::vector< unsigned char > &indexData) const
Persist the visual word dictionary FLANN index (serialized blob).
+
rtabmap::DBDriver::updateDepthImage
void updateDepthImage(int nodeId, const cv::Mat &image, const std::string &format)
Update the depth image stored for a node.
+
rtabmap::DBDriver::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parse driver parameters from the map (e.g. target schema version).
+
rtabmap::DBDriver::getTargetVersion
const std::string & getTargetVersion() const
Definition DBDriver.h:94
+
rtabmap::DBDriver::addStatistics
void addStatistics(const Statistics &statistics, bool saveWmState) const
Append a Statistics record for a processed node.
+
rtabmap::DBDriver::save2DMap
void save2DMap(const cv::Mat &map, float xMin, float yMin, float cellSize) const
Save the assembled 2D occupancy grid and its origin metadata.
+
rtabmap::DBDriver::DBDriver
DBDriver(const ParametersMap &parameters=ParametersMap())
Protected constructor for subclasses.
+
rtabmap::DBDriver::updateCalibration
void updateCalibration(int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels)
Update camera calibration stored for a node.
+
rtabmap::DBDriver::loadOptimizedPoses
std::map< int, Transform > loadOptimizedPoses(Transform *lastlocalizationPose=0) const
Load optimized poses; optional last localization pose output.
+
rtabmap::DBDriver::getUrl
const std::string & getUrl() const
Definition DBDriver.h:92
+
rtabmap::DBDriver::isConnected
bool isConnected() const
+
rtabmap::DBDriver::removeLink
void removeLink(int from, int to)
Remove a link between two nodes.
+
rtabmap::DBDriver::updateLaserScan
void updateLaserScan(int nodeId, const LaserScan &scan)
Update the laser scan stored for a node.
+
rtabmap::DBDriver::savePreviewImage
void savePreviewImage(const cv::Mat &image) const
Save the map preview thumbnail in the Admin table.
+
rtabmap::DBDriver::executeNoResult
void executeNoResult(const std::string &sql) const
Run a SQL statement that does not return result rows.
+
rtabmap::DBDriver::asyncSave
void asyncSave(VisualWord *vw)
Queue a visual word for deferred save; ownership is transferred.
+
rtabmap::DBDriver::updateLink
void updateLink(const Link &link)
Update an existing link in the database.
+
rtabmap::DBDriver::getDatabaseVersion
std::string getDatabaseVersion() const
+
rtabmap::DBDriver::loadPreviewImage
cv::Mat loadPreviewImage() const
Load and uncompress the map preview thumbnail from the Admin table.
+
rtabmap::DBDriver::load2DMap
cv::Mat load2DMap(float &xMin, float &yMin, float &cellSize) const
Load the 2D map and fill origin/cell size outputs.
+
rtabmap::DBDriver::loadLinks
void loadLinks(int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const
Load outgoing links from signatureId, optionally filtered by type.
+
rtabmap::DBDriver::emptyTrashes
void emptyTrashes(bool async=false)
Flush queued signatures and visual words to the database.
+
rtabmap::DBDriver::saveOptimizedPoses
void saveOptimizedPoses(const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const
Persist graph-optimized poses and last localization pose.
+
rtabmap::DBDriver::closeConnection
void closeConnection(bool save=true, const std::string &outputUrl="")
Close the connection; optionally flush trashes and save in-memory DB to outputUrl.
+
rtabmap::DBDriver::generateGraph
void generateGraph(const std::string &fileName, const std::set< int > &ids=std::set< int >(), const std::map< int, Signature * > &otherSignatures=std::map< int, Signature * >())
Export the pose graph to a Graphviz DOT file for visualization.
+
rtabmap::DBDriver::openConnection
bool openConnection(const std::string &url, bool overwritten=false, bool readOnly=false)
Open or create the database at url (empty url uses an in-memory database).
+
rtabmap::DBDriver::addLink
void addLink(const Link &link)
Insert or replace a link in the database.
+
rtabmap::DBDriver::asyncSave
void asyncSave(Signature *s)
Queue a signature for deferred save; ownership is transferred.
+
rtabmap::GPS
WGS84 GPS fix attached to a sensor sample or graph node.
Definition GPS.h:47
+
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
+ + +
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+
rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:66
+
rtabmap::VisualWord
Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.
Definition VisualWord.h:50
+ +
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/DBReader_8h_source.html b/preview/pr-1492/api/latest/DBReader_8h_source.html new file mode 100644 index 00000000..c82cddbc --- /dev/null +++ b/preview/pr-1492/api/latest/DBReader_8h_source.html @@ -0,0 +1,240 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/DBReader.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
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+
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+
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+
DBReader.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef DBREADER_H_
+
29#define DBREADER_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/utilite/UTimer.h>
+
34#include <rtabmap/core/Transform.h>
+
35#include <rtabmap/core/Camera.h>
+
36
+
37#include <opencv2/core/core.hpp>
+
38
+
39#include <set>
+
40#include <list>
+
41
+
42namespace rtabmap {
+
43
+
44class DBDriver;
+
45
+
+
46class RTABMAP_CORE_EXPORT DBReader : public Camera {
+
47public:
+
48 DBReader(const std::string & databasePath,
+
49 float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
+
50 bool odometryIgnored = false,
+
51 bool ignoreGoalDelay = false,
+
52 bool goalsIgnored = false,
+
53 int startId = 0,
+
54 const std::vector<unsigned int> & cameraIndices = std::vector<unsigned int>(),
+
55 int stopId = 0,
+
56 bool intermediateNodesIgnored = false,
+
57 bool landmarksIgnored = false,
+
58 bool featuresIgnored = false,
+
59 int startMapId = 0,
+
60 int stopMapId = -1,
+
61 bool priorsIgnored = false,
+
62 bool imuIgnored = false,
+
63 bool intermediateNodesAreNormalNodes = false,
+
64 const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
+
65 DBReader(const std::list<std::string> & databasePaths,
+
66 float frameRate = 0.0f, // -1 = use Database stamps, 0 = inf
+
67 bool odometryIgnored = false,
+
68 bool ignoreGoalDelay = false,
+
69 bool goalsIgnored = false,
+
70 int startId = 0,
+
71 const std::vector<unsigned int> & cameraIndices = std::vector<unsigned int>(),
+
72 int stopId = 0,
+
73 bool intermediateNodesIgnored = false,
+
74 bool landmarksIgnored = false,
+
75 bool featuresIgnored = false,
+
76 int startMapId = 0,
+
77 int stopMapId = -1,
+
78 bool priorsIgnored = false,
+
79 bool imuIgnored = false,
+
80 bool intermediateNodesAreNormalNodes = false,
+
81 const std::vector<Transform> & cameraLocalTransformOverrides = std::vector<Transform>());
+
82 virtual ~DBReader();
+
83
+
84 virtual bool init(
+
85 const std::string & calibrationFolder = ".",
+
86 const std::string & cameraName = "");
+
87
+
88 virtual bool isCalibrated() const;
+
89 virtual std::string getSerial() const;
+
90 virtual bool odomProvided() const {return !_odometryIgnored;}
+
91 virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.06);
+
92
+
93 const DBDriver * driver() const {return _dbDriver;}
+
94
+
95protected:
+
96 virtual SensorData captureImage(SensorCaptureInfo * info = 0);
+
97
+
98private:
+
99 SensorData getNextData(SensorCaptureInfo * info = 0);
+
100 void checkArguments();
+
101
+
102private:
+
103 std::list<std::string> _paths;
+
104 bool _odometryIgnored;
+
105 bool _ignoreGoalDelay;
+
106 bool _goalsIgnored;
+
107 int _startId;
+
108 int _stopId;
+
109 std::vector<unsigned int> _cameraIndices;
+
110 bool _intermediateNodesIgnored;
+
111 bool _intermediateNodesAreNormalNodes;
+
112 bool _landmarksIgnored;
+
113 bool _featuresIgnored;
+
114 bool _priorsIgnored;
+
115 bool _imuIgnored;
+
116 int _startMapId;
+
117 int _stopMapId;
+
118 std::vector<Transform> _cameraLocalTransformOverrides;
+
119
+
120 DBDriver * _dbDriver;
+
121 UTimer _timer;
+
122 std::set<int> _ids;
+
123 std::set<int>::iterator _currentId;
+
124 int _previousMapId;
+
125 cv::Mat _previousInfMatrix;
+
126 double _previousStamp;
+
127 int _previousMapID;
+
128 bool _calibrated;
+
129};
+
+
130
+
131} /* namespace rtabmap */
+
132#endif /* DBREADER_H_ */
+ + +
rtabmap::DBDriver
Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).
Definition DBDriver.h:72
+ +
rtabmap::DBReader::odomProvided
virtual bool odomProvided() const
Checks if the sensor provides odometry poses.
Definition DBReader.h:90
+
rtabmap::DBReader::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
+
rtabmap::DBReader::getPose
virtual bool getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
Gets the sensor's pose estimate at a specific timestamp.
+
rtabmap::DBReader::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
+
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/EnvSensor_8h_source.html b/preview/pr-1492/api/latest/EnvSensor_8h_source.html new file mode 100644 index 00000000..2631a5a1 --- /dev/null +++ b/preview/pr-1492/api/latest/EnvSensor_8h_source.html @@ -0,0 +1,204 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/EnvSensor.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
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+
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+
+
+
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+
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+
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+ + +
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+
EnvSensor.h
+
+
+
1/*
+
2Copyright (c) 2010-2018, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_INCLUDE_RTABMAP_CORE_ENVSENSOR_H_
+
29#define CORELIB_INCLUDE_RTABMAP_CORE_ENVSENSOR_H_
+
30
+
31#include <map>
+
32
+
33namespace rtabmap {
+
34
+
+
50class EnvSensor
+
51{
+
52public:
+
+
59 enum Type {
+
60 kUndefined = 0,
+
61 kWifiSignalStrength,
+
62 kAmbientTemperature,
+
63 kAmbientAirPressure,
+
64 kAmbientLight,
+
65 kAmbientRelativeHumidity,
+
66
+
67 kCustomSensor1 = 100,
+
68 kCustomSensor2,
+
69 kCustomSensor3,
+
70 kCustomSensor4,
+
71 kCustomSensor5,
+
72 kCustomSensor6,
+
73 kCustomSensor7,
+
74 kCustomSensor8,
+
75 kCustomSensor9
+
76 };
+
+
77
+
78public:
+
+
80 EnvSensor() :
+
81 type_(kUndefined),
+
82 value_(0.0),
+
83 stamp_(0.0)
+
84 {}
+
+
85
+
+
92 EnvSensor(const Type & type, const double & value,const double & stamp = 0) :
+
93 type_(type),
+
94 value_(value),
+
95 stamp_(stamp)
+
96 {}
+
+
97
+
98 virtual ~EnvSensor() {}
+
99
+
101 const Type & type() const {return type_;}
+
103 const double & value() const {return value_;}
+
105 const double & stamp() const {return stamp_;}
+
106
+
107private:
+
108 Type type_;
+
109 double value_;
+
110 double stamp_;
+
111};
+
+
112
+
114typedef std::map<EnvSensor::Type, EnvSensor> EnvSensors;
+
115
+
116}
+
117
+
118#endif /* CORELIB_INCLUDE_RTABMAP_CORE_ENVSENSOR_H_ */
+
rtabmap::EnvSensor
Single environmental measurement (type, value, timestamp).
Definition EnvSensor.h:51
+
rtabmap::EnvSensor::stamp
const double & stamp() const
Definition EnvSensor.h:105
+
rtabmap::EnvSensor::Type
Type
Environmental sensor channel identifier.
Definition EnvSensor.h:59
+
rtabmap::EnvSensor::kWifiSignalStrength
@ kWifiSignalStrength
Wi‑Fi signal strength (dBm).
Definition EnvSensor.h:61
+
rtabmap::EnvSensor::kAmbientAirPressure
@ kAmbientAirPressure
Ambient air pressure (hPa).
Definition EnvSensor.h:63
+
rtabmap::EnvSensor::kAmbientRelativeHumidity
@ kAmbientRelativeHumidity
Relative humidity (%).
Definition EnvSensor.h:65
+
rtabmap::EnvSensor::kCustomSensor1
@ kCustomSensor1
User-defined sensor slot 1.
Definition EnvSensor.h:67
+
rtabmap::EnvSensor::kAmbientLight
@ kAmbientLight
Ambient illuminance (lx).
Definition EnvSensor.h:64
+
rtabmap::EnvSensor::kAmbientTemperature
@ kAmbientTemperature
Ambient temperature (°C).
Definition EnvSensor.h:62
+
rtabmap::EnvSensor::kUndefined
@ kUndefined
Uninitialized / unknown channel.
Definition EnvSensor.h:60
+
rtabmap::EnvSensor::value
const double & value() const
Definition EnvSensor.h:103
+
rtabmap::EnvSensor::EnvSensor
EnvSensor()
Default constructor: kUndefined type, zero value and stamp.
Definition EnvSensor.h:80
+
rtabmap::EnvSensor::EnvSensor
EnvSensor(const Type &type, const double &value, const double &stamp=0)
Constructs a reading with the given type, value, and optional stamp.
Definition EnvSensor.h:92
+
rtabmap::EnvSensor::type
const Type & type() const
Definition EnvSensor.h:101
+ +
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/EpipolarGeometry_8h_source.html b/preview/pr-1492/api/latest/EpipolarGeometry_8h_source.html new file mode 100644 index 00000000..81419796 --- /dev/null +++ b/preview/pr-1492/api/latest/EpipolarGeometry_8h_source.html @@ -0,0 +1,351 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/EpipolarGeometry.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+ + +
+
+
EpipolarGeometry.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
31#include "rtabmap/core/Parameters.h"
+
32#include "rtabmap/utilite/UStl.h"
+
33#include <opencv2/core/core.hpp>
+
34#if CV_MAJOR_VERSION < 5
+
35#include <opencv2/features2d/features2d.hpp>
+
36#else
+
37#include <opencv2/features.hpp>
+
38#endif
+
39#include <pcl/point_cloud.h>
+
40#include <pcl/point_types.h>
+
41#include <list>
+
42#include <vector>
+
43
+
44namespace rtabmap
+
45{
+
46
+
47class Signature;
+
48
+
+
49class RTABMAP_CORE_EXPORT EpipolarGeometry
+
50{
+
51public:
+
52 EpipolarGeometry(const ParametersMap & parameters = ParametersMap());
+
53 virtual ~EpipolarGeometry();
+
54 bool check(const Signature * ssA, const Signature * ssB);
+
55 void parseParameters(const ParametersMap & parameters);
+
56
+
57 int getMatchCountMinAccepted() const {return _matchCountMinAccepted;}
+
58 double getRansacParam1() const {return _ransacParam1;}
+
59 double getRansacParam2() const {return _ransacParam2;}
+
60
+
61 void setMatchCountMinAccepted(int matchCountMinAccepted) {_matchCountMinAccepted = matchCountMinAccepted;}
+
62 void setRansacParam1(double ransacParam1) {_ransacParam1 = ransacParam1;}
+
63 void setRansacParam2(double ransacParam2) {_ransacParam2 = ransacParam2;}
+
64
+
65
+
66 // STATIC STUFF
+
67 //epipolar geometry
+
68 static void findEpipolesFromF(
+
69 const cv::Mat & fundamentalMatrix,
+
70 cv::Vec3d & e1,
+
71 cv::Vec3d & e2);
+
72
+
73 static cv::Mat findPFromE(
+
74 const cv::Mat & E,
+
75 const cv::Mat & x,
+
76 const cv::Mat & xp);
+
77
+
78 // return fundamental matrix
+
79 // status -> inliers = 1, outliers = 0
+
80 static cv::Mat findFFromWords(
+
81 const std::list<std::pair<int, std::pair<cv::KeyPoint, cv::KeyPoint> > > & pairs, // id, kpt1, kpt2
+
82 std::vector<uchar> & status,
+
83 double ransacReprojThreshold = 3.0,
+
84 double ransacConfidence = 0.99);
+
85
+
86 // assume a canonical camera (without K)
+
87 static void findRTFromP(
+
88 const cv::Mat & p,
+
89 cv::Mat & r,
+
90 cv::Mat & t);
+
91
+
92 static cv::Mat findFFromCalibratedStereoCameras(double fx, double fy, double cx, double cy, double Tx, double Ty);
+
93
+
94
+
99 template<typename T>
+
+
100 static int findPairs(
+
101 const std::map<int, T> & wordsA,
+
102 const std::map<int, T> & wordsB,
+
103 std::list<std::pair<int, std::pair<T, T> > > & pairs,
+
104 bool ignoreNegativeIds = true)
+
105 {
+
106 int realPairsCount = 0;
+
107 pairs.clear();
+
108 for(typename std::map<int, T>::const_iterator i=wordsA.begin(); i!=wordsA.end(); ++i)
+
109 {
+
110 if(!ignoreNegativeIds || (ignoreNegativeIds && i->first>=0))
+
111 {
+
112 std::map<int, cv::KeyPoint>::const_iterator ptB = wordsB.find(i->first);
+
113 if(ptB != wordsB.end())
+
114 {
+
115 pairs.push_back(std::pair<int, std::pair<T, T> >(i->first, std::make_pair(i->second, ptB->second)));
+
116 ++realPairsCount;
+
117 }
+
118 }
+
119 }
+
120 return realPairsCount;
+
121 }
+
+
122
+
127 template<typename T>
+
+
128 static int findPairs(
+
129 const std::multimap<int, T> & wordsA,
+
130 const std::multimap<int, T> & wordsB,
+
131 std::list<std::pair<int, std::pair<T, T> > > & pairs,
+
132 bool ignoreNegativeIds = true)
+
133 {
+
134 const std::list<int> & ids = uUniqueKeys(wordsA);
+
135 typename std::multimap<int, T>::const_iterator iterA;
+
136 typename std::multimap<int, T>::const_iterator iterB;
+
137 pairs.clear();
+
138 int realPairsCount = 0;
+
139 for(std::list<int>::const_iterator i=ids.begin(); i!=ids.end(); ++i)
+
140 {
+
141 if(!ignoreNegativeIds || (ignoreNegativeIds && *i >= 0))
+
142 {
+
143 iterA = wordsA.find(*i);
+
144 iterB = wordsB.find(*i);
+
145 while(iterA != wordsA.end() && iterB != wordsB.end() && (*iterA).first == (*iterB).first && (*iterA).first == *i)
+
146 {
+
147 pairs.push_back(std::pair<int, std::pair<T, T> >(*i, std::make_pair((*iterA).second, (*iterB).second)));
+
148 ++iterA;
+
149 ++iterB;
+
150 ++realPairsCount;
+
151 }
+
152 }
+
153 }
+
154 return realPairsCount;
+
155 }
+
+
156
+
161 template<typename T>
+
+
162 static int findPairsUnique(
+
163 const std::multimap<int, T> & wordsA,
+
164 const std::multimap<int, T> & wordsB,
+
165 std::list<std::pair<int, std::pair<T, T> > > & pairs,
+
166 bool ignoreNegativeIds = true)
+
167 {
+
168 const std::list<int> & ids = uUniqueKeys(wordsA);
+
169 int realPairsCount = 0;
+
170 pairs.clear();
+
171 for(std::list<int>::const_iterator i=ids.begin(); i!=ids.end(); ++i)
+
172 {
+
173 if(!ignoreNegativeIds || (ignoreNegativeIds && *i>=0))
+
174 {
+
175 std::list<T> ptsA = uValues(wordsA, *i);
+
176 std::list<T> ptsB = uValues(wordsB, *i);
+
177 if(ptsA.size() == 1 && ptsB.size() == 1)
+
178 {
+
179 pairs.push_back(std::pair<int, std::pair<T, T> >(*i, std::pair<T, T>(ptsA.front(), ptsB.front())));
+
180 ++realPairsCount;
+
181 }
+
182 else if(ptsA.size()>1 && ptsB.size()>1)
+
183 {
+
184 // just update the count
+
185 realPairsCount += ptsA.size() > ptsB.size() ? ptsB.size() : ptsA.size();
+
186 }
+
187 }
+
188 }
+
189 return realPairsCount;
+
190 }
+
+
191
+
196 template<typename T>
+
+
197 static int findPairsAll(
+
198 const std::multimap<int, T> & wordsA,
+
199 const std::multimap<int, T> & wordsB,
+
200 std::list<std::pair<int, std::pair<T, T> > > & pairs,
+
201 bool ignoreNegativeIds = true)
+
202 {
+
203 const std::list<int> & ids = uUniqueKeys(wordsA);
+
204 pairs.clear();
+
205 int realPairsCount = 0;;
+
206 for(std::list<int>::const_iterator iter=ids.begin(); iter!=ids.end(); ++iter)
+
207 {
+
208 if(!ignoreNegativeIds || (ignoreNegativeIds && *iter>=0))
+
209 {
+
210 std::list<T> ptsA = uValues(wordsA, *iter);
+
211 std::list<T> ptsB = uValues(wordsB, *iter);
+
212
+
213 realPairsCount += ptsA.size() > ptsB.size() ? ptsB.size() : ptsA.size();
+
214
+
215 for(typename std::list<T>::iterator jter=ptsA.begin(); jter!=ptsA.end(); ++jter)
+
216 {
+
217 for(typename std::list<T>::iterator kter=ptsB.begin(); kter!=ptsB.end(); ++kter)
+
218 {
+
219 pairs.push_back(std::pair<int, std::pair<T, T> >(*iter, std::pair<T, T>(*jter, *kter)));
+
220 }
+
221 }
+
222 }
+
223 }
+
224 return realPairsCount;
+
225 }
+
+
226
+
227 static cv::Mat linearLSTriangulation(
+
228 cv::Point3d u, //homogenous image point (u,v,1)
+
229 cv::Matx34d P, //camera 1 matrix 3x4 double
+
230 cv::Point3d u1, //homogenous image point in 2nd camera
+
231 cv::Matx34d P1); //camera 2 matrix 3x4 double
+
232
+
233 static cv::Mat iterativeLinearLSTriangulation(
+
234 cv::Point3d u, //homogenous image point (u,v,1)
+
235 const cv::Matx34d & P, //camera 1 matrix 3x4 double
+
236 cv::Point3d u1, //homogenous image point in 2nd camera
+
237 const cv::Matx34d & P1); //camera 2 matrix 3x4 double
+
238
+
239 static double triangulatePoints(
+
240 const cv::Mat& pt_set1, //2xN double
+
241 const cv::Mat& pt_set2, //2xN double
+
242 const cv::Mat& P, // 3x4 double
+
243 const cv::Mat& P1, // 3x4 double
+
244 pcl::PointCloud<pcl::PointXYZ>::Ptr & pointcloud,
+
245 std::vector<double> & reproj_errors);
+
246
+
247private:
+
248 int _matchCountMinAccepted;
+
249 double _ransacParam1;
+
250 double _ransacParam2;
+
251};
+
+
252
+
253} // namespace rtabmap
+
UStl.h
Wrappers of STL for convenient functions.
+
uUniqueKeys
std::list< K > uUniqueKeys(const std::multimap< K, V > &mm)
Definition UStl.h:46
+
uValues
std::vector< V > uValues(const std::multimap< K, V > &mm)
Definition UStl.h:100
+ +
rtabmap::EpipolarGeometry::findPairsUnique
static int findPairsUnique(const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
Definition EpipolarGeometry.h:162
+
rtabmap::EpipolarGeometry::findPairs
static int findPairs(const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
Definition EpipolarGeometry.h:128
+
rtabmap::EpipolarGeometry::findPairs
static int findPairs(const std::map< int, T > &wordsA, const std::map< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
Definition EpipolarGeometry.h:100
+
rtabmap::EpipolarGeometry::findPairsAll
static int findPairsAll(const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
Definition EpipolarGeometry.h:197
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Features2d_8h_source.html b/preview/pr-1492/api/latest/Features2d_8h_source.html new file mode 100644 index 00000000..1d65a96d --- /dev/null +++ b/preview/pr-1492/api/latest/Features2d_8h_source.html @@ -0,0 +1,896 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Features2d.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
Features2d.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef FEATURES2D_H_
+
29#define FEATURES2D_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <opencv2/highgui/highgui.hpp>
+
34#include <opencv2/core/core.hpp>
+
35#if CV_MAJOR_VERSION < 5
+
36#include <opencv2/features2d/features2d.hpp>
+
37#else
+
38#include <opencv2/features.hpp>
+
39#endif
+
40#include <list>
+
41#include <numeric>
+
42#include "rtabmap/core/Parameters.h"
+
43#include "rtabmap/core/SensorData.h"
+
44
+
45#if CV_MAJOR_VERSION < 3
+
46namespace cv{
+
47class SURF;
+
48class SIFT;
+
49namespace gpu {
+
50 class SURF_GPU;
+
51 class ORB_GPU;
+
52 class FAST_GPU;
+
53 class GoodFeaturesToTrackDetector_GPU;
+
54}
+
55}
+
56typedef cv::SIFT CV_SIFT;
+
57typedef cv::SURF CV_SURF;
+
58typedef cv::FastFeatureDetector CV_FAST;
+
59typedef cv::FREAK CV_FREAK;
+
60typedef cv::GFTTDetector CV_GFTT;
+
61typedef cv::BriefDescriptorExtractor CV_BRIEF;
+
62typedef cv::BRISK CV_BRISK;
+
63typedef cv::gpu::SURF_GPU CV_SURF_GPU;
+
64typedef cv::gpu::ORB_GPU CV_ORB_GPU;
+
65typedef cv::gpu::FAST_GPU CV_FAST_GPU;
+
66typedef cv::gpu::GoodFeaturesToTrackDetector_GPU CV_GFTT_GPU;
+
67#else
+
68namespace cv{
+
69namespace xfeatures2d {
+
70class FREAK;
+
71class DAISY;
+
72class BriefDescriptorExtractor;
+
73#if (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
+
74class SIFT;
+
75#endif
+
76class SURF;
+
77#if (CV_MAJOR_VERSION == 5)
+
78class BRISK;
+
79class KAZE;
+
80#endif
+
81}
+
82namespace cuda {
+
83class FastFeatureDetector;
+
84class ORB;
+
85class SURF_CUDA;
+
86class CornersDetector;
+
87}
+
88}
+
89#if (CV_MAJOR_VERSION == 4 && CV_MINOR_VERSION <= 3) || (CV_MAJOR_VERSION == 3 && (CV_MINOR_VERSION < 4 || (CV_MINOR_VERSION==4 && CV_SUBMINOR_VERSION<11)))
+
90typedef cv::xfeatures2d::SIFT CV_SIFT;
+
91#else
+
92typedef cv::SIFT CV_SIFT; // SIFT is back in features2d since 4.4.0 / 3.4.11
+
93#endif
+
94typedef cv::xfeatures2d::SURF CV_SURF;
+
95typedef cv::FastFeatureDetector CV_FAST;
+
96typedef cv::xfeatures2d::FREAK CV_FREAK;
+
97typedef cv::xfeatures2d::DAISY CV_DAISY;
+
98typedef cv::GFTTDetector CV_GFTT;
+
99typedef cv::xfeatures2d::BriefDescriptorExtractor CV_BRIEF;
+
100#if (CV_MAJOR_VERSION < 5)
+
101typedef cv::BRISK CV_BRISK;
+
102typedef cv::KAZE CV_KAZE;
+
103#else
+
104typedef cv::xfeatures2d::BRISK CV_BRISK;
+
105typedef cv::xfeatures2d::KAZE CV_KAZE;
+
106#endif
+
107typedef cv::ORB CV_ORB;
+
108typedef cv::cuda::SURF_CUDA CV_SURF_GPU;
+
109typedef cv::cuda::ORB CV_ORB_GPU;
+
110typedef cv::cuda::FastFeatureDetector CV_FAST_GPU;
+
111typedef cv::cuda::CornersDetector CV_GFTT_GPU;
+
112#endif
+
113
+
114// CudaSift fork: https://github.com/matlabbe/CudaSift
+
115class SiftData;
+
116
+
117namespace rtabmap {
+
118
+
119class ORBextractor;
+
120class SPDetector;
+
121class SPDetectorRpautrat;
+
122
+
123class Stereo;
+
124#if CV_MAJOR_VERSION < 3
+
125class CV_ORB;
+
126#endif
+
127
+
+
145class RTABMAP_CORE_EXPORT Feature2D {
+
146public:
+
+
148 enum Type {kFeatureUndef=-1,
+
149 kFeatureSurf=0,
+
150 kFeatureSift=1,
+
151 kFeatureOrb=2,
+
152 kFeatureFastFreak=3,
+
153 kFeatureFastBrief=4,
+
154 kFeatureGfttFreak=5,
+
155 kFeatureGfttBrief=6,
+
156 kFeatureBrisk=7,
+
157 kFeatureGfttOrb=8, //new 0.10.11
+
158 kFeatureKaze=9, //new 0.13.2
+
159 kFeatureOrbOctree=10, //new 0.19.2
+
160 kFeatureSuperPointTorch=11, //new 0.19.7
+
161 kFeatureSurfFreak=12, //new 0.20.4
+
162 kFeatureGfttDaisy=13, //new 0.20.6
+
163 kFeatureSurfDaisy=14, //new 0.20.6
+
164 kFeaturePyDetector=15, //new 0.20.8
+
165 kFeatureSuperPointRpautrat=16, // new 0.23.3
+
166 kFeatureEnd}; // Sentinel: always keep last. Used to iterate through types.
+
+
167
+
+
169 static std::string typeName(Type type)
+
170 {
+
171 switch(type){
+
172 case kFeatureSurf:
+
173 return "SURF";
+
174 case kFeatureSift:
+
175 return "SIFT";
+
176 case kFeatureOrb:
+
177 return "ORB";
+
178 case kFeatureFastFreak:
+
179 return "FAST+FREAK";
+
180 case kFeatureFastBrief:
+
181 return "FAST+BRIEF";
+
182 case kFeatureGfttFreak:
+
183 return "GFTT+Freak";
+
184 case kFeatureGfttBrief:
+
185 return "GFTT+Brief";
+
186 case kFeatureBrisk:
+
187 return "BRISK";
+
188 case kFeatureGfttOrb:
+
189 return "GFTT+ORB";
+
190 case kFeatureKaze:
+
191 return "KAZE";
+
192 case kFeatureOrbOctree:
+
193 return "ORB-OCTREE";
+
194 case kFeatureSuperPointTorch:
+
195 return "SUPERPOINT";
+
196 case kFeatureSurfFreak:
+
197 return "SURF+Freak";
+
198 case kFeatureGfttDaisy:
+
199 return "GFTT+Daisy";
+
200 case kFeatureSurfDaisy:
+
201 return "SURF+Daisy";
+
202 case kFeaturePyDetector:
+
203 return "PyDetector";
+
204 case kFeatureSuperPointRpautrat:
+
205 return "SUPERPOINT-RPAUTRAT";
+
206 default:
+
207 return "Unknown";
+
208 }
+
209 }
+
+
210
+
212 static Feature2D * create(const ParametersMap & parameters = ParametersMap());
+
214 static Feature2D * create(Feature2D::Type type, const ParametersMap & parameters = ParametersMap());
+
215
+
217 static bool isAvailable(Feature2D::Type type);
+
218
+
220 static void filterKeypointsByDepth(
+
221 std::vector<cv::KeyPoint> & keypoints,
+
222 const cv::Mat & depth,
+
223 float minDepth,
+
224 float maxDepth);
+
225 static void filterKeypointsByDepth(
+
226 std::vector<cv::KeyPoint> & keypoints,
+
227 cv::Mat & descriptors,
+
228 const cv::Mat & depth,
+
229 float minDepth,
+
230 float maxDepth);
+
231 static void filterKeypointsByDepth(
+
232 std::vector<cv::KeyPoint> & keypoints,
+
233 cv::Mat & descriptors,
+
234 std::vector<cv::Point3f> & keypoints3D,
+
235 float minDepth,
+
236 float maxDepth);
+
237
+
239 static void filterKeypointsByDisparity(
+
240 std::vector<cv::KeyPoint> & keypoints,
+
241 const cv::Mat & disparity,
+
242 float minDisparity);
+
243 static void filterKeypointsByDisparity(
+
244 std::vector<cv::KeyPoint> & keypoints,
+
245 cv::Mat & descriptors,
+
246 const cv::Mat & disparity,
+
247 float minDisparity);
+
248
+
250 static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
+
251 static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, cv::Mat & descriptors, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
+
252 static void limitKeypoints(std::vector<cv::KeyPoint> & keypoints, std::vector<cv::Point3f> & keypoints3D, cv::Mat & descriptors, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
+
253 static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints, const cv::Size & imageSize = cv::Size(), bool ssc = false);
+
254 static void limitKeypoints(const std::vector<cv::KeyPoint> & keypoints, std::vector<bool> & inliers, int maxKeypoints, const cv::Size & imageSize, int gridRows, int gridCols, bool ssc = false);
+
255
+
257 static cv::Rect computeRoi(const cv::Mat & image, const std::string & roiRatios);
+
258 static cv::Rect computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);
+
259
+
260 int getMaxFeatures() const {return maxFeatures_;}
+
261 bool getSSC() const {return SSC_;}
+
262 float getMinDepth() const {return _minDepth;}
+
263 float getMaxDepth() const {return _maxDepth;}
+
264 int getGridRows() const {return gridRows_;}
+
265 int getGridCols() const {return gridCols_;}
+
266
+
267public:
+
268 virtual ~Feature2D();
+
269
+
271 std::vector<cv::KeyPoint> generateKeypoints(
+
272 const cv::Mat & image,
+
273 const cv::Mat & mask = cv::Mat());
+
275 cv::Mat generateDescriptors(
+
276 const cv::Mat & image,
+
277 std::vector<cv::KeyPoint> & keypoints) const;
+
279 std::vector<cv::Point3f> generateKeypoints3D(
+
280 const SensorData & data,
+
281 const std::vector<cv::KeyPoint> & keypoints) const;
+
282
+
283 virtual void parseParameters(const ParametersMap & parameters);
+
284 virtual const ParametersMap & getParameters() const {return parameters_;}
+
285 virtual Feature2D::Type getType() const = 0;
+
286
+
294 virtual bool isGpuAvailable() const {return false;}
+
295
+
296protected:
+
297 Feature2D(const ParametersMap & parameters = ParametersMap());
+
298
+
299private:
+
300 virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) = 0;
+
301 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const = 0;
+
302
+
303private:
+
304 ParametersMap parameters_;
+
305 int maxFeatures_;
+
306 bool SSC_;
+
307 float _maxDepth; // 0=inf
+
308 float _minDepth;
+
309 std::vector<float> _roiRatios; // size 4
+
310 int _subPixWinSize;
+
311 int _subPixIterations;
+
312 double _subPixEps;
+
313 int gridRows_;
+
314 int gridCols_;
+
315 // Stereo stuff
+
316 Stereo * _stereo;
+
317};
+
+
318
+
+
320class RTABMAP_CORE_EXPORT SURF : public Feature2D
+
321{
+
322public:
+
323 SURF(const ParametersMap & parameters = ParametersMap());
+
324 virtual ~SURF();
+
325
+
326 virtual void parseParameters(const ParametersMap & parameters) override;
+
327 virtual Feature2D::Type getType() const override {return kFeatureSurf;}
+
328 virtual bool isGpuAvailable() const override;
+
329
+
330private:
+
331 virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) override;
+
332 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
333
+
334private:
+
335 double hessianThreshold_;
+
336 int nOctaves_;
+
337 int nOctaveLayers_;
+
338 bool extended_;
+
339 bool upright_;
+
340 float gpuKeypointsRatio_;
+
341 bool gpuVersion_;
+
342
+
343 cv::Ptr<CV_SURF> _surf;
+
344 cv::Ptr<CV_SURF_GPU> _gpuSurf;
+
345};
+
+
346
+
+
348class RTABMAP_CORE_EXPORT SIFT : public Feature2D
+
349{
+
350public:
+
351 SIFT(const ParametersMap & parameters = ParametersMap());
+
352 virtual ~SIFT();
+
353
+
354 virtual void parseParameters(const ParametersMap & parameters) override;
+
355 virtual Feature2D::Type getType() const override {return kFeatureSift;}
+
356 virtual bool isGpuAvailable() const override;
+
357
+
358private:
+
359 virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) override;
+
360 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
361
+
362private:
+
363 int nOctaveLayers_;
+
364 double contrastThreshold_;
+
365 double edgeThreshold_;
+
366 double sigma_;
+
367 bool preciseUpscale_;
+
368 bool rootSIFT_;
+
369 bool gpu_;
+
370 float gaussianThreshold_;
+
371 float maxGaussianThreshold_;
+
372 bool upscale_;
+
373
+
374 cv::Ptr<CV_SIFT> sift_;
+
375 SiftData * cudaSiftData_;
+
376 float * cudaSiftMemory_;
+
377 cv::Size cudaSiftMemorySize_;
+
378 cv::Mat cudaSiftDescriptors_;
+
379 bool cudaSiftUpscaling_;
+
380};
+
+
381
+
+
383class RTABMAP_CORE_EXPORT ORB : public Feature2D
+
384{
+
385public:
+
386 ORB(const ParametersMap & parameters = ParametersMap());
+
387 virtual ~ORB();
+
388
+
389 virtual void parseParameters(const ParametersMap & parameters) override;
+
390 virtual Feature2D::Type getType() const override {return kFeatureOrb;}
+
391 virtual bool isGpuAvailable() const override;
+
392
+
393private:
+
394 virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) override;
+
395 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
396
+
397private:
+
398 float scaleFactor_;
+
399 int nLevels_;
+
400 int edgeThreshold_;
+
401 int firstLevel_;
+
402 int WTA_K_;
+
403 int scoreType_;
+
404 int patchSize_;
+
405 bool gpu_;
+
406
+
407 int fastThreshold_;
+
408 bool nonmaxSuppresion_;
+
409
+
410 cv::Ptr<CV_ORB> _orb;
+
411 cv::Ptr<CV_ORB_GPU> _gpuOrb;
+
412};
+
+
413
+
+
415class RTABMAP_CORE_EXPORT FAST : public Feature2D
+
416{
+
417public:
+
418 FAST(const ParametersMap & parameters = ParametersMap());
+
419 virtual ~FAST();
+
420
+
421 virtual void parseParameters(const ParametersMap & parameters) override;
+
422 virtual Feature2D::Type getType() const override {return kFeatureUndef;}
+
423 virtual bool isGpuAvailable() const override;
+
424
+
425private:
+
426 virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) override;
+
427 virtual cv::Mat generateDescriptorsImpl(const cv::Mat &, std::vector<cv::KeyPoint> &) const override {return cv::Mat();}
+
428
+
429private:
+
430 int threshold_;
+
431 bool nonmaxSuppression_;
+
432 bool gpu_;
+
433 double gpuKeypointsRatio_;
+
434 int minThreshold_;
+
435 int maxThreshold_;
+
436 int gridRows_;
+
437 int gridCols_;
+
438 int fastCV_;
+
439
+
440 bool fastCVinit_;
+
441 int fastCVMaxFeatures_;
+
442 int fastCVLastImageHeight_;
+
443 uint32_t* fastCVCorners_= NULL;
+
444 uint32_t* fastCVCornerScores_ = NULL;
+
445 void* fastCVTempBuf_ = NULL;
+
446
+
447 cv::Ptr<cv::FeatureDetector> _fast;
+
448 cv::Ptr<CV_FAST_GPU> _gpuFast;
+
449};
+
+
450
+
+
452class RTABMAP_CORE_EXPORT FAST_BRIEF : public FAST
+
453{
+
454public:
+
455 FAST_BRIEF(const ParametersMap & parameters = ParametersMap());
+
456 virtual ~FAST_BRIEF();
+
457
+
458 virtual void parseParameters(const ParametersMap & parameters) override;
+
459 virtual Feature2D::Type getType() const override {return kFeatureFastBrief;}
+
460
+
461private:
+
462 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
463
+
464private:
+
465 int bytes_;
+
466
+
467 cv::Ptr<CV_BRIEF> _brief;
+
468};
+
+
469
+
+
471class RTABMAP_CORE_EXPORT FAST_FREAK : public FAST
+
472{
+
473public:
+
474 FAST_FREAK(const ParametersMap & parameters = ParametersMap());
+
475 virtual ~FAST_FREAK();
+
476
+
477 virtual void parseParameters(const ParametersMap & parameters) override;
+
478 virtual Feature2D::Type getType() const override {return kFeatureFastFreak;}
+
479
+
480private:
+
481 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
482
+
483private:
+
484 bool orientationNormalized_;
+
485 bool scaleNormalized_;
+
486 float patternScale_;
+
487 int nOctaves_;
+
488
+
489 cv::Ptr<CV_FREAK> _freak;
+
490};
+
+
491
+
+
493class RTABMAP_CORE_EXPORT GFTT : public Feature2D
+
494{
+
495public:
+
496 GFTT(const ParametersMap & parameters = ParametersMap());
+
497 virtual ~GFTT();
+
498
+
499 virtual void parseParameters(const ParametersMap & parameters) override;
+
500 virtual bool isGpuAvailable() const override;
+
501
+
502private:
+
503 virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) override;
+
504
+
505private:
+
506 double _qualityLevel;
+
507 double _minDistance;
+
508 int _blockSize;
+
509 bool _useHarrisDetector;
+
510 double _k;
+
511 bool _gpu;
+
512
+
513 cv::Ptr<CV_GFTT> _gftt;
+
514 cv::Ptr<CV_GFTT_GPU> _gpuGftt;
+
515};
+
+
516
+
+
518class RTABMAP_CORE_EXPORT GFTT_BRIEF : public GFTT
+
519{
+
520public:
+
521 GFTT_BRIEF(const ParametersMap & parameters = ParametersMap());
+
522 virtual ~GFTT_BRIEF();
+
523
+
524 virtual void parseParameters(const ParametersMap & parameters) override;
+
525 virtual Feature2D::Type getType() const override {return kFeatureGfttBrief;}
+
526
+
527private:
+
528 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
529
+
530private:
+
531 int bytes_;
+
532
+
533 cv::Ptr<CV_BRIEF> _brief;
+
534};
+
+
535
+
+
537class RTABMAP_CORE_EXPORT GFTT_FREAK : public GFTT
+
538{
+
539public:
+
540 GFTT_FREAK(const ParametersMap & parameters = ParametersMap());
+
541 virtual ~GFTT_FREAK();
+
542
+
543 virtual void parseParameters(const ParametersMap & parameters) override;
+
544 virtual Feature2D::Type getType() const override {return kFeatureGfttFreak;}
+
545
+
546private:
+
547 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
548
+
549private:
+
550 bool orientationNormalized_;
+
551 bool scaleNormalized_;
+
552 float patternScale_;
+
553 int nOctaves_;
+
554
+
555 cv::Ptr<CV_FREAK> _freak;
+
556};
+
+
557
+
+
559class RTABMAP_CORE_EXPORT SURF_FREAK : public SURF
+
560{
+
561public:
+
562 SURF_FREAK(const ParametersMap & parameters = ParametersMap());
+
563 virtual ~SURF_FREAK();
+
564
+
565 virtual void parseParameters(const ParametersMap & parameters) override;
+
566 virtual Feature2D::Type getType() const override {return kFeatureSurfFreak;}
+
567
+
568private:
+
569 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
570
+
571private:
+
572 bool orientationNormalized_;
+
573 bool scaleNormalized_;
+
574 float patternScale_;
+
575 int nOctaves_;
+
576
+
577 cv::Ptr<CV_FREAK> _freak;
+
578};
+
+
579
+
+
581class RTABMAP_CORE_EXPORT GFTT_ORB : public GFTT
+
582{
+
583public:
+
584 GFTT_ORB(const ParametersMap & parameters = ParametersMap());
+
585 virtual ~GFTT_ORB();
+
586
+
587 virtual void parseParameters(const ParametersMap & parameters) override;
+
588 virtual Feature2D::Type getType() const override {return kFeatureGfttOrb;}
+
589
+
590private:
+
591 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
592
+
593private:
+
594 ORB _orb;
+
595};
+
+
596
+
+
598class RTABMAP_CORE_EXPORT BRISK : public Feature2D
+
599{
+
600public:
+
601 BRISK(const ParametersMap & parameters = ParametersMap());
+
602 virtual ~BRISK();
+
603
+
604 virtual void parseParameters(const ParametersMap & parameters) override;
+
605 virtual Feature2D::Type getType() const override {return kFeatureBrisk;}
+
606
+
607private:
+
608 virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) override;
+
609 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
610
+
611private:
+
612 int thresh_;
+
613 int octaves_;
+
614 float patternScale_;
+
615
+
616 cv::Ptr<CV_BRISK> brisk_;
+
617};
+
+
618
+
+
620class RTABMAP_CORE_EXPORT KAZE : public Feature2D
+
621{
+
622public:
+
623 KAZE(const ParametersMap & parameters = ParametersMap());
+
624 virtual ~KAZE();
+
625
+
626 virtual void parseParameters(const ParametersMap & parameters) override;
+
627 virtual Feature2D::Type getType() const override { return kFeatureKaze; }
+
628
+
629private:
+
630 virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) override;
+
631 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
632
+
633private:
+
634 bool extended_;
+
635 bool upright_;
+
636 float threshold_;
+
637 int nOctaves_;
+
638 int nOctaveLayers_;
+
639 int diffusivity_;
+
640
+
641#if CV_MAJOR_VERSION > 2
+
642 cv::Ptr<CV_KAZE> kaze_;
+
643#endif
+
644};
+
+
645
+
+
647class RTABMAP_CORE_EXPORT ORBOctree : public Feature2D
+
648{
+
649public:
+
650 ORBOctree(const ParametersMap & parameters = ParametersMap());
+
651 virtual ~ORBOctree();
+
652
+
653 virtual void parseParameters(const ParametersMap & parameters) override;
+
654 virtual Feature2D::Type getType() const override {return kFeatureOrbOctree;}
+
655
+
656private:
+
657 virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) override;
+
658 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
659
+
660private:
+
661 float scaleFactor_;
+
662 int nLevels_;
+
663 int patchSize_;
+
664 int edgeThreshold_;
+
665 int fastThreshold_;
+
666 int fastMinThreshold_;
+
667
+
668 cv::Ptr<ORBextractor> _orb;
+
669 cv::Mat descriptors_;
+
670};
+
+
671
+
+
673class RTABMAP_CORE_EXPORT SuperPointTorch : public Feature2D
+
674{
+
675public:
+
676 SuperPointTorch(const ParametersMap & parameters = ParametersMap());
+
677 virtual ~SuperPointTorch();
+
678
+
679 virtual void parseParameters(const ParametersMap & parameters) override;
+
680 virtual Feature2D::Type getType() const override { return kFeatureSuperPointTorch; }
+
681 virtual bool isGpuAvailable() const override;
+
682
+
683private:
+
684 virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) override;
+
685 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
686
+
687 cv::Ptr<SPDetector> superPoint_;
+
688
+
689 std::string path_;
+
690 float threshold_;
+
691 bool nms_;
+
692 int minDistance_;
+
693 bool cuda_;
+
694};
+
+
695
+
+
697class RTABMAP_CORE_EXPORT SuperPointRpautrat : public Feature2D
+
698{
+
699public:
+
700 SuperPointRpautrat(const ParametersMap & parameters = ParametersMap());
+
701 virtual ~SuperPointRpautrat();
+
702
+
703 virtual void parseParameters(const ParametersMap & parameters) override;
+
704 virtual Feature2D::Type getType() const override { return kFeatureSuperPointRpautrat; }
+
705 virtual bool isGpuAvailable() const override;
+
706
+
707private:
+
708 virtual std::vector<cv::KeyPoint> generateKeypointsImpl(const cv::Mat & image, const cv::Rect & roi, const cv::Mat & mask = cv::Mat()) override;
+
709 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
710
+
711 cv::Ptr<SPDetectorRpautrat> superPoint_;
+
712
+
713 std::string superpointWeightsPath_;
+
714 std::string superpointModelPath_;
+
715 std::string outputDir_;
+
716 float threshold_;
+
717 bool nms_;
+
718 int minDistance_;
+
719 bool cuda_;
+
720};
+
+
721
+
+
723class RTABMAP_CORE_EXPORT GFTT_DAISY : public GFTT
+
724{
+
725public:
+
726 GFTT_DAISY(const ParametersMap & parameters = ParametersMap());
+
727 virtual ~GFTT_DAISY();
+
728
+
729 virtual void parseParameters(const ParametersMap & parameters) override;
+
730 virtual Feature2D::Type getType() const override {return kFeatureGfttDaisy;}
+
731
+
732private:
+
733 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
734
+
735private:
+
736 bool orientationNormalized_;
+
737 bool scaleNormalized_;
+
738 float patternScale_;
+
739 int nOctaves_;
+
740
+
741#if CV_MAJOR_VERSION > 2
+
742 cv::Ptr<CV_DAISY> _daisy;
+
743#endif
+
744};
+
+
745
+
+
747class RTABMAP_CORE_EXPORT SURF_DAISY : public SURF
+
748{
+
749public:
+
750 SURF_DAISY(const ParametersMap & parameters = ParametersMap());
+
751 virtual ~SURF_DAISY();
+
752
+
753 virtual void parseParameters(const ParametersMap & parameters) override;
+
754 virtual Feature2D::Type getType() const override {return kFeatureSurfDaisy;}
+
755
+
756private:
+
757 virtual cv::Mat generateDescriptorsImpl(const cv::Mat & image, std::vector<cv::KeyPoint> & keypoints) const override;
+
758
+
759private:
+
760 bool orientationNormalized_;
+
761 bool scaleNormalized_;
+
762 float patternScale_;
+
763 int nOctaves_;
+
764
+
765#if CV_MAJOR_VERSION > 2
+
766 cv::Ptr<CV_DAISY> _daisy;
+
767#endif
+
768};
+
+
769
+
770}
+
771
+
772#endif /* FEATURES2D_H_ */
+
rtabmap::BRISK
BRISK detector and descriptor.
Definition Features2d.h:599
+
rtabmap::FAST_BRIEF
FAST corners + BRIEF descriptors.
Definition Features2d.h:453
+
rtabmap::FAST_FREAK
FAST corners + FREAK descriptors.
Definition Features2d.h:472
+
rtabmap::FAST
FAST corner detector only (no descriptor).
Definition Features2d.h:416
+
rtabmap::FAST::isGpuAvailable
virtual bool isGpuAvailable() const override
Returns true when a GPU/CUDA code path could be used by this detector on this host: i....
+
rtabmap::Feature2D
Abstract 2D feature detector and descriptor extractor for visual SLAM.
Definition Features2d.h:145
+
rtabmap::Feature2D::filterKeypointsByDisparity
static void filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
Keeps keypoints with stereo disparity ≥ minDisparity.
+
rtabmap::Feature2D::create
static Feature2D * create(const ParametersMap &parameters=ParametersMap())
Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
+
rtabmap::Feature2D::isAvailable
static bool isAvailable(Feature2D::Type type)
Returns true if type is available (RTAB-Map is built with it).
+
rtabmap::Feature2D::Type
Type
Built-in detector/descriptor strategy (Kp/DetectorStrategy).
Definition Features2d.h:148
+
rtabmap::Feature2D::generateKeypoints
std::vector< cv::KeyPoint > generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())
Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
+
rtabmap::Feature2D::computeRoi
static cv::Rect computeRoi(const cv::Mat &image, const std::string &roiRatios)
ROI from Kp/RoiRatios string ("left top right bottom" fractions).
+
rtabmap::Feature2D::isGpuAvailable
virtual bool isGpuAvailable() const
Returns true when a GPU/CUDA code path could be used by this detector on this host: i....
Definition Features2d.h:294
+
rtabmap::Feature2D::typeName
static std::string typeName(Type type)
Definition Features2d.h:169
+
rtabmap::Feature2D::limitKeypoints
static void limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
Reduces keypoint count (by response or SSC spatial distribution).
+
rtabmap::Feature2D::filterKeypointsByDepth
static void filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
+
rtabmap::Feature2D::create
static Feature2D * create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
Creates a detector of the given type. Caller owns the pointer.
+
rtabmap::Feature2D::generateDescriptors
cv::Mat generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
Computes descriptors for keypoints (may shrink the list in some detectors).
+
rtabmap::Feature2D::generateKeypoints3D
std::vector< cv::Point3f > generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
Back-projects keypoints to 3D using depth or stereo in data.
+
rtabmap::GFTT_BRIEF
GFTT corners + BRIEF descriptors.
Definition Features2d.h:519
+
rtabmap::GFTT_DAISY
GFTT corners + DAISY descriptors (OpenCV 3+ xfeatures2d).
Definition Features2d.h:724
+
rtabmap::GFTT_FREAK
GFTT corners + FREAK descriptors.
Definition Features2d.h:538
+
rtabmap::GFTT_ORB
GFTT corners + ORB descriptors (common default when SURF is unavailable).
Definition Features2d.h:582
+
rtabmap::GFTT
Good-features-to-track detector (Shi–Tomasi / Harris).
Definition Features2d.h:494
+
rtabmap::GFTT::isGpuAvailable
virtual bool isGpuAvailable() const override
Returns true when a GPU/CUDA code path could be used by this detector on this host: i....
+
rtabmap::KAZE
KAZE detector and descriptor (OpenCV 3+).
Definition Features2d.h:621
+
rtabmap::ORBOctree
ORB with octree spatial distribution (RTAB-Map must be built with OCTREE enabled).
Definition Features2d.h:648
+
rtabmap::ORB
ORB detector and descriptor (optional GPU).
Definition Features2d.h:384
+
rtabmap::ORB::isGpuAvailable
virtual bool isGpuAvailable() const override
Returns true when a GPU/CUDA code path could be used by this detector on this host: i....
+
rtabmap::SIFT
SIFT detector and descriptor (optional GPU / CudaSift).
Definition Features2d.h:349
+
rtabmap::SIFT::isGpuAvailable
virtual bool isGpuAvailable() const override
Returns true when a GPU/CUDA code path could be used by this detector on this host: i....
+
rtabmap::SURF_DAISY
SURF detector + DAISY descriptors (OpenCV 3+ xfeatures2d).
Definition Features2d.h:748
+
rtabmap::SURF_FREAK
SURF detector + FREAK descriptors.
Definition Features2d.h:560
+
rtabmap::SURF
SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build).
Definition Features2d.h:321
+
rtabmap::SURF::isGpuAvailable
virtual bool isGpuAvailable() const override
Returns true when a GPU/CUDA code path could be used by this detector on this host: i....
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Stereo
Sparse stereo matching using block matching.
Definition Stereo.h:55
+
rtabmap::SuperPointRpautrat
SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support).
Definition Features2d.h:698
+
rtabmap::SuperPointRpautrat::isGpuAvailable
virtual bool isGpuAvailable() const override
Returns true when a GPU/CUDA code path could be used by this detector on this host: i....
+
rtabmap::SuperPointTorch
SuperPoint via LibTorch (RTAB-Map must be built with libtorch support).
Definition Features2d.h:674
+
rtabmap::SuperPointTorch::isGpuAvailable
virtual bool isGpuAvailable() const override
Returns true when a GPU/CUDA code path could be used by this detector on this host: i....
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/FlannIndex_8h_source.html b/preview/pr-1492/api/latest/FlannIndex_8h_source.html new file mode 100644 index 00000000..540fa877 --- /dev/null +++ b/preview/pr-1492/api/latest/FlannIndex_8h_source.html @@ -0,0 +1,228 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/FlannIndex.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+ + +
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+
FlannIndex.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_SRC_FLANNINDEX_H_
+
29#define CORELIB_SRC_FLANNINDEX_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32#include <list>
+
33#include <opencv2/opencv.hpp>
+
34
+
35namespace rtabmap {
+
36
+
+
37class RTABMAP_CORE_EXPORT FlannIndex
+
38{
+
39public:
+
40 // A forward of the internal enum, indexes should match. See src/rtflann/defines.h
+
41 enum flann_algorithm_t
+
42 {
+
43 FLANN_INDEX_LINEAR = 0,
+
44 FLANN_INDEX_KDTREE = 1,
+
45 FLANN_INDEX_KDTREE_SINGLE = 4,
+
46 FLANN_INDEX_LSH = 6,
+
47 };
+
48
+
49 FlannIndex();
+
50 virtual ~FlannIndex();
+
51
+
52 void release();
+
53 std::vector<unsigned char> serializeIndex(bool computeChecksum = true) const;
+
54
+
55 size_t indexedFeatures() const;
+
56
+
57 // return Bytes
+
58 size_t memoryUsed() const;
+
59
+
60 // Note that useDistanceL1 doesn't have any effect if LSH is used
+
61 void buildIndex(
+
62 flann_algorithm_t algorithm,
+
63 const cv::Mat & features,
+
64 bool useDistanceL1 = false,
+
65 float rebalancingFactor = 2.0f);
+
66 // Return false if the indexData doesn't correspond to expected features used and parameters.
+
67 bool loadIndex(
+
68 const std::vector<unsigned char> & indexData,
+
69 flann_algorithm_t algorithm,
+
70 const cv::Mat & features,
+
71 bool useDistanceL1 = false,
+
72 float rebalancingFactor = 2.0f,
+
73 std::string * errorMsg = NULL);
+
74 bool loadIndex(
+
75 const unsigned char * indexData,
+
76 size_t indexDataSize,
+
77 flann_algorithm_t algorithm,
+
78 const cv::Mat & features,
+
79 bool useDistanceL1 = false,
+
80 float rebalancingFactor = 2.0f,
+
81 std::string * errorMsg = NULL);
+
82
+
83 bool isBuilt();
+
84
+
85 int featuresType() const {return featuresType_;}
+
86 int featuresDim() const {return featuresDim_;}
+
87
+
88 std::vector<unsigned int> addPoints(const cv::Mat & features);
+
89
+
90 void removePoint(unsigned int index);
+
91
+
92 // return squared distances (indices should be casted in size_t)
+
93 void knnSearch(
+
94 const cv::Mat & query,
+
95 cv::Mat & indices,
+
96 cv::Mat & dists,
+
97 int knn,
+
98 int checks = 32,
+
99 float eps = 0.0,
+
100 bool sorted = true) const;
+
101
+
102 // return squared distances
+
103 void radiusSearch(
+
104 const cv::Mat & query,
+
105 std::vector<std::vector<size_t> > & indices,
+
106 std::vector<std::vector<float> > & dists,
+
107 float radius,
+
108 int maxNeighbors = 0,
+
109 int checks = 32,
+
110 float eps = 0.0,
+
111 bool sorted = true) const;
+
112
+
113private:
+
114 void * index_;
+
115 unsigned int nextIndex_;
+
116 int featuresType_;
+
117 int featuresDim_;
+
118 bool useDistanceL1_; // true=EUCLEDIAN_L2 false=MANHATTAN_L1
+
119 float rebalancingFactor_;
+
120 flann_algorithm_t algorithm_;
+
121
+
122 // keep feature in memory until the tree is rebuilt
+
123 // (in case the word is deleted when removed from the VWDictionary)
+
124 std::map<int, cv::Mat> addedDescriptors_;
+
125 std::list<int> removedIndexes_;
+
126};
+
+
127
+
128} /* namespace rtabmap */
+
129
+
130#endif /* CORELIB_SRC_FLANNINDEX_H_ */
+ + +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/GPS_8h_source.html b/preview/pr-1492/api/latest/GPS_8h_source.html new file mode 100644 index 00000000..43aa7284 --- /dev/null +++ b/preview/pr-1492/api/latest/GPS_8h_source.html @@ -0,0 +1,190 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/GPS.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+
+
+ + +
+
+
GPS.h
+
+
+
1/*
+
2Copyright (c) 2010-2018, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_INCLUDE_RTABMAP_CORE_GPS_H_
+
29#define CORELIB_INCLUDE_RTABMAP_CORE_GPS_H_
+
30
+
31#include <rtabmap/core/GeodeticCoords.h>
+
32
+
33namespace rtabmap {
+
34
+
+
46class GPS
+
47{
+
48public:
+
+
50 GPS():
+
51 stamp_(0.0),
+
52 longitude_(0.0),
+
53 latitude_(0.0),
+
54 altitude_(0.0),
+
55 error_(0.0),
+
56 bearing_(0.0)
+
57 {}
+
+
+
67 GPS(const double & stamp,
+
68 const double & longitude,
+
69 const double & latitude,
+
70 const double & altitude,
+
71 const double & error,
+
72 const double & bearing):
+
73 stamp_(stamp),
+
74 longitude_(longitude),
+
75 latitude_(latitude),
+
76 altitude_(altitude),
+
77 error_(error),
+
78 bearing_(bearing)
+
79 {}
+
+
81 const double & stamp() const {return stamp_;}
+
83 const double & longitude() const {return longitude_;}
+
85 const double & latitude() const {return latitude_;}
+
87 const double & altitude() const {return altitude_;}
+
89 const double & error() const {return error_;}
+
91 const double & bearing() const {return bearing_;}
+
92
+
96 GeodeticCoords toGeodeticCoords() const {return GeodeticCoords(latitude_, longitude_, altitude_);}
+
97private:
+
98 double stamp_; // in sec
+
99 double longitude_; // DD
+
100 double latitude_; // DD
+
101 double altitude_; // m
+
102 double error_; // m
+
103 double bearing_; // deg (North 0->360 clockwise)
+
104};
+
+
105
+
106}
+
107
+
108#endif /* CORELIB_INCLUDE_RTABMAP_CORE_GPS_H_ */
+
rtabmap::GPS
WGS84 GPS fix attached to a sensor sample or graph node.
Definition GPS.h:47
+
rtabmap::GPS::toGeodeticCoords
GeodeticCoords toGeodeticCoords() const
Definition GPS.h:96
+
rtabmap::GPS::GPS
GPS(const double &stamp, const double &longitude, const double &latitude, const double &altitude, const double &error, const double &bearing)
Constructs a GPS fix.
Definition GPS.h:67
+
rtabmap::GPS::GPS
GPS()
Default-constructs a fix at the origin with zero stamp and error.
Definition GPS.h:50
+
rtabmap::GPS::altitude
const double & altitude() const
Definition GPS.h:87
+
rtabmap::GPS::stamp
const double & stamp() const
Definition GPS.h:81
+
rtabmap::GPS::bearing
const double & bearing() const
Definition GPS.h:91
+
rtabmap::GPS::latitude
const double & latitude() const
Definition GPS.h:85
+
rtabmap::GPS::longitude
const double & longitude() const
Definition GPS.h:83
+
rtabmap::GPS::error
const double & error() const
Definition GPS.h:89
+
rtabmap::GeodeticCoords
WGS84 geodetic latitude, longitude and altitude with coordinate conversions.
Definition GeodeticCoords.h:62
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/GainCompensator_8h_source.html b/preview/pr-1492/api/latest/GainCompensator_8h_source.html new file mode 100644 index 00000000..d1a095e7 --- /dev/null +++ b/preview/pr-1492/api/latest/GainCompensator_8h_source.html @@ -0,0 +1,204 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/GainCompensator.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
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+
GainCompensator.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_SRC_GAINCOMPENSATOR_H_
+
29#define CORELIB_SRC_GAINCOMPENSATOR_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <pcl/point_cloud.h>
+
34#include <pcl/point_types.h>
+
35#include <pcl/pcl_base.h>
+
36#include <opencv2/opencv.hpp>
+
37#include <rtabmap/core/Link.h>
+
38
+
39namespace rtabmap {
+
40
+
+
44class RTABMAP_CORE_EXPORT GainCompensator {
+
45public:
+
46 GainCompensator(double maxCorrespondenceDistance = 0.02, double minOverlap = 0.0, double alpha = 0.01, double beta = 10);
+
47 virtual ~GainCompensator();
+
48
+
49 void feed(
+
50 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloudA, // should not contain NaNs
+
51 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloudB, // should not contain NaNs
+
52 const Transform & transformB);
+
53 void feed(
+
54 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloudA,
+
55 const pcl::IndicesPtr & indicesA,
+
56 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloudB,
+
57 const pcl::IndicesPtr & indicesB,
+
58 const Transform & transformB);
+
59 void feed(
+
60 const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds, // should not contain NaNs
+
61 const std::multimap<int, Link> & links);
+
62 void feed(
+
63 const std::map<int, pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds,
+
64 const std::map<int, pcl::IndicesPtr> & indices,
+
65 const std::multimap<int, Link> & links);
+
66 void feed(
+
67 const std::map<int, pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr> & clouds,
+
68 const std::map<int, pcl::IndicesPtr> & indices,
+
69 const std::multimap<int, Link> & links);
+
70 void feed(
+
71 const std::map<int, std::pair<pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr, pcl::IndicesPtr> > & clouds,
+
72 const std::multimap<int, Link> & links);
+
73
+
74 void apply(
+
75 int id,
+
76 pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+
77 bool rgb = true) const;
+
78 void apply(
+
79 int id,
+
80 pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
+
81 const pcl::IndicesPtr & indices,
+
82 bool rgb = true) const;
+
83 void apply(
+
84 int id,
+
85 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
+
86 const pcl::IndicesPtr & indices,
+
87 bool rgb = true) const;
+
88 void apply(
+
89 int id,
+
90 cv::Mat & image,
+
91 bool rgb = true) const;
+
92
+
93 double getGain(int id, double * r=0, double * g=0, double * b=0) const;
+
94 int getIndex(int id) const;
+
95
+
96private:
+
97 cv::Mat_<double> gains_;
+
98 std::map<int, int> idToIndex_;
+
99 double maxCorrespondenceDistance_;
+
100 double minOverlap_;
+
101 double alpha_;
+
102 double beta_;
+
103
+
104};
+
+
105
+
106} /* namespace rtabmap */
+
107
+
108#endif /* CORELIB_SRC_GAINCOMPENSATOR_H_ */
+ +
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/GeodeticCoords_8h_source.html b/preview/pr-1492/api/latest/GeodeticCoords_8h_source.html new file mode 100644 index 00000000..aebe6091 --- /dev/null +++ b/preview/pr-1492/api/latest/GeodeticCoords_8h_source.html @@ -0,0 +1,198 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/GeodeticCoords.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
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+
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+
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+
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+ + +
+
+
GeodeticCoords.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28/*
+
29 * The methods in this file were modified from the originals of the MRPT toolkit (see notice below):
+
30 * https://github.com/MRPT/mrpt/blob/master/libs/topography/src/conversions.cpp
+
31 */
+
32
+
33/* +---------------------------------------------------------------------------+
+
34 | Mobile Robot Programming Toolkit (MRPT) |
+
35 | http://www.mrpt.org/ |
+
36 | |
+
37 | Copyright (c) 2005-2016, Individual contributors, see AUTHORS file |
+
38 | See: http://www.mrpt.org/Authors - All rights reserved. |
+
39 | Released under BSD License. See details in http://www.mrpt.org/License |
+
40 +---------------------------------------------------------------------------+ */
+
41
+
42
+
43#ifndef GEODETICCOORDS_H_
+
44#define GEODETICCOORDS_H_
+
45
+
46#include <rtabmap/core/rtabmap_core_export.h>
+
47
+
48#include <opencv2/core/core.hpp>
+
49
+
50namespace rtabmap {
+
51
+
+
61class RTABMAP_CORE_EXPORT GeodeticCoords
+
62{
+
63public:
+
65 GeodeticCoords();
+
72 GeodeticCoords(double latitude, double longitude, double altitude);
+
73
+
75 const double & latitude() const {return latitude_;}
+
77 const double & longitude() const {return longitude_;}
+
79 const double & altitude() const {return altitude_;}
+
80
+
82 void setLatitude(const double & value) {latitude_ = value;}
+
84 void setLongitude(const double & value) {longitude_ = value;}
+
86 void setAltitude(const double & value) {altitude_ = value;}
+
87
+
89 cv::Point3d toGeocentric_WGS84() const;
+
94 cv::Point3d toENU_WGS84(const GeodeticCoords & origin) const; // East=X, North=Y
+
95
+
97 void fromGeocentric_WGS84(const cv::Point3d& geocentric);
+
99 void fromENU_WGS84(const cv::Point3d & enu, const GeodeticCoords & origin);
+
100
+
102 static cv::Point3d ENU_WGS84ToGeocentric_WGS84(const cv::Point3d & enu, const GeodeticCoords & origin);
+
107 static cv::Point3d Geocentric_WGS84ToENU_WGS84(
+
108 const cv::Point3d & geocentric_WGS84,
+
109 const cv::Point3d & origin_geocentric_WGS84,
+
110 const GeodeticCoords & origin);
+
111
+
112private:
+
113 double latitude_; // deg
+
114 double longitude_; // deg
+
115 double altitude_; // m
+
116};
+
+
117
+
118}
+
119
+
120#endif /* GEODETICCOORDS_H_ */
+
rtabmap::GeodeticCoords
WGS84 geodetic latitude, longitude and altitude with coordinate conversions.
Definition GeodeticCoords.h:62
+
rtabmap::GeodeticCoords::GeodeticCoords
GeodeticCoords(double latitude, double longitude, double altitude)
Constructs geodetic coordinates.
+
rtabmap::GeodeticCoords::altitude
const double & altitude() const
Definition GeodeticCoords.h:79
+
rtabmap::GeodeticCoords::GeodeticCoords
GeodeticCoords()
Default-constructs coordinates at (0°, 0°, 0 m).
+
rtabmap::GeodeticCoords::longitude
const double & longitude() const
Definition GeodeticCoords.h:77
+
rtabmap::GeodeticCoords::Geocentric_WGS84ToENU_WGS84
static cv::Point3d Geocentric_WGS84ToENU_WGS84(const cv::Point3d &geocentric_WGS84, const cv::Point3d &origin_geocentric_WGS84, const GeodeticCoords &origin)
+
rtabmap::GeodeticCoords::ENU_WGS84ToGeocentric_WGS84
static cv::Point3d ENU_WGS84ToGeocentric_WGS84(const cv::Point3d &enu, const GeodeticCoords &origin)
+
rtabmap::GeodeticCoords::setLatitude
void setLatitude(const double &value)
Sets latitude in decimal degrees.
Definition GeodeticCoords.h:82
+
rtabmap::GeodeticCoords::setLongitude
void setLongitude(const double &value)
Sets longitude in decimal degrees.
Definition GeodeticCoords.h:84
+
rtabmap::GeodeticCoords::fromENU_WGS84
void fromENU_WGS84(const cv::Point3d &enu, const GeodeticCoords &origin)
Sets this point from an ENU offset relative to origin.
+
rtabmap::GeodeticCoords::latitude
const double & latitude() const
Definition GeodeticCoords.h:75
+
rtabmap::GeodeticCoords::fromGeocentric_WGS84
void fromGeocentric_WGS84(const cv::Point3d &geocentric)
Sets this point from ECEF geocentric geocentric coordinates.
+
rtabmap::GeodeticCoords::toGeocentric_WGS84
cv::Point3d toGeocentric_WGS84() const
+
rtabmap::GeodeticCoords::toENU_WGS84
cv::Point3d toENU_WGS84(const GeodeticCoords &origin) const
+
rtabmap::GeodeticCoords::setAltitude
void setAltitude(const double &value)
Sets altitude in meters.
Definition GeodeticCoords.h:86
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/GlobalDescriptorExtractor_8h_source.html b/preview/pr-1492/api/latest/GlobalDescriptorExtractor_8h_source.html new file mode 100644 index 00000000..a259be50 --- /dev/null +++ b/preview/pr-1492/api/latest/GlobalDescriptorExtractor_8h_source.html @@ -0,0 +1,173 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/GlobalDescriptorExtractor.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + + + + + + + + +
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+ + +
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+
GlobalDescriptorExtractor.h
+
+
+
1/*
+
2Copyright (c) 2010-2024, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef GLOBAL_DESCRIPTOR_EXTRACTOR_H_
+
29#define GLOBAL_DESCRIPTOR_EXTRACTOR_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include "rtabmap/core/Parameters.h"
+
34#include "rtabmap/core/SensorData.h"
+
35
+
36
+
37namespace rtabmap {
+
38
+
39// Feature2D
+
+
40class RTABMAP_CORE_EXPORT GlobalDescriptorExtractor {
+
41public:
+
42 enum Type {
+
43 kUndef=0,
+
44 kPyDescriptor=1};
+
45
+
46 static std::string typeName(Type type)
+
47 {
+
48 switch(type){
+
49 case kPyDescriptor:
+
50 return "PyDescriptor";
+
51 default:
+
52 return "Unknown";
+
53 }
+
54 }
+
55
+
56 static GlobalDescriptorExtractor * create(const ParametersMap & parameters = ParametersMap());
+
57 static GlobalDescriptorExtractor * create(GlobalDescriptorExtractor::Type type, const ParametersMap & parameters = ParametersMap()); // for convenience
+
58
+
59public:
+
60 virtual ~GlobalDescriptorExtractor();
+
61
+
62 virtual GlobalDescriptor extract(const SensorData & data) const = 0;
+
63
+
64 virtual void parseParameters(const ParametersMap & parameters) {}
+
65 virtual GlobalDescriptorExtractor::Type getType() const = 0;
+
66
+
67protected:
+
68 GlobalDescriptorExtractor(const ParametersMap & parameters = ParametersMap());
+
69};
+
+
70
+
71}
+
72
+
73#endif /* GLOBAL_DESCRIPTOR_EXTRACTOR_H_ */
+ + +
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/GlobalDescriptor_8h_source.html b/preview/pr-1492/api/latest/GlobalDescriptor_8h_source.html new file mode 100644 index 00000000..ddc0e303 --- /dev/null +++ b/preview/pr-1492/api/latest/GlobalDescriptor_8h_source.html @@ -0,0 +1,157 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/GlobalDescriptor.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
GlobalDescriptor.h
+
+
+
1/*
+
2Copyright (c) 2010-2024, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include <opencv2/core/core.hpp>
+
31
+
32namespace rtabmap
+
33{
+
34
+
+
35class GlobalDescriptor
+
36{
+
37
+
38public:
+
39 GlobalDescriptor(int type, const cv::Mat & data, const cv::Mat & info = cv::Mat()) :
+
40 type_(type),
+
41 info_(info),
+
42 data_(data)
+
43 {}
+
44 GlobalDescriptor() :
+
45 type_(-1) // Not set
+
46 {}
+
47 virtual ~GlobalDescriptor() {}
+
48
+
49 int type() const {return type_;}
+
50 const cv::Mat info() const {return info_;}
+
51 const cv::Mat data() const {return data_;}
+
52
+
53private:
+
54 int type_;
+
55 cv::Mat info_;
+
56 cv::Mat data_;
+
57};
+
+
58
+
59} // namespace rtabmap
+ + +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/GlobalMap_8h_source.html b/preview/pr-1492/api/latest/GlobalMap_8h_source.html new file mode 100644 index 00000000..79e262b8 --- /dev/null +++ b/preview/pr-1492/api/latest/GlobalMap_8h_source.html @@ -0,0 +1,227 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/GlobalMap.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
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+
GlobalMap.h
+
+
+
1/*
+
2Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef SRC_MAP_H_
+
29#define SRC_MAP_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/LocalGrid.h>
+
34#include <rtabmap/core/Parameters.h>
+
35#include <rtabmap/core/Transform.h>
+
36#include <list>
+
37
+
38namespace rtabmap {
+
39
+
+
55class RTABMAP_CORE_EXPORT GlobalMap
+
56{
+
57public:
+
+
59 inline static float logodds(double probability)
+
60 {
+
61 return (float) log(probability/(1-probability));
+
62 }
+
+
63
+
+
65 inline static double probability(double logodds)
+
66 {
+
67 return 1. - ( 1. / (1. + exp(logodds)));
+
68 }
+
+
69
+
70public:
+
71 virtual ~GlobalMap();
+
72
+
83 bool fullUpdateNeeded(const std::map<int, Transform> & poses) const;
+
84
+
90 bool update(const std::map<int, Transform> & poses);
+
91
+
93 virtual void clear();
+
94
+
96 float getCellSize() const {return cellSize_;}
+
98 float getUpdateError() const {return updateError_;}
+
100 const std::map<int, Transform> & addedNodes() const {return addedNodes_;}
+
101
+
103 void getGridMin(double & x, double & y) const {x=minValues_[0];y=minValues_[1];}
+
105 void getGridMax(double & x, double & y) const {x=maxValues_[0];y=maxValues_[1];}
+
107 void getGridMin(double & x, double & y, double & z) const {x=minValues_[0];y=minValues_[1];z=minValues_[2];}
+
109 void getGridMax(double & x, double & y, double & z) const {x=maxValues_[0];y=maxValues_[1];z=maxValues_[2];}
+
110
+
112 virtual unsigned long getMemoryUsed() const;
+
113
+
114protected:
+
120 GlobalMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
+
121
+
123 virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses) = 0;
+
124
+
126 const std::map<int, LocalGrid> & cache() const {return cache_->localGrids();}
+
127
+
129 const std::map<int, Transform> & assembledNodes() const {return addedNodes_;}
+
131 bool isNodeAssembled(int id) {return addedNodes_.find(id) != addedNodes_.end();}
+
133 void addAssembledNode(int id, const Transform & pose);
+
134
+
135protected:
+
136 float cellSize_;
+
137 float updateError_;
+
138
+
139 float occupancyThr_;
+
140 float logOddsHit_;
+
141 float logOddsMiss_;
+
142 float logOddsClampingMin_;
+
143 float logOddsClampingMax_;
+
144
+
145 double minValues_[3];
+
146 double maxValues_[3];
+
147
+
148private:
+
149 const LocalGridCache * cache_;
+
150 std::map<int, Transform> addedNodes_;
+
151};
+
+
152
+
153} /* namespace rtabmap */
+
154
+
155#endif /* SRC_MAP_H_ */
+
rtabmap::GlobalMap
Abstract base for assembling per-node LocalGrid data into a global map.
Definition GlobalMap.h:56
+
rtabmap::GlobalMap::GlobalMap
GlobalMap(const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
Constructs the base map; subclasses call from their constructor.
+
rtabmap::GlobalMap::getGridMax
void getGridMax(double &x, double &y, double &z) const
3D grid maximum (x, y, z) in meters.
Definition GlobalMap.h:109
+
rtabmap::GlobalMap::addAssembledNode
void addAssembledNode(int id, const Transform &pose)
Records a successfully assembled node (ids <= 0 are ignored).
+
rtabmap::GlobalMap::fullUpdateNeeded
bool fullUpdateNeeded(const std::map< int, Transform > &poses) const
True if the map should be rebuilt from cache (loop closure or disjoint graph).
+
rtabmap::GlobalMap::getMemoryUsed
virtual unsigned long getMemoryUsed() const
Approximate memory used by assembled-node bookkeeping (bytes).
+
rtabmap::GlobalMap::getGridMin
void getGridMin(double &x, double &y, double &z) const
3D grid minimum (x, y, z) in meters.
Definition GlobalMap.h:107
+
rtabmap::GlobalMap::getCellSize
float getCellSize() const
Definition GlobalMap.h:96
+
rtabmap::GlobalMap::probability
static double probability(double logodds)
Converts log-odds back to probability in (0, 1).
Definition GlobalMap.h:65
+
rtabmap::GlobalMap::cache
const std::map< int, LocalGrid > & cache() const
Definition GlobalMap.h:126
+
rtabmap::GlobalMap::assembledNodes
const std::map< int, Transform > & assembledNodes() const
Definition GlobalMap.h:129
+
rtabmap::GlobalMap::addedNodes
const std::map< int, Transform > & addedNodes() const
Definition GlobalMap.h:100
+
rtabmap::GlobalMap::getUpdateError
float getUpdateError() const
Definition GlobalMap.h:98
+
rtabmap::GlobalMap::isNodeAssembled
bool isNodeAssembled(int id)
Definition GlobalMap.h:131
+
rtabmap::GlobalMap::update
bool update(const std::map< int, Transform > &poses)
Incrementally assemble new nodes from poses.
+
rtabmap::GlobalMap::clear
virtual void clear()
Clears assembled nodes and grid bounds; does not clear LocalGridCache.
+
rtabmap::GlobalMap::getGridMax
void getGridMax(double &x, double &y) const
2D grid maximum (x, y) in meters.
Definition GlobalMap.h:105
+
rtabmap::GlobalMap::getGridMin
void getGridMin(double &x, double &y) const
2D grid minimum (x, y) in meters.
Definition GlobalMap.h:103
+
rtabmap::GlobalMap::assemble
virtual void assemble(const std::list< std::pair< int, Transform > > &newPoses)=0
Subclass hook: merge newPoses into the global map; call addAssembledNode().
+
rtabmap::GlobalMap::logodds
static float logodds(double probability)
Converts probability in (0, 1) to log-odds.
Definition GlobalMap.h:59
+
rtabmap::LocalGridCache
Cache of LocalGrid entries keyed by map node id.
Definition LocalGrid.h:98
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Graph_8h_source.html b/preview/pr-1492/api/latest/Graph_8h_source.html new file mode 100644 index 00000000..29cab14e --- /dev/null +++ b/preview/pr-1492/api/latest/Graph_8h_source.html @@ -0,0 +1,374 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Graph.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
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+
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Graph.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef GRAPH_H_
+
29#define GRAPH_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <map>
+
34#include <list>
+
35#include <rtabmap/core/Parameters.h>
+
36#include <rtabmap/core/Link.h>
+
37#include <rtabmap/core/GPS.h>
+
38#include <rtabmap/core/CameraModel.h>
+
39
+
40namespace rtabmap {
+
41class Memory;
+
42
+
61namespace graph {
+
62
+
80bool RTABMAP_CORE_EXPORT exportPoses(
+
81 const std::string & filePath,
+
82 int format,
+
83 const std::map<int, Transform> & poses,
+
84 const std::multimap<int, Link> & constraints = std::multimap<int, Link>(),
+
85 const std::map<int, double> & stamps = std::map<int, double>(),
+
86 const ParametersMap & parameters = ParametersMap());
+
87
+
110bool RTABMAP_CORE_EXPORT importPoses(
+
111 const std::string & filePath,
+
112 int format,
+
113 std::map<int, Transform> & poses,
+
114 std::multimap<int, Link> * constraints = 0,
+
115 std::map<int, double> * stamps = 0);
+
116
+
123bool RTABMAP_CORE_EXPORT exportGPS(
+
124 const std::string & filePath,
+
125 const std::map<int, GPS> & gpsValues,
+
126 unsigned int rgba = 0xFFFFFFFF);
+
127
+
144void RTABMAP_CORE_EXPORT calcKittiSequenceErrors(
+
145 const std::vector<Transform> &poses_gt,
+
146 const std::vector<Transform> &poses_result,
+
147 float & t_err,
+
148 float & r_err);
+
149
+
167void RTABMAP_CORE_EXPORT calcRelativeErrors (
+
168 const std::vector<Transform> &poses_gt,
+
169 const std::vector<Transform> &poses_result,
+
170 float & t_err,
+
171 float & r_err);
+
172
+
208Transform RTABMAP_CORE_EXPORT calcRMSE(
+
209 const std::map<int, Transform> &groundTruth,
+
210 const std::map<int, Transform> &poses,
+
211 float & translational_rmse,
+
212 float & translational_mean,
+
213 float & translational_median,
+
214 float & translational_std,
+
215 float & translational_min,
+
216 float & translational_max,
+
217 float & rotational_rmse,
+
218 float & rotational_mean,
+
219 float & rotational_median,
+
220 float & rotational_std,
+
221 float & rotational_min,
+
222 float & rotational_max,
+
223 bool align2D = false);
+
224
+
+
231struct MaxGraphErrors
+
232{
+
233 float linear=-1.0f;
+
234 float angular=-1.0f;
+
235 float linearRatio=-1.0f;
+
236 float angularRatio=-1.0f;
+
237 Link linearLink;
+
238 Link angularLink;
+
239};
+
+
240
+
265MaxGraphErrors RTABMAP_CORE_EXPORT computeMaxGraphErrors(
+
266 const std::map<int, Transform> & poses,
+
267 const std::multimap<int, Link> & links,
+
268 bool for3DoF = false);
+
269
+
280std::vector<double> RTABMAP_CORE_EXPORT getMaxOdomInf(const std::multimap<int, Link> & links);
+
281
+
296std::multimap<int, Link>::iterator RTABMAP_CORE_EXPORT findLink(
+
297 std::multimap<int, Link> & links,
+
298 int from,
+
299 int to,
+
300 bool checkBothWays = true,
+
301 Link::Type type = Link::kUndef);
+
303std::multimap<int, std::pair<int, Link::Type> >::iterator RTABMAP_CORE_EXPORT findLink(
+
304 std::multimap<int, std::pair<int, Link::Type> > & links,
+
305 int from,
+
306 int to,
+
307 bool checkBothWays = true,
+
308 Link::Type type = Link::kUndef);
+
310std::multimap<int, int>::iterator RTABMAP_CORE_EXPORT findLink(
+
311 std::multimap<int, int> & links,
+
312 int from,
+
313 int to,
+
314 bool checkBothWays = true);
+
316std::multimap<int, Link>::const_iterator RTABMAP_CORE_EXPORT findLink(
+
317 const std::multimap<int, Link> & links,
+
318 int from,
+
319 int to,
+
320 bool checkBothWays = true,
+
321 Link::Type type = Link::kUndef);
+
323std::multimap<int, std::pair<int, Link::Type> >::const_iterator RTABMAP_CORE_EXPORT findLink(
+
324 const std::multimap<int, std::pair<int, Link::Type> > & links,
+
325 int from,
+
326 int to,
+
327 bool checkBothWays = true,
+
328 Link::Type type = Link::kUndef);
+
330std::multimap<int, int>::const_iterator RTABMAP_CORE_EXPORT findLink(
+
331 const std::multimap<int, int> & links,
+
332 int from,
+
333 int to,
+
334 bool checkBothWays = true);
+
335
+
347std::list<Link> RTABMAP_CORE_EXPORT findLinks(
+
348 const std::multimap<int, Link> & links,
+
349 int from);
+
350
+
360std::multimap<int, Link> RTABMAP_CORE_EXPORT filterDuplicateLinks(
+
361 const std::multimap<int, Link> & links);
+
362
+
375std::multimap<int, Link> RTABMAP_CORE_EXPORT filterLinks(
+
376 const std::multimap<int, Link> & links,
+
377 Link::Type filteredType,
+
378 bool inverted = false);
+
380std::map<int, Link> RTABMAP_CORE_EXPORT filterLinks(
+
381 const std::map<int, Link> & links,
+
382 Link::Type filteredType,
+
383 bool inverted = false);
+
384
+
400std::map<int, Transform> RTABMAP_CORE_EXPORT frustumPosesFiltering(
+
401 const std::map<int, Transform> & poses,
+
402 const Transform & cameraPose,
+
403 float horizontalFOV = 45.0f,
+
404 float verticalFOV = 45.0f,
+
405 float nearClipPlaneDistance = 0.1f,
+
406 float farClipPlaneDistance = 100.0f,
+
407 bool negative = false);
+
408
+
423std::map<int, Transform> RTABMAP_CORE_EXPORT radiusPosesFiltering(
+
424 const std::map<int, Transform> & poses,
+
425 float radius,
+
426 float angle,
+
427 bool keepLatest = true);
+
428
+
440std::multimap<int, int> RTABMAP_CORE_EXPORT radiusPosesClustering(
+
441 const std::map<int, Transform> & poses,
+
442 float radius,
+
443 float angle);
+
444
+
461void reduceGraph(
+
462 const std::map<int, Transform> & poses,
+
463 const std::multimap<int, Link> & links,
+
464 std::multimap<int, int> & hyperNodes,
+
465 std::multimap<int, Link> & hyperLinks);
+
466
+
480std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT computePath(
+
481 const std::map<int, rtabmap::Transform> & poses,
+
482 const std::multimap<int, int> & links,
+
483 int from,
+
484 int to,
+
485 bool updateNewCosts = false);
+
486
+
500std::list<int> RTABMAP_CORE_EXPORT computePath(
+
501 const std::multimap<int, Link> & links,
+
502 int from,
+
503 int to,
+
504 bool updateNewCosts = false,
+
505 bool useSameCostForAllLinks = false);
+
506
+
539std::list<std::pair<int, Transform> > RTABMAP_CORE_EXPORT computePath(
+
540 int fromId,
+
541 int toId,
+
542 const Memory * memory,
+
543 bool lookInDatabase = true,
+
544 bool updateNewCosts = false,
+
545 float linearVelocity = 0.0f,
+
546 float angularVelocity = 0.0f,
+
547 bool ignoreDirectLinks = false);
+
548
+
559int RTABMAP_CORE_EXPORT findNearestNode(
+
560 const std::map<int, rtabmap::Transform> & poses,
+
561 const rtabmap::Transform & targetPose,
+
562 float * distance = 0);
+
563
+
578std::map<int, float> RTABMAP_CORE_EXPORT findNearestNodes(
+
579 int nodeId,
+
580 const std::map<int, Transform> & poses,
+
581 float radius,
+
582 float angle = 0.0f,
+
583 int k=0);
+
593std::map<int, float> RTABMAP_CORE_EXPORT findNearestNodes(
+
594 const Transform & targetPose,
+
595 const std::map<int, Transform> & poses,
+
596 float radius,
+
597 float angle = 0.0f,
+
598 int k=0);
+
603std::map<int, Transform> RTABMAP_CORE_EXPORT findNearestPoses(
+
604 int nodeId,
+
605 const std::map<int, Transform> & poses,
+
606 float radius,
+
607 float angle = 0.0f,
+
608 int k=0);
+
610std::map<int, Transform> RTABMAP_CORE_EXPORT findNearestPoses(
+
611 const Transform & targetPose,
+
612 const std::map<int, Transform> & poses,
+
613 float radius,
+
614 float angle = 0.0f,
+
615 int k=0);
+
616
+
618RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT findNearestNodes(const std::map<int, rtabmap::Transform> & nodes, const rtabmap::Transform & targetPose, int k);
+
620RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT getNodesInRadius(int nodeId, const std::map<int, Transform> & nodes, float radius);
+
622RTABMAP_DEPRECATED std::map<int, float> RTABMAP_CORE_EXPORT getNodesInRadius(const Transform & targetPose, const std::map<int, Transform> & nodes, float radius);
+
624RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius(int nodeId, const std::map<int, Transform> & nodes, float radius, float angle = 0.0f);
+
626RTABMAP_DEPRECATED std::map<int, Transform> RTABMAP_CORE_EXPORT getPosesInRadius(const Transform & targetPose, const std::map<int, Transform> & nodes, float radius, float angle = 0.0f);
+
627
+
636float RTABMAP_CORE_EXPORT computePathLength(
+
637 const std::vector<std::pair<int, Transform> > & path);
+
638
+
648float RTABMAP_CORE_EXPORT computePathLength(
+
649 const std::map<int, Transform> & path);
+
650
+
663std::list<std::map<int, Transform> > RTABMAP_CORE_EXPORT getPaths(
+
664 std::map<int, Transform> poses,
+
665 const std::multimap<int, Link> & links);
+
666
+
674void RTABMAP_CORE_EXPORT computeMinMax(const std::map<int, Transform> & poses,
+
675 cv::Vec3f & min,
+
676 cv::Vec3f & max);
+
677
+
678} /* namespace graph */
+
679
+
680} /* namespace rtabmap */
+
681#endif /* GRAPH_H_ */
+ + +
rtabmap::Memory
Three-tiered memory management (STM, WM, LTM) for RTAB-Map.
Definition Memory.h:102
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+
graph
Pose-graph I/O, trajectory metrics, link utilities, and path planning.
+ +
rtabmap::graph::MaxGraphErrors
Largest pose-graph constraint violations after optimization.
Definition Graph.h:232
+
rtabmap::graph::MaxGraphErrors::angular
float angular
Absolute angular error (rad) of the worst link.
Definition Graph.h:234
+
rtabmap::graph::MaxGraphErrors::linearRatio
float linearRatio
linear / sqrt(trans variance) of the worst link.
Definition Graph.h:235
+
rtabmap::graph::MaxGraphErrors::linear
float linear
Absolute linear error (m) of the worst link.
Definition Graph.h:233
+
rtabmap::graph::MaxGraphErrors::angularLink
Link angularLink
Link with largest angularRatio.
Definition Graph.h:238
+
rtabmap::graph::MaxGraphErrors::angularRatio
float angularRatio
angular / sqrt(rot variance) of the worst link.
Definition Graph.h:236
+
rtabmap::graph::MaxGraphErrors::linearLink
Link linearLink
Link with largest linearRatio.
Definition Graph.h:237
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/GridMap_8h_source.html b/preview/pr-1492/api/latest/GridMap_8h_source.html new file mode 100644 index 00000000..d27bf086 --- /dev/null +++ b/preview/pr-1492/api/latest/GridMap_8h_source.html @@ -0,0 +1,174 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/global_map/GridMap.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+ + +
+
+
GridMap.h
+
+
+
1/*
+
2Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_SRC_GRIDMAP_H_
+
29#define CORELIB_SRC_GRIDMAP_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/GlobalMap.h>
+
34#include <pcl/point_cloud.h>
+
35#include <pcl/point_types.h>
+
36#include <pcl/PolygonMesh.h>
+
37
+
38namespace grid_map {
+
39 class GridMap;
+
40}
+
41
+
42namespace rtabmap {
+
43
+
+
44class RTABMAP_CORE_EXPORT GridMap : public GlobalMap
+
45{
+
46public:
+
47 GridMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
+
48
+
49 virtual ~GridMap();
+
50 virtual void clear();
+
51
+
52 const grid_map::GridMap * gridMap() const {return gridMap_;}
+
53
+
54 cv::Mat createHeightMap(float & xMin, float & yMin, float & cellSize) const;
+
55 cv::Mat createColorMap(float & xMin, float & yMin, float & cellSize) const;
+
56 pcl::PointCloud<pcl::PointXYZRGB>::Ptr createTerrainCloud() const;
+
57 pcl::PolygonMesh::Ptr createTerrainMesh() const;
+
58
+
59protected:
+
60 virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses);
+
61
+
62private:
+
63 cv::Mat toImage(const std::string & layer, float & xMin, float & yMin, float & cellSize) const;
+
64
+
65private:
+
66 grid_map::GridMap * gridMap_;
+
67 float minMapSize_;
+
68};
+
+
69
+
70}
+
71
+
72#endif /* CORELIB_SRC_OCCUPANCYGRID_H_ */
+
rtabmap::GlobalMap
Abstract base for assembling per-node LocalGrid data into a global map.
Definition GlobalMap.h:56
+ +
rtabmap::GridMap::clear
virtual void clear()
Clears assembled nodes and grid bounds; does not clear LocalGridCache.
+
rtabmap::GridMap::assemble
virtual void assemble(const std::list< std::pair< int, Transform > > &newPoses)
Subclass hook: merge newPoses into the global map; call addAssembledNode().
+
rtabmap::LocalGridCache
Cache of LocalGrid entries keyed by map node id.
Definition LocalGrid.h:98
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/IMUFilter_8h_source.html b/preview/pr-1492/api/latest/IMUFilter_8h_source.html new file mode 100644 index 00000000..87a88ea7 --- /dev/null +++ b/preview/pr-1492/api/latest/IMUFilter_8h_source.html @@ -0,0 +1,184 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/IMUFilter.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
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+ + +
+
+
IMUFilter.h
+
+
+
1/*
+
2Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_
+
29#define CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32#include <rtabmap/core/Parameters.h>
+
33#include <Eigen/Geometry>
+
34
+
35namespace rtabmap {
+
36
+
+
58class RTABMAP_CORE_EXPORT IMUFilter
+
59{
+
60public:
+
+
64 enum Type {
+
65 kMadgwick = 0,
+
66 kComplementaryFilter = 1};
+
+
73 static IMUFilter * create(const ParametersMap & parameters = ParametersMap());
+
74
+
82 static IMUFilter * create(IMUFilter::Type type, const ParametersMap & parameters = ParametersMap());
+
83
+
84 virtual ~IMUFilter() {}
+
85
+
90 virtual void parseParameters(const ParametersMap & parameters) {}
+
91
+
102 void update(
+
103 double gx, double gy, double gz,
+
104 double ax, double ay, double az,
+
105 double stamp);
+
106
+
108 virtual IMUFilter::Type type() const = 0;
+
109
+
117 virtual void getOrientation(double & qx, double & qy, double & qz, double & qw) const = 0;
+
118
+
126 virtual void reset(double qx = 0.0, double qy = 0.0, double qz = 0.0, double qw = 1.0) = 0;
+
127
+
128protected:
+
129 IMUFilter(const ParametersMap & parameters = ParametersMap()) : previousStamp_(0) {}
+
130
+
131private:
+
132 virtual void updateImpl(
+
133 double gx, double gy, double gz,
+
134 double ax, double ay, double az,
+
135 double dt) = 0;
+
136
+
137 double previousStamp_;
+
138};
+
+
139
+
140} // namespace rtabmap
+
141
+
142#endif /* CORELIB_INCLUDE_RTABMAP_CORE_IMUFILTER_H_ */
+
rtabmap::IMUFilter
Fuses gyroscope and accelerometer samples into an orientation quaternion.
Definition IMUFilter.h:59
+
rtabmap::IMUFilter::Type
Type
Orientation fusion algorithm.
Definition IMUFilter.h:64
+
rtabmap::IMUFilter::create
static IMUFilter * create(const ParametersMap &parameters=ParametersMap())
Creates a filter using type parsed from parameters.
+
rtabmap::IMUFilter::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Re-reads filter parameters from parameters.
Definition IMUFilter.h:90
+
rtabmap::IMUFilter::reset
virtual void reset(double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)=0
Resets internal state to the given orientation.
+
rtabmap::IMUFilter::create
static IMUFilter * create(IMUFilter::Type type, const ParametersMap &parameters=ParametersMap())
Creates a filter of the given type.
+
rtabmap::IMUFilter::update
void update(double gx, double gy, double gz, double ax, double ay, double az, double stamp)
Integrates one IMU sample and updates the internal orientation estimate.
+
rtabmap::IMUFilter::type
virtual IMUFilter::Type type() const =0
+
rtabmap::IMUFilter::getOrientation
virtual void getOrientation(double &qx, double &qy, double &qz, double &qw) const =0
Current orientation estimate.
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/IMUThread_8h_source.html b/preview/pr-1492/api/latest/IMUThread_8h_source.html new file mode 100644 index 00000000..00529e5c --- /dev/null +++ b/preview/pr-1492/api/latest/IMUThread_8h_source.html @@ -0,0 +1,183 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/IMUThread.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+
+
+ + +
+
+
IMUThread.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
31
+
32#include <rtabmap/core/Transform.h>
+
33#include <rtabmap/core/Parameters.h>
+
34#include <rtabmap/utilite/UThread.h>
+
35#include <rtabmap/utilite/UEventsSender.h>
+
36#include <rtabmap/utilite/UTimer.h>
+
37
+
38#include <fstream>
+
39
+
40namespace rtabmap {
+
41
+
42class IMUFilter;
+
43
+
+
65class RTABMAP_CORE_EXPORT IMUThread :
+
66 public UThread,
+
67 public UEventsSender
+
68{
+
69public:
+
75 IMUThread(int rate, const Transform & localTransform);
+
76 virtual ~IMUThread();
+
77
+
83 bool init(const std::string & path);
+
84
+
86 void setRate(int rate);
+
87
+
94 void enableIMUFiltering(int filteringStrategy = 1, const ParametersMap & parameters = ParametersMap(), bool baseFrameConversion = false);
+
95
+
97 void disableIMUFiltering();
+
98
+
99private:
+
100 virtual void mainLoopBegin();
+
101 virtual void mainLoop();
+
102
+
103private:
+
104 int rate_;
+
105 Transform localTransform_;
+
106 std::ifstream imuFile_;
+
107 UTimer frameRateTimer_;
+
108 double captureDelay_;
+
109 double previousStamp_;
+
110 IMUFilter * _imuFilter;
+
111 bool _imuBaseFrameConversion;
+
112};
+
+
113
+
114} // namespace rtabmap
+ + + +
rtabmap::IMUFilter
Fuses gyroscope and accelerometer samples into an orientation quaternion.
Definition IMUFilter.h:59
+
rtabmap::IMUThread
Background thread that replays IMU measurements from a CSV file.
Definition IMUThread.h:68
+
rtabmap::IMUThread::setRate
void setRate(int rate)
Sets the target playback rate in Hz.
+
rtabmap::IMUThread::disableIMUFiltering
void disableIMUFiltering()
Disables fusion and deletes the internal IMUFilter.
+
rtabmap::IMUThread::IMUThread
IMUThread(int rate, const Transform &localTransform)
Constructs the replay thread.
+
rtabmap::IMUThread::enableIMUFiltering
void enableIMUFiltering(int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
Enables orientation fusion on replayed samples.
+
rtabmap::IMUThread::init
bool init(const std::string &path)
Opens and validates an IMU CSV file.
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/IMU_8h_source.html b/preview/pr-1492/api/latest/IMU_8h_source.html new file mode 100644 index 00000000..d5cc4bfd --- /dev/null +++ b/preview/pr-1492/api/latest/IMU_8h_source.html @@ -0,0 +1,256 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/IMU.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+ + +
+
+
IMU.h
+
+
+
1/*
+
2Copyright (c) 2010-2026, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef IMU_H_
+
29#define IMU_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32#include <opencv2/core/core.hpp>
+
33#include <rtabmap/utilite/UEvent.h>
+
34#include <rtabmap/core/Transform.h>
+
35
+
36namespace rtabmap {
+
37
+
+
56class RTABMAP_CORE_EXPORT IMU
+
57{
+
58public:
+
60 IMU() {}
+
61
+
+
72 IMU(const cv::Vec4d & orientation, // qx qy qz qw
+
73 const cv::Mat & orientationCovariance,
+
74 const cv::Vec3d & angularVelocity,
+
75 const cv::Mat & angularVelocityCovariance,
+
76 const cv::Vec3d & linearAcceleration,
+
77 const cv::Mat & linearAccelerationCovariance,
+
78 const Transform & localTransform = Transform::getIdentity()) :
+
79 orientation_(orientation),
+
80 orientationCovariance_(orientationCovariance),
+
81 angularVelocity_(angularVelocity),
+
82 angularVelocityCovariance_(angularVelocityCovariance),
+
83 linearAcceleration_(linearAcceleration),
+
84 linearAccelerationCovariance_(linearAccelerationCovariance),
+
85 localTransform_(localTransform)
+
86 {
+
87 }
+
+
88
+
+
97 IMU(const cv::Vec3d & angularVelocity,
+
98 const cv::Mat & angularVelocityCovariance,
+
99 const cv::Vec3d & linearAcceleration,
+
100 const cv::Mat & linearAccelerationCovariance,
+
101 const Transform & localTransform = Transform::getIdentity()) :
+
102 angularVelocity_(angularVelocity),
+
103 angularVelocityCovariance_(angularVelocityCovariance),
+
104 linearAcceleration_(linearAcceleration),
+
105 linearAccelerationCovariance_(linearAccelerationCovariance),
+
106 localTransform_(localTransform)
+
107 {
+
108 }
+
+
109
+
111 const cv::Vec4d & orientation() const {return orientation_;}
+
113 const cv::Mat & orientationCovariance() const {return orientationCovariance_;}
+
114
+
116 const cv::Vec3d & angularVelocity() const {return angularVelocity_;}
+
118 const cv::Mat & angularVelocityCovariance() const {return angularVelocityCovariance_;}
+
119
+
121 const cv::Vec3d & linearAcceleration() const {return linearAcceleration_;}
+
123 const cv::Mat & linearAccelerationCovariance() const {return linearAccelerationCovariance_;}
+
124
+
126 const Transform & localTransform() const {return localTransform_;}
+
127
+
136 void convertToBaseFrame();
+
137
+
+
141 bool empty() const
+
142 {
+
143 return localTransform_.isNull();
+
144 }
+
+
145
+
146private:
+
147 cv::Vec4d orientation_;
+
148 cv::Mat orientationCovariance_;
+
149
+
150 cv::Vec3d angularVelocity_;
+
151 cv::Mat angularVelocityCovariance_;
+
152
+
153 cv::Vec3d linearAcceleration_;
+
154 cv::Mat linearAccelerationCovariance_;
+
155
+
156 Transform localTransform_;
+
157};
+
+
158
+
+
163class IMUEvent : public UEvent
+
164{
+
165public:
+
+
167 IMUEvent() :
+
168 stamp_(0.0)
+
169 {}
+
+
+
175 IMUEvent(const IMU & data, double stamp) :
+
176 data_(data),
+
177 stamp_(stamp)
+
178 {
+
179 }
+
+
181 virtual std::string getClassName() const {return "IMUEvent";}
+
183 const IMU & getData() const {return data_;}
+
185 double getStamp() const {return stamp_;}
+
186
+
187private:
+
188 IMU data_;
+
189 double stamp_;
+
190};
+
+
191
+
192}
+
193
+
194#endif /* IMU_H_ */
+ +
rtabmap::IMUEvent
UEvent carrying an IMU sample and timestamp.
Definition IMU.h:164
+
rtabmap::IMUEvent::IMUEvent
IMUEvent()
Default-constructs an event with zero stamp.
Definition IMU.h:167
+
rtabmap::IMUEvent::getData
const IMU & getData() const
Definition IMU.h:183
+
rtabmap::IMUEvent::getStamp
double getStamp() const
Definition IMU.h:185
+
rtabmap::IMUEvent::getClassName
virtual std::string getClassName() const
Definition IMU.h:181
+
rtabmap::IMUEvent::IMUEvent
IMUEvent(const IMU &data, double stamp)
Constructs an event with IMU data and stamp.
Definition IMU.h:175
+
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
+
rtabmap::IMU::localTransform
const Transform & localTransform() const
Definition IMU.h:126
+
rtabmap::IMU::convertToBaseFrame
void convertToBaseFrame()
Rotate motion (and optionally orientation) into the base frame.
+
rtabmap::IMU::orientation
const cv::Vec4d & orientation() const
Definition IMU.h:111
+
rtabmap::IMU::linearAccelerationCovariance
const cv::Mat & linearAccelerationCovariance() const
Definition IMU.h:123
+
rtabmap::IMU::IMU
IMU(const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())
Constructs a sample without orientation (e.g. no magnetometer / no attitude).
Definition IMU.h:97
+
rtabmap::IMU::angularVelocityCovariance
const cv::Mat & angularVelocityCovariance() const
Definition IMU.h:118
+
rtabmap::IMU::IMU
IMU()
Default-constructs an empty sample (null localTransform()).
Definition IMU.h:60
+
rtabmap::IMU::IMU
IMU(const cv::Vec4d &orientation, const cv::Mat &orientationCovariance, const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())
Constructs a sample with orientation and motion data.
Definition IMU.h:72
+
rtabmap::IMU::linearAcceleration
const cv::Vec3d & linearAcceleration() const
Definition IMU.h:121
+
rtabmap::IMU::orientationCovariance
const cv::Mat & orientationCovariance() const
Definition IMU.h:113
+
rtabmap::IMU::empty
bool empty() const
True when localTransform() is null (placeholder / unset sample).
Definition IMU.h:141
+
rtabmap::IMU::angularVelocity
const cv::Vec3d & angularVelocity() const
Definition IMU.h:116
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Image_8h_source.html b/preview/pr-1492/api/latest/Image_8h_source.html new file mode 100644 index 00000000..141db235 --- /dev/null +++ b/preview/pr-1492/api/latest/Image_8h_source.html @@ -0,0 +1,133 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Image.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+ + +
+
+
Image.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef IMAGE_H_
+
29#define IMAGE_H_
+
30
+
31#include <rtabmap/core/SensorData.h>
+
32
+
33namespace rtabmap {
+
34RTABMAP_DEPRECATED(typedef SensorData Image, "rtabmap::Image class is renamed to rtabmap::SensorData, use the last one instead.");
+
35}
+
36
+
37
+
38#endif /* IMAGE_H_ */
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/LASWriter_8h_source.html b/preview/pr-1492/api/latest/LASWriter_8h_source.html new file mode 100644 index 00000000..366b42b3 --- /dev/null +++ b/preview/pr-1492/api/latest/LASWriter_8h_source.html @@ -0,0 +1,153 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/LASWriter.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+ + +
+
+
LASWriter.h
+
+
+
1/*
+
2Copyright (c) 2010-2024, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_INCLUDE_RTABMAP_CORE_LASWRITER_H_
+
29#define CORELIB_INCLUDE_RTABMAP_CORE_LASWRITER_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32#include <pcl/point_cloud.h>
+
33#include <pcl/point_types.h>
+
34#include <string>
+
35#include <vector>
+
36
+
37namespace rtabmap {
+
38
+
51int RTABMAP_CORE_EXPORT saveLASFile(
+
52 const std::string & filePath,
+
53 const pcl::PointCloud<pcl::PointXYZ> & cloud,
+
54 const std::vector<int> & cameraIds = std::vector<int>());
+
55
+
64int RTABMAP_CORE_EXPORT saveLASFile(
+
65 const std::string & filePath,
+
66 const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
+
67 const std::vector<int> & cameraIds = std::vector<int>(),
+
68 const std::vector<float> & intensities = std::vector<float>());
+
69
+
77int RTABMAP_CORE_EXPORT saveLASFile(
+
78 const std::string & filePath,
+
79 const pcl::PointCloud<pcl::PointXYZI> & cloud,
+
80 const std::vector<int> & cameraIds = std::vector<int>());
+
81
+
82} // namespace rtabmap
+
83
+
84#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LASWRITER_H_ */
+ +
rtabmap::saveLASFile
int RTABMAP_CORE_EXPORT saveLASFile(const std::string &filePath, const pcl::PointCloud< pcl::PointXYZ > &cloud, const std::vector< int > &cameraIds=std::vector< int >())
Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS).
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Landmark_8h_source.html b/preview/pr-1492/api/latest/Landmark_8h_source.html new file mode 100644 index 00000000..bc155c5d --- /dev/null +++ b/preview/pr-1492/api/latest/Landmark_8h_source.html @@ -0,0 +1,220 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Landmark.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
Landmark.h
+
+
+
1/*
+
2Copyright (c) 2010-2018, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_
+
29#define CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_
+
30
+
31#include <rtabmap/core/rtabmap_core_export.h>
+
32#include <rtabmap/core/Transform.h>
+
33#include <rtabmap/utilite/ULogger.h>
+
34#include <rtabmap/utilite/UMath.h>
+
35#include <rtabmap/utilite/UConversion.h>
+
36
+
37namespace rtabmap {
+
38
+
+
56class RTABMAP_CORE_EXPORT Landmark
+
57{
+
58public:
+
+
60 Landmark() :
+
61 id_(0),
+
62 size_(0.0f)
+
63 {}
+
+
64
+
+
72 Landmark(const int & id, const float & size, const Transform & pose, const cv::Mat & covariance) :
+
73 id_(id),
+
74 size_(size),
+
75 pose_(pose),
+
76 covariance_(covariance)
+
77 {
+
78 UASSERT(id_>0);
+
79 UASSERT(!pose_.isNull());
+
80 UASSERT(covariance_.cols == 6 && covariance_.rows == 6 && covariance_.type() == CV_64FC1);
+
81 UASSERT_MSG(uIsFinite(covariance_.at<double>(0,0)) && covariance_.at<double>(0,0)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(0,0)).c_str());
+
82 UASSERT_MSG(uIsFinite(covariance_.at<double>(1,1)) && covariance_.at<double>(1,1)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(1,1)).c_str());
+
83 UASSERT_MSG(uIsFinite(covariance_.at<double>(2,2)) && covariance_.at<double>(2,2)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(2,2)).c_str());
+
84 UASSERT_MSG(uIsFinite(covariance_.at<double>(3,3)) && covariance_.at<double>(3,3)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(3,3)).c_str());
+
85 UASSERT_MSG(uIsFinite(covariance_.at<double>(4,4)) && covariance_.at<double>(4,4)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(4,4)).c_str());
+
86 UASSERT_MSG(uIsFinite(covariance_.at<double>(5,5)) && covariance_.at<double>(5,5)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(5,5)).c_str());
+
87 }
+
+
88
+
92 RTABMAP_DEPRECATED Landmark(const int & id, const Transform & pose, const cv::Mat & covariance);
+
93
+
94 virtual ~Landmark() {}
+
95
+
97 const int & id() const {return id_;}
+
99 const float & size() const {return size_;}
+
101 const Transform & pose() const {return pose_;}
+
103 const cv::Mat & covariance() const {return covariance_;}
+
104
+
105private:
+
106 int id_;
+
107 float size_;
+
108 Transform pose_;
+
109 cv::Mat covariance_;
+
110};
+
+
111
+
113typedef std::map<int, Landmark> Landmarks;
+
114
+
+
115inline Landmark::Landmark(const int & id, const Transform & pose, const cv::Mat & covariance) :
+
116 id_(id),
+
117 size_(0.0f),
+
118 pose_(pose),
+
119 covariance_(covariance)
+
120{
+
121 UASSERT(id_>0);
+
122 UASSERT(!pose_.isNull());
+
123 UASSERT(covariance_.cols == 6 && covariance_.rows == 6 && covariance_.type() == CV_64FC1);
+
124 UASSERT_MSG(uIsFinite(covariance_.at<double>(0,0)) && covariance_.at<double>(0,0)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(0,0)).c_str());
+
125 UASSERT_MSG(uIsFinite(covariance_.at<double>(1,1)) && covariance_.at<double>(1,1)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(1,1)).c_str());
+
126 UASSERT_MSG(uIsFinite(covariance_.at<double>(2,2)) && covariance_.at<double>(2,2)>0, uFormat("Linear covariance should not be null! Value=%f.", covariance_.at<double>(2,2)).c_str());
+
127 UASSERT_MSG(uIsFinite(covariance_.at<double>(3,3)) && covariance_.at<double>(3,3)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(3,3)).c_str());
+
128 UASSERT_MSG(uIsFinite(covariance_.at<double>(4,4)) && covariance_.at<double>(4,4)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(4,4)).c_str());
+
129 UASSERT_MSG(uIsFinite(covariance_.at<double>(5,5)) && covariance_.at<double>(5,5)>0, uFormat("Angular covariance should not be null! Value=%f (set to 9999 if unknown).", covariance_.at<double>(5,5)).c_str());
+
130}
+
+
131
+
132} // namespace rtabmap
+
133
+
134#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LANDMARK_H_ */
+
UConversion.h
Some conversion functions.
+
uFormat
std::string UTILITE_EXPORT uFormat(const char *fmt,...)
+
ULogger.h
ULogger class and convenient macros.
+
UASSERT
#define UASSERT(condition)
Definition ULogger.h:66
+
UMath.h
Basic mathematics functions.
+
uIsFinite
bool uIsFinite(const T &value)
Definition UMath.h:53
+
rtabmap::Landmark
Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map.
Definition Landmark.h:57
+
rtabmap::Landmark::covariance
const cv::Mat & covariance() const
Definition Landmark.h:103
+
rtabmap::Landmark::Landmark
Landmark(const int &id, const float &size, const Transform &pose, const cv::Mat &covariance)
Constructs a landmark with size, pose, and covariance.
Definition Landmark.h:72
+
rtabmap::Landmark::id
const int & id() const
Definition Landmark.h:97
+
rtabmap::Landmark::Landmark
Landmark()
Default-constructs an invalid landmark (id == 0).
Definition Landmark.h:60
+
rtabmap::Landmark::pose
const Transform & pose() const
Definition Landmark.h:101
+
rtabmap::Landmark::size
const float & size() const
Definition Landmark.h:99
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+
rtabmap::Transform::isNull
bool isNull() const
Checks whether the transform is null (all zeros).
+ +
rtabmap::Landmarks
std::map< int, Landmark > Landmarks
Map of landmark id → Landmark (typically positive keys).
Definition Landmark.h:113
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/LaserScan_8h_source.html b/preview/pr-1492/api/latest/LaserScan_8h_source.html new file mode 100644 index 00000000..7406e901 --- /dev/null +++ b/preview/pr-1492/api/latest/LaserScan_8h_source.html @@ -0,0 +1,301 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/LaserScan.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
LaserScan.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_
+
29#define CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/Transform.h>
+
34
+
35namespace rtabmap {
+
36
+
+
45class RTABMAP_CORE_EXPORT LaserScan
+
46{
+
47public:
+
+
55 enum Format{
+
56 kUnknown=0,
+
57 kXY=1,
+
58 kXYI=2,
+
59 kXYNormal=3,
+
60 kXYINormal=4,
+
61 kXYZ=5,
+
62 kXYZI=6,
+
63 kXYZRGB=7,
+
64 kXYZNormal=8,
+
65 kXYZINormal=9,
+
66 kXYZRGBNormal=10,
+
67 kXYZIT=11,
+
68 kXYZIRT=12
+
69 };
+
+
70
+
73 static std::string formatName(const Format & format);
+
74 static int channels(const Format & format);
+
75 static bool isScan2d(const Format & format);
+
76 static bool isScanHasNormals(const Format & format);
+
77 static bool isScanHasRGB(const Format & format);
+
78 static bool isScanHasIntensity(const Format & format);
+
79 static bool isScanHasTime(const Format & format);
+
80 static bool isScanHasRing(const Format & format);
+
81 static float packRGB(unsigned char r, unsigned char g, unsigned char b);
+
82 static void unpackRGB(float rgb, unsigned char & r, unsigned char & g, unsigned char & b);
+
83
+
87 static LaserScan backwardCompatibility(
+
88 const cv::Mat & oldScanFormat,
+
89 int maxPoints = 0,
+
90 int maxRange = 0,
+
91 const Transform & localTransform = Transform::getIdentity());
+
92
+
96 static LaserScan backwardCompatibility(
+
97 const cv::Mat & oldScanFormat,
+
98 float minRange,
+
99 float maxRange,
+
100 float angleMin,
+
101 float angleMax,
+
102 float angleInc,
+
103 const Transform & localTransform = Transform::getIdentity());
+
105
+
106public:
+
107
+
110 LaserScan();
+
111 LaserScan(const LaserScan & data,
+
112 int maxPoints,
+
113 float maxRange,
+
114 const Transform & localTransform = Transform::getIdentity());
+
115
+
117 RTABMAP_DEPRECATED LaserScan(const LaserScan & data,
+
118 int maxPoints,
+
119 float maxRange,
+
120 Format format,
+
121 const Transform & localTransform = Transform::getIdentity());
+
122 LaserScan(const cv::Mat & data,
+
123 int maxPoints,
+
124 float maxRange,
+
125 Format format,
+
126 const Transform & localTransform = Transform::getIdentity());
+
127
+
129 RTABMAP_DEPRECATED LaserScan(const LaserScan & data,
+
130 Format format,
+
131 float minRange,
+
132 float maxRange,
+
133 float angleMin,
+
134 float angleMax,
+
135 float angleIncrement,
+
136 const Transform & localTransform = Transform::getIdentity());
+
137 LaserScan(const LaserScan & data,
+
138 float minRange,
+
139 float maxRange,
+
140 float angleMin,
+
141 float angleMax,
+
142 float angleIncrement,
+
143 const Transform & localTransform = Transform::getIdentity());
+
144 LaserScan(const cv::Mat & data,
+
145 Format format,
+
146 float minRange,
+
147 float maxRange,
+
148 float angleMin,
+
149 float angleMax,
+
150 float angleIncrement,
+
151 const Transform & localTransform = Transform::getIdentity());
+
153
+
156 const cv::Mat & data() const {return data_;}
+
157 Format format() const {return format_;}
+
158 std::string formatName() const {return formatName(format_);}
+
159 int channels() const {return data_.channels();}
+
160 int maxPoints() const {return maxPoints_;}
+
161 float rangeMin() const {return rangeMin_;}
+
162 float rangeMax() const {return rangeMax_;}
+
163 float angleMin() const {return angleMin_;}
+
164 float angleMax() const {return angleMax_;}
+
165 float angleIncrement() const {return angleIncrement_;}
+
166 void setLocalTransform(const Transform & t) {localTransform_ = t;}
+
167 Transform localTransform() const {return localTransform_;}
+
169
+
172 bool empty() const {return data_.empty();}
+
173 bool isEmpty() const {return data_.empty();}
+
174 int size() const {return data_.total();}
+
175 int dataType() const {return data_.type();}
+
176 bool is2d() const {return isScan2d(format_);}
+
177 bool hasNormals() const {return isScanHasNormals(format_);}
+
178 bool hasRGB() const {return isScanHasRGB(format_);}
+
179 bool hasIntensity() const {return isScanHasIntensity(format_);}
+
180 bool hasTime() const {return isScanHasTime(format_);}
+
181 bool hasRing() const {return isScanHasRing(format_);}
+
182 bool isCompressed() const {return !data_.empty() && data_.type()==CV_8UC1;}
+
183 bool isOrganized() const {return data_.rows > 1;}
+
184 LaserScan clone() const;
+
185 LaserScan densify() const;
+
187
+
190 int getIntensityOffset() const {return hasIntensity()?(is2d()?2:3):-1;}
+
191 int getRGBOffset() const {return hasRGB()?(is2d()?2:3):-1;}
+
192 int getNormalsOffset() const {return hasNormals()?(2 + (is2d()?0:1) + ((hasRGB() || hasIntensity())?1:0)):-1;}
+
193 int getRingOffset() const {return format_==kXYZIRT?4:-1;}
+
194 int getTimeOffset() const {return format_==kXYZIT?4:(format_==kXYZIRT?5:-1);}
+
195
+
203 float & field(unsigned int pointIndex, unsigned int channelOffset);
+
204
+
208 void clear() {data_ = cv::Mat();}
+
209
+
213 LaserScan & operator+=(const LaserScan &);
+
217 LaserScan operator+(const LaserScan &);
+
219
+
220private:
+
221 void init(const cv::Mat & data,
+
222 Format format,
+
223 float minRange,
+
224 float maxRange,
+
225 float angleMin,
+
226 float angleMax,
+
227 float angleIncrement,
+
228 int maxPoints,
+
229 const Transform & localTransform = Transform::getIdentity());
+
230
+
231private:
+
232 cv::Mat data_;
+
233 Format format_;
+
234 int maxPoints_;
+
235 float rangeMin_;
+
236 float rangeMax_;
+
237 float angleMin_;
+
238 float angleMax_;
+
239 float angleIncrement_;
+
240 Transform localTransform_;
+
241};
+
+
242
+
243} // namespace rtabmap
+
244
+
245#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LASERSCAN_H_ */
+
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
+
rtabmap::LaserScan::LaserScan
RTABMAP_DEPRECATED LaserScan(const LaserScan &data, int maxPoints, float maxRange, Format format, const Transform &localTransform=Transform::getIdentity())
+
rtabmap::LaserScan::Format
Format
Enumeration of possible formats for laser scan data.
Definition LaserScan.h:55
+
rtabmap::LaserScan::field
float & field(unsigned int pointIndex, unsigned int channelOffset)
Access a specific field value of a point.
+
rtabmap::LaserScan::backwardCompatibility
static LaserScan backwardCompatibility(const cv::Mat &oldScanFormat, float minRange, float maxRange, float angleMin, float angleMax, float angleInc, const Transform &localTransform=Transform::getIdentity())
Converts legacy scan format with additional metadata to a LaserScan.
+
rtabmap::LaserScan::LaserScan
RTABMAP_DEPRECATED LaserScan(const LaserScan &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())
+
rtabmap::LaserScan::backwardCompatibility
static LaserScan backwardCompatibility(const cv::Mat &oldScanFormat, int maxPoints=0, int maxRange=0, const Transform &localTransform=Transform::getIdentity())
Converts legacy scan format to a LaserScan object.
+
rtabmap::LaserScan::operator+
LaserScan operator+(const LaserScan &)
Concatenate scan's data (localTransform is ignored).
+
rtabmap::LaserScan::clear
void clear()
Clear the scan data.
Definition LaserScan.h:208
+
rtabmap::LaserScan::operator+=
LaserScan & operator+=(const LaserScan &)
Concatenate scan's data (localTransform is ignored).
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/LidarVLP16_8h_source.html b/preview/pr-1492/api/latest/LidarVLP16_8h_source.html new file mode 100644 index 00000000..ba0f0644 --- /dev/null +++ b/preview/pr-1492/api/latest/LidarVLP16_8h_source.html @@ -0,0 +1,251 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/lidar/LidarVLP16.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+ + +
+
+
LidarVLP16.h
+
+
+
1/*
+
2Copyright (c) 2010-2022, Mathieu Labbe
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the names of its contributors may be used to endorse or promote products
+
13 derived from this software without specific prior written permission.
+
14
+
15THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
16ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
17WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
18DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
19DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
20(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
21LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
22ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
23(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
24SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
25*/
+
26#ifndef CORELIB_INCLUDE_RTABMAP_CORE_LIDAR_LIDARVLP16_H_
+
27#define CORELIB_INCLUDE_RTABMAP_CORE_LIDAR_LIDARVLP16_H_
+
28
+
29// Should be first on windows to avoid "WinSock.h has already been included" error
+
30#include <pcl/io/vlp_grabber.h>
+
31#include <boost/version.hpp>
+
32#include <boost/asio.hpp>
+
33
+
34#include <rtabmap/core/Lidar.h>
+
35#include <rtabmap/utilite/USemaphore.h>
+
36
+
37#include <thread>
+
38#include <atomic>
+
39
+
40// On Apple, closing pcl::HDLGrabber's UDP socket while its read thread is blocked
+
41// in receive_from returns EBADF, which pcl::HDLGrabber::readPacketsFromSocket()
+
42// rethrows uncaught in its own thread, aborting the process on shutdown. There we
+
43// run our own single-threaded UDP receive loop and own the socket lifecycle.
+
44// Other platforms use the base pcl::VLPGrabber path (which also avoids needing
+
45// boost::asio::io_context, absent from the Boost 1.65 on e.g. Ubuntu Bionic).
+
46// Comment this out to force the base path everywhere (e.g. A/B testing on macOS).
+
47#if defined(__APPLE__)
+
48#define RTABMAP_VLP16_USE_CUSTOM_SOCKET
+
49#endif
+
50
+
51namespace rtabmap {
+
52
+
+
53struct PointXYZIT {
+
54 float x;
+
55 float y;
+
56 float z;
+
57 float i;
+
58 float t;
+
59};
+
+
60
+
+
61class RTABMAP_CORE_EXPORT LidarVLP16 :public Lidar, public pcl::VLPGrabber {
+
62public:
+
63 LidarVLP16(
+
64 const std::string& pcapFile,
+
65 bool organized = false,
+
66 bool stampLast = true,
+
67 float frameRate = 0.0f,
+
68 Transform localTransform = Transform::getIdentity());
+
69 LidarVLP16(
+
70 const boost::asio::ip::address& ipAddress,
+
71 const std::uint16_t port = 2368,
+
72 bool organized = false,
+
73 bool useHostTime = true,
+
74 bool stampLast = true,
+
75 float frameRate = 0.0f,
+
76 Transform localTransform = Transform::getIdentity());
+
77 virtual ~LidarVLP16();
+
78
+
79 SensorData takeScan(SensorCaptureInfo * info = 0) {return takeData(info);}
+
80
+
81 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "") override;
+
82 virtual std::string getSerial() const override {return getName();}
+
83
+
84 void setOrganized(bool enable);
+
85
+
86#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
+
87 // Overridden only on Apple: in network mode we run our own UDP receive loop
+
88 // instead of pcl::HDLGrabber's, because on macOS/BSD closing the grabber's
+
89 // socket while its read thread is blocked in receive_from returns EBADF, a
+
90 // code that pcl::HDLGrabber::readPacketsFromSocket() rethrows uncaught (in
+
91 // its own thread), aborting the process on shutdown. Owning the socket lets
+
92 // us tear it down with the non-throwing receive_from overload. Like
+
93 // pcl::HDLGrabber, we bind to the given LOCAL interface address (to scope
+
94 // reception on a multi-homed host) and fall back to all interfaces (0.0.0.0)
+
95 // when it is unspecified or not a local address. In PCAP mode we delegate to
+
96 // the base grabber. On other platforms we inherit pcl::VLPGrabber directly.
+
97 virtual void start() override;
+
98 virtual void stop() override;
+
99 virtual bool isRunning() const override;
+
100#endif
+
101
+
102private:
+
103 void buildTimings(bool dualMode);
+
104 virtual void toPointClouds (HDLDataPacket *dataPacket) override;
+
105#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
+
106 void readPackets();
+
107#endif
+
108
+
109protected:
+
110 virtual SensorData captureData(SensorCaptureInfo * info = 0) override;
+
111
+
112private:
+
113 // timing offset lookup table
+
114 std::vector< std::vector<float> > timingOffsets_;
+
115 bool timingOffsetsDualMode_;
+
116 double startSweepTime_;
+
117 double startSweepTimeHost_;
+
118 bool organized_;
+
119 bool useHostTime_;
+
120 bool stampLast_;
+
121 SensorData lastScan_;
+
122 std::vector<std::vector<PointXYZIT> > accumulatedScans_;
+
123 USemaphore scanReady_;
+
124 UMutex lastScanMutex_;
+
125
+
126 // Own UDP receive path (network mode only).
+
127 bool networkMode_;
+
128 boost::asio::ip::address ipAddress_;
+
129 std::uint16_t port_;
+
130 bool receivedScan_; // set once the first scan is received
+
131#ifdef RTABMAP_VLP16_USE_CUSTOM_SOCKET
+
132 boost::asio::io_context ioContext_;
+
133 boost::asio::ip::udp::socket * socket_;
+
134 std::thread * readThread_;
+
135 std::atomic<bool> terminate_;
+
136#endif
+
137};
+
+
138
+
139} /* namespace rtabmap */
+
140
+
141#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LIDAR_LIDARVLP16_H_ */
+ + + +
rtabmap::LidarVLP16::captureData
virtual SensorData captureData(SensorCaptureInfo *info=0) override
Pure virtual method to capture sensor data.
+
rtabmap::LidarVLP16::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="") override
Initializes the sensor.
+
rtabmap::LidarVLP16::getSerial
virtual std::string getSerial() const override
Returns the sensor's serial number or unique identifier.
Definition LidarVLP16.h:82
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ + +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Lidar_8h_source.html b/preview/pr-1492/api/latest/Lidar_8h_source.html new file mode 100644 index 00000000..e07d2ce2 --- /dev/null +++ b/preview/pr-1492/api/latest/Lidar_8h_source.html @@ -0,0 +1,150 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Lidar.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + + + + + + + + +
+
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+
+
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+
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+
Lidar.h
+
+
+
1/*
+
2Copyright (c) 2010-2022, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
31#include <rtabmap/core/SensorCapture.h>
+
32
+
33namespace rtabmap
+
34{
+
35
+
+
40class RTABMAP_CORE_EXPORT Lidar : public SensorCapture
+
41{
+
42public:
+
43 virtual ~Lidar() {}
+
44
+
45protected:
+
+
52 Lidar(float lidarRate = 0, const Transform & localTransform = Transform::getIdentity()) :
+
53 SensorCapture(lidarRate, localTransform) {}
+
+
54};
+
+
55
+
56
+
57} // namespace rtabmap
+ +
rtabmap::Lidar::Lidar
Lidar(float lidarRate=0, const Transform &localTransform=Transform::getIdentity())
Definition Lidar.h:52
+
rtabmap::SensorCapture
Abstract base class for sensor data capture (cameras, lidars, etc.)
Definition SensorCapture.h:79
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Link_8h_source.html b/preview/pr-1492/api/latest/Link_8h_source.html new file mode 100644 index 00000000..2ac772db --- /dev/null +++ b/preview/pr-1492/api/latest/Link_8h_source.html @@ -0,0 +1,231 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Link.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+ + +
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+
Link.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef LINK_H_
+
29#define LINK_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/Transform.h>
+
34#include <opencv2/core/core.hpp>
+
35
+
36namespace rtabmap {
+
37
+
+
54class RTABMAP_CORE_EXPORT Link
+
55{
+
56public:
+
+
64 enum Type {
+
65 kNeighbor,
+
66 kGlobalClosure,
+
67 kLocalSpaceClosure,
+
68 kLocalTimeClosure,
+
69 kUserClosure,
+
70 kVirtualClosure,
+
71 kNeighborMerged,
+
72 kPosePrior,
+
73 kLandmark,
+
74 kGravity,
+
75 kEnd,
+
76 kSelfRefLink = 97,
+
77 kAllWithLandmarks = 98,
+
78 kAllWithoutLandmarks = 99,
+
79 kUndef = 99};
+
+
82 static std::string typeName(Type type);
+
83
+
85 Link();
+
95 Link(int from,
+
96 int to,
+
97 Type type,
+
98 const Transform & transform,
+
99 const cv::Mat & infMatrix = cv::Mat::eye(6,6,CV_64FC1),
+
100 const cv::Mat & userData = cv::Mat());
+
101
+
103 bool isValid() const {return from_ != 0 && to_ != 0 && !transform_.isNull() && type_!=kUndef;}
+
104
+
105 int from() const {return from_;}
+
106 int to() const {return to_;}
+
107 const Transform & transform() const {return transform_;}
+
108 Type type() const {return type_;}
+
109 std::string typeName() const {return typeName(type_);}
+
110 const cv::Mat & infMatrix() const {return infMatrix_;}
+
111
+
117 double rotVariance(bool minimum = true) const;
+
122 double transVariance(bool minimum = true) const;
+
123
+
124 void setFrom(int from) {from_ = from;}
+
125 void setTo(int to) {to_ = to;}
+
126 void setTransform(const Transform & transform) {transform_ = transform;}
+
127 void setType(Type type) {type_ = type;}
+
129 void setInfMatrix(const cv::Mat & infMatrix);
+
130
+
131 const cv::Mat & userDataRaw() const {return _userDataRaw;}
+
132 const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
+
134 void uncompressUserData();
+
136 cv::Mat uncompressUserDataConst() const;
+
137
+
150 Link merge(const Link & link, Type outputType) const;
+
152 Link inverse() const;
+
153
+
154private:
+
155 int from_;
+
156 int to_;
+
157 Transform transform_;
+
158 Type type_;
+
159 cv::Mat infMatrix_; // Information matrix = covariance matrix ^ -1
+
160
+
161 // user data
+
162 cv::Mat _userDataCompressed; // compressed data
+
163 cv::Mat _userDataRaw;
+
164};
+
+
165
+
166}
+
167
+
168
+
169#endif /* LINK_H_ */
+ + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/LocalGridMaker_8h_source.html b/preview/pr-1492/api/latest/LocalGridMaker_8h_source.html new file mode 100644 index 00000000..18712abe --- /dev/null +++ b/preview/pr-1492/api/latest/LocalGridMaker_8h_source.html @@ -0,0 +1,224 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/LocalGridMaker.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+ + +
+
+
LocalGridMaker.h
+
+
+
1/*
+
2Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef SRC_LOCAL_MAP_H_
+
29#define SRC_LOCAL_MAP_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <pcl/pcl_base.h>
+
34#include <pcl/point_types.h>
+
35
+
36#include <rtabmap/core/Transform.h>
+
37#include <rtabmap/core/Parameters.h>
+
38#include <rtabmap/core/Signature.h>
+
39
+
40namespace rtabmap {
+
41
+
+
64class RTABMAP_CORE_EXPORT LocalGridMaker
+
65{
+
66public:
+
68 LocalGridMaker(const ParametersMap & parameters = ParametersMap());
+
69 virtual ~LocalGridMaker();
+
70
+
72 virtual void parseParameters(const ParametersMap & parameters);
+
73
+
75 float getCellSize() const {return cellSize_;}
+
77 bool isGridFromDepth() const {return occupancySensor_;}
+
79 bool isMapFrameProjection() const {return projMapFrame_;}
+
80
+
97 template<typename PointT>
+
98 typename pcl::PointCloud<PointT>::Ptr segmentCloud(
+
99 const typename pcl::PointCloud<PointT>::Ptr & cloud,
+
100 const pcl::IndicesPtr & indices,
+
101 const Transform & pose,
+
102 const cv::Point3f & viewPoint,
+
103 pcl::IndicesPtr & groundIndices, // output cloud indices
+
104 pcl::IndicesPtr & obstaclesIndices, // output cloud indices
+
105 pcl::IndicesPtr * flatObstacles = 0) const; // output cloud indices
+
106
+
123 void createLocalMap(
+
124 const Signature & node,
+
125 cv::Mat & groundCells,
+
126 cv::Mat & obstacleCells,
+
127 cv::Mat & emptyCells,
+
128 cv::Point3f & viewPoint);
+
129
+
143 void createLocalMap(
+
144 const LaserScan & cloud,
+
145 const Transform & pose,
+
146 cv::Mat & groundCells,
+
147 cv::Mat & obstacleCells,
+
148 cv::Mat & emptyCells,
+
149 cv::Point3f & viewPointInOut) const;
+
150
+
151protected:
+
152 ParametersMap parameters_;
+
153
+
154 unsigned int cloudDecimation_;
+
155 float rangeMax_;
+
156 float rangeMin_;
+
157 std::vector<float> roiRatios_;
+
158 float footprintLength_;
+
159 float footprintWidth_;
+
160 float footprintHeight_;
+
161 int scanDecimation_;
+
162 float cellSize_;
+
163 bool preVoxelFiltering_;
+
164 int occupancySensor_;
+
165 bool projMapFrame_;
+
166 float maxObstacleHeight_;
+
167 int normalKSearch_;
+
168 float groundNormalsUp_;
+
169 float maxGroundAngle_;
+
170 float clusterRadius_;
+
171 int minClusterSize_;
+
172 bool flatObstaclesDetected_;
+
173 float minGroundHeight_;
+
174 float maxGroundHeight_;
+
175 bool normalsSegmentation_;
+
176 bool grid3D_;
+
177 bool groundIsObstacle_;
+
178 float noiseFilteringRadius_;
+
179 int noiseFilteringMinNeighbors_;
+
180 bool scan2dUnknownSpaceFilled_;
+
181 bool rayTracing_;
+
182};
+
+
183
+
184} /* namespace rtabmap */
+
185
+
186#include <rtabmap/core/impl/LocalMapMaker.hpp>
+
187
+
188#endif /* SRC_LOCAL_MAP_H_ */
+
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
+
rtabmap::LocalGridMaker
Builds per-node local occupancy grids from laser scans or depth clouds.
Definition LocalGridMaker.h:65
+ +
rtabmap::LocalGridMaker::createLocalMap
void createLocalMap(const LaserScan &cloud, const Transform &pose, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPointInOut) const
Creates a local grid from a 3D (or organized) LaserScan.
+ +
rtabmap::LocalGridMaker::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Updates grid settings from Grid/ entries in parameters.
+
rtabmap::LocalGridMaker::LocalGridMaker
LocalGridMaker(const ParametersMap &parameters=ParametersMap())
Constructs with parseParameters() on parameters (or defaults).
+
rtabmap::LocalGridMaker::createLocalMap
void createLocalMap(const Signature &node, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPoint)
Creates a local grid from a Signature's laser scan or depth data.
+
rtabmap::LocalGridMaker::isMapFrameProjection
bool isMapFrameProjection() const
Definition LocalGridMaker.h:79
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/LocalGrid_8h_source.html b/preview/pr-1492/api/latest/LocalGrid_8h_source.html new file mode 100644 index 00000000..b2fe3bc5 --- /dev/null +++ b/preview/pr-1492/api/latest/LocalGrid_8h_source.html @@ -0,0 +1,205 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/LocalGrid.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+ + +
+
+
LocalGrid.h
+
+
+
1/*
+
2Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef SRC_LOCALGRID_H_
+
29#define SRC_LOCALGRID_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <opencv2/core.hpp>
+
34#include <map>
+
35
+
36namespace rtabmap {
+
37
+
+
61class RTABMAP_CORE_EXPORT LocalGrid
+
62{
+
63public:
+
72 LocalGrid(const cv::Mat & ground,
+
73 const cv::Mat & obstacles,
+
74 const cv::Mat & empty,
+
75 float cellSize,
+
76 const cv::Point3f & viewPoint = cv::Point3f(0,0,0));
+
77 virtual ~LocalGrid() {}
+
78
+
80 bool is3D() const;
+
81
+
82 cv::Mat groundCells;
+
83 cv::Mat obstacleCells;
+
84 cv::Mat emptyCells;
+
85 float cellSize;
+
86 cv::Point3f viewPoint;
+
87};
+
+
88
+
+
97class RTABMAP_CORE_EXPORT LocalGridCache
+
98{
+
99public:
+
100 LocalGridCache() {}
+
101 virtual ~LocalGridCache() {}
+
102
+
104 void add(int nodeId,
+
105 const cv::Mat & ground,
+
106 const cv::Mat & obstacles,
+
107 const cv::Mat & empty,
+
108 float cellSize,
+
109 const cv::Point3f & viewPoint = cv::Point3f(0,0,0));
+
110
+
112 void add(int nodeId, const LocalGrid & localGrid);
+
113
+
118 bool shareTo(int nodeId, LocalGridCache & anotherCache) const;
+
119
+
121 unsigned long getMemoryUsed() const;
+
122
+
127 void clear(bool temporaryOnly = false);
+
128
+
129 size_t size() const {return localGrids_.size();}
+
130 bool empty() const {return localGrids_.empty();}
+
131 const std::map<int, LocalGrid> & localGrids() const {return localGrids_;}
+
132
+
133 std::map<int, LocalGrid>::const_iterator find(int nodeId) const {return localGrids_.find(nodeId);}
+
134 std::map<int, LocalGrid>::const_iterator begin() const {return localGrids_.begin();}
+
135 std::map<int, LocalGrid>::const_iterator end() const {return localGrids_.end();}
+
136
+
137private:
+
138 std::map<int, LocalGrid> localGrids_;
+
139};
+
+
140
+
141} /* namespace rtabmap */
+
142
+
143#endif /* SRC_LOCALGRID_H_ */
+
rtabmap::LocalGridCache
Cache of LocalGrid entries keyed by map node id.
Definition LocalGrid.h:98
+
rtabmap::LocalGridCache::add
void add(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))
Inserts or replaces the grid for nodeId (from separate cell mats).
+
rtabmap::LocalGridCache::clear
void clear(bool temporaryOnly=false)
Removes cached grids.
+
rtabmap::LocalGridCache::shareTo
bool shareTo(int nodeId, LocalGridCache &anotherCache) const
Copies a grid to anotherCache if present here and absent there.
+
rtabmap::LocalGridCache::add
void add(int nodeId, const LocalGrid &localGrid)
Inserts or replaces the grid for nodeId.
+
rtabmap::LocalGridCache::getMemoryUsed
unsigned long getMemoryUsed() const
Approximate memory used by cached grids (bytes).
+
rtabmap::LocalGrid
Local occupancy grid cells for one map node (ground, obstacles, empty).
Definition LocalGrid.h:62
+
rtabmap::LocalGrid::cellSize
float cellSize
Cell size in meters.
Definition LocalGrid.h:85
+
rtabmap::LocalGrid::groundCells
cv::Mat groundCells
Ground cells (1×N, CV_32FC2–CV_32FC7, see class doc).
Definition LocalGrid.h:82
+
rtabmap::LocalGrid::LocalGrid
LocalGrid(const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))
Builds a local grid from cell matrices.
+
rtabmap::LocalGrid::emptyCells
cv::Mat emptyCells
Empty/free cells (same layout as groundCells).
Definition LocalGrid.h:84
+
rtabmap::LocalGrid::viewPoint
cv::Point3f viewPoint
View point used to build the grid.
Definition LocalGrid.h:86
+
rtabmap::LocalGrid::obstacleCells
cv::Mat obstacleCells
Obstacle cells (same layout as groundCells).
Definition LocalGrid.h:83
+
rtabmap::LocalGrid::is3D
bool is3D() const
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/LocalMapMaker_8hpp_source.html b/preview/pr-1492/api/latest/LocalMapMaker_8hpp_source.html new file mode 100644 index 00000000..641b5a1f --- /dev/null +++ b/preview/pr-1492/api/latest/LocalMapMaker_8hpp_source.html @@ -0,0 +1,370 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/impl/LocalMapMaker.hpp Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
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+
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+
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+
LocalMapMaker.hpp
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_HPP_
+
29#define CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_HPP_
+
30
+
31#include <rtabmap/core/util3d_mapping.h>
+
32#include <rtabmap/core/util3d_transforms.h>
+
33#include <rtabmap/utilite/ULogger.h>
+
34
+
35namespace rtabmap {
+
36
+
37template<typename PointT>
+
+
38typename pcl::PointCloud<PointT>::Ptr LocalGridMaker::segmentCloud(
+
39 const typename pcl::PointCloud<PointT>::Ptr & cloudIn,
+
40 const pcl::IndicesPtr & indicesIn,
+
41 const Transform & pose,
+
42 const cv::Point3f & viewPoint,
+
43 pcl::IndicesPtr & groundIndices,
+
44 pcl::IndicesPtr & obstaclesIndices,
+
45 pcl::IndicesPtr * flatObstacles) const
+
46{
+
47 groundIndices.reset(new std::vector<int>);
+
48 obstaclesIndices.reset(new std::vector<int>);
+
49 if(flatObstacles)
+
50 {
+
51 flatObstacles->reset(new std::vector<int>);
+
52 }
+
53
+
54 UASSERT(cloudIn.get());
+
55 UASSERT(indicesIn.get());
+
56 if(cloudIn->empty())
+
57 {
+
58 return cloudIn;
+
59 }
+
60
+
61 typename pcl::PointCloud<PointT>::Ptr cloud(new pcl::PointCloud<PointT>);
+
62 pcl::IndicesPtr indices(new std::vector<int>);
+
63
+
64 if(preVoxelFiltering_)
+
65 {
+
66 // voxelize to grid cell size
+
67 cloud = util3d::voxelize(cloudIn, indicesIn, cellSize_);
+
68
+
69 indices->resize(cloud->size());
+
70 for(unsigned int i=0; i<indices->size(); ++i)
+
71 {
+
72 indices->at(i) = i;
+
73 }
+
74 }
+
75 else
+
76 {
+
77 cloud = cloudIn;
+
78 if(indicesIn->empty() && cloud->is_dense)
+
79 {
+
80 indices->resize(cloud->size());
+
81 for(unsigned int i=0; i<indices->size(); ++i)
+
82 {
+
83 indices->at(i) = i;
+
84 }
+
85 }
+
86 else
+
87 {
+
88 indices = indicesIn;
+
89 }
+
90 }
+
91
+
92 if(cloud->empty())
+
93 {
+
94 return cloud;
+
95 }
+
96
+
97 // add pose rotation without yaw
+
98 float roll, pitch, yaw;
+
99 pose.getEulerAngles(roll, pitch, yaw);
+
100 UDEBUG("node.getPose()=%s projMapFrame_=%d", pose.prettyPrint().c_str(), projMapFrame_?1:0);
+
101 cloud = util3d::transformPointCloud(cloud, Transform(0,0, projMapFrame_?pose.z():0, roll, pitch, 0));
+
102
+
103 // filter footprint
+
104 if(footprintLength_ > 0.0f || footprintWidth_ > 0.0f || footprintHeight_ > 0.0f)
+
105 {
+
106 indices = util3d::cropBox(
+
107 cloud,
+
108 indices,
+
109 Eigen::Vector4f(
+
110 footprintLength_>0.0f?-footprintLength_/2.0f:std::numeric_limits<int>::min(),
+
111 footprintWidth_>0.0f&&footprintLength_>0.0f?-footprintWidth_/2.0f:std::numeric_limits<int>::min(),
+
112 0,
+
113 1),
+
114 Eigen::Vector4f(
+
115 footprintLength_>0.0f?footprintLength_/2.0f:std::numeric_limits<int>::max(),
+
116 footprintWidth_>0.0f&&footprintLength_>0.0f?footprintWidth_/2.0f:std::numeric_limits<int>::max(),
+
117 footprintHeight_>0.0f&&footprintLength_>0.0f&&footprintWidth_>0.0f?footprintHeight_:std::numeric_limits<int>::max(),
+
118 1),
+
119 Transform::getIdentity(),
+
120 true);
+
121 }
+
122
+
123 // filter ground/obstacles zone
+
124 if(minGroundHeight_ != 0.0f || maxObstacleHeight_ != 0.0f)
+
125 {
+
126 indices = util3d::passThrough(cloud, indices, "z",
+
127 minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits<int>::min(),
+
128 maxObstacleHeight_>0.0f?maxObstacleHeight_:std::numeric_limits<int>::max());
+
129 UDEBUG("indices after max obstacles height filtering = %d", (int)indices->size());
+
130 }
+
131
+
132 if(indices->size())
+
133 {
+
134 if(normalsSegmentation_ && !groundIsObstacle_)
+
135 {
+
136 UDEBUG("normalKSearch=%d", normalKSearch_);
+
137 UDEBUG("maxGroundAngle=%f", maxGroundAngle_);
+
138 UDEBUG("Cluster radius=%f", clusterRadius_);
+
139 UDEBUG("flatObstaclesDetected=%d", flatObstaclesDetected_?1:0);
+
140 UDEBUG("maxGroundHeight=%f", maxGroundHeight_);
+
141 UDEBUG("groundNormalsUp=%f", groundNormalsUp_);
+
142 util3d::segmentObstaclesFromGround<PointT>(
+
143 cloud,
+
144 indices,
+
145 groundIndices,
+
146 obstaclesIndices,
+
147 normalKSearch_,
+
148 maxGroundAngle_,
+
149 clusterRadius_,
+
150 minClusterSize_,
+
151 flatObstaclesDetected_,
+
152 maxGroundHeight_,
+
153 flatObstacles,
+
154 Eigen::Vector4f(viewPoint.x, viewPoint.y, viewPoint.z+(projMapFrame_?pose.z():0), 1),
+
155 groundNormalsUp_);
+
156 UDEBUG("viewPoint=%f,%f,%f", viewPoint.x, viewPoint.y, viewPoint.z+(projMapFrame_?pose.z():0));
+
157 //UWARN("Saving ground.pcd and obstacles.pcd");
+
158 //pcl::io::savePCDFile("ground.pcd", *cloud, *groundIndices);
+
159 //pcl::io::savePCDFile("obstacles.pcd", *cloud, *obstaclesIndices);
+
160 }
+
161 else
+
162 {
+
163 UDEBUG("");
+
164 // passthrough filter
+
165 groundIndices = rtabmap::util3d::passThrough(cloud, indices, "z",
+
166 minGroundHeight_!=0.0f?minGroundHeight_:std::numeric_limits<int>::min(),
+
167 maxGroundHeight_!=0.0f?maxGroundHeight_:std::numeric_limits<int>::max());
+
168
+
169 pcl::IndicesPtr notObstacles = groundIndices;
+
170 if(indices->size())
+
171 {
+
172 notObstacles = util3d::extractIndices(cloud, indices, true);
+
173 notObstacles = util3d::concatenate(notObstacles, groundIndices);
+
174 }
+
175 obstaclesIndices = rtabmap::util3d::extractIndices(cloud, notObstacles, true);
+
176 }
+
177
+
178 UDEBUG("groundIndices=%d obstaclesIndices=%d", (int)groundIndices->size(), (int)obstaclesIndices->size());
+
179
+
180 // Do radius filtering after voxel filtering ( a lot faster)
+
181 if(noiseFilteringRadius_ > 0.0 && noiseFilteringMinNeighbors_ > 0)
+
182 {
+
183 UDEBUG("Radius filtering (%ld ground %ld obstacles, radius=%f k=%d)",
+
184 groundIndices->size(),
+
185 obstaclesIndices->size()+(flatObstacles?(*flatObstacles)->size():0),
+
186 noiseFilteringRadius_,
+
187 noiseFilteringMinNeighbors_);
+
188 if(groundIndices->size())
+
189 {
+
190 pcl::IndicesPtr farIndices;
+
191 if(rangeMax_!=0)
+
192 {
+
193 // Don't filter points farther than maximum range, in case we want to ray trace empty space
+
194 pcl::IndicesPtr closeIndices;
+
195 rtabmap::util3d::rangeSplitFiltering(cloud, groundIndices, rangeMax_, closeIndices, farIndices);
+
196 groundIndices = closeIndices;
+
197 }
+
198 groundIndices = rtabmap::util3d::radiusFiltering(cloud, groundIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
+
199 if(farIndices.get())
+
200 {
+
201 groundIndices = rtabmap::util3d::concatenate(groundIndices, farIndices);
+
202 }
+
203 }
+
204 if(obstaclesIndices->size())
+
205 {
+
206 pcl::IndicesPtr farIndices;
+
207 if(rangeMax_!=0)
+
208 {
+
209 // Don't filter points farther than maximum range, in case we want to ray trace empty space
+
210 pcl::IndicesPtr closeIndices;
+
211 rtabmap::util3d::rangeSplitFiltering(cloud, obstaclesIndices, rangeMax_, closeIndices, farIndices);
+
212 obstaclesIndices = closeIndices;
+
213 }
+
214 obstaclesIndices = rtabmap::util3d::radiusFiltering(cloud, obstaclesIndices, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
+
215 if(farIndices.get())
+
216 {
+
217 obstaclesIndices = rtabmap::util3d::concatenate(obstaclesIndices, farIndices);
+
218 }
+
219 }
+
220 if(flatObstacles && (*flatObstacles)->size())
+
221 {
+
222 pcl::IndicesPtr farIndices;
+
223 if(rangeMax_!=0)
+
224 {
+
225 // Don't filter points farther than maximum range, in case we want to ray trace empty space
+
226 pcl::IndicesPtr closeIndices;
+
227 rtabmap::util3d::rangeSplitFiltering(cloud, *flatObstacles, rangeMax_, closeIndices, farIndices);
+
228 *flatObstacles = closeIndices;
+
229 }
+
230 *flatObstacles = rtabmap::util3d::radiusFiltering(cloud, *flatObstacles, noiseFilteringRadius_, noiseFilteringMinNeighbors_);
+
231 if(farIndices.get())
+
232 {
+
233 *flatObstacles = rtabmap::util3d::concatenate(*flatObstacles, farIndices);
+
234 }
+
235 }
+
236 UDEBUG("Radius filtering end (%ld ground %ld obstacles)",
+
237 groundIndices->size(),
+
238 obstaclesIndices->size()+(flatObstacles?(*flatObstacles)->size():0));
+
239
+
240 if(groundIndices->empty() && obstaclesIndices->empty())
+
241 {
+
242 UWARN("Cloud (with %d points) is empty after noise "
+
243 "filtering. Occupancy grid cannot be "
+
244 "created.",
+
245 (int)cloud->size());
+
246
+
247 }
+
248 }
+
249 }
+
250 return cloud;
+
251}
+
+
252
+
253}
+
254
+
255
+
256#endif /* CORELIB_INCLUDE_RTABMAP_CORE_IMPL_LOCALMAP_HPP_ */
+
ULogger.h
ULogger class and convenient macros.
+
UDEBUG
#define UDEBUG(...)
Definition ULogger.h:59
+
UASSERT
#define UASSERT(condition)
Definition ULogger.h:66
+
UWARN
#define UWARN(...)
Definition ULogger.h:61
+
rtabmap::LocalGridMaker::segmentCloud
pcl::PointCloud< PointT >::Ptr segmentCloud(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &pose, const cv::Point3f &viewPoint, pcl::IndicesPtr &groundIndices, pcl::IndicesPtr &obstaclesIndices, pcl::IndicesPtr *flatObstacles=0) const
Segments a point cloud into ground and obstacle indices.
Definition LocalMapMaker.hpp:38
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+
rtabmap::Transform::prettyPrint
std::string prettyPrint() const
Returns a string representation of the transform.
+
rtabmap::Transform::getIdentity
static Transform getIdentity()
Returns identity transform.
+
rtabmap::Transform::getEulerAngles
void getEulerAngles(float &roll, float &pitch, float &yaw) const
Extracts Euler angles (roll, pitch, yaw).
+
rtabmap::Transform::z
float & z()
Translation z.
Definition Transform.h:151
+
rtabmap::util3d::cropBox
pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(const pcl::PCLPointCloud2::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
Performs crop box filtering on a point cloud of type pcl::PCLPointCloud2 and returns filtered indices...
+
rtabmap::util3d::extractIndices
pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
Extract indices from point cloud of type pcl::PointXYZ.
+
rtabmap::util3d::passThrough
pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
Performs pass-through filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.
+
rtabmap::util3d::rangeSplitFiltering
void RTABMAP_CORE_EXPORT rangeSplitFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
Splits a point cloud of type pcl::PointXYZ.
+
rtabmap::util3d::radiusFiltering
pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
Radius filtering for point cloud of type pcl::PointXYZ.
+
rtabmap::util3d::transformPointCloud
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT transformPointCloud(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
Transforms pcl::PointXYZ point cloud type.
+
rtabmap::util3d::voxelize
pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/MarkerDetector_8h_source.html b/preview/pr-1492/api/latest/MarkerDetector_8h_source.html new file mode 100644 index 00000000..fe168942 --- /dev/null +++ b/preview/pr-1492/api/latest/MarkerDetector_8h_source.html @@ -0,0 +1,208 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/MarkerDetector.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + + + + + + + + +
+
+ + +
+
+
+
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+ + +
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+
MarkerDetector.h
+
+
+
1/*
+
2Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_INCLUDE_RTABMAP_CORE_MARKERDETECTOR_H_
+
29#define CORELIB_INCLUDE_RTABMAP_CORE_MARKERDETECTOR_H_
+
30
+
31#include <rtabmap/core/Parameters.h>
+
32#include <rtabmap/core/CameraModel.h>
+
33#include <opencv2/opencv_modules.hpp>
+
34
+
35#if (CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)
+
36#include <opencv2/objdetect.hpp>
+
37#elif defined(HAVE_OPENCV_ARUCO)
+
38#include <opencv2/aruco.hpp>
+
39#endif
+
40
+
41namespace rtabmap {
+
42
+
+
43class MarkerInfo {
+
44public:
+
45 MarkerInfo(int id, float length, Transform pose) :
+
46 id_(id),
+
47 length_(length),
+
48 pose_(pose)
+
49 {}
+
50 int id() const {return id_;}
+
51 float length() const {return length_;}
+
52 const Transform & pose() const {return pose_;}
+
53private:
+
54 int id_;
+
55 float length_;
+
56 Transform pose_;
+
57};
+
+
58
+
+
59class RTABMAP_CORE_EXPORT MarkerDetector {
+
60
+
61public:
+
62 enum Strategy {
+
63 kStrategyOpencv,
+
64 kStrategyApriltag
+
65 };
+
66
+
67public:
+
68 MarkerDetector(const ParametersMap & parameters = ParametersMap());
+
69 virtual ~MarkerDetector();
+
70 void parseParameters(const ParametersMap & parameters);
+
71
+
72 std::map<int, MarkerInfo> detect(const cv::Mat & image,
+
73 const std::vector<CameraModel> & models,
+
74 const cv::Mat & depth = cv::Mat(),
+
75 const std::map<int, float> & markerLengths = std::map<int, float>(),
+
76 cv::Mat * imageWithDetections = 0);
+
77
+
78 std::map<int, MarkerInfo> detect(const cv::Mat & image,
+
79 const CameraModel & model,
+
80 const cv::Mat & depth = cv::Mat(),
+
81 const std::map<int, float> & markerLengths = std::map<int, float>(),
+
82 cv::Mat * imageWithDetections = 0);
+
83
+
84private:
+
85 Strategy strategy_;
+
86 float markerLength_;
+
87 std::map<int, float> markerLengths_;
+
88 float maxDepthError_;
+
89 float maxRange_;
+
90 float minRange_;
+
91 int dictionaryId_;
+
92#if ((CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)) && defined(HAVE_OPENCV_OBJDETECT)) || defined(HAVE_OPENCV_ARUCO)
+
93#if CV_MAJOR_VERSION > 4 || (CV_MAJOR_VERSION==4 && CV_MINOR_VERSION >=7)
+
94 cv::Ptr<cv::aruco::ArucoDetector> arucoDetector_;
+
95#endif
+
96 cv::Ptr<cv::aruco::DetectorParameters> detectorParams_;
+
97 cv::Ptr<cv::aruco::Dictionary> dictionary_;
+
98#endif
+
99 void * apriltagLibDetector_;
+
100 void * apriltagLibFamily_;
+
101};
+
+
102
+
103} /* namespace rtabmap */
+
104
+
105#endif /* CORELIB_INCLUDE_RTABMAP_CORE_MARKERDETECTOR_H_ */
+
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+ + +
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Memory_8h_source.html b/preview/pr-1492/api/latest/Memory_8h_source.html new file mode 100644 index 00000000..9274a248 --- /dev/null +++ b/preview/pr-1492/api/latest/Memory_8h_source.html @@ -0,0 +1,620 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Memory.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
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+ + +
+
+
Memory.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef MEMORY_H_
+
29#define MEMORY_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include "rtabmap/utilite/UEventsHandler.h"
+
34#include "rtabmap/core/Parameters.h"
+
35#include "rtabmap/core/SensorData.h"
+
36#include "rtabmap/core/Link.h"
+
37#include "rtabmap/core/Features2d.h"
+
38#include <typeinfo>
+
39#include <list>
+
40#include <map>
+
41#include <set>
+
42#include "rtabmap/utilite/UStl.h"
+
43#include <opencv2/core/core.hpp>
+
44#if CV_MAJOR_VERSION < 5
+
45#include <opencv2/features2d/features2d.hpp>
+
46#else
+
47#include <opencv2/features.hpp>
+
48#endif
+
49#include <pcl/pcl_config.h>
+
50
+
51namespace rtabmap {
+
52
+
53class Signature;
+
54class DBDriver;
+
55class VWDictionary;
+
56class VisualWord;
+
57class Feature2D;
+
58class Statistics;
+
59class Registration;
+
60class RegistrationInfo;
+
61class RegistrationIcp;
+
62class RegistrationVis;
+
63class Stereo;
+
64class LocalGridMaker;
+
65class MarkerDetector;
+
66class GlobalDescriptorExtractor;
+
67
+
+
101class RTABMAP_CORE_EXPORT Memory
+
102{
+
103public:
+
105 static const int kIdStart;
+
107 static const int kIdVirtual;
+
109 static const int kIdInvalid;
+
110
+
111public:
+
119 Memory(const ParametersMap & parameters = ParametersMap());
+
120 virtual ~Memory();
+
121
+
128 virtual void parseParameters(const ParametersMap & parameters);
+
130 virtual const ParametersMap & getParameters() const {return parameters_;}
+
141 bool update(const SensorData & data,
+
142 Statistics * stats = 0);
+
157 bool update(const SensorData & data,
+
158 const Transform & pose,
+
159 const cv::Mat & covariance,
+
160 const std::vector<float> & velocity = std::vector<float>(), // vx,vy,vz,vroll,vpitch,vyaw
+
161 Statistics * stats = 0);
+
172 bool init(const std::string & dbUrl,
+
173 bool dbOverwritten = false,
+
174 const ParametersMap & parameters = ParametersMap(),
+
175 bool postInitClosingEvents = false);
+
186 void close(bool databaseSaved = true, bool postInitClosingEvents = false, const std::string & ouputDatabasePath = "");
+
197 std::map<int, float> computeLikelihood(const Signature * signature,
+
198 const std::list<int> & ids);
+
206 int incrementMapId(std::map<int, int> * reducedIds = 0);
+
213 void updateAge(int signatureId);
+
214
+
238 std::list<int> forget(const std::set<int> & ignoredIds = std::set<int>());
+
247 std::set<int> reactivateSignatures(const std::list<int> & ids, unsigned int maxLoaded, double & timeDbAccess);
+
248
+
253 int cleanup();
+
255 void saveStatistics(const Statistics & statistics, bool saveWMState);
+
257 void savePreviewImage(const cv::Mat & image) const;
+
259 cv::Mat loadPreviewImage() const;
+
261 void saveOptimizedPoses(const std::map<int, Transform> & optimizedPoses, const Transform & lastlocalizationPose) const;
+
263 std::map<int, Transform> loadOptimizedPoses(Transform * lastlocalizationPose) const;
+
265 void save2DMap(const cv::Mat & map, float xMin, float yMin, float cellSize) const;
+
267 cv::Mat load2DMap(float & xMin, float & yMin, float & cellSize) const;
+
275 void saveOptimizedMesh(
+
276 const cv::Mat & cloud,
+
277 const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons = std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > >(), // Textures -> polygons -> vertices
+
278#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+
279 const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords = std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > >(), // Textures -> uv coords for each vertex of the polygons
+
280#else
+
281 const std::vector<std::vector<Eigen::Vector2f> > & texCoords = std::vector<std::vector<Eigen::Vector2f> >(), // Textures -> uv coords for each vertex of the polygons
+
282#endif
+
283 const cv::Mat & textures = cv::Mat()) const; // concatenated textures (assuming square textures with all same size)
+
285 cv::Mat loadOptimizedMesh(
+
286 std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > * polygons = 0,
+
287#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
+
288 std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > * texCoords = 0,
+
289#else
+
290 std::vector<std::vector<Eigen::Vector2f> > * texCoords = 0,
+
291#endif
+
292 cv::Mat * textures = 0) const;
+
294 void emptyTrash();
+
296 void joinTrashThread();
+
303 bool addLink(const Link & link, bool addInDatabase = false);
+
305 void updateLink(const Link & link, bool updateInDatabase = false);
+
307 void removeAllVirtualLinks();
+
309 void removeVirtualLinks(int signatureId);
+
326 std::map<int, int> getNeighborsId(
+
327 int signatureId,
+
328 int maxGraphDepth,
+
329 int maxCheckedInDatabase = -1,
+
330 bool incrementMarginOnLoop = false,
+
331 bool ignoreLoopIds = false,
+
332 bool ignoreIntermediateNodes = false,
+
333 bool ignoreLocalSpaceLoopIds = false,
+
334 const std::set<int> & nodesSet = std::set<int>(),
+
335 double * dbAccessTime = 0) const;
+
344 std::map<int, float> getNeighborsIdRadius(
+
345 int signatureId,
+
346 float radius,
+
347 const std::map<int, Transform> & optimizedPoses,
+
348 int maxGraphDepth) const;
+
350 void convertToIntermediate(int locationId);
+
365 void deleteLocation(int locationId, std::list<int> * deletedWords = 0, bool keepLinkedInDb = false);
+
367 void saveLocationData(int locationId);
+
369 void removeLink(int idA, int idB);
+
371 void removeRawData(int id, bool image = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
+
388 int reduceNode(int id, float maxDistance = 0.0f, bool keepLinkedInDb = false, int direction = 0);
+
397 void setDummyDictionary(bool enabled);
+
398
+
400 const std::map<int, double> & getWorkingMem() const {return _workingMem;}
+
405 size_t getWorkingMemSize(bool ignoreIntermediateNodes = false) const;
+
407 int getWorkingMemIntermediateNodesCount() const {return _workingMemIntermediateNodesCount;}
+
409 int getStMemIntermediateNodesCount() const {return _stMemIntermediateNodesCount;}
+
411 const std::set<int> & getStMem() const {return _stMem;}
+
413 int getMaxStMemSize() const {return _maxStMemSize;}
+
415 std::multimap<int, Link> getNeighborLinks(int signatureId,
+
416 bool lookInDatabase = false) const;
+
418 std::multimap<int, Link> getLoopClosureLinks(int signatureId,
+
419 bool lookInDatabase = false) const;
+
426 std::multimap<int, Link> getLinks(int signatureId,
+
427 bool lookInDatabase = false,
+
428 bool withLandmarks = false) const;
+
430 std::multimap<int, Link> getAllLinks(bool lookInDatabase, bool ignoreNullLinks = true, bool withLandmarks = false) const;
+
432 bool isBinDataKept() const {return _binDataKept;}
+
434 float getSimilarityThreshold() const {return _similarityThreshold;}
+
436 std::map<int, int> getWeights() const;
+
438 int getLastSignatureId() const;
+
443 const Signature * getLastWorkingSignature(bool ignoreIntermediateNodes) const;
+
445 std::map<int, Link> getNodesObservingLandmark(int landmarkId, bool lookInDatabase) const;
+
447 int getSignatureIdByLabel(const std::string & label, bool lookInDatabase = true) const;
+
454 bool labelSignature(int id, const std::string & label);
+
456 const std::map<int, std::string> & getAllLabels() const {return _labels;}
+
458 const std::map<int, std::set<int> > & getLandmarksIndex() const {return _landmarksIndex;}
+
460 bool allNodesInWM() const {return _allNodesInWM;}
+
461
+
477 bool setUserData(int id, const cv::Mat & data);
+
479 int getDatabaseMemoryUsed() const;
+
481 std::string getDatabaseVersion() const;
+
483 std::string getDatabaseUrl() const;
+
485 double getDbSavingTime() const;
+
487 int getMapId(int id, bool lookInDatabase = false) const;
+
489 Transform getOdomPose(int signatureId, bool lookInDatabase = false) const;
+
491 Transform getGroundTruthPose(int signatureId, bool lookInDatabase = false) const;
+
493 const std::map<int, Transform> & getGroundTruths() const {return _groundTruths;}
+
519 void getGPS(int id, GPS & gps, Transform & offsetENU, bool lookInDatabase, int maxGraphDepth = 0) const;
+
536 bool getNodeInfo(int signatureId,
+
537 Transform & odomPose,
+
538 int & mapId,
+
539 int & weight,
+
540 std::string & label,
+
541 double & stamp,
+
542 Transform & groundTruth,
+
543 std::vector<float> & velocity,
+
544 GPS & gps,
+
545 EnvSensors & sensors,
+
546 bool lookInDatabase = false) const;
+
548 cv::Mat getImageCompressed(int signatureId) const;
+
556 SensorData getNodeData(int locationId, bool images, bool scan, bool userData, bool occupancyGrid) const;
+
558 void getNodeWordsAndGlobalDescriptors(int nodeId,
+
559 std::multimap<int, int> & words,
+
560 std::vector<cv::KeyPoint> & wordsKpts,
+
561 std::vector<cv::Point3f> & words3,
+
562 cv::Mat & wordsDescriptors,
+
563 std::vector<GlobalDescriptor> & globalDescriptors) const;
+
565 void getNodeCalibration(int nodeId,
+
566 std::vector<CameraModel> & models,
+
567 std::vector<StereoCameraModel> & stereoModels) const;
+
572 std::set<int> getAllSignatureIds(bool ignoreChildren = true) const;
+
602 bool memoryChanged() const {return _memoryChanged;}
+
607 bool isIncremental() const {return _incrementalMemory;}
+
614 bool isReadOnly() const {return !_incrementalMemory && _localizationReadOnly;}
+
619 bool isLocalizationDataSaved() const {return _localizationDataSaved;}
+
621 const Signature * getSignature(int id) const;
+
623 bool isInSTM(int signatureId) const {return _stMem.find(signatureId) != _stMem.end();}
+
625 bool isInWM(int signatureId) const {return _workingMem.find(signatureId) != _workingMem.end();}
+
627 bool isInLTM(int signatureId) const {return !this->isInSTM(signatureId) && !this->isInWM(signatureId);}
+
629 bool isIDsGenerated() const {return _generateIds;}
+
631 int getLastGlobalLoopClosureId() const {return _lastGlobalLoopClosureId;}
+
633 const Feature2D * getFeature2D() const {return _feature2D;}
+
635 bool isGraphReduced() const {return _reduceGraph;}
+
653 const std::vector<double> & getOdomMaxInf() const {return _odomMaxInf;}
+
669 bool isOdomGravityUsed() const {return _useOdometryGravity;}
+
670
+
672 void dumpMemoryTree(const char * fileNameTree) const;
+
674 virtual void dumpMemory(std::string directory) const;
+
676 virtual void dumpSignatures(const char * fileNameSign, bool words3D) const;
+
678 void dumpDictionary(const char * fileNameRef, const char * fileNameDesc) const;
+
680 unsigned long getMemoryUsed() const; //Bytes
+
681
+
687 void generateGraph(const std::string & fileName, const std::set<int> & ids = std::set<int>());
+
724 int cleanupLocalGrids(
+
725 const std::map<int, Transform> & poses,
+
726 const cv::Mat & map,
+
727 float xMin,
+
728 float yMin,
+
729 float cellSize,
+
730 int cropRadius = 1,
+
731 bool filterScans = false);
+
732
+
734 const VWDictionary * getVWDictionary() const;
+
735
+
747 void getMetricConstraints(
+
748 const std::set<int> & ids,
+
749 std::map<int, Transform> & poses,
+
750 std::multimap<int, Link> & links,
+
751 bool lookInDatabase = false,
+
752 bool landmarksAdded = false);
+
753
+
763 Transform computeTransform(Signature & fromS, Signature & toS, Transform guess, RegistrationInfo * info = 0, bool useKnownCorrespondencesIfPossible = false) const;
+
765 Transform computeTransform(int fromId, int toId, Transform guess, RegistrationInfo * info = 0, bool useKnownCorrespondencesIfPossible = false);
+
770 Transform computeIcpTransform(const Signature & fromS, const Signature & toS, Transform guess, RegistrationInfo * info = 0) const;
+
779 Transform computeIcpTransformMulti(
+
780 int newId,
+
781 int oldId,
+
782 const std::map<int, Transform> & poses,
+
783 RegistrationInfo * info = 0);
+
784
+
785private:
+
786 void preUpdate();
+
787 void addSignatureToStm(Signature * signature, const cv::Mat & covariance);
+
788 void clear();
+
789 void loadDataFromDb(bool postInitClosingEvents);
+
790 void saveFlannIndex(bool postInitClosingEvents);
+
791 void moveToTrash(Signature * s, bool keepLinkedToGraph = true, std::list<int> * deletedWords = 0);
+
792
+
793 void moveSignatureToWMFromSTM(int id, int * reducedTo = 0);
+
794 void addSignatureToWmFromLTM(Signature * signature);
+
795 Signature * _getSignature(int id) const;
+
796 std::list<Signature *> getRemovableSignatures(int count,
+
797 const std::set<int> & ignoredIds = std::set<int>());
+
798 int getNextId();
+
799 void rehearsal(Signature * signature, Statistics * stats = 0);
+
800 bool rehearsalMerge(int oldId, int newId);
+
801 bool canBeReduced(const Link & link, float maxDistance, int direction);
+
802
+
803 const std::map<int, Signature*> & getSignatures() const {return _signatures;}
+
804
+
805 void copyData(const Signature * from, Signature * to);
+
806 Signature * createSignature(
+
807 const SensorData & data,
+
808 const Transform & pose,
+
809 Statistics * stats = 0);
+
810
+
811 //keypoint stuff
+
812 void disableWordsRef(int signatureId);
+
813 void enableWordsRef(const std::list<int> & signatureIds);
+
814 void cleanUnusedWords();
+
815 int getNi(int signatureId) const;
+
816
+
817protected:
+
819 DBDriver * _dbDriver;
+
820
+
821private:
+
822 // parameters
+
823 ParametersMap parameters_;
+
824 float _similarityThreshold;
+
825 bool _binDataKept;
+
826 bool _rawDescriptorsKept;
+
827 bool _loadVisualLocalFeaturesOnInit;
+
828 bool _saveDepth16Format;
+
829 bool _notLinkedNodesKeptInDb;
+
830 bool _saveIntermediateNodeData;
+
831 std::string _rgbCompressionFormat;
+
832 std::string _depthCompressionFormat;
+
833 bool _incrementalMemory;
+
834 bool _localizationReadOnly;
+
835 bool _localizationDataSaved;
+
836 bool _flannIndexSaved;
+
837 bool _reduceGraph;
+
838 int _maxStMemSize;
+
839 float _recentWmRatio;
+
840 bool _transferSortingByWeightId;
+
841 bool _idUpdatedToNewOneRehearsal;
+
842 bool _generateIds;
+
843 bool _badSignaturesIgnored;
+
844 bool _mapLabelsAdded;
+
845 bool _depthAsMask;
+
846 float _maskFloorThreshold;
+
847 bool _stereoFromMotion;
+
848 unsigned int _imagePreDecimation;
+
849 unsigned int _imagePostDecimation;
+
850 bool _compressionParallelized;
+
851 float _laserScanDownsampleStepSize;
+
852 float _laserScanVoxelSize;
+
853 int _laserScanNormalK;
+
854 float _laserScanNormalRadius;
+
855 float _laserScanGroundNormalsUp;
+
856 bool _reextractLoopClosureFeatures;
+
857 bool _localBundleOnLoopClosure;
+
858 bool _invertedReg;
+
859 float _rehearsalMaxDistance;
+
860 float _rehearsalMaxAngle;
+
861 bool _rehearsalWeightIgnoredWhileMoving;
+
862 bool _useOdometryFeatures;
+
863 bool _useOdometryGravity;
+
864 bool _rotateImagesUpsideUp;
+
865 bool _createOccupancyGrid;
+
866 int _visMaxFeatures;
+
867 bool _visSSC;
+
868 bool _imagesAlreadyRectified;
+
869 bool _rectifyOnlyFeatures;
+
870 bool _covOffDiagonalIgnored;
+
871 bool _detectMarkers;
+
872 float _markerLinVariance;
+
873 float _markerAngVariance;
+
874 bool _markerOrientationIgnored;
+
875
+
876 int _idCount;
+
877 int _idMapCount;
+
878 Signature * _lastSignature;
+
879 int _lastGlobalLoopClosureId;
+
880 bool _memoryChanged; // False by default, become true only when Memory::update() is called.
+
881 bool _linksChanged; // False by default, become true when links are modified.
+
882 int _signaturesAdded;
+
883 int _workingMemIntermediateNodesCount; // number of nodes with weight==-1 currently in _workingMem
+
884 int _stMemIntermediateNodesCount; // number of nodes with weight==-1 currently in _stMem
+
885 bool _allNodesInWM;
+
886 bool _receivingOdometryFeatures;
+
887 GPS _gpsOrigin;
+
888 std::vector<CameraModel> _rectCameraModels;
+
889 std::vector<StereoCameraModel> _rectStereoCameraModels;
+
890 std::vector<double> _odomMaxInf;
+
891
+
892 std::map<int, Signature *> _signatures; // TODO : check if a signature is already added? although it is not supposed to occur...
+
893 std::set<int> _stMem; // id
+
894 std::map<int, double> _workingMem; // id,age
+
895 std::map<int, Transform> _groundTruths;
+
896 std::map<int, std::string> _labels;
+
897 std::map<int, std::set<int> > _landmarksIndex; // < -landmarkId, nodeIds >
+
898 std::map<int, float> _landmarksSize; // +landmarkId
+
899
+
900 //Keypoint stuff
+
901 VWDictionary * _vwd;
+
902 Feature2D * _feature2D;
+
903 float _badSignRatio;
+
904 bool _tfIdfLikelihoodUsed;
+
905 bool _parallelized;
+
906
+
907 Registration * _registrationPipeline;
+
908 RegistrationIcp * _registrationIcpMulti;
+
909 RegistrationVis * _registrationVis;
+
910
+
911 LocalGridMaker * _localMapMaker;
+
912
+
913 MarkerDetector * _markerDetector;
+
914
+
915 GlobalDescriptorExtractor * _globalDescriptorExtractor;
+
916
+
917 bool _dummyDictionary;
+
918};
+
+
919
+
920} // namespace rtabmap
+
921
+
922#endif /* MEMORY_H_ */
+
UStl.h
Wrappers of STL for convenient functions.
+
rtabmap::DBDriver
Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).
Definition DBDriver.h:72
+
rtabmap::Feature2D
Abstract 2D feature detector and descriptor extractor for visual SLAM.
Definition Features2d.h:145
+
rtabmap::GPS
WGS84 GPS fix attached to a sensor sample or graph node.
Definition GPS.h:47
+ + +
rtabmap::LocalGridMaker
Builds per-node local occupancy grids from laser scans or depth clouds.
Definition LocalGridMaker.h:65
+ +
rtabmap::Memory
Three-tiered memory management (STM, WM, LTM) for RTAB-Map.
Definition Memory.h:102
+
rtabmap::Memory::getStMem
const std::set< int > & getStMem() const
Definition Memory.h:411
+
rtabmap::Memory::getAllLabels
const std::map< int, std::string > & getAllLabels() const
Definition Memory.h:456
+
rtabmap::Memory::emptyTrash
void emptyTrash()
Forces the database driver to flush any queued signature/word saves.
+
rtabmap::Memory::loadOptimizedMesh
cv::Mat loadOptimizedMesh(std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons=0, std::vector< std::vector< Eigen::Vector2f > > *texCoords=0, cv::Mat *textures=0) const
Loads the optimized mesh previously written by saveOptimizedMesh().
+
rtabmap::Memory::getNeighborsIdRadius
std::map< int, float > getNeighborsIdRadius(int signatureId, float radius, const std::map< int, Transform > &optimizedPoses, int maxGraphDepth) const
Returns neighbor ids within a Euclidean radius using optimized poses.
+
rtabmap::Memory::kIdStart
static const int kIdStart
First valid signature id assigned by getNextId() (positive integer).
Definition Memory.h:105
+
rtabmap::Memory::getSignature
const Signature * getSignature(int id) const
+
rtabmap::Memory::getNeighborLinks
std::multimap< int, Link > getNeighborLinks(int signatureId, bool lookInDatabase=false) const
Returns neighbor (sequential) links of signatureId; lookInDatabase also checks LTM.
+
rtabmap::Memory::isBinDataKept
bool isBinDataKept() const
Definition Memory.h:432
+
rtabmap::Memory::isInSTM
bool isInSTM(int signatureId) const
Definition Memory.h:623
+
rtabmap::Memory::dumpSignatures
virtual void dumpSignatures(const char *fileNameSign, bool words3D) const
Dumps signatures' word ids (and 3D positions if words3D) to fileNameSign.
+
rtabmap::Memory::allNodesInWM
bool allNodesInWM() const
Definition Memory.h:460
+
rtabmap::Memory::getNodeData
SensorData getNodeData(int locationId, bool images, bool scan, bool userData, bool occupancyGrid) const
Loads sensor data of locationId from WM or LTM.
+
rtabmap::Memory::getMapId
int getMapId(int id, bool lookInDatabase=false) const
+
rtabmap::Memory::isInLTM
bool isInLTM(int signatureId) const
Definition Memory.h:627
+
rtabmap::Memory::Memory
Memory(const ParametersMap &parameters=ParametersMap())
Constructs a Memory instance with the given parameters.
+
rtabmap::Memory::computeTransform
Transform computeTransform(int fromId, int toId, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false)
Convenience overload: loads signatures by id and forwards to the Signature variant.
+
rtabmap::Memory::deleteLocation
void deleteLocation(int locationId, std::list< int > *deletedWords=0, bool keepLinkedInDb=false)
Removes locationId from WM/STM and the database.
+
rtabmap::Memory::joinTrashThread
void joinTrashThread()
Blocks until the asynchronous database write thread has finished pending work.
+
rtabmap::Memory::isLocalizationDataSaved
bool isLocalizationDataSaved() const
Definition Memory.h:619
+
rtabmap::Memory::computeIcpTransformMulti
Transform computeIcpTransformMulti(int newId, int oldId, const std::map< int, Transform > &poses, RegistrationInfo *info=0)
ICP registration of one node against an assembled cloud from multiple neighbors.
+
rtabmap::Memory::update
bool update(const SensorData &data, Statistics *stats=0)
Adds a sensor observation to the map (overload without odometry pose).
+
rtabmap::Memory::getStMemIntermediateNodesCount
int getStMemIntermediateNodesCount() const
Definition Memory.h:409
+
rtabmap::Memory::removeLink
void removeLink(int idA, int idB)
Removes any link between idA and idB (both directions).
+
rtabmap::Memory::getDbSavingTime
double getDbSavingTime() const
+
rtabmap::Memory::addLink
bool addLink(const Link &link, bool addInDatabase=false)
Adds a graph link between two signatures.
+
rtabmap::Memory::getMaxStMemSize
int getMaxStMemSize() const
Definition Memory.h:413
+
rtabmap::Memory::isIncremental
bool isIncremental() const
Definition Memory.h:607
+
rtabmap::Memory::close
void close(bool databaseSaved=true, bool postInitClosingEvents=false, const std::string &ouputDatabasePath="")
Flushes pending data and closes the database connection.
+
rtabmap::Memory::getSignatureIdByLabel
int getSignatureIdByLabel(const std::string &label, bool lookInDatabase=true) const
+
rtabmap::Memory::computeTransform
Transform computeTransform(Signature &fromS, Signature &toS, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false) const
Computes the relative transform from fromS to toS using the registration pipeline.
+
rtabmap::Memory::dumpMemoryTree
void dumpMemoryTree(const char *fileNameTree) const
Writes a human-readable dump of WM/STM, links and weights to fileNameTree.
+
rtabmap::Memory::getOdomPose
Transform getOdomPose(int signatureId, bool lookInDatabase=false) const
+
rtabmap::Memory::getNodeWordsAndGlobalDescriptors
void getNodeWordsAndGlobalDescriptors(int nodeId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &wordsKpts, std::vector< cv::Point3f > &words3, cv::Mat &wordsDescriptors, std::vector< GlobalDescriptor > &globalDescriptors) const
Loads the visual words, 3D points and global descriptors stored with nodeId.
+
rtabmap::Memory::getAllSignatureIds
std::set< int > getAllSignatureIds(bool ignoreChildren=true) const
Returns all signature ids in WM, STM and LTM.
+
rtabmap::Memory::getWeights
std::map< int, int > getWeights() const
+
rtabmap::Memory::isInWM
bool isInWM(int signatureId) const
Definition Memory.h:625
+
rtabmap::Memory::forget
std::list< int > forget(const std::set< int > &ignoredIds=std::set< int >())
Transfers oldest signatures from WM to LTM to respect memory and/or time limits.
+
rtabmap::Memory::getNeighborsId
std::map< int, int > getNeighborsId(int signatureId, int maxGraphDepth, int maxCheckedInDatabase=-1, bool incrementMarginOnLoop=false, bool ignoreLoopIds=false, bool ignoreIntermediateNodes=false, bool ignoreLocalSpaceLoopIds=false, const std::set< int > &nodesSet=std::set< int >(), double *dbAccessTime=0) const
Breadth-first walk of the pose graph from signatureId.
+
rtabmap::Memory::kIdVirtual
static const int kIdVirtual
Reserved id for the "virtual place" used by the Bayes filter (negative).
Definition Memory.h:107
+
rtabmap::Memory::getWorkingMemSize
size_t getWorkingMemSize(bool ignoreIntermediateNodes=false) const
Returns the number of signatures in working memory, excluding the virtual place.
+
rtabmap::Memory::_dbDriver
DBDriver * _dbDriver
Database driver owning the persistent storage (created by init()).
Definition Memory.h:819
+
rtabmap::Memory::getVWDictionary
const VWDictionary * getVWDictionary() const
+
rtabmap::Memory::dumpMemory
virtual void dumpMemory(std::string directory) const
Dumps every internal map (signatures, words, dictionary) to text files in directory.
+
rtabmap::Memory::getLastSignatureId
int getLastSignatureId() const
+
rtabmap::Memory::setDummyDictionary
void setDummyDictionary(bool enabled)
Enables a dummy visual word dictionary (no descriptors kept, word ids only).
+
rtabmap::Memory::isIDsGenerated
bool isIDsGenerated() const
Definition Memory.h:629
+
rtabmap::Memory::cleanupLocalGrids
int cleanupLocalGrids(const std::map< int, Transform > &poses, const cv::Mat &map, float xMin, float yMin, float cellSize, int cropRadius=1, bool filterScans=false)
Removes spurious obstacle points from each node's local grid using a reference 2D map.
+
rtabmap::Memory::updateAge
void updateAge(int signatureId)
Refreshes the age of signatureId in working memory, marking it as recent.
+
rtabmap::Memory::isGraphReduced
bool isGraphReduced() const
Definition Memory.h:635
+
rtabmap::Memory::updateLink
void updateLink(const Link &link, bool updateInDatabase=false)
Replaces an existing link with link (same endpoints and type).
+
rtabmap::Memory::getLinks
std::multimap< int, Link > getLinks(int signatureId, bool lookInDatabase=false, bool withLandmarks=false) const
Returns all links of signatureId (neighbor, loop, prior, gravity, ...).
+
rtabmap::Memory::saveOptimizedMesh
void saveOptimizedMesh(const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) const
Persists an optimized textured/colored mesh to the database.
+
rtabmap::Memory::removeAllVirtualLinks
void removeAllVirtualLinks()
Removes every virtual link in WM.
+
rtabmap::Memory::getDatabaseMemoryUsed
int getDatabaseMemoryUsed() const
+
rtabmap::Memory::memoryChanged
bool memoryChanged() const
Reports whether the in-memory map has been modified since the database was last loaded or reset....
Definition Memory.h:602
+
rtabmap::Memory::getLoopClosureLinks
std::multimap< int, Link > getLoopClosureLinks(int signatureId, bool lookInDatabase=false) const
Returns loop-closure links of signatureId; lookInDatabase also checks LTM.
+
rtabmap::Memory::getGroundTruthPose
Transform getGroundTruthPose(int signatureId, bool lookInDatabase=false) const
+
rtabmap::Memory::saveLocationData
void saveLocationData(int locationId)
Forces locationId to be flushed to the database.
+
rtabmap::Memory::computeLikelihood
std::map< int, float > computeLikelihood(const Signature *signature, const std::list< int > &ids)
Computes loop-closure likelihood of signature against a set of WM ids.
+
rtabmap::Memory::load2DMap
cv::Mat load2DMap(float &xMin, float &yMin, float &cellSize) const
Loads the 2D occupancy grid previously written by save2DMap().
+
rtabmap::Memory::loadOptimizedPoses
std::map< int, Transform > loadOptimizedPoses(Transform *lastlocalizationPose) const
Loads optimized poses previously written by saveOptimizedPoses().
+
rtabmap::Memory::reactivateSignatures
std::set< int > reactivateSignatures(const std::list< int > &ids, unsigned int maxLoaded, double &timeDbAccess)
Reloads signatures from LTM into WM.
+
rtabmap::Memory::removeVirtualLinks
void removeVirtualLinks(int signatureId)
Removes virtual links attached to signatureId.
+
rtabmap::Memory::update
bool update(const SensorData &data, const Transform &pose, const cv::Mat &covariance, const std::vector< float > &velocity=std::vector< float >(), Statistics *stats=0)
Adds a sensor observation with odometry pose and velocity to the map.
+
rtabmap::Memory::getFeature2D
const Feature2D * getFeature2D() const
Definition Memory.h:633
+
rtabmap::Memory::isOdomGravityUsed
bool isOdomGravityUsed() const
Definition Memory.h:669
+
rtabmap::Memory::getDatabaseUrl
std::string getDatabaseUrl() const
+
rtabmap::Memory::getMetricConstraints
void getMetricConstraints(const std::set< int > &ids, std::map< int, Transform > &poses, std::multimap< int, Link > &links, bool lookInDatabase=false, bool landmarksAdded=false)
Extracts a sub-graph (poses + links) for a set of node ids.
+
rtabmap::Memory::getWorkingMem
const std::map< int, double > & getWorkingMem() const
Definition Memory.h:400
+
rtabmap::Memory::saveOptimizedPoses
void saveOptimizedPoses(const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const
Persists an optimized pose graph and the last localization pose for next session.
+
rtabmap::Memory::labelSignature
bool labelSignature(int id, const std::string &label)
Assigns or removes a label on id.
+
rtabmap::Memory::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Re-parses parameters and propagates them to owned sub-objects.
+
rtabmap::Memory::getImageCompressed
cv::Mat getImageCompressed(int signatureId) const
+
rtabmap::Memory::loadPreviewImage
cv::Mat loadPreviewImage() const
Loads the preview image previously written by savePreviewImage().
+
rtabmap::Memory::getGroundTruths
const std::map< int, Transform > & getGroundTruths() const
Definition Memory.h:493
+
rtabmap::Memory::kIdInvalid
static const int kIdInvalid
Sentinel value indicating an invalid signature id (zero).
Definition Memory.h:109
+
rtabmap::Memory::save2DMap
void save2DMap(const cv::Mat &map, float xMin, float yMin, float cellSize) const
Persists a 2D occupancy grid (origin xMin, yMin and resolution cellSize).
+
rtabmap::Memory::reduceNode
int reduceNode(int id, float maxDistance=0.0f, bool keepLinkedInDb=false, int direction=0)
Merges id with a close neighbor (graph reduction).
+
rtabmap::Memory::getGPS
void getGPS(int id, GPS &gps, Transform &offsetENU, bool lookInDatabase, int maxGraphDepth=0) const
Returns a GPS fix for id, falling back to the nearest GPS-tagged neighbor.
+
rtabmap::Memory::computeIcpTransform
Transform computeIcpTransform(const Signature &fromS, const Signature &toS, Transform guess, RegistrationInfo *info=0) const
Refines a transform using ICP alignment of laser scans only.
+
rtabmap::Memory::removeRawData
void removeRawData(int id, bool image=true, bool scan=true, bool userData=true, bool occupancyGrid=true)
Strips raw images, scan, user data and/or occupancy grid from id to save memory (RAM)....
+
rtabmap::Memory::getAllLinks
std::multimap< int, Link > getAllLinks(bool lookInDatabase, bool ignoreNullLinks=true, bool withLandmarks=false) const
Returns links of every signature; ignoreNullLinks drops empty placeholders.
+
rtabmap::Memory::getLandmarksIndex
const std::map< int, std::set< int > > & getLandmarksIndex() const
Definition Memory.h:458
+
rtabmap::Memory::getLastWorkingSignature
const Signature * getLastWorkingSignature(bool ignoreIntermediateNodes) const
Returns the most recent WM signature.
+
rtabmap::Memory::getMemoryUsed
unsigned long getMemoryUsed() const
+
rtabmap::Memory::isReadOnly
bool isReadOnly() const
Definition Memory.h:614
+
rtabmap::Memory::getLastGlobalLoopClosureId
int getLastGlobalLoopClosureId() const
Definition Memory.h:631
+
rtabmap::Memory::getWorkingMemIntermediateNodesCount
int getWorkingMemIntermediateNodesCount() const
Definition Memory.h:407
+
rtabmap::Memory::getSimilarityThreshold
float getSimilarityThreshold() const
Definition Memory.h:434
+
rtabmap::Memory::getOdomMaxInf
const std::vector< double > & getOdomMaxInf() const
Definition Memory.h:653
+
rtabmap::Memory::getNodeInfo
bool getNodeInfo(int signatureId, Transform &odomPose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruth, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors, bool lookInDatabase=false) const
Reads metadata of signatureId (no images/scan/words).
+
rtabmap::Memory::convertToIntermediate
void convertToIntermediate(int locationId)
Marks locationId as intermediate (weight = -1); excludes it from loop closure.
+
rtabmap::Memory::getDatabaseVersion
std::string getDatabaseVersion() const
+
rtabmap::Memory::generateGraph
void generateGraph(const std::string &fileName, const std::set< int > &ids=std::set< int >())
Writes a Graphviz DOT file of the pose graph.
+
rtabmap::Memory::init
bool init(const std::string &dbUrl, bool dbOverwritten=false, const ParametersMap &parameters=ParametersMap(), bool postInitClosingEvents=false)
Opens or creates a database and loads existing state into WM.
+
rtabmap::Memory::getNodeCalibration
void getNodeCalibration(int nodeId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const
Loads mono and/or stereo camera calibration stored with nodeId.
+
rtabmap::Memory::getParameters
virtual const ParametersMap & getParameters() const
Definition Memory.h:130
+
rtabmap::Memory::cleanup
int cleanup()
Drops the last signature if flagged as bad, or any signature in localization mode.
+
rtabmap::Memory::saveStatistics
void saveStatistics(const Statistics &statistics, bool saveWMState)
Persists statistics to the database; saveWMState records the WM id list.
+
rtabmap::Memory::dumpDictionary
void dumpDictionary(const char *fileNameRef, const char *fileNameDesc) const
Dumps the visual word dictionary: references to fileNameRef, descriptors to fileNameDesc.
+
rtabmap::Memory::incrementMapId
int incrementMapId(std::map< int, int > *reducedIds=0)
Starts a new map id, breaking session continuity (e.g. after localization loss).
+
rtabmap::Memory::getNodesObservingLandmark
std::map< int, Link > getNodesObservingLandmark(int landmarkId, bool lookInDatabase) const
Returns all nodes observing landmark landmarkId, mapped to the observation link.
+
rtabmap::Memory::setUserData
bool setUserData(int id, const cv::Mat &data)
Attaches user data to signature id, compressing it on the fly if needed.
+
rtabmap::Memory::savePreviewImage
void savePreviewImage(const cv::Mat &image) const
Stores a preview image (typically a thumbnail of the last frame) in the database.
+ +
rtabmap::RegistrationInfo
Statistics and diagnostics returned by Registration.
Definition RegistrationInfo.h:48
+
rtabmap::RegistrationVis
Visual registration between two signatures using features and geometry.
Definition RegistrationVis.h:61
+
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+
rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:66
+ +
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OccupancyGrid_8h_source.html b/preview/pr-1492/api/latest/OccupancyGrid_8h_source.html new file mode 100644 index 00000000..f016cd67 --- /dev/null +++ b/preview/pr-1492/api/latest/OccupancyGrid_8h_source.html @@ -0,0 +1,132 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/OccupancyGrid.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
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+
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+
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+
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+ + +
+
+
OccupancyGrid.h
+
+
+
1/*
+
2Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_INCLUDE_RTABMAP_CORE_OCCUPANCYGRID_H_
+
29#define CORELIB_INCLUDE_RTABMAP_CORE_OCCUPANCYGRID_H_
+
30
+
31/*
+
32 * Deprecated header, use the one below directly!
+
33 */
+
34
+
35#include <rtabmap/core/global_map/OccupancyGrid.h>
+
36
+
37
+
38#endif /* CORELIB_INCLUDE_RTABMAP_CORE_OCCUPANCYGRID_H_ */
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OctoMap_8h_source.html b/preview/pr-1492/api/latest/OctoMap_8h_source.html new file mode 100644 index 00000000..ada8f0fb --- /dev/null +++ b/preview/pr-1492/api/latest/OctoMap_8h_source.html @@ -0,0 +1,132 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/OctoMap.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
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+
OctoMap.h
+
+
+
1/*
+
2Copyright (c) 2010-2023, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_INCLUDE_RTABMAP_CORE_OCTOMAP_H_
+
29#define CORELIB_INCLUDE_RTABMAP_CORE_OCTOMAP_H_
+
30
+
31/*
+
32 * Deprecated header, use the one below directly!
+
33 */
+
34
+
35#include <rtabmap/core/global_map/OctoMap.h>
+
36
+
37
+
38#endif /* CORELIB_INCLUDE_RTABMAP_CORE_OCTOMAP_H_ */
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryCuVSLAM_8h_source.html b/preview/pr-1492/api/latest/OdometryCuVSLAM_8h_source.html new file mode 100644 index 00000000..23f1c593 --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryCuVSLAM_8h_source.html @@ -0,0 +1,206 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryCuVSLAM.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+
OdometryCuVSLAM.h
+
+
+
1/*
+
2Copyright (c) 2025 Felix Toft
+
3Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
4All rights reserved.
+
5
+
6Redistribution and use in source and binary forms, with or without
+
7modification, are permitted provided that the following conditions are met:
+
8 * Redistributions of source code must retain the above copyright
+
9 notice, this list of conditions and the following disclaimer.
+
10 * Redistributions in binary form must reproduce the above copyright
+
11 notice, this list of conditions and the following disclaimer in the
+
12 documentation and/or other materials provided with the distribution.
+
13 * Neither the name of the Universite de Sherbrooke nor the
+
14 names of its contributors may be used to endorse or promote products
+
15 derived from this software without specific prior written permission.
+
16
+
17THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
18ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
19WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
20DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
21DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
22(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
23LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
24ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
25(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
26SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
27*/
+
28
+
29#ifndef ODOMETRYCUVSLAM_H_
+
30#define ODOMETRYCUVSLAM_H_
+
31
+
32#include <rtabmap/core/Odometry.h>
+
33#include <memory>
+
34#include <deque>
+
35#include <array>
+
36
+
37#ifdef RTABMAP_CUVSLAM
+
38#include <cuvslam.h>
+
39#include <ground_constraint.h>
+
40#include <cuda_runtime.h>
+
41#endif
+
42
+
43namespace rtabmap {
+
44
+
+
45class RTABMAP_CORE_EXPORT OdometryCuVSLAM : public Odometry
+
46{
+
47public:
+
48 OdometryCuVSLAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
49 virtual ~OdometryCuVSLAM();
+
50
+
51 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
52 virtual Odometry::Type getType() {return Odometry::kTypeCuVSLAM;}
+
53
+
54private:
+
55 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
56 virtual void cleanupCuVSLAMResources();
+
57
+
58private:
+
59#ifdef RTABMAP_CUVSLAM
+
60 CUVSLAM_TrackerHandle cuvslam_handle_;
+
61 CUVSLAM_GroundConstraintHandle ground_constraint_handle_;
+
62
+
63 std::vector<CUVSLAM_Camera> cuvslam_cameras_;
+
64 std::vector<std::array<float, 12>> intrinsics_;
+
65
+
66 // State tracking
+
67 bool initialized_;
+
68 bool lost_;
+
69 bool tracking_;
+
70 bool planar_constraints_;
+
71 int multicam_mode_;
+
72 Transform previous_pose_;
+
73 double last_timestamp_;
+
74
+
75 // Configuration Thresholds
+
76 double velocity_ratio_threshold_high_ = 1.5; // The maximum velocity ratio of guess / estimated velocity needed to detect lost state.
+
77 double velocity_ratio_threshold_low_ = 0.5; // The minimum velocity ratio of guess / estimated velocity needed to detect lost state.
+
78 double velocity_difference_threshold_ = 0.1; // The maximum velocity difference between the guess and the estimated velocity needed to detect lost state.
+
79 double zero_estimated_velocity_threshold_ = 0.00001; // The minimum cuVSLAM estimated velocity needed to detect lost state.
+
80 double min_landmarks_threshold_ = 30; // The minimum number of landmarks needed to start tracking after an initialization.
+
81
+
82 // Forward cuVLSAM covariance directly to RTAB-Map.
+
83 // When true this disables covariance based lost detection.
+
84 bool use_raw_covariance_ = false;
+
85
+
86 //visualization
+
87 std::vector<CUVSLAM_Observation> observations_;
+
88 std::vector<CUVSLAM_Landmark> landmarks_;
+
89
+
90 // GPU memory management
+
91 std::vector<uint8_t *> gpu_left_image_data_; // pointers to all gpu images
+
92 std::vector<uint8_t *> gpu_right_image_data_;
+
93 std::vector<size_t> gpu_left_image_sizes_; // size of one image
+
94 std::vector<size_t> gpu_right_image_sizes_;
+
95 cudaStream_t cuda_stream_;
+
96#endif
+
97};
+
+
98
+
99}
+
100
+
101#endif /* ODOMETRYCUVSLAM_H_ */
+ +
rtabmap::OdometryCuVSLAM::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::OdometryCuVSLAM::getType
virtual Odometry::Type getType()
Definition OdometryCuVSLAM.h:52
+ +
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryDVO_8h_source.html b/preview/pr-1492/api/latest/OdometryDVO_8h_source.html new file mode 100644 index 00000000..50c47bec --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryDVO_8h_source.html @@ -0,0 +1,174 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryDVO.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
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+
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+ + +
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+
OdometryDVO.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYDVO_H_
+
29#define ODOMETRYDVO_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33namespace dvo {
+
34class DenseTracker;
+
35namespace core {
+
36class RgbdImagePyramid;
+
37class RgbdCameraPyramid;
+
38}
+
39}
+
40
+
41namespace rtabmap {
+
42
+
+
43class RTABMAP_CORE_EXPORT OdometryDVO : public Odometry
+
44{
+
45public:
+
46 OdometryDVO(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
47 virtual ~OdometryDVO();
+
48
+
49 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
50 virtual Odometry::Type getType() {return Odometry::kTypeDVO;}
+
51
+
52private:
+
53 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
54
+
55private:
+
56#ifdef RTABMAP_DVO
+
57 dvo::DenseTracker * dvo_;
+
58 dvo::core::RgbdImagePyramid * reference_;
+
59 dvo::core::RgbdCameraPyramid * camera_;
+
60 bool lost_;
+
61#endif
+
62 Transform motionFromKeyFrame_;
+
63 Transform previousLocalTransform_;
+
64
+
65};
+
+
66
+
67}
+
68
+
69#endif /* ODOMETRYDVO_H_ */
+ +
rtabmap::OdometryDVO::getType
virtual Odometry::Type getType()
Definition OdometryDVO.h:50
+
rtabmap::OdometryDVO::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+ +
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryEvent_8h_source.html b/preview/pr-1492/api/latest/OdometryEvent_8h_source.html new file mode 100644 index 00000000..4ca1f262 --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryEvent_8h_source.html @@ -0,0 +1,225 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/OdometryEvent.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
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+ + +
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+
OdometryEvent.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYEVENT_H_
+
29#define ODOMETRYEVENT_H_
+
30
+
31#include "rtabmap/utilite/UEvent.h"
+
32#include "rtabmap/utilite/ULogger.h"
+
33#include "rtabmap/utilite/UMath.h"
+
34#include "rtabmap/core/SensorData.h"
+
35#include "rtabmap/core/OdometryInfo.h"
+
36
+
37namespace rtabmap {
+
38
+
+
39class OdometryEvent : public UEvent
+
40{
+
41public:
+
42 OdometryEvent()
+
43 {
+
44 _info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
+
45 }
+
46 OdometryEvent(
+
47 const SensorData & data,
+
48 const Transform & pose,
+
49 const OdometryInfo & info = OdometryInfo()) :
+
50 _data(data),
+
51 _pose(pose),
+
52 _info(info)
+
53 {
+
54 if(_info.reg.covariance.empty())
+
55 {
+
56 _info.reg.covariance = cv::Mat::eye(6,6,CV_64FC1);
+
57 }
+
58 UASSERT(_info.reg.covariance.cols == 6 && _info.reg.covariance.rows == 6 && _info.reg.covariance.type() == CV_64FC1);
+
59 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(0,0)) && _info.reg.covariance.at<double>(0,0)>0, "Transitional variance should not be null! (set to 1 if unknown)");
+
60 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(1,1)) && _info.reg.covariance.at<double>(1,1)>0, "Transitional variance should not be null! (set to 1 if unknown)");
+
61 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(2,2)) && _info.reg.covariance.at<double>(2,2)>0, "Transitional variance should not be null! (set to 1 if unknown)");
+
62 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(3,3)) && _info.reg.covariance.at<double>(3,3)>0, "Rotational variance should not be null! (set to 1 if unknown)");
+
63 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(4,4)) && _info.reg.covariance.at<double>(4,4)>0, "Rotational variance should not be null! (set to 1 if unknown)");
+
64 UASSERT_MSG(uIsFinite(_info.reg.covariance.at<double>(5,5)) && _info.reg.covariance.at<double>(5,5)>0, "Rotational variance should not be null! (set to 1 if unknown)");
+
65 }
+
66 virtual ~OdometryEvent() {}
+
67 virtual std::string getClassName() const {return "OdometryEvent";}
+
68
+
69 SensorData & data() {return _data;}
+
70 const SensorData & data() const {return _data;}
+
71 const Transform & pose() const {return _pose;}
+
72 const cv::Mat & covariance() const {return _info.reg.covariance;}
+
73 std::vector<float> velocity() const {
+
74 if(_info.interval>0.0)
+
75 {
+
76 std::vector<float> velocity(6,0);
+
77 float x,y,z,roll,pitch,yaw;
+
78 _info.transform.getTranslationAndEulerAngles(x,y,z,roll,pitch,yaw);
+
79 velocity[0] = x/_info.interval;
+
80 velocity[1] = y/_info.interval;
+
81 velocity[2] = z/_info.interval;
+
82 velocity[3] = roll/_info.interval;
+
83 velocity[4] = pitch/_info.interval;
+
84 velocity[5] = yaw/_info.interval;
+
85 return velocity;
+
86 }
+
87 return std::vector<float>();
+
88 }
+
89 const OdometryInfo & info() const {return _info;}
+
90
+
91private:
+
92 SensorData _data;
+
93 Transform _pose;
+
94 OdometryInfo _info;
+
95};
+
+
96
+
+
97class OdometryResetEvent : public UEvent
+
98{
+
99public:
+
100 OdometryResetEvent(const Transform & pose = Transform::getIdentity()){_pose = pose;}
+
101 virtual ~OdometryResetEvent() {}
+
102 virtual std::string getClassName() const {return "OdometryResetEvent";}
+
103 const Transform & getPose() const {return _pose;}
+
104private:
+
105 Transform _pose;
+
106};
+
+
107
+
108}
+
109
+
110
+
111#endif /* ODOMETRYEVENT_H_ */
+
ULogger.h
ULogger class and convenient macros.
+
UASSERT
#define UASSERT(condition)
Definition ULogger.h:66
+
UMath.h
Basic mathematics functions.
+
uIsFinite
bool uIsFinite(const T &value)
Definition UMath.h:53
+ + +
rtabmap::OdometryEvent::getClassName
virtual std::string getClassName() const
Definition OdometryEvent.h:67
+ + +
rtabmap::OdometryResetEvent::getClassName
virtual std::string getClassName() const
Definition OdometryEvent.h:102
+ +
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+
rtabmap::Transform::getIdentity
static Transform getIdentity()
Returns identity transform.
+
rtabmap::Transform::getTranslationAndEulerAngles
void getTranslationAndEulerAngles(float &x, float &y, float &z, float &roll, float &pitch, float &yaw) const
Extracts translation and Euler angles (radians).
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryF2F_8h_source.html b/preview/pr-1492/api/latest/OdometryF2F_8h_source.html new file mode 100644 index 00000000..e544dc62 --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryF2F_8h_source.html @@ -0,0 +1,174 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryF2F.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
OdometryF2F.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYF2F_H_
+
29#define ODOMETRYF2F_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32#include <rtabmap/core/Signature.h>
+
33
+
34namespace rtabmap {
+
35
+
36class Registration;
+
37
+
+
38class RTABMAP_CORE_EXPORT OdometryF2F : public Odometry
+
39{
+
40public:
+
41 OdometryF2F(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
42 virtual ~OdometryF2F();
+
43
+
44 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
45
+
46 const Signature & getRefFrame() const {return refFrame_;}
+
47
+
48 virtual Odometry::Type getType() {return Odometry::kTypeF2F;}
+
49
+
50private:
+
51 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
52
+
53private:
+
54 //Parameters:
+
55 float keyFrameThr_;
+
56 int visKeyFrameThr_;
+
57 float scanKeyFrameThr_;
+
58
+
59 Registration * registrationPipeline_;
+
60 Signature refFrame_;
+
61 Transform lastKeyFramePose_;
+
62 ParametersMap parameters_;
+
63};
+
+
64
+
65}
+
66
+
67#endif /* ODOMETRYF2F_H_ */
+ +
rtabmap::OdometryF2F::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::OdometryF2F::getType
virtual Odometry::Type getType()
Definition OdometryF2F.h:48
+ +
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryF2M_8h_source.html b/preview/pr-1492/api/latest/OdometryF2M_8h_source.html new file mode 100644 index 00000000..b75c7212 --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryF2M_8h_source.html @@ -0,0 +1,208 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryF2M.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
OdometryF2M.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYF2M_H_
+
29#define ODOMETRYF2M_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32#include <rtabmap/core/Optimizer.h>
+
33#include <pcl/point_cloud.h>
+
34#include <pcl/point_types.h>
+
35#include <pcl/pcl_base.h>
+
36#include <rtabmap/core/Link.h>
+
37
+
38namespace rtabmap {
+
39
+
40class Signature;
+
41class Registration;
+
42class Optimizer;
+
43
+
+
44class RTABMAP_CORE_EXPORT OdometryF2M : public Odometry
+
45{
+
46public:
+
47 OdometryF2M(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
48 virtual ~OdometryF2M();
+
49
+
50 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
51 const Signature & getMap() const {return *map_;}
+
52 const Signature & getLastFrame() const {return *lastFrame_;}
+
53
+
54 virtual Odometry::Type getType() {return Odometry::kTypeF2M;}
+
55
+
56private:
+
57 virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
58
+
59private:
+
60 //Parameters
+
61 int maximumMapSize_;
+
62 float keyFrameThr_;
+
63 int visKeyFrameThr_;
+
64 int maxNewFeatures_;
+
65 float initDepthFactor_;
+
66 float floorThreshold_;
+
67 float scanKeyFrameThr_;
+
68 int scanMaximumMapSize_;
+
69 float scanSubtractRadius_;
+
70 float scanSubtractAngle_;
+
71 float scanMapMaxRange_;
+
72 int bundleAdjustment_;
+
73 int bundleMaxFrames_;
+
74 float bundleMinMotion_;
+
75 int bundleMaxKeyFramesPerFeature_;
+
76 bool bundleUpdateFeatureMapOnAllFrames_;
+
77 float validDepthRatio_;
+
78 int pointToPlaneK_;
+
79 float pointToPlaneRadius_;
+
80
+
81 Registration * regPipeline_;
+
82 Signature * map_;
+
83 Signature * lastFrame_;
+
84 int lastFrameOldestNewId_;
+
85 std::vector<std::pair<pcl::PointCloud<pcl::PointXYZINormal>::Ptr, pcl::IndicesPtr> > scansBuffer_;
+
86
+
87 std::map<int, std::map<int, FeatureBA> > bundleWordReferences_; //<WordId, <FrameId, pt2D+depth>>
+
88 std::map<int, Transform> bundlePoses_;
+
89 std::multimap<int, Link> bundleLinks_;
+
90 std::multimap<int, Link> bundleIMUOrientations_;
+
91 std::map<int, std::vector<CameraModel> > bundleModels_;
+
92 std::map<int, int> bundlePoseReferences_;
+
93 int bundleSeq_;
+
94 Optimizer * sba_;
+
95 ParametersMap parameters_;
+
96};
+
+
97
+
98}
+
99
+
100#endif /* ODOMETRYF2M_H_ */
+ +
rtabmap::OdometryF2M::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::OdometryF2M::getType
virtual Odometry::Type getType()
Definition OdometryF2M.h:54
+ +
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
+
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryFLOAM_8h_source.html b/preview/pr-1492/api/latest/OdometryFLOAM_8h_source.html new file mode 100644 index 00000000..59a4ba72 --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryFLOAM_8h_source.html @@ -0,0 +1,169 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryFLOAM.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + +
+
+
OdometryFLOAM.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYFLOAM_H_
+
29#define ODOMETRYFLOAM_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33class LaserProcessingClass;
+
34class OdomEstimationClass;
+
35
+
36namespace rtabmap {
+
37
+
+
38class RTABMAP_CORE_EXPORT OdometryFLOAM : public Odometry
+
39{
+
40public:
+
41 OdometryFLOAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
42 virtual ~OdometryFLOAM();
+
43
+
44 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
45 virtual Odometry::Type getType() {return Odometry::kTypeFLOAM;}
+
46
+
47private:
+
48 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
49
+
50private:
+
51#ifdef RTABMAP_FLOAM
+
52 LaserProcessingClass * laserProcessing_;
+
53 OdomEstimationClass * odomEstimation_;
+
54
+
55 Transform lastPose_;
+
56 bool lost_;
+
57 float linVar_;
+
58 float angVar_;
+
59#endif
+
60};
+
+
61
+
62}
+
63
+
64#endif /* ODOMETRYFLOAM_H_ */
+ +
rtabmap::OdometryFLOAM::getType
virtual Odometry::Type getType()
Definition OdometryFLOAM.h:45
+
rtabmap::OdometryFLOAM::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+ +
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryFovis_8h_source.html b/preview/pr-1492/api/latest/OdometryFovis_8h_source.html new file mode 100644 index 00000000..8156592e --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryFovis_8h_source.html @@ -0,0 +1,175 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryFovis.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
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+
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+
+
+
+
+ + +
+
+
OdometryFovis.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYFOVIS_H_
+
29#define ODOMETRYFOVIS_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33namespace fovis {
+
34class VisualOdometry;
+
35class Rectification;
+
36class StereoCalibration;
+
37class DepthImage;
+
38class StereoDepth;
+
39}
+
40
+
41namespace rtabmap {
+
42
+
+
43class RTABMAP_CORE_EXPORT OdometryFovis : public Odometry
+
44{
+
45public:
+
46 OdometryFovis(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
47 virtual ~OdometryFovis();
+
48
+
49 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
50 virtual Odometry::Type getType() {return Odometry::kTypeFovis;}
+
51
+
52private:
+
53 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
54
+
55private:
+
56#ifdef RTABMAP_FOVIS
+
57 fovis::VisualOdometry * fovis_;
+
58 fovis::Rectification * rect_;
+
59 fovis::StereoCalibration * stereoCalib_;
+
60 fovis::DepthImage * depthImage_;
+
61 fovis::StereoDepth * stereoDepth_;
+
62 bool lost_;
+
63#endif
+
64 ParametersMap fovisParameters_;
+
65 Transform previousLocalTransform_;
+
66};
+
+
67
+
68}
+
69
+
70#endif /* ODOMETRYFOVIS_H_ */
+ +
rtabmap::OdometryFovis::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::OdometryFovis::getType
virtual Odometry::Type getType()
Definition OdometryFovis.h:50
+ +
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryInfo_8h_source.html b/preview/pr-1492/api/latest/OdometryInfo_8h_source.html new file mode 100644 index 00000000..d9193a4d --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryInfo_8h_source.html @@ -0,0 +1,198 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/OdometryInfo.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
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+
No Matches
+
+
+
+
+ + +
+
+
OdometryInfo.h
+
+
+
1/*
+
2Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYINFO_H_
+
29#define ODOMETRYINFO_H_
+
30
+
31#include <rtabmap/core/rtabmap_core_export.h>
+
32#include <map>
+
33#include "rtabmap/core/Transform.h"
+
34#include "rtabmap/core/RegistrationInfo.h"
+
35#include "rtabmap/core/CameraModel.h"
+
36#include "rtabmap/core/LaserScan.h"
+
37#if CV_MAJOR_VERSION < 5
+
38#include <opencv2/features2d/features2d.hpp>
+
39#else
+
40#include <opencv2/features.hpp>
+
41#endif
+
42
+
43namespace rtabmap {
+
44
+
+
45class RTABMAP_CORE_EXPORT OdometryInfo
+
46{
+
47public:
+
48 OdometryInfo();
+
49 OdometryInfo copyWithoutData() const;
+
50 std::map<std::string, float> statistics(const Transform & pose = Transform());
+
51
+
52 bool lost;
+
53 RegistrationInfo reg;
+
54 int features;
+
55 int localMapSize;
+
56 int localScanMapSize;
+
57 int localKeyFrames;
+
58 int localBundleOutliers;
+
59 int localBundleConstraints;
+
60 float localBundleTime;
+
61 std::map<int, Transform> localBundlePoses;
+
62 std::map<int, std::vector<CameraModel> > localBundleModels;
+
63 float localBundleAvgInlierDistance;
+
64 int localBundleMaxKeyFramesForInlier;
+
65 std::vector<int> localBundleOutliersPerCam;
+
66 bool keyFrameAdded;
+
67 float timeDeskewing;
+
68 float timeEstimation;
+
69 float timeParticleFiltering;
+
70 double stamp;
+
71 double interval;
+
72 Transform transform;
+
73 Transform transformFiltered;
+
74 Transform transformGroundTruth;
+
75 Transform guessVelocity; // deprecated, will be removed. Use guess and interval instead.
+
76 Transform guess;
+
77 float distanceTravelled;
+
78 int memoryUsage; //MB
+
79 double gravityRollError;
+
80 double gravityPitchError;
+
81
+
82 int type;
+
83
+
84 // F2M
+
85 std::multimap<int, cv::KeyPoint> words;
+
86 std::map<int, cv::Point3f> localMap;
+
87 LaserScan localScanMap;
+
88
+
89 // F2F
+
90 std::vector<cv::Point2f> refCorners;
+
91 std::vector<cv::Point2f> newCorners;
+
92 std::vector<int> cornerInliers;
+
93};
+
+
94
+
95}
+
96
+
97#endif /* ODOMETRYINFO_H_ */
+
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
+ +
rtabmap::RegistrationInfo
Statistics and diagnostics returned by Registration.
Definition RegistrationInfo.h:48
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryLIOSAM_8h_source.html b/preview/pr-1492/api/latest/OdometryLIOSAM_8h_source.html new file mode 100644 index 00000000..8a70747a --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryLIOSAM_8h_source.html @@ -0,0 +1,188 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryLIOSAM.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
OdometryLIOSAM.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYLIOSAM_H_
+
29#define ODOMETRYLIOSAM_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33#ifdef RTABMAP_LIOSAM
+
34#include <Eigen/Core>
+
35#include <Eigen/Geometry>
+
36#include <vector>
+
37namespace lio_sam { class LioSamCore; }
+
38#endif
+
39
+
40namespace rtabmap {
+
41
+
+
42class RTABMAP_CORE_EXPORT OdometryLIOSAM : public Odometry
+
43{
+
44public:
+
45 OdometryLIOSAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
46 virtual ~OdometryLIOSAM();
+
47
+
48 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
49 virtual Odometry::Type getType() {return Odometry::kTypeLIOSAM;}
+
50 virtual bool canProcessAsyncIMU() const {return true;}
+
51
+
52private:
+
53 virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
54
+
55#ifdef RTABMAP_LIOSAM
+
56 bool init(const Transform & imuLocalTransform, const Transform & lidarLocalTransform);
+
57#endif
+
58
+
59private:
+
60#ifdef RTABMAP_LIOSAM
+
61 lio_sam::LioSamCore * lioSam_;
+
62 Transform lastPose_;
+
63 bool lost_;
+
64 float linVar_;
+
65 float angVar_;
+
66 ParametersMap parameters_;
+
67 Transform imuLocalTransform_; // base_link -> imu_link (cached for deferred init)
+
68
+
69 // Buffered IMU samples received before initialization
+
70 struct ImuSample {
+
71 double stamp;
+
72 Eigen::Vector3d acc;
+
73 Eigen::Vector3d gyro;
+
74 Eigen::Quaterniond orientation;
+
75 };
+
76 std::vector<ImuSample> imuBuffer_;
+
77#endif
+
78};
+
+
79
+
80}
+
81
+
82#endif /* ODOMETRYLIOSAM_H_ */
+ + +
rtabmap::OdometryLIOSAM::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition OdometryLIOSAM.h:50
+
rtabmap::OdometryLIOSAM::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::OdometryLIOSAM::getType
virtual Odometry::Type getType()
Definition OdometryLIOSAM.h:49
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryLOAM_8h_source.html b/preview/pr-1492/api/latest/OdometryLOAM_8h_source.html new file mode 100644 index 00000000..54fcef4f --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryLOAM_8h_source.html @@ -0,0 +1,180 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryLOAM.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + + + + + + + + +
+
+ + +
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+ + +
+
+
OdometryLOAM.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYLOAM_H_
+
29#define ODOMETRYLOAM_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33#ifdef RTABMAP_LOAM
+
34#include <loam_velodyne/BasicScanRegistration.h>
+
35#include <loam_velodyne/BasicLaserOdometry.h>
+
36#include <loam_velodyne/BasicLaserMapping.h>
+
37#include <loam_velodyne/BasicTransformMaintenance.h>
+
38#include <loam_velodyne/MultiScanRegistration.h>
+
39#endif
+
40
+
41namespace rtabmap {
+
42
+
+
43class RTABMAP_CORE_EXPORT OdometryLOAM : public Odometry
+
44{
+
45public:
+
46 OdometryLOAM(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
47 virtual ~OdometryLOAM();
+
48
+
49 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
50 virtual Odometry::Type getType() {return Odometry::kTypeLOAM;}
+
51
+
52private:
+
53 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
54
+
55private:
+
56#ifdef RTABMAP_LOAM
+
57 std::vector<pcl::PointCloud<pcl::PointXYZI> > segmentScanRings(const pcl::PointCloud<pcl::PointXYZ> & laserCloudIn);
+
58
+
59 loam::BasicScanRegistration scanRegistration_;
+
60 loam::MultiScanMapper scanMapper_;
+
61 loam::BasicLaserOdometry * laserOdometry_;
+
62 loam::BasicLaserMapping * laserMapping_;
+
63 loam::BasicTransformMaintenance transformMaintenance_;
+
64 Transform lastPose_;
+
65 float scanPeriod_;
+
66 float linVar_;
+
67 float angVar_;
+
68 bool localMapping_;
+
69 bool lost_;
+
70#endif
+
71};
+
+
72
+
73}
+
74
+
75#endif /* ODOMETRYLOAM_H_ */
+ + +
rtabmap::OdometryLOAM::getType
virtual Odometry::Type getType()
Definition OdometryLOAM.h:50
+
rtabmap::OdometryLOAM::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryMSCKF_8h_source.html b/preview/pr-1492/api/latest/OdometryMSCKF_8h_source.html new file mode 100644 index 00000000..489427c9 --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryMSCKF_8h_source.html @@ -0,0 +1,174 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryMSCKF.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
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+
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+
+
+
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+
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+
OdometryMSCKF.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYMSCKF_H_
+
29#define ODOMETRYMSCKF_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33namespace rtabmap {
+
34
+
35class ImageProcessorNoROS;
+
36class MsckfVioNoROS;
+
37
+
+
38class RTABMAP_CORE_EXPORT OdometryMSCKF : public Odometry
+
39{
+
40public:
+
41 OdometryMSCKF(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
42 virtual ~OdometryMSCKF();
+
43
+
44 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
45 virtual Odometry::Type getType() {return Odometry::kTypeMSCKF;}
+
46 virtual bool canProcessRawImages() const {return true;}
+
47 virtual bool canProcessAsyncIMU() const {return true;}
+
48
+
49private:
+
50 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
51
+
52private:
+
53#ifdef RTABMAP_MSCKF_VIO
+
54 ImageProcessorNoROS * imageProcessor_;
+
55 MsckfVioNoROS * msckf_;
+
56 IMU lastImu_;
+
57 ParametersMap parameters_;
+
58 Transform fixPoseRotation_;
+
59 Transform previousPose_;
+
60 bool initGravity_;
+
61#endif
+
62};
+
+
63
+
64}
+
65
+
66#endif /* ODOMETRYMSCKF_H_ */
+
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
+ + +
rtabmap::OdometryMSCKF::canProcessRawImages
virtual bool canProcessRawImages() const
Definition OdometryMSCKF.h:46
+
rtabmap::OdometryMSCKF::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::OdometryMSCKF::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition OdometryMSCKF.h:47
+
rtabmap::OdometryMSCKF::getType
virtual Odometry::Type getType()
Definition OdometryMSCKF.h:45
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryMono_8h_source.html b/preview/pr-1492/api/latest/OdometryMono_8h_source.html new file mode 100644 index 00000000..f8c8d13e --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryMono_8h_source.html @@ -0,0 +1,190 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryMono.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
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+
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+ + +
+
+
OdometryMono.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYMONO_H_
+
29#define ODOMETRYMONO_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32#include <rtabmap/core/Link.h>
+
33
+
34namespace rtabmap {
+
35
+
36class Memory;
+
37class Feature2D;
+
38
+
+
39class RTABMAP_CORE_EXPORT OdometryMono : public Odometry
+
40{
+
41public:
+
42 OdometryMono(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
43 virtual ~OdometryMono();
+
44 virtual void reset(const Transform & initialPose);
+
45 virtual Odometry::Type getType() {return kTypeUndef;}
+
46
+
47private:
+
48 virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
49private:
+
50 //Parameters:
+
51 int flowWinSize_;
+
52 int flowIterations_;
+
53 double flowEps_;
+
54 int flowMaxLevel_;
+
55 int minInliers_;
+
56 int iterations_;
+
57 double pnpReprojError_;
+
58 int pnpFlags_;
+
59 int pnpRefineIterations_;
+
60
+
61 Feature2D * feature2D_;
+
62
+
63 Memory * memory_;
+
64 int localHistoryMaxSize_;
+
65 float initMinFlow_;
+
66 float initMinTranslation_;
+
67 float minTranslation_;
+
68 float fundMatrixReprojError_;
+
69 float fundMatrixConfidence_;
+
70
+
71 std::map<int, cv::Point2f> firstFrameGuessCorners_;
+
72 std::map<int, cv::Point3f> localMap_;
+
73 std::map<int, std::map<int, cv::Point3f> > keyFrameWords3D_;
+
74 std::map<int, Transform> keyFramePoses_;
+
75 std::multimap<int, Link> keyFrameLinks_;
+
76 std::map<int, std::vector<CameraModel> > keyFrameModels_;
+
77 float maxVariance_;
+
78 float keyFrameThr_;
+
79};
+
+
80
+
81}
+
82
+
83#endif /* ODOMETRYMONO_H_ */
+
rtabmap::Feature2D
Abstract 2D feature detector and descriptor extractor for visual SLAM.
Definition Features2d.h:145
+
rtabmap::Memory
Three-tiered memory management (STM, WM, LTM) for RTAB-Map.
Definition Memory.h:102
+ + +
rtabmap::OdometryMono::reset
virtual void reset(const Transform &initialPose)
Resets internal state and sets the initial pose.
+
rtabmap::OdometryMono::getType
virtual Odometry::Type getType()
Definition OdometryMono.h:45
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryORBSLAM2_8h_source.html b/preview/pr-1492/api/latest/OdometryORBSLAM2_8h_source.html new file mode 100644 index 00000000..a86b712d --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryORBSLAM2_8h_source.html @@ -0,0 +1,167 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryORBSLAM2.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
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+
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+ + +
+
+
OdometryORBSLAM2.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYORBSLAM2_H_
+
29#define ODOMETRYORBSLAM2_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33
+
34class ORBSLAM2System;
+
35
+
36namespace rtabmap {
+
37
+
+
38class RTABMAP_CORE_EXPORT OdometryORBSLAM2 : public Odometry
+
39{
+
40public:
+
41 OdometryORBSLAM2(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
42 virtual ~OdometryORBSLAM2();
+
43
+
44 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
45 virtual Odometry::Type getType() {return Odometry::kTypeORBSLAM;}
+
46
+
47private:
+
48 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
49
+
50private:
+
51#if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 2
+
52 ORBSLAM2System * orbslam_;
+
53 bool firstFrame_;
+
54 Transform originLocalTransform_;
+
55 Transform previousPose_;
+
56#endif
+
57
+
58};
+
+
59
+
60}
+
61
+
62#endif /* ODOMETRYORBSLAM2_H_ */
+ + +
rtabmap::OdometryORBSLAM2::getType
virtual Odometry::Type getType()
Definition OdometryORBSLAM2.h:45
+
rtabmap::OdometryORBSLAM2::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryORBSLAM3_8h_source.html b/preview/pr-1492/api/latest/OdometryORBSLAM3_8h_source.html new file mode 100644 index 00000000..d4e8cd2b --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryORBSLAM3_8h_source.html @@ -0,0 +1,178 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryORBSLAM3.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+ + +
+
+
OdometryORBSLAM3.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYORBSLAM3_H_
+
29#define ODOMETRYORBSLAM3_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33#if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 3
+
34#include <System.h>
+
35#endif
+
36
+
37namespace rtabmap {
+
38
+
+
39class RTABMAP_CORE_EXPORT OdometryORBSLAM3 : public Odometry
+
40{
+
41public:
+
42 OdometryORBSLAM3(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
43 virtual ~OdometryORBSLAM3();
+
44
+
45 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
46 virtual Odometry::Type getType() {return Odometry::kTypeORBSLAM;}
+
47 virtual bool canProcessAsyncIMU() const;
+
48
+
49private:
+
50 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
51
+
52 bool init(const rtabmap::CameraModel & model1, const rtabmap::CameraModel & model2, double stamp, bool stereo, double baseline);
+
53private:
+
54#if defined(RTABMAP_ORB_SLAM) and RTABMAP_ORB_SLAM == 3
+
55 ORB_SLAM3::System * orbslam_;
+
56 bool firstFrame_;
+
57 Transform originLocalTransform_;
+
58 Transform previousPose_;
+
59 bool useIMU_;
+
60 Transform imuLocalTransform_;
+
61 ParametersMap parameters_;
+
62 std::vector<ORB_SLAM3::IMU::Point> orbslamImus_;
+
63 double lastImuStamp_;
+
64 double lastImageStamp_;
+
65#endif
+
66
+
67};
+
+
68
+
69}
+
70
+
71#endif /* ODOMETRYORBSLAM_H3_ */
+
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+ + +
rtabmap::OdometryORBSLAM3::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
+
rtabmap::OdometryORBSLAM3::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::OdometryORBSLAM3::getType
virtual Odometry::Type getType()
Definition OdometryORBSLAM3.h:46
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryOkvis_8h_source.html b/preview/pr-1492/api/latest/OdometryOkvis_8h_source.html new file mode 100644 index 00000000..aaf0582f --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryOkvis_8h_source.html @@ -0,0 +1,177 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryOkvis.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
OdometryOkvis.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYOKVIS_H_
+
29#define ODOMETRYOKVIS_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33namespace okvis {
+
34 class ThreadedKFVio;
+
35}
+
36
+
37namespace rtabmap {
+
38
+
39class OkvisCallbackHandler;
+
+
40class RTABMAP_CORE_EXPORT OdometryOkvis : public Odometry
+
41{
+
42public:
+
43 OdometryOkvis(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
44 virtual ~OdometryOkvis();
+
45
+
46 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
47 virtual Odometry::Type getType() {return Odometry::kTypeOkvis;}
+
48 virtual bool canProcessRawImages() const {return true;}
+
49 virtual bool canProcessAsyncIMU() const {return true;}
+
50
+
51private:
+
52 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
53
+
54private:
+
55 std::string configFilename_;
+
56#ifdef RTABMAP_OKVIS
+
57 OkvisCallbackHandler * okvisCallbackHandler_;
+
58 okvis::ThreadedKFVio * okvisEstimator_;
+
59 int imagesProcessed_;
+
60 bool initGravity_;
+
61#endif
+
62 ParametersMap okvisParameters_;
+
63 IMU lastImu_; // only used for initialization
+
64 Transform previousPose_;
+
65};
+
+
66
+
67}
+
68
+
69#endif /* ODOMETRYOKVIS_H_ */
+
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
+ + +
rtabmap::OdometryOkvis::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition OdometryOkvis.h:49
+
rtabmap::OdometryOkvis::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::OdometryOkvis::getType
virtual Odometry::Type getType()
Definition OdometryOkvis.h:47
+
rtabmap::OdometryOkvis::canProcessRawImages
virtual bool canProcessRawImages() const
Definition OdometryOkvis.h:48
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryOpen3D_8h_source.html b/preview/pr-1492/api/latest/OdometryOpen3D_8h_source.html new file mode 100644 index 00000000..196b0163 --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryOpen3D_8h_source.html @@ -0,0 +1,164 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryOpen3D.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
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+
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+
+
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+
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+ + +
+
+
OdometryOpen3D.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYOPEN3D_H_
+
29#define ODOMETRYOPEN3D_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33namespace rtabmap {
+
34
+
+
35class RTABMAP_CORE_EXPORT OdometryOpen3D : public Odometry
+
36{
+
37public:
+
38 OdometryOpen3D(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
39 virtual ~OdometryOpen3D();
+
40
+
41 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
42 virtual Odometry::Type getType() {return Odometry::kTypeOpen3D;}
+
43
+
44private:
+
45 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
46
+
47private:
+
48#ifdef RTABMAP_OPEN3D
+
49 rtabmap::SensorData keyFrame_;
+
50 Transform lastKeyFramePose_;
+
51 int method_;
+
52 float maxDepth_;
+
53 float keyFrameThr_;
+
54#endif
+
55};
+
+
56
+
57}
+
58
+
59#endif /* ODOMETRYOPEN3D_H_ */
+ + +
rtabmap::OdometryOpen3D::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::OdometryOpen3D::getType
virtual Odometry::Type getType()
Definition OdometryOpen3D.h:42
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryOpenVINS_8h_source.html b/preview/pr-1492/api/latest/OdometryOpenVINS_8h_source.html new file mode 100644 index 00000000..28da9310 --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryOpenVINS_8h_source.html @@ -0,0 +1,173 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryOpenVINS.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+
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+ + +
+
+
OdometryOpenVINS.h
+
+
+
1/*
+
2Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYOPENVINS_H_
+
29#define ODOMETRYOPENVINS_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33namespace ov_msckf {
+
34class VioManager;
+
35struct VioManagerOptions;
+
36}
+
37
+
38namespace rtabmap {
+
39
+
+
40class RTABMAP_CORE_EXPORT OdometryOpenVINS : public Odometry
+
41{
+
42public:
+
43 OdometryOpenVINS(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
44
+
45 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
46 virtual Odometry::Type getType() {return Odometry::kTypeOpenVINS;}
+
47 virtual bool canProcessRawImages() const {return true;}
+
48 virtual bool canProcessAsyncIMU() const {return true;}
+
49
+
50private:
+
51 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
52
+
53private:
+
54#ifdef RTABMAP_OPENVINS
+
55 std::unique_ptr<ov_msckf::VioManager> vioManager_;
+
56 std::unique_ptr<ov_msckf::VioManagerOptions> params_;
+
57 bool initGravity_;
+
58 Transform previousPoseInv_;
+
59 Transform imuLocalTransformInv_;
+
60 Eigen::Matrix<double, 6, 6> Phi_;
+
61#endif
+
62};
+
+
63
+
64}
+
65
+
66#endif /* ODOMETRYOPENVINS_H_ */
+ + +
rtabmap::OdometryOpenVINS::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition OdometryOpenVINS.h:48
+
rtabmap::OdometryOpenVINS::getType
virtual Odometry::Type getType()
Definition OdometryOpenVINS.h:46
+
rtabmap::OdometryOpenVINS::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::OdometryOpenVINS::canProcessRawImages
virtual bool canProcessRawImages() const
Definition OdometryOpenVINS.h:47
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryThread_8h_source.html b/preview/pr-1492/api/latest/OdometryThread_8h_source.html new file mode 100644 index 00000000..21c0ec9c --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryThread_8h_source.html @@ -0,0 +1,186 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/OdometryThread.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
OdometryThread.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYTHREAD_H_
+
29#define ODOMETRYTHREAD_H_
+
30
+
31#include <rtabmap/core/rtabmap_core_export.h>
+
32#include <rtabmap/core/SensorEvent.h>
+
33#include <rtabmap/core/SensorData.h>
+
34#include <rtabmap/utilite/UThread.h>
+
35#include <rtabmap/utilite/UEventsHandler.h>
+
36#include <list>
+
37
+
38namespace rtabmap {
+
39
+
40class Odometry;
+
41
+
+
42class RTABMAP_CORE_EXPORT OdometryThread : public UThread, public UEventsHandler {
+
43public:
+
44 // take ownership of Odometry
+
45 OdometryThread(Odometry * odometry, unsigned int dataBufferMaxSize = 1);
+
46 virtual ~OdometryThread();
+
47
+
48protected:
+
49 virtual bool handleEvent(UEvent * event);
+
50
+
51private:
+
52 virtual void mainLoopBegin();
+
53 virtual void mainLoopKill();
+
54
+
55 //============================================================
+
56 // MAIN LOOP
+
57 //============================================================
+
58 virtual void mainLoop();
+
59 void addData(const SensorEvent & data);
+
60 bool getData(SensorEvent & data);
+
61
+
62private:
+
63 USemaphore _dataAdded;
+
64 UMutex _dataMutex;
+
65 std::list<SensorEvent> _dataBuffer;
+
66 std::list<SensorData> _imuBuffer;
+
67 Odometry * _odometry;
+
68 unsigned int _dataBufferMaxSize;
+
69 bool _resetOdometry;
+
70 Transform _resetPose;
+
71 Transform _previousGuessPose;
+
72 double _oldestAsyncImuStamp;
+
73 double _newestAsyncImuStamp;
+
74};
+
+
75
+
76} // namespace rtabmap
+
77
+
78
+
79#endif /* ODOMETRYTHREAD_H_ */
+ + + + + + +
rtabmap::OdometryThread::handleEvent
virtual bool handleEvent(UEvent *event)
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::SensorEvent
Event class for sensor data communication in RTAB-Map's event system.
Definition SensorEvent.h:65
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryVINSFusion_8h_source.html b/preview/pr-1492/api/latest/OdometryVINSFusion_8h_source.html new file mode 100644 index 00000000..5a6cc3ae --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryVINSFusion_8h_source.html @@ -0,0 +1,172 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryVINSFusion.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
OdometryVINSFusion.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYVINSFUSION_H_
+
29#define ODOMETRYVINSFUSION_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33namespace rtabmap {
+
34
+
35class VinsFusionEstimator;
+
36
+
+
37class RTABMAP_CORE_EXPORT OdometryVINSFusion : public Odometry
+
38{
+
39public:
+
40 OdometryVINSFusion(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
41 virtual ~OdometryVINSFusion();
+
42
+
43 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
44 virtual Odometry::Type getType() {return Odometry::kTypeVINSFusion;}
+
45 virtual bool canProcessRawImages() const {return true;}
+
46 virtual bool canProcessAsyncIMU() const {return true;}
+
47
+
48private:
+
49 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
50
+
51private:
+
52#ifdef RTABMAP_VINS_FUSION
+
53 VinsFusionEstimator * vinsEstimator_;
+
54 bool initGravity_;
+
55 Transform previousPose_;
+
56 Transform previousLocalTransform_;
+
57 IMU lastImu_;
+
58 double lastImuStamp_;
+
59#endif
+
60};
+
+
61
+
62}
+
63
+
64#endif /* ODOMETRYVINSFUSION_H_ */
+
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
+ + +
rtabmap::OdometryVINSFusion::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition OdometryVINSFusion.h:46
+
rtabmap::OdometryVINSFusion::canProcessRawImages
virtual bool canProcessRawImages() const
Definition OdometryVINSFusion.h:45
+
rtabmap::OdometryVINSFusion::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::OdometryVINSFusion::getType
virtual Odometry::Type getType()
Definition OdometryVINSFusion.h:44
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryVINS_8h_source.html b/preview/pr-1492/api/latest/OdometryVINS_8h_source.html new file mode 100644 index 00000000..ec6aff03 --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryVINS_8h_source.html @@ -0,0 +1,125 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryVINS.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
OdometryVINS.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29#pragma message("Warning: OdometryVINS.h is deprecated. Please use OdometryVINSFusion.h instead.")
+
30
+
31#include "rtabmap/core/odometry/OdometryVINSFusion.h"
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OdometryViso2_8h_source.html b/preview/pr-1492/api/latest/OdometryViso2_8h_source.html new file mode 100644 index 00000000..d79cb324 --- /dev/null +++ b/preview/pr-1492/api/latest/OdometryViso2_8h_source.html @@ -0,0 +1,170 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/odometry/OdometryViso2.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
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+ + +
+
+
OdometryViso2.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRYVISO2_H_
+
29#define ODOMETRYVISO2_H_
+
30
+
31#include <rtabmap/core/Odometry.h>
+
32
+
33class VisualOdometryStereo;
+
34
+
35namespace rtabmap {
+
36
+
+
37class RTABMAP_CORE_EXPORT OdometryViso2 : public Odometry
+
38{
+
39public:
+
40 OdometryViso2(const rtabmap::ParametersMap & parameters = rtabmap::ParametersMap());
+
41 virtual ~OdometryViso2();
+
42
+
43 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
44 virtual Odometry::Type getType() {return Odometry::kTypeViso2;}
+
45
+
46private:
+
47 virtual Transform computeTransform(SensorData & image, const Transform & guess = Transform(), OdometryInfo * info = 0);
+
48
+
49private:
+
50#ifdef RTABMAP_VISO2
+
51 VisualOdometryStereo * viso2_;
+
52 int ref_frame_change_method_; // Reference frame method (defautl 0): 0=under inliers threshold, 1=min pixel motion,
+
53 int ref_frame_inlier_threshold_; // method 0. Change the reference frame if the number of inliers is low
+
54 double ref_frame_motion_threshold_; // method 1. Change the reference frame if last motion is small
+
55 bool lost_;
+
56 bool keep_reference_frame_;
+
57#endif
+
58 Transform reference_motion_;
+
59 Transform previousLocalTransform_;
+
60 ParametersMap viso2Parameters_;
+
61};
+
+
62
+
63}
+
64
+
65#endif /* ODOMETRYVISO2_H_ */
+ + +
rtabmap::OdometryViso2::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::OdometryViso2::getType
virtual Odometry::Type getType()
Definition OdometryViso2.h:44
+
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Odometry_8h_source.html b/preview/pr-1492/api/latest/Odometry_8h_source.html new file mode 100644 index 00000000..a97046d4 --- /dev/null +++ b/preview/pr-1492/api/latest/Odometry_8h_source.html @@ -0,0 +1,254 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Odometry.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
Odometry.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef ODOMETRY_H_
+
29#define ODOMETRY_H_
+
30
+
31#include <rtabmap/core/rtabmap_core_export.h>
+
32
+
33#include <rtabmap/core/Transform.h>
+
34#include <rtabmap/core/SensorData.h>
+
35#include <rtabmap/core/Parameters.h>
+
36
+
37namespace rtabmap {
+
38
+
39class OdometryInfo;
+
40class ParticleFilter;
+
41
+
+
56class RTABMAP_CORE_EXPORT Odometry
+
57{
+
58public:
+
+
60 enum Type {
+
61 kTypeUndef = -1,
+
62 kTypeF2M = 0,
+
63 kTypeF2F = 1,
+
64 kTypeFovis = 2,
+
65 kTypeViso2 = 3,
+
66 kTypeDVO = 4,
+
67 kTypeORBSLAM = 5,
+
68 kTypeOkvis = 6,
+
69 kTypeLOAM = 7,
+
70 kTypeMSCKF = 8,
+
71 kTypeVINSFusion = 9,
+
72 kTypeOpenVINS = 10,
+
73 kTypeFLOAM = 11,
+
74 kTypeOpen3D = 12,
+
75 kTypeCuVSLAM = 13,
+
76 kTypeLIOSAM = 14
+
77 };
+
+
78
+
84 static Odometry * create(const ParametersMap & parameters = ParametersMap());
+
90 static Odometry * create(Type & type, const ParametersMap & parameters = ParametersMap());
+
91
+
92 virtual ~Odometry();
+
101 Transform process(SensorData & data, OdometryInfo * info = 0);
+
108 Transform process(SensorData & data, const Transform & guess, OdometryInfo * info = 0);
+
113 virtual void reset(const Transform & initialPose = Transform::getIdentity());
+
115 virtual Odometry::Type getType() = 0;
+
117 virtual bool canProcessRawImages() const {return false;}
+
119 virtual bool canProcessAsyncIMU() const {return false;}
+
120
+
122 const Transform & getPose() const {return _pose;}
+
124 bool isInfoDataFilled() const {return _fillInfoData;}
+
126 RTABMAP_DEPRECATED const Transform & previousVelocityTransform() const;
+
128 const Transform & getVelocityGuess() const {return velocityGuess_;}
+
130 double previousStamp() const {return previousStamp_;}
+
132 unsigned int framesProcessed() const {return framesProcessed_;}
+
134 bool imagesAlreadyRectified() const {return _imagesAlreadyRectified;}
+
135
+
136protected:
+
138 const std::map<double, Transform> & imus() const {return imus_;}
+
139
+
141 Odometry(const rtabmap::ParametersMap & parameters);
+
142
+
143private:
+
151 virtual Transform computeTransform(SensorData & data, const Transform & guess = Transform(), OdometryInfo * info = 0) = 0;
+
152
+
153 void initKalmanFilter(const Transform & initialPose = Transform::getIdentity(), float vx=0.0f, float vy=0.0f, float vz=0.0f, float vroll=0.0f, float vpitch=0.0f, float vyaw=0.0f);
+
154 void predictKalmanFilter(float dt, float * vx=0, float * vy=0, float * vz=0, float * vroll=0, float * vpitch=0, float * vyaw=0);
+
155 void updateKalmanFilter(float & vx, float & vy, float & vz, float & vroll, float & vpitch, float & vyaw);
+
156
+
157private:
+
158 int _resetCountdown;
+
159 bool _force3DoF;
+
160 bool _holonomic;
+
161 bool guessFromMotion_;
+
162 float guessSmoothingDelay_;
+
163 int _filteringStrategy;
+
164 int _particleSize;
+
165 float _particleNoiseT;
+
166 float _particleLambdaT;
+
167 float _particleNoiseR;
+
168 float _particleLambdaR;
+
169 bool _fillInfoData;
+
170 float _kalmanProcessNoise;
+
171 float _kalmanMeasurementNoise;
+
172 unsigned int _imageDecimation;
+
173 bool _alignWithGround;
+
174 bool _publishRAMUsage;
+
175 bool _imagesAlreadyRectified;
+
176 bool _deskewing;
+
177 Transform _pose;
+
178 int _resetCurrentCount;
+
179 double previousStamp_;
+
180 std::list<std::pair<std::vector<float>, double> > previousVelocities_;
+
181 Transform velocityGuess_;
+
182 Transform imuLastTransform_;
+
183 Transform previousGroundTruthPose_;
+
184 float distanceTravelled_;
+
185 unsigned int framesProcessed_;
+
186
+
187 std::vector<ParticleFilter *> particleFilters_;
+
188 cv::KalmanFilter kalmanFilter_;
+
189 std::vector<StereoCameraModel> stereoModels_;
+
190 std::vector<CameraModel> models_;
+
191 std::map<double, Transform> imus_;
+
192};
+
+
193
+
194} /* namespace rtabmap */
+
195#endif /* ODOMETRY_H_ */
+ +
rtabmap::Odometry
Abstract base class for visual, lidar and visual-inertial odometry backends.
Definition Odometry.h:57
+
rtabmap::Odometry::process
Transform process(SensorData &data, OdometryInfo *info=0)
Processes a sensor frame and updates the integrated pose.
+
rtabmap::Odometry::reset
virtual void reset(const Transform &initialPose=Transform::getIdentity())
Resets internal state and sets the initial pose.
+
rtabmap::Odometry::create
static Odometry * create(Type &type, const ParametersMap &parameters=ParametersMap())
Creates an odometry instance of a given type.
+
rtabmap::Odometry::isInfoDataFilled
bool isInfoDataFilled() const
Definition Odometry.h:124
+
rtabmap::Odometry::previousVelocityTransform
RTABMAP_DEPRECATED const Transform & previousVelocityTransform() const
+
rtabmap::Odometry::previousStamp
double previousStamp() const
Definition Odometry.h:130
+
rtabmap::Odometry::process
Transform process(SensorData &data, const Transform &guess, OdometryInfo *info=0)
Processes a sensor frame with an external motion guess.
+
rtabmap::Odometry::Type
Type
Odometry backend selected by Parameters::kOdomStrategy().
Definition Odometry.h:60
+
rtabmap::Odometry::canProcessRawImages
virtual bool canProcessRawImages() const
Definition Odometry.h:117
+
rtabmap::Odometry::imus
const std::map< double, Transform > & imus() const
Definition Odometry.h:138
+
rtabmap::Odometry::framesProcessed
unsigned int framesProcessed() const
Definition Odometry.h:132
+
rtabmap::Odometry::canProcessAsyncIMU
virtual bool canProcessAsyncIMU() const
Definition Odometry.h:119
+
rtabmap::Odometry::getPose
const Transform & getPose() const
Definition Odometry.h:122
+
rtabmap::Odometry::getType
virtual Odometry::Type getType()=0
+
rtabmap::Odometry::getVelocityGuess
const Transform & getVelocityGuess() const
Definition Odometry.h:128
+
rtabmap::Odometry::create
static Odometry * create(const ParametersMap &parameters=ParametersMap())
Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
+
rtabmap::Odometry::imagesAlreadyRectified
bool imagesAlreadyRectified() const
Definition Odometry.h:134
+
rtabmap::Odometry::Odometry
Odometry(const rtabmap::ParametersMap &parameters)
Constructs the base odometry state from RTAB-Map parameters.
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OptimizerCVSBA_8h_source.html b/preview/pr-1492/api/latest/OptimizerCVSBA_8h_source.html new file mode 100644 index 00000000..cc25319c --- /dev/null +++ b/preview/pr-1492/api/latest/OptimizerCVSBA_8h_source.html @@ -0,0 +1,165 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/optimizer/OptimizerCVSBA.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + + + + + + + + +
+
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+
+
+
+
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+ + +
+
+
OptimizerCVSBA.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef OPTIMIZERCVSBA_H_
+
29#define OPTIMIZERCVSBA_H_
+
30
+
31#include <rtabmap/core/Optimizer.h>
+
32
+
33namespace rtabmap {
+
34
+
+
35class RTABMAP_CORE_EXPORT OptimizerCVSBA : public Optimizer
+
36{
+
37public:
+
38 static bool available();
+
39
+
40public:
+
41 OptimizerCVSBA(
+
42 int iterations = Parameters::defaultOptimizerIterations(),
+
43 bool slam2d = Parameters::defaultRegForce3DoF(),
+
44 bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored()) :
+
45 Optimizer(iterations, slam2d, covarianceIgnored) {}
+
46 OptimizerCVSBA(const ParametersMap & parameters) :
+
47 Optimizer(parameters) {}
+
48 virtual ~OptimizerCVSBA() {}
+
49
+
50 virtual Type type() const {return kTypeCVSBA;}
+
51
+
52 virtual std::map<int, Transform> optimizeBA(
+
53 int rootId,
+
54 const std::map<int, Transform> & poses,
+
55 const std::multimap<int, Link> & links,
+
56 const std::map<int, std::vector<CameraModel> > & models,
+
57 std::map<int, cv::Point3f> & points3DMap,
+
58 const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
+
59 std::set<int> * outliers = 0);
+
60};
+
+
61
+
62} /* namespace rtabmap */
+
63#endif /* OPTIMIZERCVSBA_H_ */
+ +
rtabmap::OptimizerCVSBA::optimizeBA
virtual std::map< int, Transform > optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
+
rtabmap::OptimizerCVSBA::type
virtual Type type() const
Returns the concrete back-end identifier (one of Type).
Definition OptimizerCVSBA.h:50
+
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
+
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:91
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OptimizerCeres_8h_source.html b/preview/pr-1492/api/latest/OptimizerCeres_8h_source.html new file mode 100644 index 00000000..b9fff3e2 --- /dev/null +++ b/preview/pr-1492/api/latest/OptimizerCeres_8h_source.html @@ -0,0 +1,188 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/optimizer/OptimizerCeres.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
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+
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+
OptimizerCeres.h
+
+
+
1/*
+
2Copyright (c) 2010-2019, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef OPTIMIZERCERES_H_
+
29#define OPTIMIZERCERES_H_
+
30
+
31#include <rtabmap/core/Optimizer.h>
+
32
+
33namespace rtabmap {
+
34
+
+
35class RTABMAP_CORE_EXPORT OptimizerCeres : public Optimizer
+
36{
+
37public:
+
38 static bool available();
+
39
+
40public:
+
41 OptimizerCeres(
+
42 int iterations = Parameters::defaultOptimizerIterations(),
+
43 bool slam2d = Parameters::defaultRegForce3DoF(),
+
44 bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
+
45 double epsilon = Parameters::defaultOptimizerEpsilon()) :
+
46 Optimizer(iterations, slam2d, covarianceIgnored, epsilon),
+
47 pixelVariance_(Parameters::defaultOptimizerPixelVariance()),
+
48 disparityVariance_(Parameters::defaultOptimizerDisparityVariance()),
+
49 robustKernelDelta_(Parameters::defaultOptimizerRobustKernelDelta()),
+
50 baseline_(Parameters::defaultOptimizerBaseline()) {}
+
51 OptimizerCeres(const ParametersMap & parameters);
+
52 virtual ~OptimizerCeres() {}
+
53
+
54 virtual Type type() const {return kTypeCeres;}
+
55
+
56 virtual void parseParameters(const ParametersMap & parameters);
+
57
+
58 virtual std::map<int, Transform> optimize(
+
59 int rootId,
+
60 const std::map<int, Transform> & poses,
+
61 const std::multimap<int, Link> & edgeConstraints,
+
62 cv::Mat & outputCovariance,
+
63 std::list<std::map<int, Transform> > * intermediateGraphes = 0,
+
64 double * finalError = 0,
+
65 int * iterationsDone = 0);
+
66
+
67 virtual std::map<int, Transform> optimizeBA(
+
68 int rootId,
+
69 const std::map<int, Transform> & poses,
+
70 const std::multimap<int, Link> & links,
+
71 const std::map<int, std::vector<CameraModel> > & models, // in case of stereo, Tx should be set
+
72 std::map<int, cv::Point3f> & points3DMap,
+
73 const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
+
74 std::set<int> * outliers = 0);
+
75
+
76private:
+
77 double pixelVariance_;
+
78 double disparityVariance_;
+
79 double robustKernelDelta_;
+
80 double baseline_;
+
81};
+
+
82
+
83} /* namespace rtabmap */
+
84#endif /* OPTIMIZERCERES_H_ */
+ +
rtabmap::OptimizerCeres::optimizeBA
virtual std::map< int, Transform > optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
+
rtabmap::OptimizerCeres::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Reads shared knobs from parameters and applies them to this instance.
+
rtabmap::OptimizerCeres::optimize
virtual std::map< int, Transform > optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
Pose-graph optimization with marginal covariance of rootId.
+
rtabmap::OptimizerCeres::type
virtual Type type() const
Returns the concrete back-end identifier (one of Type).
Definition OptimizerCeres.h:54
+
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
+
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:91
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OptimizerG2O_8h_source.html b/preview/pr-1492/api/latest/OptimizerG2O_8h_source.html new file mode 100644 index 00000000..e1c8a462 --- /dev/null +++ b/preview/pr-1492/api/latest/OptimizerG2O_8h_source.html @@ -0,0 +1,195 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/optimizer/OptimizerG2O.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+ + +
+
+
OptimizerG2O.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef OPTIMIZERG2O_H_
+
29#define OPTIMIZERG2O_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/Optimizer.h>
+
34
+
35namespace rtabmap {
+
36
+
+
37class RTABMAP_CORE_EXPORT OptimizerG2O : public Optimizer
+
38{
+
39public:
+
40 static bool available();
+
41 static bool isCSparseAvailable();
+
42 static bool isCholmodAvailable();
+
43
+
44public:
+
45 static bool loadGraph(
+
46 const std::string & fileName,
+
47 std::map<int, Transform> & poses,
+
48 std::multimap<int, Link> & edgeConstraints);
+
49
+
50public:
+
51 OptimizerG2O(const ParametersMap & parameters = ParametersMap());
+
52 virtual ~OptimizerG2O() {}
+
53
+
54 virtual Type type() const {return kTypeG2O;}
+
55
+
56 virtual void parseParameters(const ParametersMap & parameters);
+
57
+
58 virtual std::map<int, Transform> optimize(
+
59 int rootId,
+
60 const std::map<int, Transform> & poses,
+
61 const std::multimap<int, Link> & edgeConstraints,
+
62 cv::Mat & outputCovariance,
+
63 std::list<std::map<int, Transform> > * intermediateGraphes = 0,
+
64 double * finalError = 0,
+
65 int * iterationsDone = 0);
+
66
+
67 virtual std::map<int, Transform> optimizeBA(
+
68 int rootId,
+
69 const std::map<int, Transform> & poses,
+
70 const std::multimap<int, Link> & links,
+
71 const std::map<int, std::vector<CameraModel> > & models, // in case of stereo, Tx should be set
+
72 std::map<int, cv::Point3f> & points3DMap,
+
73 const std::map<int, std::map<int, FeatureBA> > & wordReferences, // <ID words, IDs frames + keypoint(x,y,depth)>
+
74 std::set<int> * outliers = 0);
+
75
+
76 bool saveGraph(
+
77 const std::string & fileName,
+
78 const std::map<int, Transform> & poses,
+
79 const std::multimap<int, Link> & edgeConstraints);
+
80
+
81private:
+
82 int solver_;
+
83 int optimizer_;
+
84 double pixelVariance_;
+
85 double disparityVariance_;
+
86 double robustKernelDelta_;
+
87 double baseline_;
+
88};
+
+
89
+
90} /* namespace rtabmap */
+
91#endif /* OPTIMIZERG2O_H_ */
+ +
rtabmap::OptimizerG2O::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Reads shared knobs from parameters and applies them to this instance.
+
rtabmap::OptimizerG2O::optimizeBA
virtual std::map< int, Transform > optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
+
rtabmap::OptimizerG2O::optimize
virtual std::map< int, Transform > optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
Pose-graph optimization with marginal covariance of rootId.
+
rtabmap::OptimizerG2O::type
virtual Type type() const
Returns the concrete back-end identifier (one of Type).
Definition OptimizerG2O.h:54
+
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
+
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:91
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OptimizerGTSAM_8h_source.html b/preview/pr-1492/api/latest/OptimizerGTSAM_8h_source.html new file mode 100644 index 00000000..db77397c --- /dev/null +++ b/preview/pr-1492/api/latest/OptimizerGTSAM_8h_source.html @@ -0,0 +1,202 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/optimizer/OptimizerGTSAM.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
OptimizerGTSAM.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef OPTIMIZERGTSAM_H_
+
29#define OPTIMIZERGTSAM_H_
+
30
+
31#include <rtabmap/core/Optimizer.h>
+
32
+
33namespace gtsam {
+
34 class ISAM2;
+
35}
+
36
+
37namespace rtabmap {
+
38
+
+
39class RTABMAP_CORE_EXPORT OptimizerGTSAM : public Optimizer
+
40{
+
41public:
+
42 static bool available();
+
43
+
44public:
+
45 OptimizerGTSAM(const ParametersMap & parameters = ParametersMap());
+
46 virtual ~OptimizerGTSAM();
+
47
+
48 virtual Type type() const {return kTypeGTSAM;}
+
49
+
50 virtual void parseParameters(const ParametersMap & parameters);
+
51
+
52 virtual std::map<int, Transform> optimize(
+
53 int rootId,
+
54 const std::map<int, Transform> & poses,
+
55 const std::multimap<int, Link> & edgeConstraints,
+
56 cv::Mat & outputCovariance,
+
57 std::list<std::map<int, Transform> > * intermediateGraphes = 0,
+
58 double * finalError = 0,
+
59 int * iterationsDone = 0);
+
60
+
61 virtual std::map<int, Transform> optimizeBA(
+
62 int rootId,
+
63 const std::map<int, Transform> & poses,
+
64 const std::multimap<int, Link> & links,
+
65 const std::map<int, std::vector<CameraModel> > & models,
+
66 std::map<int, cv::Point3f> & points3DMap,
+
67 const std::map<int, std::map<int, FeatureBA> > & wordReferences,
+
68 std::set<int> * outliers = 0);
+
69
+
70private:
+
71 int internalOptimizerType_;
+
72 double pixelVariance_;
+
73 double disparityVariance_;
+
74 double robustKernelDelta_;
+
75 double baseline_;
+
76
+
77 gtsam::ISAM2 * isam2_;
+
78 struct ConstraintToFactor {
+
79 ConstraintToFactor(int _from, int _to, std::uint64_t _factorIndice)
+
80 {
+
81 from = _from;
+
82 to = _to;
+
83 factorIndice = _factorIndice;
+
84 }
+
85 int from;
+
86 int to;
+
87 std::uint64_t factorIndice;
+
88 };
+
89
+
90 std::vector<ConstraintToFactor> lastAddedConstraints_;
+
91 int lastSwitchId_;
+
92 std::set<int> addedPoses_;
+
93 std::map<int, bool> isLandmarkWithRotation_; // persists across iSAM2 incremental calls
+
94 std::pair<int, std::uint64_t> lastRootFactorIndex_;
+
95};
+
+
96
+
97} /* namespace rtabmap */
+
98#endif /* OPTIMIZERGTSAM_H_ */
+ +
rtabmap::OptimizerGTSAM::type
virtual Type type() const
Returns the concrete back-end identifier (one of Type).
Definition OptimizerGTSAM.h:48
+
rtabmap::OptimizerGTSAM::optimize
virtual std::map< int, Transform > optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
Pose-graph optimization with marginal covariance of rootId.
+
rtabmap::OptimizerGTSAM::optimizeBA
virtual std::map< int, Transform > optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
+
rtabmap::OptimizerGTSAM::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Reads shared knobs from parameters and applies them to this instance.
+
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
+
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:91
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/OptimizerTORO_8h_source.html b/preview/pr-1492/api/latest/OptimizerTORO_8h_source.html new file mode 100644 index 00000000..c1276ab4 --- /dev/null +++ b/preview/pr-1492/api/latest/OptimizerTORO_8h_source.html @@ -0,0 +1,177 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/optimizer/OptimizerTORO.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
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+
+ + +
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+
+
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+ + +
+
+
OptimizerTORO.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef OPTIMIZERTORO_H_
+
29#define OPTIMIZERTORO_H_
+
30
+
31#include <rtabmap/core/Optimizer.h>
+
32
+
33namespace rtabmap {
+
34
+
+
35class RTABMAP_CORE_EXPORT OptimizerTORO : public Optimizer
+
36{
+
37public:
+
38 static bool available();
+
39
+
40public:
+
41 static bool loadGraph(
+
42 const std::string & fileName,
+
43 std::map<int, Transform> & poses,
+
44 std::multimap<int, Link> & edgeConstraints);
+
45
+
46public:
+
47 OptimizerTORO(
+
48 int iterations = Parameters::defaultOptimizerIterations(),
+
49 bool slam2d = Parameters::defaultRegForce3DoF(),
+
50 bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
+
51 double epsilon = Parameters::defaultOptimizerEpsilon()) :
+
52 Optimizer(iterations, slam2d, covarianceIgnored, epsilon) {}
+
53 OptimizerTORO(const ParametersMap & parameters) :
+
54 Optimizer(parameters) {}
+
55 virtual ~OptimizerTORO() {}
+
56
+
57 virtual Type type() const {return kTypeTORO;}
+
58
+
59 virtual std::map<int, Transform> optimize(
+
60 int rootId,
+
61 const std::map<int, Transform> & poses,
+
62 const std::multimap<int, Link> & edgeConstraints,
+
63 cv::Mat & outputCovariance,
+
64 std::list<std::map<int, Transform> > * intermediateGraphes = 0,
+
65 double * finalError = 0,
+
66 int * iterationsDone = 0);
+
67
+
68 bool saveGraph(
+
69 const std::string & fileName,
+
70 const std::map<int, Transform> & poses,
+
71 const std::multimap<int, Link> & edgeConstraints);
+
72};
+
+
73
+
74} /* namespace rtabmap */
+
75#endif /* GRAPH_H_ */
+ +
rtabmap::OptimizerTORO::optimize
virtual std::map< int, Transform > optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
Pose-graph optimization with marginal covariance of rootId.
+
rtabmap::OptimizerTORO::type
virtual Type type() const
Returns the concrete back-end identifier (one of Type).
Definition OptimizerTORO.h:57
+
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
+
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:91
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Optimizer_8h_source.html b/preview/pr-1492/api/latest/Optimizer_8h_source.html new file mode 100644 index 00000000..658332c5 --- /dev/null +++ b/preview/pr-1492/api/latest/Optimizer_8h_source.html @@ -0,0 +1,348 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Optimizer.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+ + +
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+
Optimizer.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef OPTIMIZER_H_
+
29#define OPTIMIZER_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <map>
+
34#include <list>
+
35#include <rtabmap/core/Link.h>
+
36#include <rtabmap/core/Parameters.h>
+
37#include <rtabmap/core/Signature.h>
+
38
+
39namespace rtabmap {
+
40
+
+
50class FeatureBA
+
51{
+
52public:
+
53 FeatureBA(const cv::KeyPoint & kptIn, const float & depthIn = 0.0f, const cv::Mat & descriptorIn = cv::Mat(), int cameraIndexIn = 0):
+
54 kpt(kptIn),
+
55 depth(depthIn),
+
56 descriptor(descriptorIn),
+
57 cameraIndex(cameraIndexIn)
+
58 {
+
59 //UDEBUG("kpt=(%f,%f) depth=%f, camIndex=%d", kpt.pt.x, kpt.pt.y, depth, cameraIndex);
+
60 }
+
61 cv::KeyPoint kpt;
+
62 float depth;
+
63 cv::Mat descriptor;
+
64 int cameraIndex;
+
65};
+
+
66
+
+
87class RTABMAP_CORE_EXPORT Optimizer
+
88{
+
89public:
+
+
91 enum Type {
+
92 kTypeUndef = -1,
+
93 kTypeTORO = 0,
+
94 kTypeG2O = 1,
+
95 kTypeGTSAM = 2,
+
96 kTypeCeres = 3,
+
97 kTypeCVSBA = 4
+
98 };
+
+
99
+
106 static bool isAvailable(Optimizer::Type type);
+
107
+
114 static Optimizer * create(const ParametersMap & parameters);
+
115
+
117 static Optimizer * create(Optimizer::Type type, const ParametersMap & parameters = ParametersMap());
+
118
+
127 void getConnectedGraph(
+
128 int fromId,
+
129 const std::map<int, Transform> & posesIn,
+
130 const std::multimap<int, Link> & linksIn,
+
131 std::map<int, Transform> & posesOut,
+
132 std::multimap<int, Link> & linksOut) const;
+
133
+
134public:
+
135 virtual ~Optimizer() {}
+
136
+
138 virtual Type type() const = 0;
+
139
+
142 int iterations() const {return iterations_;}
+
+
143 bool isSlam2d() const {return slam2d_;}
+
+
144 bool isCovarianceIgnored() const {return covarianceIgnored_;}
+
+
145 double epsilon() const {return epsilon_;}
+
+
146 bool isRobust() const {return robust_;}
+
+
147 bool priorsIgnored() const {return priorsIgnored_;}
+
+
148 bool landmarksIgnored() const {return landmarksIgnored_;}
+
+
149 float gravitySigma() const {return gravitySigma_;}
+
151
+
154 void setIterations(int iterations) {iterations_ = iterations;}
+
155 void setSlam2d(bool enabled) {slam2d_ = enabled;}
+
156 void setCovarianceIgnored(bool enabled) {covarianceIgnored_ = enabled;}
+
157 void setEpsilon(double epsilon) {epsilon_ = epsilon;}
+
158 void setRobust(bool enabled) {robust_ = enabled;}
+
159 void setPriorsIgnored(bool enabled) {priorsIgnored_ = enabled;}
+
160 void setLandmarksIgnored(bool enabled) {landmarksIgnored_ = enabled;}
+
161 void setGravitySigma(float value) {gravitySigma_ = value;}
+
163
+
170 virtual void parseParameters(const ParametersMap & parameters);
+
171
+
189 std::map<int, Transform> optimizeIncremental(
+
190 int rootId,
+
191 const std::map<int, Transform> & poses,
+
192 const std::multimap<int, Link> & constraints,
+
193 std::list<std::map<int, Transform> > * intermediateGraphes = 0,
+
194 double * finalError = 0,
+
195 int * iterationsDone = 0);
+
196
+
203 std::map<int, Transform> optimize(
+
204 int rootId,
+
205 const std::map<int, Transform> & poses,
+
206 const std::multimap<int, Link> & constraints,
+
207 std::list<std::map<int, Transform> > * intermediateGraphes = 0,
+
208 double * finalError = 0,
+
209 int * iterationsDone = 0);
+
210
+
227 virtual std::map<int, Transform> optimize(
+
228 int rootId,
+
229 const std::map<int, Transform> & poses,
+
230 const std::multimap<int, Link> & constraints,
+
231 cv::Mat & outputCovariance,
+
232 std::list<std::map<int, Transform> > * intermediateGraphes = 0,
+
233 double * finalError = 0,
+
234 int * iterationsDone = 0);
+
235
+
253 virtual std::map<int, Transform> optimizeBA(
+
254 int rootId,
+
255 const std::map<int, Transform> & poses,
+
256 const std::multimap<int, Link> & links,
+
257 const std::map<int, std::vector<CameraModel> > & models,
+
258 std::map<int, cv::Point3f> & points3DMap,
+
259 const std::map<int, std::map<int, FeatureBA> > & wordReferences,
+
260 std::set<int> * outliers = 0);
+
261
+
274 std::map<int, Transform> optimizeBA(
+
275 int rootId,
+
276 const std::map<int, Transform> & poses,
+
277 const std::multimap<int, Link> & links,
+
278 const std::map<int, Signature> & signatures,
+
279 std::map<int, cv::Point3f> & points3DMap,
+
280 std::map<int, std::map<int, FeatureBA> > & wordReferences,
+
281 bool rematchFeatures = false,
+
282 const ParametersMap & registrationParameters = ParametersMap());
+
283
+
286 std::map<int, Transform> optimizeBA(
+
287 int rootId,
+
288 const std::map<int, Transform> & poses,
+
289 const std::multimap<int, Link> & links,
+
290 const std::map<int, Signature> & signatures,
+
291 bool rematchFeatures = false,
+
292 const ParametersMap & registrationParameters = ParametersMap());
+
293
+
301 Transform optimizeBA(
+
302 const Link & link,
+
303 const CameraModel & model,
+
304 std::map<int, cv::Point3f> & points3DMap,
+
305 const std::map<int, std::map<int, FeatureBA> > & wordReferences,
+
306 std::set<int> * outliers = 0);
+
307
+
323 void computeBACorrespondences(
+
324 const std::map<int, Transform> & poses,
+
325 const std::multimap<int, Link> & links,
+
326 const std::map<int, Signature> & signatures,
+
327 std::map<int, cv::Point3f> & points3DMap,
+
328 std::map<int, std::map<int, FeatureBA > > & wordReferences,
+
329 bool rematchFeatures = false,
+
330 bool useLinkTransformAsGuess = false,
+
331 ParametersMap registrationParameters = ParametersMap());
+
332
+
333protected:
+
334 Optimizer(
+
335 int iterations = Parameters::defaultOptimizerIterations(),
+
336 bool slam2d = Parameters::defaultRegForce3DoF(),
+
337 bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
+
338 double epsilon = Parameters::defaultOptimizerEpsilon(),
+
339 bool robust = Parameters::defaultOptimizerRobust(),
+
340 bool priorsIgnored = Parameters::defaultOptimizerPriorsIgnored(),
+
341 bool landmarksIgnored = Parameters::defaultOptimizerLandmarksIgnored(),
+
342 float gravitySigma = Parameters::defaultOptimizerGravitySigma());
+
343 Optimizer(const ParametersMap & parameters);
+
344
+
345private:
+
346 int iterations_;
+
347 bool slam2d_;
+
348 bool covarianceIgnored_;
+
349 double epsilon_;
+
350 bool robust_;
+
351 bool priorsIgnored_;
+
352 bool landmarksIgnored_;
+
353 float gravitySigma_;
+
354};
+
355
+
356} /* namespace rtabmap */
+
357#endif /* OPTIMIZER_H_ */
+
+
+
+
+
+
+
+
+
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+
rtabmap::FeatureBA
A single bundle adjustment feature observation: one keypoint seen in one frame.
Definition Optimizer.h:51
+
rtabmap::FeatureBA::kpt
cv::KeyPoint kpt
2D image keypoint.
Definition Optimizer.h:61
+
rtabmap::FeatureBA::descriptor
cv::Mat descriptor
Optional descriptor for the keypoint (used when re-matching is enabled).
Definition Optimizer.h:63
+
rtabmap::FeatureBA::cameraIndex
int cameraIndex
Index into the frame's camera model list for multi-camera rigs.
Definition Optimizer.h:64
+
rtabmap::FeatureBA::depth
float depth
Depth at kpt in meters, or 0 if unknown (monocular).
Definition Optimizer.h:62
+ +
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
+
rtabmap::Optimizer::optimizeBA
virtual std::map< int, Transform > optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
+
rtabmap::Optimizer::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Reads shared knobs from parameters and applies them to this instance.
+
rtabmap::Optimizer::iterations
int iterations() const
Max solver iterations.
Definition Optimizer.h:142
+
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:91
+
rtabmap::Optimizer::optimizeIncremental
std::map< int, Transform > optimizeIncremental(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
Pose-graph optimization that grows the graph one node at a time.
+
rtabmap::Optimizer::isRobust
bool isRobust() const
If true, use a robust kernel / switchable factors against bad loop closures.
Definition Optimizer.h:146
+
rtabmap::Optimizer::optimizeBA
std::map< int, Transform > optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
BA wrapper that derives camera models and correspondences from signatures.
+
rtabmap::Optimizer::landmarksIgnored
bool landmarksIgnored() const
If true, landmark/marker observations are dropped.
Definition Optimizer.h:148
+
rtabmap::Optimizer::epsilon
double epsilon() const
Convergence threshold on cost decrease.
Definition Optimizer.h:145
+
rtabmap::Optimizer::getConnectedGraph
void getConnectedGraph(int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) const
Extracts the connected component reachable from fromId.
+
rtabmap::Optimizer::isSlam2d
bool isSlam2d() const
True if optimizing in SE(2) instead of SE(3).
Definition Optimizer.h:143
+
rtabmap::Optimizer::create
static Optimizer * create(const ParametersMap &parameters)
Factory: build an optimizer from a ParametersMap.
+
rtabmap::Optimizer::optimize
std::map< int, Transform > optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
Pose-graph optimization (single shot).
+
rtabmap::Optimizer::isCovarianceIgnored
bool isCovarianceIgnored() const
If true, all edges share an identity information matrix.
Definition Optimizer.h:144
+
rtabmap::Optimizer::computeBACorrespondences
void computeBACorrespondences(const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
Build BA correspondences (3D points + per-frame observations) from signatures.
+
rtabmap::Optimizer::type
virtual Type type() const =0
Returns the concrete back-end identifier (one of Type).
+
rtabmap::Optimizer::optimizeBA
std::map< int, Transform > optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map...
+
rtabmap::Optimizer::gravitySigma
float gravitySigma() const
Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it.
Definition Optimizer.h:149
+
rtabmap::Optimizer::optimizeBA
Transform optimizeBA(const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
Refine a single two-frame link via BA.
+
rtabmap::Optimizer::priorsIgnored
bool priorsIgnored() const
If true, unary priors on poses are dropped.
Definition Optimizer.h:147
+
rtabmap::Optimizer::create
static Optimizer * create(Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
Factory: build an optimizer of a specific type. Caller owns the result.
+
rtabmap::Optimizer::optimize
virtual std::map< int, Transform > optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
Pose-graph optimization with marginal covariance of rootId.
+
rtabmap::Optimizer::isAvailable
static bool isAvailable(Optimizer::Type type)
Returns whether type was compiled in (its third-party dependency was found).
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/PDALWriter_8h_source.html b/preview/pr-1492/api/latest/PDALWriter_8h_source.html new file mode 100644 index 00000000..e412c1f9 --- /dev/null +++ b/preview/pr-1492/api/latest/PDALWriter_8h_source.html @@ -0,0 +1,142 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/PDALWriter.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
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+
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+
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+
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+
+ + +
+
+
PDALWriter.h
+
+
+
1/*
+
2Copyright (c) 2010-2021, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_INCLUDE_RTABMAP_CORE_PDALWRITER_H_
+
29#define CORELIB_INCLUDE_RTABMAP_CORE_PDALWRITER_H_
+
30
+
31#include <pcl/point_cloud.h>
+
32#include <pcl/point_types.h>
+
33
+
34namespace rtabmap {
+
35
+
36std::string getPDALSupportedWriters();
+
37
+
38int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZ> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
+
39int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false, const std::vector<float> & intensities = std::vector<float>());
+
40int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false, const std::vector<float> & intensities = std::vector<float>());
+
41int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZI> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
+
42int savePDALFile(const std::string & filePath, const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const std::vector<int> & cameraIds = std::vector<int>(), bool binary = false);
+
43
+
44}
+
45
+
46
+
47#endif /* CORELIB_INCLUDE_RTABMAP_CORE_PDALWRITER_H_ */
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/ParamEvent_8h_source.html b/preview/pr-1492/api/latest/ParamEvent_8h_source.html new file mode 100644 index 00000000..438238f1 --- /dev/null +++ b/preview/pr-1492/api/latest/ParamEvent_8h_source.html @@ -0,0 +1,157 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/ParamEvent.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+ + +
+
+
ParamEvent.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef PARAMEVENT_H_
+
29#define PARAMEVENT_H_
+
30
+
31#include "rtabmap/core/Parameters.h"
+
32#include <rtabmap/utilite/UEvent.h>
+
33
+
34namespace rtabmap
+
35{
+
36
+
+
41class ParamEvent : public UEvent
+
42{
+
43public:
+
44 ParamEvent(const ParametersMap & parameters) : UEvent(0), parameters_(parameters) {}
+
45 ParamEvent(const std::string & parameterKey, const std::string & parameterValue) : UEvent(0)
+
46 {
+
47 parameters_.insert(std::pair<std::string, std::string>(parameterKey, parameterValue));
+
48 }
+
49 ~ParamEvent() {}
+
50 virtual std::string getClassName() const {return "ParamEvent";}
+
51
+
52 const ParametersMap & getParameters() const {return parameters_;}
+
53
+
54private:
+
55 ParametersMap parameters_;
+
56};
+
+
57
+
58}
+
59
+
60#endif /* PARAMEVENT_H_ */
+
61
+ + +
rtabmap::ParamEvent::getClassName
virtual std::string getClassName() const
Definition ParamEvent.h:50
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Parameters_8h_source.html b/preview/pr-1492/api/latest/Parameters_8h_source.html new file mode 100644 index 00000000..e146907c --- /dev/null +++ b/preview/pr-1492/api/latest/Parameters_8h_source.html @@ -0,0 +1,1072 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Parameters.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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Parameters.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef PARAMETERS_H_
+
29#define PARAMETERS_H_
+
30
+
31// default parameters
+
32#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
33#include "rtabmap/core/Version.h" // DLL export/import defines
+
34#include <rtabmap/utilite/UConversion.h>
+
35#include <opencv2/core/version.hpp>
+
36#include <opencv2/opencv_modules.hpp>
+
37#include <string>
+
38#include <map>
+
39
+
40namespace rtabmap
+
41{
+
42
+
43typedef std::map<std::string, std::string> ParametersMap; // Key, value
+
44typedef std::pair<std::string, std::string> ParametersPair;
+
45
+
64#define RTABMAP_PARAM(PREFIX, NAME, TYPE, DEFAULT_VALUE, DESCRIPTION) \
+
65 public: \
+
66 static std::string k##PREFIX##NAME() {return std::string(#PREFIX "/" #NAME);} \
+
67 static TYPE default##PREFIX##NAME() {return (TYPE)DEFAULT_VALUE;} \
+
68 static std::string type##PREFIX##NAME() {return std::string(#TYPE);} \
+
69 private: \
+
70 class Dummy##PREFIX##NAME { \
+
71 public: \
+
72 Dummy##PREFIX##NAME() {parameters_.insert(ParametersPair(#PREFIX "/" #NAME, #DEFAULT_VALUE)); \
+
73 parametersType_.insert(ParametersPair(#PREFIX "/" #NAME, #TYPE)); \
+
74 descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
+
75 }; \
+
76 Dummy##PREFIX##NAME dummy##PREFIX##NAME
+
77// end define PARAM
+
78
+
98#define RTABMAP_PARAM_STR(PREFIX, NAME, DEFAULT_VALUE, DESCRIPTION) \
+
99 public: \
+
100 static std::string k##PREFIX##NAME() {return std::string(#PREFIX "/" #NAME);} \
+
101 static std::string default##PREFIX##NAME() {return DEFAULT_VALUE;} \
+
102 static std::string type##PREFIX##NAME() {return std::string("string");} \
+
103 private: \
+
104 class Dummy##PREFIX##NAME { \
+
105 public: \
+
106 Dummy##PREFIX##NAME() {parameters_.insert(ParametersPair(#PREFIX "/" #NAME, DEFAULT_VALUE)); \
+
107 parametersType_.insert(ParametersPair(#PREFIX "/" #NAME, "string")); \
+
108 descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
+
109 }; \
+
110 Dummy##PREFIX##NAME dummy##PREFIX##NAME
+
111// end define PARAM
+
112
+
131#define RTABMAP_PARAM_COND(PREFIX, NAME, TYPE, COND, DEFAULT_VALUE1, DEFAULT_VALUE2, DESCRIPTION) \
+
132 public: \
+
133 static std::string k##PREFIX##NAME() {return std::string(#PREFIX "/" #NAME);} \
+
134 static TYPE default##PREFIX##NAME() {return COND?DEFAULT_VALUE1:DEFAULT_VALUE2;} \
+
135 static std::string type##PREFIX##NAME() {return std::string(#TYPE);} \
+
136 private: \
+
137 class Dummy##PREFIX##NAME { \
+
138 public: \
+
139 Dummy##PREFIX##NAME() {parameters_.insert(ParametersPair(#PREFIX "/" #NAME, COND?#DEFAULT_VALUE1:#DEFAULT_VALUE2)); \
+
140 parametersType_.insert(ParametersPair(#PREFIX "/" #NAME, #TYPE)); \
+
141 descriptions_.insert(ParametersPair(#PREFIX "/" #NAME, DESCRIPTION));} \
+
142 }; \
+
143 Dummy##PREFIX##NAME dummy##PREFIX##NAME
+
144// end define PARAM
+
145
+
+
170class RTABMAP_CORE_EXPORT Parameters
+
171{
+
172 // Rtabmap parameters
+
173 RTABMAP_PARAM(Rtabmap, PublishStats, bool, true, "Publishing statistics.");
+
174 RTABMAP_PARAM(Rtabmap, PublishLastSignature, bool, true, "Publishing last signature.");
+
175 RTABMAP_PARAM(Rtabmap, PublishPdf, bool, true, "Publishing pdf.");
+
176 RTABMAP_PARAM(Rtabmap, PublishLikelihood, bool, true, "Publishing likelihood.");
+
177 RTABMAP_PARAM(Rtabmap, PublishRAMUsage, bool, false, "Publishing RAM usage in statistics (may add a small overhead to get info from the system).");
+
178 RTABMAP_PARAM(Rtabmap, ComputeRMSE, bool, true, "Compute root mean square error (RMSE) and publish it in statistics, if ground truth is provided.");
+
179 RTABMAP_PARAM(Rtabmap, SaveWMState, bool, false, "Save working memory state after each update in statistics.");
+
180 RTABMAP_PARAM(Rtabmap, TimeThr, float, 0, "Maximum time allowed for map update (ms) (0 means infinity). When map update time exceeds this fixed time threshold, some nodes in Working Memory (WM) are transferred to Long-Term Memory to limit the size of the WM and decrease the update time.");
+
181 RTABMAP_PARAM(Rtabmap, MemoryThr, int, 0, uFormat("Maximum nodes in the Working Memory (0 means infinity). Similar to \"%s\", when the number of nodes in Working Memory (WM) exceeds this treshold, some nodes are transferred to Long-Term Memory to keep WM size fixed.", kRtabmapTimeThr().c_str()));
+
182 RTABMAP_PARAM(Rtabmap, DetectionRate, float, 1, "Detection rate (Hz). RTAB-Map will filter input images to satisfy this rate.");
+
183 RTABMAP_PARAM(Rtabmap, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
+
184 RTABMAP_PARAM(Rtabmap, CreateIntermediateNodes, bool, false, uFormat("Create intermediate nodes between loop closure detection. Only used when %s>0.", kRtabmapDetectionRate().c_str()));
+
185 RTABMAP_PARAM_STR(Rtabmap, WorkingDirectory, "", "Working directory.");
+
186 RTABMAP_PARAM(Rtabmap, MaxRetrieved, unsigned int, 2, "Maximum nodes retrieved at the same time from LTM.");
+
187 RTABMAP_PARAM(Rtabmap, MaxRepublished, unsigned int, 2, uFormat("Maximum nodes republished when requesting missing data. When %s=false, only loop closure data is republished, otherwise the closest nodes from the current localization are republished first. Ignored if %s=false.", kRGBDEnabled().c_str(), kRtabmapPublishLastSignature().c_str()));
+
188 RTABMAP_PARAM(Rtabmap, StatisticLogsBufferedInRAM, bool, true, "Statistic logs buffered in RAM instead of written to hard drive after each iteration.");
+
189 RTABMAP_PARAM(Rtabmap, StatisticLogged, bool, false, "Logging enabled.");
+
190 RTABMAP_PARAM(Rtabmap, StatisticLoggedHeaders, bool, true, "Add column header description to log files.");
+
191 RTABMAP_PARAM(Rtabmap, StartNewMapOnLoopClosure, bool, false, "Start a new map only if there is a global loop closure with a previous map.");
+
192 RTABMAP_PARAM(Rtabmap, StartNewMapOnGoodSignature, bool, false, uFormat("Start a new map only if the first signature is not bad (i.e., has enough features, see %s).", kKpBadSignRatio().c_str()));
+
193 RTABMAP_PARAM(Rtabmap, ImagesAlreadyRectified, bool, true, "Images are already rectified. By default RTAB-Map assumes that received images are rectified. If they are not, they can be rectified by RTAB-Map if this parameter is false.");
+
194 RTABMAP_PARAM(Rtabmap, RectifyOnlyFeatures, bool, false, uFormat("If \"%s\" is false and this parameter is true, the whole RGB image will not be rectified, only the features. Warning: As projection of RGB-D image to point cloud is assuming that images are rectified, the generated point cloud map will have wrong colors if this parameter is true.", kRtabmapImagesAlreadyRectified().c_str()));
+
195
+
196 // Hypotheses selection
+
197 RTABMAP_PARAM(Rtabmap, LoopThr, float, 0.11, "Loop closing threshold.");
+
198 RTABMAP_PARAM(Rtabmap, LoopRatio, float, 0, "The loop closure hypothesis must be over LoopRatio x lastHypothesisValue.");
+
199 RTABMAP_PARAM(Rtabmap, LoopGPS, bool, true, uFormat("Use GPS to filter likelihood (if GPS is recorded). Only locations inside the local radius \"%s\" of the current GPS location are considered for loop closure detection.", kRGBDLocalRadius().c_str()));
+
200 RTABMAP_PARAM(Rtabmap, VirtualPlaceLikelihoodRatio, int, 0, "Likelihood ratio for virtual place (for no loop closure hypothesis): 0=Mean / StdDev, 1=StdDev / (Max-Mean)");
+
201
+
202 // Memory
+
203 RTABMAP_PARAM(Mem, RehearsalSimilarity, float, 0.6, "Rehearsal similarity.");
+
204 RTABMAP_PARAM(Mem, ImageKept, bool, false, "Keep raw images in RAM.");
+
205 RTABMAP_PARAM(Mem, BinDataKept, bool, true, "Keep binary data in db.");
+
206 RTABMAP_PARAM(Mem, RawDescriptorsKept, bool, true, "Raw descriptors kept in memory.");
+
207 RTABMAP_PARAM(Mem, LoadVisualLocalFeaturesOnInit, bool, true, "Load all local visual features (keypoints, descriptors and 3D points) in RAM when loading an existing database. This can add significant time to initialize the memory but the features will be already loaded before computing loop closure transforms. If false, the features are loaded on-demand from the database when a loop closure transformation should be estimated.");
+
208 RTABMAP_PARAM(Mem, MapLabelsAdded, bool, true, "Create map labels. The first node of a map will be labeled as \"map#\" where # is the map ID.");
+
209 RTABMAP_PARAM(Mem, SaveDepth16Format, bool, false, "Save depth image into 16 bits format to reduce memory used. Warning: values over ~65 meters are ignored (maximum 65535 millimeters).");
+
210 RTABMAP_PARAM(Mem, NotLinkedNodesKept, bool, true, "Keep not linked nodes in db (rehearsed nodes and deleted nodes).");
+
211 RTABMAP_PARAM(Mem, IntermediateNodeDataKept, bool, false, "Keep intermediate node data in db.");
+
212 RTABMAP_PARAM_STR(Mem, ImageCompressionFormat, ".jpg", "RGB image compression format. It should be \".jpg\" or \".png\".");
+
213 RTABMAP_PARAM_STR(Mem, DepthCompressionFormat, ".rvl", "Depth image compression format for 16UC1 depth type. It should be \".png\" or \".rvl\". If depth type is 32FC1, \".png\" is used.");
+
214 RTABMAP_PARAM(Mem, STMSize, unsigned int, 10, "Short-term memory size.");
+
215 RTABMAP_PARAM(Mem, IncrementalMemory, bool, true, "SLAM mode, otherwise it is Localization mode.");
+
216 RTABMAP_PARAM(Mem, LocalizationReadOnly, bool, false, uFormat("In localization mode, open the database in read-only mode (ignored if %s=true). Currrenty incompatible with memory management (%s and %s cannot be used) and if there are disjoint sessions in working memory. Last localization pose won't be saved back in the database at the end of the session, so the robot will always restart to original last localization pose, unless %s is used or an external initial pose is provided on initialization.", kMemIncrementalMemory().c_str(), kRtabmapLoopThr().c_str(), kRtabmapMemoryThr().c_str(), kRGBDStartAtOrigin().c_str()).c_str());
+
217 RTABMAP_PARAM(Mem, LocalizationDataSaved, bool, false, uFormat("Save localization data during localization session (when %s=false). When enabled, the database will then also grow in localization mode. This mode would be used only for debugging purpose.", kMemIncrementalMemory().c_str()).c_str());
+
218 RTABMAP_PARAM(Mem, ReduceGraph, bool, false, uFormat("Reduce graph. Merge nodes when loop closures are added (ignoring those with user data). Note that this approach assumes that 100%% of the loop closures accepted are good, so it is highly recommended to enable \"%s\" at the same time.", kRGBDOptimizeMaxError().c_str()));
+
219 RTABMAP_PARAM(Mem, RecentWmRatio, float, 0.2, "Ratio of locations after the last loop closure in WM that cannot be transferred.");
+
220 RTABMAP_PARAM(Mem, TransferSortingByWeightId, bool, false, "On transfer, signatures are sorted by weight->ID only (i.e. the oldest of the lowest weighted signatures are transferred first). If false, the signatures are sorted by weight->Age->ID (i.e. the oldest inserted in WM of the lowest weighted signatures are transferred first). Note that retrieval updates the age, not the ID.");
+
221 RTABMAP_PARAM(Mem, RehearsalIdUpdatedToNewOne, bool, false, uFormat("On merge, update to new id. When false, no copy. Keep this disable if %s=true.", kRtabmapCreateIntermediateNodes().c_str()));
+
222 RTABMAP_PARAM(Mem, RehearsalWeightIgnoredWhileMoving, bool, false, "When the robot is moving, weights are not updated on rehearsal.");
+
223 RTABMAP_PARAM(Mem, GenerateIds, bool, true, "True=Generate location IDs, False=use input image IDs.");
+
224 RTABMAP_PARAM(Mem, BadSignaturesIgnored, bool, false, "Bad signatures are ignored.");
+
225 RTABMAP_PARAM(Mem, InitWMWithAllNodes, bool, false, "Initialize the Working Memory with all nodes in Long-Term Memory. When false, it is initialized with nodes of the previous session.");
+
226 RTABMAP_PARAM(Mem, DepthAsMask, bool, true, "Use depth image as mask when extracting features for vocabulary.");
+
227 RTABMAP_PARAM(Mem, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kMemDepthAsMask().c_str()));
+
228 RTABMAP_PARAM(Mem, StereoFromMotion, bool, false, uFormat("Triangulate features without depth using stereo from motion (odometry). It would be ignored if %s is true and the feature detector used supports masking.", kMemDepthAsMask().c_str()));
+
229 RTABMAP_PARAM(Mem, ImagePreDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before visual feature detection. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.",kMemDepthAsMask().c_str()));
+
230 RTABMAP_PARAM(Mem, ImagePostDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before saving it to database. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. Decimation is done from the original image. If set to same value than %s, data already decimated is saved (no need to re-decimate the image).", kMemImagePreDecimation().c_str()));
+
231 RTABMAP_PARAM(Mem, CompressionParallelized, bool, true, "Compression of sensor data is multi-threaded.");
+
232 RTABMAP_PARAM(Mem, LaserScanDownsampleStepSize, int, 1, "If > 1, downsample the laser scans when creating a signature.");
+
233 RTABMAP_PARAM(Mem, LaserScanVoxelSize, float, 0.0, uFormat("If > 0 m, voxel filtering is done on laser scans when creating a signature. If the laser scan had normals, they will be removed. To recompute the normals, make sure to use \"%s\" or \"%s\" parameters.", kMemLaserScanNormalK().c_str(), kMemLaserScanNormalRadius().c_str()));
+
234 RTABMAP_PARAM(Mem, LaserScanNormalK, int, 0, "If > 0 and laser scans don't have normals, normals will be computed with K search neighbors when creating a signature.");
+
235 RTABMAP_PARAM(Mem, LaserScanNormalRadius, float, 0.0, "If > 0 m and laser scans don't have normals, normals will be computed with radius search neighbors when creating a signature.");
+
236 RTABMAP_PARAM(Mem, UseOdomFeatures, bool, true, "Use odometry features instead of regenerating them.");
+
237 RTABMAP_PARAM(Mem, UseOdomGravity, bool, false, uFormat("Use odometry instead of IMU orientation to add gravity links to new nodes created. We assume that odometry is already aligned with gravity (e.g., we are using a VIO approach). Gravity constraints are used by graph optimization only if \"%s\" is not zero.", kOptimizerGravitySigma().c_str()));
+
238 RTABMAP_PARAM(Mem, CovOffDiagIgnored, bool, true, "Ignore off diagonal values of the covariance matrix.");
+
239 RTABMAP_PARAM(Mem, GlobalDescriptorStrategy, int, 0, "Extract global descriptor from sensor data. 0=disabled, 1=PyDescriptor");
+
240 RTABMAP_PARAM(Mem, RotateImagesUpsideUp, bool, false, "Rotate images so that upside is up if they are not already. This can be useful in case the robots don't have all same camera orientation but are using the same map, so that not rotation-invariant visual features can still be used across the fleet.");
+
241
+
242 // KeypointMemory (Keypoint-based)
+
243 RTABMAP_PARAM(Kp, NNStrategy, int, 1, "kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4");
+
244 RTABMAP_PARAM(Kp, IncrementalDictionary, bool, true, "");
+
245 RTABMAP_PARAM(Kp, IncrementalFlann, bool, true, uFormat("When using FLANN based strategy, add/remove points to its index without always rebuilding the index (the index is built only when the dictionary increases of the factor \"%s\" in size).", kKpFlannRebalancingFactor().c_str()));
+
246 RTABMAP_PARAM(Kp, FlannRebalancingFactor, float, 2.0, uFormat("Factor used when rebuilding the incremental FLANN index (see \"%s\"). Set <=1 to disable.", kKpIncrementalFlann().c_str()));
+
247 RTABMAP_PARAM(Kp, ByteToFloat, bool, false, uFormat("For %s=1, binary descriptors are converted to float by converting each byte to float instead of converting each bit to float. When converting bytes instead of bits, less memory is used and search is faster at the cost of slightly less accurate matching.", kKpNNStrategy().c_str()));
+
248 RTABMAP_PARAM(Kp, MaxDepth, float, 0, "Filter extracted keypoints by depth (0=inf).");
+
249 RTABMAP_PARAM(Kp, MinDepth, float, 0, "Filter extracted keypoints by depth.");
+
250 RTABMAP_PARAM(Kp, MaxFeatures, int, 500, "Maximum features extracted from the images (0 means not bounded, <0 means no extraction).");
+
251 RTABMAP_PARAM(Kp, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
+
252 RTABMAP_PARAM(Kp, BadSignRatio, float, 0.5, uFormat("Bad signature ratio. If %s=0, the ratio is computed from the average number of words per signature (less than Ratio x AverageWordsPerImage = bad).", kKpMaxFeatures().c_str()));
+
253 RTABMAP_PARAM(Kp, NndrRatio, float, 0.8, "NNDR ratio (A matching pair is detected, if its distance is closer than X times the distance of the second nearest neighbor.)");
+
254#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
+
255 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
+
256 RTABMAP_PARAM(Kp, DetectorStrategy, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+
257#else
+
258 RTABMAP_PARAM(Kp, DetectorStrategy, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+
259#endif
+
260 RTABMAP_PARAM(Kp, TfIdfLikelihoodUsed, bool, true, "Use of the td-idf strategy to compute the likelihood.");
+
261 RTABMAP_PARAM(Kp, Parallelized, bool, true, "If the dictionary update and signature creation were parallelized.");
+
262 RTABMAP_PARAM_STR(Kp, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
+
263 RTABMAP_PARAM_STR(Kp, DictionaryPath, "", "Path of the pre-computed dictionary");
+
264 RTABMAP_PARAM(Kp, NewWordsComparedTogether, bool, true, "When adding new words to dictionary, they are compared also with each other (to detect same words in the same signature).");
+
265 RTABMAP_PARAM(Kp, FlannIndexSaved, bool, false, uFormat("Save FLANN index during localization session (when %s=false). The FLANN index will be saved to database after the first time localization mode is used, then on next sessions, the index is reloaded from the database instead of being rebuilt again. This can save significant loading time when the visual word dictionary is big (>1M words). Note that if the dictionary is modified (parameters or data), the index will be rebuilt and saved again on the next session. Ignored on initialization if %s is enabled.", kMemIncrementalMemory().c_str(), kMemInitWMWithAllNodes().c_str()).c_str());
+
266 RTABMAP_PARAM(Kp, SerializeWithChecksum, bool, true, "On serialization of the FLANN index, compute checksum of the data used by the FLANN index. This adds a slight overhead on serialization/deserialization to make sure that the dictionary data correspond to same data used when the index was built.");
+
267 RTABMAP_PARAM(Kp, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
+
268 RTABMAP_PARAM(Kp, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
+
269 RTABMAP_PARAM(Kp, SubPixEps, double, 0.02, "See cv::cornerSubPix().");
+
270 RTABMAP_PARAM(Kp, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()));
+
271 RTABMAP_PARAM(Kp, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kKpMaxFeatures().c_str()));
+
272
+
273 //Database
+
274 RTABMAP_PARAM(DbSqlite3, InMemory, bool, false, "Using database in the memory instead of a file on the hard disk.");
+
275 RTABMAP_PARAM(DbSqlite3, CacheSize, unsigned int, 10000,
+
276 "PRAGMA cache_size: number of database pages kept in SQLite's page cache (approx. cacheSize * page_size bytes, often ~4 KiB per page). "
+
277 "Larger values reduce disk I/O when the working set fits in RAM. SQLite built-in default is typically 2000 pages.");
+
278 RTABMAP_PARAM(DbSqlite3, JournalMode, int, 3,
+
279 "PRAGMA journal_mode: rollback journal storage. See sqlite.org/pragma.html#pragma_journal_mode for more details. "
+
280 "0=DELETE (SQLite default): journal file deleted after each commit. "
+
281 "1=TRUNCATE: journal truncated to zero length. "
+
282 "2=PERSIST: journal file kept, header zeroed after commit. "
+
283 "3=MEMORY: journal in RAM only; faster, weaker crash safety. "
+
284 "4=OFF: no journal; fastest, risk of corruption on crash.");
+
285 RTABMAP_PARAM(DbSqlite3, Synchronous, int, 0,
+
286 "PRAGMA synchronous: how aggressively SQLite syncs the database to disk. See sqlite.org/pragma.html#pragma_synchronous for more details. "
+
287 "0=OFF: no wait for persistent storage; fastest, corruption possible on power loss. "
+
288 "1=NORMAL: sync at critical moments (common SQLite default with WAL). "
+
289 "2=FULL (SQLite safest default): sync after every commit; slowest.");
+
290 RTABMAP_PARAM(DbSqlite3, TempStore, int, 2,
+
291 "PRAGMA temp_store: where SQLite stores temporary tables and indices. See sqlite.org/pragma.html#pragma_temp_store for more details. "
+
292 "0=DEFAULT: SQLite compile-time default (often on-disk temp files). "
+
293 "1=FILE: temporary files in the system temp directory. "
+
294 "2=MEMORY: temporary data in RAM when possible.");
+
295 RTABMAP_PARAM_STR(Db, TargetVersion, "", "Target database version for backward compatibility purpose. Only Major and minor versions are used and should be set (e.g., 0.19 vs 0.20 or 1.0 vs 2.0). Patch version is ignored (e.g., 0.20.1 and 0.20.3 will generate a 0.20 database).");
+
296
+
297 // Keypoints descriptors/detectors
+
298 RTABMAP_PARAM(SURF, Extended, bool, false, "Extended descriptor flag (true - use extended 128-element descriptors; false - use 64-element descriptors).");
+
299 RTABMAP_PARAM(SURF, HessianThreshold, float, 500, "Threshold for hessian keypoint detector used in SURF.");
+
300 RTABMAP_PARAM(SURF, Octaves, int, 4, "Number of pyramid octaves the keypoint detector will use.");
+
301 RTABMAP_PARAM(SURF, OctaveLayers, int, 2, "Number of octave layers within each octave.");
+
302 RTABMAP_PARAM(SURF, Upright, bool, false, "Up-right or rotated features flag (true - do not compute orientation of features; false - compute orientation).");
+
303 RTABMAP_PARAM(SURF, GpuVersion, bool, false, "GPU-SURF: Use GPU version of SURF. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
+
304 RTABMAP_PARAM(SURF, GpuKeypointsRatio, float, 0.01, "Used with SURF GPU.");
+
305
+
306 RTABMAP_PARAM(SIFT, NOctaveLayers, int, 3, "The number of layers in each octave. 3 is the value used in D. Lowe paper. The number of octaves is computed automatically from the image resolution. Not used by CudaSift, the number of octaves is still computed automatically.");
+
307 RTABMAP_PARAM(SIFT, ContrastThreshold, double, 0.04, uFormat("The contrast threshold used to filter out weak features in semi-uniform (low-contrast) regions. The larger the threshold, the less features are produced by the detector. Not used by CudaSift (see %s instead).", kSIFTGaussianThreshold().c_str()));
+
308 RTABMAP_PARAM(SIFT, EdgeThreshold, double, 10, "The threshold used to filter out edge-like features. Note that the its meaning is different from the contrastThreshold, i.e. the larger the edgeThreshold, the less features are filtered out (more features are retained).");
+
309 RTABMAP_PARAM(SIFT, Sigma, double, 1.6, "The sigma of the Gaussian applied to the input image at the octave #0. If your image is captured with a weak camera with soft lenses, you might want to reduce the number.");
+
310 RTABMAP_PARAM(SIFT, PreciseUpscale, bool, false, "Whether to enable precise upscaling in the scale pyramid (OpenCV >= 4.8).");
+
311 RTABMAP_PARAM(SIFT, RootSIFT, bool, false, "Apply RootSIFT normalization of the descriptors.");
+
312 RTABMAP_PARAM(SIFT, Gpu, bool, false, "CudaSift: Use GPU version of SIFT. This option is enabled only if RTAB-Map is built with CudaSift dependency and GPUs are detected.");
+
313 RTABMAP_PARAM(SIFT, GaussianThreshold, float, 2.0, "CudaSift: Threshold on difference of Gaussians for feature pruning. The higher the threshold, the less features with low response/hessian are produced by the detector.");
+
314 RTABMAP_PARAM(SIFT, MaxGaussianThreshold, float, 0.0, uFormat("CudaSift: Maximum threshold on difference of Gaussians for feature pruning (ignored if smaller or equal than %s). The lower the threshold, the less features with high response/hessian are produced by the detector.", kSIFTGaussianThreshold().c_str()));
+
315 RTABMAP_PARAM(SIFT, Upscale, bool, false, "CudaSift: Whether to enable upscaling.");
+
316
+
317 RTABMAP_PARAM(BRIEF, Bytes, int, 32, "Bytes is a length of descriptor in bytes. It can be equal 16, 32 or 64 bytes.");
+
318
+
319 RTABMAP_PARAM(FAST, Threshold, int, 20, "Threshold on difference between intensity of the central pixel and pixels of a circle around this pixel.");
+
320 RTABMAP_PARAM(FAST, NonmaxSuppression, bool, true, "If true, non-maximum suppression is applied to detected corners (keypoints).");
+
321 RTABMAP_PARAM(FAST, Gpu, bool, false, "GPU-FAST: Use GPU version of FAST. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
+
322 RTABMAP_PARAM(FAST, GpuKeypointsRatio, double, 0.05, "Used with FAST GPU.");
+
323 RTABMAP_PARAM(FAST, MinThreshold, int, 7, "Minimum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
+
324 RTABMAP_PARAM(FAST, MaxThreshold, int, 200, "Maximum threshold. Used only when FAST/GridRows and FAST/GridCols are set.");
+
325 RTABMAP_PARAM(FAST, GridRows, int, 0, "Grid rows (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
+
326 RTABMAP_PARAM(FAST, GridCols, int, 0, "Grid cols (0 to disable). Adapts the detector to partition the source image into a grid and detect points in each cell.");
+
327 RTABMAP_PARAM(FAST, CV, int, 0, "Enable FastCV implementation if non-zero (and RTAB-Map is built with FastCV support). Values should be 9 and 10.");
+
328
+
329 RTABMAP_PARAM(GFTT, QualityLevel, double, 0.001, "");
+
330 RTABMAP_PARAM(GFTT, MinDistance, double, 7, "");
+
331 RTABMAP_PARAM(GFTT, BlockSize, int, 3, "");
+
332 RTABMAP_PARAM(GFTT, UseHarrisDetector, bool, false, "");
+
333 RTABMAP_PARAM(GFTT, K, double, 0.04, "");
+
334 RTABMAP_PARAM(GFTT, Gpu, bool, false, "GPU-GFTT: Use GPU version of GFTT. This option is enabled only if OpenCV>=3 is built with CUDA and GPUs are detected.");
+
335
+
336 RTABMAP_PARAM(ORB, ScaleFactor, float, 2, "Pyramid decimation ratio, greater than 1. scaleFactor==2 means the classical pyramid, where each next level has 4x less pixels than the previous, but such a big scale factor will degrade feature matching scores dramatically. On the other hand, too close to 1 scale factor will mean that to cover certain scale range you will need more pyramid levels and so the speed will suffer.");
+
337 RTABMAP_PARAM(ORB, NLevels, int, 3, "The number of pyramid levels. The smallest level will have linear size equal to input_image_linear_size/pow(scaleFactor, nlevels).");
+
338 RTABMAP_PARAM(ORB, EdgeThreshold, int, 19, "This is size of the border where the features are not detected. It should roughly match the patchSize parameter.");
+
339 RTABMAP_PARAM(ORB, FirstLevel, int, 0, "It should be 0 in the current implementation.");
+
340 RTABMAP_PARAM(ORB, WTA_K, int, 2, "The number of points that produce each element of the oriented BRIEF descriptor. The default value 2 means the BRIEF where we take a random point pair and compare their brightnesses, so we get 0/1 response. Other possible values are 3 and 4. For example, 3 means that we take 3 random points (of course, those point coordinates are random, but they are generated from the pre-defined seed, so each element of BRIEF descriptor is computed deterministically from the pixel rectangle), find point of maximum brightness and output index of the winner (0, 1 or 2). Such output will occupy 2 bits, and therefore it will need a special variant of Hamming distance, denoted as NORM_HAMMING2 (2 bits per bin). When WTA_K=4, we take 4 random points to compute each bin (that will also occupy 2 bits with possible values 0, 1, 2 or 3).");
+
341 RTABMAP_PARAM(ORB, ScoreType, int, 0, "The default HARRIS_SCORE=0 means that Harris algorithm is used to rank features (the score is written to KeyPoint::score and is used to retain best nfeatures features); FAST_SCORE=1 is alternative value of the parameter that produces slightly less stable keypoints, but it is a little faster to compute.");
+
342 RTABMAP_PARAM(ORB, PatchSize, int, 31, "size of the patch used by the oriented BRIEF descriptor. Of course, on smaller pyramid layers the perceived image area covered by a feature will be larger.");
+
343 RTABMAP_PARAM(ORB, Gpu, bool, false, "GPU-ORB: Use GPU version of ORB. This option is enabled only if OpenCV is built with CUDA and GPUs are detected.");
+
344
+
345 RTABMAP_PARAM(FREAK, OrientationNormalized, bool, true, "Enable orientation normalization.");
+
346 RTABMAP_PARAM(FREAK, ScaleNormalized, bool, true, "Enable scale normalization.");
+
347 RTABMAP_PARAM(FREAK, PatternScale, float, 22, "Scaling of the description pattern.");
+
348 RTABMAP_PARAM(FREAK, NOctaves, int, 4, "Number of octaves covered by the detected keypoints.");
+
349
+
350 RTABMAP_PARAM(BRISK, Thresh, int, 30, "FAST/AGAST detection threshold score.");
+
351 RTABMAP_PARAM(BRISK, Octaves, int, 3, "Detection octaves. Use 0 to do single scale.");
+
352 RTABMAP_PARAM(BRISK, PatternScale, float, 1,"Apply this scale to the pattern used for sampling the neighbourhood of a keypoint.");
+
353
+
354 RTABMAP_PARAM(KAZE, Extended, bool, false, "Set to enable extraction of extended (128-byte) descriptor.");
+
355 RTABMAP_PARAM(KAZE, Upright, bool, false, "Set to enable use of upright descriptors (non rotation-invariant).");
+
356 RTABMAP_PARAM(KAZE, Threshold, float, 0.001, "Detector response threshold to accept keypoint.");
+
357 RTABMAP_PARAM(KAZE, NOctaves, int, 4, "Maximum octave evolution of the image.");
+
358 RTABMAP_PARAM(KAZE, NOctaveLayers, int, 4, "Default number of sublevels per scale level.");
+
359 RTABMAP_PARAM(KAZE, Diffusivity, int, 1, "Diffusivity type: 0=DIFF_PM_G1, 1=DIFF_PM_G2, 2=DIFF_WEICKERT or 3=DIFF_CHARBONNIER.");
+
360
+
361 RTABMAP_PARAM_STR(SuperPoint, ModelPath, "", "[Required] Path to pre-trained weights Torch file of SuperPoint (*.pt).");
+
362 RTABMAP_PARAM(SuperPoint, Threshold, float, 0.010, "Detector response threshold to accept keypoint.");
+
363 RTABMAP_PARAM(SuperPoint, NMS, bool, true, "If true, non-maximum suppression is applied to detected keypoints.");
+
364 RTABMAP_PARAM(SuperPoint, NMSRadius, int, 4, uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointNMS().c_str()));
+
365 RTABMAP_PARAM(SuperPoint, Cuda, bool, true, "Use Cuda device for Torch, otherwise CPU device is used by default.");
+
366
+
367 RTABMAP_PARAM_STR(SuperPointRpautrat, WeightsPath, "", "[Required] SuperPoint weights file (*.pth).");
+
368 RTABMAP_PARAM_STR(SuperPointRpautrat, ModelPath, "", "[Required] SuperPoint python model file (superpoint_pytorch.py).");
+
369 RTABMAP_PARAM(SuperPointRpautrat, Threshold, float, 0.005, "Detector response threshold to accept keypoint.");
+
370 RTABMAP_PARAM(SuperPointRpautrat, NMS, bool, true, "If true, non-maximum suppression is applied to detected keypoints.");
+
371 RTABMAP_PARAM(SuperPointRpautrat, NMSRadius, int, 4, uFormat("[%s=true] Minimum distance (pixels) between keypoints.", kSuperPointRpautratNMS().c_str()));
+
372 RTABMAP_PARAM(SuperPointRpautrat, Cuda, bool, true, "Use Cuda device for Torch, otherwise CPU device is used by default.");
+
373
+
374 RTABMAP_PARAM_STR(PyDetector, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.");
+
375 RTABMAP_PARAM(PyDetector, Cuda, bool, true, "Use cuda.");
+
376
+
377 // BayesFilter
+
378 RTABMAP_PARAM(Bayes, VirtualPlacePriorThr, float, 0.9, "Virtual place prior. Considering that we are at a new place, this is the prior probability to move again to a new place (unvisited location). The prior probability to move to a previously visited location is 1 - VirtualPlacePriorThr (split equally against all previously visited locations).");
+
379 RTABMAP_PARAM_STR(Bayes, PredictionLC, "0.1 0.36 0.30 0.16 0.062 0.0151 0.00255 0.000324 2.5e-05 1.3e-06 4.8e-08 1.2e-09 1.9e-11 2.2e-13 1.7e-15 8.5e-18 2.9e-20 6.9e-23", "Prediction of loop closures (Gaussian-like, here with sigma=1.6) - Format: {VirtualPlaceProb, LoopClosureProb, NeighborLvl1, NeighborLvl2, ...}. Considering we are at a previously visited location, the first value is the probability to move to a new place (unvisited location), the second value is the probability to stay at the same location, the third value is the probability to move to a neighbor or loop closure at the first depth level, the fourth value is the probability to move to a neighbor or loop closure at the second depth level, etc. If the sum of the values is not 1, the difference is normalized against all remaining visited locations. Normally, the sum of these values should be 1.");
+
380 RTABMAP_PARAM(Bayes, FullPredictionUpdate, bool, false, "Regenerate all the prediction matrix on each iteration (otherwise only removed/added ids are updated).");
+
381
+
382 // Verify hypotheses
+
383 RTABMAP_PARAM(VhEp, Enabled, bool, false, uFormat("Verify visual loop closure hypothesis by computing a fundamental matrix. This is done prior to transformation computation when %s is enabled.", kRGBDEnabled().c_str()));
+
384 RTABMAP_PARAM(VhEp, MatchCountMin, int, 8, "Minimum of matching visual words pairs to accept the loop hypothesis.");
+
385 RTABMAP_PARAM(VhEp, RansacParam1, float, 3, "Fundamental matrix (see cvFindFundamentalMat()): Max distance (in pixels) from the epipolar line for a point to be inlier.");
+
386 RTABMAP_PARAM(VhEp, RansacParam2, float, 0.99, "Fundamental matrix (see cvFindFundamentalMat()): Performance of RANSAC.");
+
387
+
388 // RGB-D SLAM
+
389 RTABMAP_PARAM(RGBD, Enabled, bool, true, "Activate metric SLAM. If set to false, classic RTAB-Map loop closure detection is done using only images and without any metric information.");
+
390 RTABMAP_PARAM(RGBD, LinearUpdate, float, 0.1, uFormat("Minimum linear displacement (m) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
+
391 RTABMAP_PARAM(RGBD, AngularUpdate, float, 0.1, uFormat("Minimum angular displacement (rad) to update the map. Rehearsal is done prior to this, so weights are still updated. To update the map when not moving, both %s and %s should be set to 0.", Parameters::kRGBDLinearUpdate().c_str(), Parameters::kRGBDAngularUpdate().c_str()));
+
392 RTABMAP_PARAM(RGBD, LinearSpeedUpdate, float, 0.0, "Maximum linear speed (m/s) to update the map (0 means not limit).");
+
393 RTABMAP_PARAM(RGBD, AngularSpeedUpdate, float, 0.0, "Maximum angular speed (rad/s) to update the map (0 means not limit).");
+
394 RTABMAP_PARAM(RGBD, AggressiveLoopThr, float, 0.05, uFormat("Loop closure threshold used (overriding %s) when a new mapping session is not yet linked to a map of the highest loop closure hypothesis. In localization mode, this threshold is used when there are no loop closure constraints with any map in the cache (%s). In all cases, the goal is to aggressively loop on a previous map in the database. Only used when %s is enabled. Set 1 to disable.", kRtabmapLoopThr().c_str(), kRGBDMaxOdomCacheSize().c_str(), kRGBDEnabled().c_str()));
+
395 RTABMAP_PARAM(RGBD, NewMapOdomChangeDistance, float, 0, "A new map is created if a change of odometry translation greater than X m is detected (0 m = disabled).");
+
396 RTABMAP_PARAM(RGBD, OptimizeFromGraphEnd, bool, false, "Optimize graph from the newest node. If false, the graph is optimized from the oldest node of the current graph (this adds an overhead computation to detect to oldest node of the current graph, but it can be useful to preserve the map referential from the oldest node). Warning when set to false: when some nodes are transferred, the first referential of the local map may change, resulting in momentary changes in robot/map position (which are annoying in teleoperation).");
+
397 RTABMAP_PARAM(RGBD, OptimizeMaxError, float, 3.0, uFormat("Reject loop closures if optimization error ratio is greater than this value (0=disabled). Ratio is computed as absolute error over standard deviation of each link. This will help to detect when a wrong loop closure is added to the graph. If used with \"%s\", the disabled loop closure links will be removed.", kOptimizerRobust().c_str()));
+
398 RTABMAP_PARAM(RGBD, OptimizeMaxErrorRepairRadius, float, 0.0, uFormat("If two consecutive loop closures are rejected by %s on the same old loop closure link, we will remove that old link, and other old links under that radius if necessary, until optimization is accepted. When optimization is accepted, the old loop closure links are removed from the graph. This feature is useful to reject bad loop closures that were accepted previously. Set to 0 to disable this feature.", kRGBDOptimizeMaxError().c_str()));
+
399 RTABMAP_PARAM(RGBD, MaxLoopClosureDistance, float, 0.0, "Reject loop closures/localizations if the distance from the map is over this distance (0=disabled).");
+
400 RTABMAP_PARAM(RGBD, ForceOdom3DoF, bool, true, uFormat("Force odometry pose to be 3DoF if %s=true.", kRegForce3DoF().c_str()));
+
401 RTABMAP_PARAM(RGBD, StartAtOrigin, bool, false, uFormat("If true, rtabmap will assume the robot is starting from origin of the map. If false, rtabmap will assume the robot is restarting from the last saved localization pose from previous session (the place where it shut down previously). Used only in localization mode (%s=false).", kMemIncrementalMemory().c_str()));
+
402 RTABMAP_PARAM(RGBD, GoalReachedRadius, float, 0.5, "Goal reached radius (m).");
+
403 RTABMAP_PARAM(RGBD, PlanStuckIterations, int, 0, "Mark the current goal node on the path as unreachable if it is not updated after X iterations (0=disabled). If all upcoming nodes on the path are unreachabled, the plan fails.");
+
404 RTABMAP_PARAM(RGBD, PlanLinearVelocity, float, 0, "Linear velocity (m/sec) used to compute path weights.");
+
405 RTABMAP_PARAM(RGBD, PlanAngularVelocity, float, 0, "Angular velocity (rad/sec) used to compute path weights.");
+
406 RTABMAP_PARAM(RGBD, GoalsSavedInUserData, bool, false, "When a goal is received and processed with success, it is saved in user data of the location with this format: \"GOAL:#\".");
+
407 RTABMAP_PARAM(RGBD, MaxLocalRetrieved, unsigned int, 2, "Maximum local locations retrieved (0=disabled) near the current pose in the local map or on the current planned path (those on the planned path have priority).");
+
408 RTABMAP_PARAM(RGBD, LocalRadius, float, 10, "Local radius (m) for nodes selection in the local map. This parameter is used in some approaches about the local map management.");
+
409 RTABMAP_PARAM(RGBD, LocalImmunizationRatio, float, 0.25, "Ratio of working memory for which local nodes are immunized from transfer.");
+
410 RTABMAP_PARAM(RGBD, ScanMatchingIdsSavedInLinks, bool, true, "Save scan matching IDs from one-to-many proximity detection in link's user data.");
+
411 RTABMAP_PARAM(RGBD, NeighborLinkRefining, bool, false, uFormat("When a new node is added to the graph, the transformation of its neighbor link to the previous node is refined using registration approach selected (%s).", kRegStrategy().c_str()));
+
412 RTABMAP_PARAM(RGBD, LoopClosureIdentityGuess, bool, false, uFormat("Use Identity matrix as guess when computing loop closure transform, otherwise no guess is used, thus assuming that registration strategy selected (%s) can deal with transformation estimation without guess.", kRegStrategy().c_str()));
+
413 RTABMAP_PARAM(RGBD, LoopClosureReextractFeatures, bool, false, "Extract features even if there are some already in the nodes. Raw features are not saved in database.");
+
414 RTABMAP_PARAM(RGBD, LocalBundleOnLoopClosure, bool, false, "Do local bundle adjustment with neighborhood of the loop closure.");
+
415 RTABMAP_PARAM(RGBD, InvertedReg, bool, false, "On loop closure, do registration from the target to reference instead of reference to target.");
+
416 RTABMAP_PARAM(RGBD, CreateOccupancyGrid, bool, false, "Create local occupancy grid maps. See \"Grid\" group for parameters.");
+
417 RTABMAP_PARAM(RGBD, MarkerDetection, bool, false, "Detect static markers to be added as landmarks for graph optimization. If input data have already landmarks, this will be ignored. See \"Marker\" group for parameters.");
+
418 RTABMAP_PARAM(RGBD, LoopCovLimited, bool, false, "Limit covariance of non-neighbor links to minimum covariance of neighbor links. In other words, if covariance of a loop closure link is smaller than the minimum covariance of odometry links, its covariance is set to minimum covariance of odometry links.");
+
419 RTABMAP_PARAM(RGBD, MaxOdomCacheSize, int, 10, uFormat("Maximum odometry cache size. Used only in localization mode (when %s=false). This is used to get smoother localizations and to verify localization transforms (when %s!=0) to make sure we don't teleport to a location very similar to one we previously localized on. Set 0 to disable caching.", kMemIncrementalMemory().c_str(), kRGBDOptimizeMaxError().c_str()));
+
420 RTABMAP_PARAM(RGBD, LocalizationSmoothing, bool, true, uFormat("Adjust localization constraints based on optimized odometry cache poses (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
+
421 RTABMAP_PARAM(RGBD, LocalizationPriorError, double, 0.001, uFormat("The corresponding variance (error x error) set to priors of the map's poses during localization (when %s>0).", kRGBDMaxOdomCacheSize().c_str()));
+
422 RTABMAP_PARAM(RGBD, LocalizationSecondTryWithoutProximityLinks, bool, true, uFormat("When localization is rejected by graph optimization validation, try a second time without proximity links if landmark or loop closure links are also present in odometry cache (see %s). If it succeeds, the proximity links are removed. This assumes that global loop closure and landmark links are more accurate than proximity links.", kRGBDMaxOdomCacheSize().c_str()));
+
423
+
424 // Local/Proximity loop closure detection
+
425 RTABMAP_PARAM(RGBD, ProximityByTime, bool, false, "Detection over all locations in STM.");
+
426 RTABMAP_PARAM(RGBD, ProximityBySpace, bool, true, "Detection over locations (in Working Memory) near in space.");
+
427 RTABMAP_PARAM(RGBD, ProximityMaxGraphDepth, int, 50, "Maximum depth from the current/last loop closure location and the local loop closure hypotheses. Set 0 to ignore.");
+
428 RTABMAP_PARAM(RGBD, ProximityMaxPaths, int, 3, "Maximum paths compared (from the most recent) for proximity detection. 0 means no limit.");
+
429 RTABMAP_PARAM(RGBD, ProximityPathFilteringRadius, float, 1, "Path filtering radius to reduce the number of nodes to compare in a path in one-to-many proximity detection. The nearest node in a path should be inside that radius to be considered for one-to-one proximity detection.");
+
430 RTABMAP_PARAM(RGBD, ProximityPathMaxNeighbors, int, 0, "Maximum neighbor nodes compared on each path for one-to-many proximity detection. Set to 0 to disable one-to-many proximity detection (by merging the laser scans).");
+
431 RTABMAP_PARAM(RGBD, ProximityPathRawPosesUsed, bool, true, "When comparing to a local path for one-to-many proximity detection, merge the scans using the odometry poses (with neighbor link optimizations) instead of the ones in the optimized local graph.");
+
432 RTABMAP_PARAM(RGBD, ProximityAngle, float, 45, "Maximum angle (degrees) for one-to-one proximity detection.");
+
433 RTABMAP_PARAM(RGBD, ProximityOdomGuess, bool, false, "Use odometry as motion guess for one-to-one proximity detection.");
+
434 RTABMAP_PARAM(RGBD, ProximityGlobalScanMap, bool, false, uFormat("Create a global assembled map from laser scans for one-to-many proximity detection, replacing the original one-to-many proximity detection (i.e., detection against local paths). Only used in localization mode (%s=false), otherwise original one-to-many proximity detection is done. Note also that if graph is modified (i.e., memory management is enabled or robot jumps from one disjoint session to another in same database), the global scan map is cleared and one-to-many proximity detection is reverted to original approach.", kMemIncrementalMemory().c_str()));
+
435 RTABMAP_PARAM(RGBD, ProximityMergedScanCovFactor, double, 100.0, uFormat("Covariance factor for one-to-many proximity detection (when %s>0 and scans are used).", kRGBDProximityPathMaxNeighbors().c_str()));
+
436
+
437 // Graph optimization
+
438#ifdef RTABMAP_GTSAM
+
439 RTABMAP_PARAM(Optimizer, Strategy, int, 2, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
440 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
+
441 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
+
442#else
+
443#ifdef RTABMAP_G2O
+
444 RTABMAP_PARAM(Optimizer, Strategy, int, 1, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
445 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
+
446 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.0, "Stop optimizing when the error improvement is less than this value.");
+
447#else
+
448#ifdef RTABMAP_CERES
+
449 RTABMAP_PARAM(Optimizer, Strategy, int, 3, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
450 RTABMAP_PARAM(Optimizer, Iterations, int, 20, "Optimization iterations.");
+
451 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.000001, "Stop optimizing when the error improvement is less than this value.");
+
452#else
+
453 RTABMAP_PARAM(Optimizer, Strategy, int, 0, "Graph optimization strategy: 0=TORO, 1=g2o, 2=GTSAM and 3=Ceres.");
+
454 RTABMAP_PARAM(Optimizer, Iterations, int, 100, "Optimization iterations.");
+
455 RTABMAP_PARAM(Optimizer, Epsilon, double, 0.00001, "Stop optimizing when the error improvement is less than this value.");
+
456#endif
+
457#endif
+
458#endif
+
459 RTABMAP_PARAM(Optimizer, VarianceIgnored, bool, false, "Ignore constraints' variance. If checked, identity information matrix is used for each constraint. Otherwise, an information matrix is generated from the variance saved in the links.");
+
460 RTABMAP_PARAM(Optimizer, Robust, bool, false, "Robust graph optimization using Vertigo (only work for g2o and GTSAM optimization strategies).");
+
461 RTABMAP_PARAM(Optimizer, PriorsIgnored, bool, true, "Ignore prior constraints (global pose or GPS) while optimizing. Currently only g2o and gtsam optimization supports this.");
+
462 RTABMAP_PARAM(Optimizer, LandmarksIgnored, bool, false, "Ignore landmark constraints while optimizing. Currently only g2o and gtsam optimization supports this.");
+
463#if defined(RTABMAP_G2O) || defined(RTABMAP_GTSAM)
+
464 RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.3, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
+
465#else
+
466 RTABMAP_PARAM(Optimizer, GravitySigma, float, 0.0, uFormat("Gravity sigma value (>=0, typically between 0.1 and 0.3). Optimization is done while preserving gravity orientation of the poses. This should be used only with visual/lidar inertial odometry approaches, for which we assume that all odometry poses are aligned with gravity. Set to 0 to disable gravity constraints. Currently supported only with g2o and GTSAM optimization strategies (see %s).", kOptimizerStrategy().c_str()));
+
467#endif
+
468
+
469#ifdef RTABMAP_ORB_SLAM
+
470 RTABMAP_PARAM(g2o, Solver, int, 3, "0=csparse 1=pcg 2=cholmod 3=Eigen");
+
471#else
+
472 RTABMAP_PARAM(g2o, Solver, int, 0, "0=csparse 1=pcg 2=cholmod 3=Eigen");
+
473#endif
+
474 RTABMAP_PARAM(g2o, Optimizer, int, 0, "0=Levenberg 1=GaussNewton");
+
475
+
476 RTABMAP_PARAM(Optimizer, Baseline, double, 0.075, "When doing bundle adjustment with RGB-D data (mono camera + depth), set a fake baseline (m) so the BA backend treats depth as stereo disparity. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Set to 0 to keep the problem mono (depth observations are ignored). For real stereo data the baseline in the calibration (Tx) is used directly.");
+
477 RTABMAP_PARAM(Optimizer, PixelVariance, double, 1.0, "Pixel variance used on the u/v axes of every bundle adjustment reprojection edge. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Should approximate the squared 1-sigma keypoint localization error in pixels. Set higher (e.g. 4-9) if features are noisy (low texture, motion blur, low light, or large detector scale). Set lower (e.g. 0.01-0.1) if features are sub-pixel refined (Lucas-Kanade tracking, parabolic peak interpolation). Intuition: the lower the pixel variance, the more the optimizer trusts the keypoint positions.");
+
478 RTABMAP_PARAM(Optimizer, DisparityVariance, double, 1.0, "Disparity variance used on the disparity axis (u - u_right) of stereo / RGB-D bundle adjustment edges. Applies to all BA-capable backends (g2o, GTSAM, Ceres). Defaults to the same value as PixelVariance for backward compatibility. Set higher (e.g. 2-4) if your depth source is noisier than your feature detector's u/v precision (typical for stereo block matchers / SGM at long range). Set lower (e.g. 0.01-0.1) if your depth source is more accurate than the u/v detector (typical for ToF / LiDAR-fused depth where range is measured directly rather than triangulated). Intuition: the lower the disparity variance, the more the optimizer trusts the depth measurements. Geometric note: wider baseline and/or higher image resolution improve a block matcher's effective disparity precision (larger disparity magnitudes and finer sub-pixel refinement), so wide-baseline high-resolution stereo pairs can usually afford a lower disparity variance (e.g. 0.1-0.5); narrow-baseline low-resolution pairs should keep it higher (e.g. 1-4).");
+
479 RTABMAP_PARAM(Optimizer, RobustKernelDelta, double, 8, "Robust kernel delta used for bundle adjustment (0 means don't use robust kernel). Applies to all BA-capable backends (g2o, GTSAM, Ceres). Observations with chi2 over this threshold will be ignored in the second optimization pass.");
+
480
+
481 RTABMAP_PARAM(GTSAM, Optimizer, int, 1, "0=Levenberg 1=GaussNewton 2=Dogleg");
+
482 RTABMAP_PARAM(GTSAM, Incremental, bool, false, uFormat("Do graph optimization incrementally (iSAM2) to increase optimization speed on loop closures. Note that only GaussNewton and Dogleg optimization algorithms are supported (%s) in this mode.", kGTSAMOptimizer().c_str()));
+
483 RTABMAP_PARAM(GTSAM, IncRelinearizeThreshold, double, 0.01, "Only relinearize variables whose linear delta magnitude is greater than this threshold. See GTSAM::ISAM2 doc for more info.");
+
484 RTABMAP_PARAM(GTSAM, IncRelinearizeSkip, int, 1, "Only relinearize any variables every X calls to ISAM2::update(). See GTSAM::ISAM2 doc for more info.");
+
485
+
486 // Odometry
+
487 RTABMAP_PARAM(Odom, Strategy, int, 0, "0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D 13=cuVSLAM 14=LIO-SAM");
+
488 RTABMAP_PARAM(Odom, ResetCountdown, int, 0, "Automatically reset odometry after X consecutive images where odometry cannot be computed (a value of 0 disables auto-reset). When a reset occurs, odometry resumes from the last successfully computed pose with large covariance to trigger a new map. If external odometry is used, it will also be reset based on the motion estimated relative to the last computed pose but no large covariance will be received, so that a new map won't be triggered.");
+
489 RTABMAP_PARAM(Odom, Holonomic, bool, true, "If the robot is holonomic (strafing commands can be issued). If not, y value will be estimated from x and yaw values (y=x*tan(yaw)).");
+
490 RTABMAP_PARAM(Odom, FillInfoData, bool, true, "Fill info with data (inliers/outliers features).");
+
491 RTABMAP_PARAM(Odom, ImageBufferSize, unsigned int, 1, "Data buffer size (0 min inf).");
+
492 RTABMAP_PARAM(Odom, FilteringStrategy, int, 0, "0=No filtering 1=Kalman filtering 2=Particle filtering. This filter is used to smooth the odometry output.");
+
493 RTABMAP_PARAM(Odom, ParticleSize, unsigned int, 400, "Number of particles of the filter.");
+
494 RTABMAP_PARAM(Odom, ParticleNoiseT, float, 0.002, "Noise (m) of translation components (x,y,z).");
+
495 RTABMAP_PARAM(Odom, ParticleLambdaT, float, 100, "Lambda of translation components (x,y,z).");
+
496 RTABMAP_PARAM(Odom, ParticleNoiseR, float, 0.002, "Noise (rad) of rotational components (roll,pitch,yaw).");
+
497 RTABMAP_PARAM(Odom, ParticleLambdaR, float, 100, "Lambda of rotational components (roll,pitch,yaw).");
+
498 RTABMAP_PARAM(Odom, KalmanProcessNoise, float, 0.001, "Process noise covariance value.");
+
499 RTABMAP_PARAM(Odom, KalmanMeasurementNoise, float, 0.01, "Process measurement covariance value.");
+
500 RTABMAP_PARAM(Odom, GuessMotion, bool, true, "Guess next transformation from the last motion computed.");
+
501 RTABMAP_PARAM(Odom, GuessSmoothingDelay, float, 0, uFormat("Guess smoothing delay (s). Estimated velocity is averaged based on last transforms up to this maximum delay. This can help to get smoother velocity prediction. Last velocity computed is used directly if \"%s\" is set or the delay is below the odometry rate.", kOdomFilteringStrategy().c_str()));
+
502 RTABMAP_PARAM(Odom, KeyFrameThr, float, 0.3, "[Visual] Create a new keyframe when the number of inliers drops under this ratio of features in last frame. Setting the value to 0 means that a keyframe is created for each processed frame.");
+
503 RTABMAP_PARAM(Odom, VisKeyFrameThr, int, 150, "[Visual] Create a new keyframe when the number of inliers drops under this threshold. Setting the value to 0 means that a keyframe is created for each processed frame.");
+
504 RTABMAP_PARAM(Odom, ScanKeyFrameThr, float, 0.9, "[Geometry] Create a new keyframe when the number of ICP inliers drops under this ratio of points in last frame's scan. Setting the value to 0 means that a keyframe is created for each processed frame.");
+
505 RTABMAP_PARAM(Odom, ImageDecimation, unsigned int, 1, uFormat("Decimation of the RGB image before registration. If depth size is larger than decimated RGB size, depth is decimated to be always at most equal to RGB size. If %s is true and if depth is smaller than decimated RGB, depth may be interpolated to match RGB size for feature detection.", kVisDepthAsMask().c_str()));
+
506 RTABMAP_PARAM(Odom, AlignWithGround, bool, false, "Align odometry with the ground on initialization.");
+
507 RTABMAP_PARAM(Odom, Deskewing, bool, true, "Lidar deskewing. If input lidar has time channel, it will be deskewed with a constant motion model (with IMU orientation and/or guess if provided).");
+
508
+
509 // Odometry Frame-to-Map
+
510 RTABMAP_PARAM(OdomF2M, MaxSize, int, 2000, "[Visual] Local map size: If > 0 (example 5000), the odometry will maintain a local map of X maximum words.");
+
511 RTABMAP_PARAM(OdomF2M, MaxNewFeatures, int, 0, "[Visual] Maximum features (sorted by keypoint response) added to local map from a new key-frame. 0 means no limit.");
+
512 RTABMAP_PARAM(OdomF2M, InitDepthFactor, float, 0.05, "[Visual] Depth factor used to initialize depth of features without depth. Depth = Factor * fx.");
+
513 RTABMAP_PARAM(OdomF2M, FloorThreshold, float, 0.0, "[Visual] Only track features in 3D feature map that are over this threshold (height in base frame). Can be useful to ignore reflections on the floor. 0 means disabled.");
+
514 RTABMAP_PARAM(OdomF2M, ScanMaxSize, int, 2000, "[Geometry] Maximum local scan map size.");
+
515 RTABMAP_PARAM(OdomF2M, ScanSubtractRadius, float, 0.05, "[Geometry] Radius used to filter points of a new added scan to local map. This could match the voxel size of the scans.");
+
516 RTABMAP_PARAM(OdomF2M, ScanSubtractAngle, float, 45, uFormat("[Geometry] Max angle (degrees) used to filter points of a new added scan to local map (when \"%s\">0). 0 means any angle.", kOdomF2MScanSubtractRadius().c_str()).c_str());
+
517 RTABMAP_PARAM(OdomF2M, ScanRange, float, 0, "[Geometry] Distance Range used to filter points of local map (when > 0). 0 means local map is updated using time and not range.");
+
518 RTABMAP_PARAM(OdomF2M, ValidDepthRatio, float, 0.75, "If a new frame has points without valid depth, they are added to local feature map only if points with valid depth on total points is over this ratio. Setting to 1 means no points without valid depth are added to local feature map.");
+
519#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
520 RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 1, uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
+
521#else
+
522 RTABMAP_PARAM(OdomF2M, BundleAdjustment, int, 0, uFormat("Local bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
+
523#endif
+
524 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxFrames, int, 10, "Maximum frames used for bundle adjustment (0=inf or all current frames in the local map).");
+
525 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMinMotion, float, 0.0, "To create a new keyframe with bundle adjustment, a minimum motion (in pixels) can be required. The motion is computed by the average distance between inliers of the previous keyframe and new frame.");
+
526 RTABMAP_PARAM(OdomF2M, BundleAdjustmentMaxKeyFramesPerFeature, int, 0, "Maximum keyframes per feature for bundle adjustment. 0 means not limit.");
+
527 RTABMAP_PARAM(OdomF2M, BundleUpdateFeatureMapOnAllFrames, bool, false, uFormat("Update 3D local feature map on every frame with bundle adjustment. Recommended if %s=false and %s=true so that features without depth are better triangulated on every frame (not only on keyframes). If disabled, the feature map is updated only when a new keyframe is added (legacy approach).", kVisDepthAsMask().c_str(), kMemUseOdomFeatures().c_str()));
+
528
+
529 // Odometry Mono
+
530 RTABMAP_PARAM(OdomMono, InitMinFlow, float, 100, "Minimum optical flow required for the initialization step.");
+
531 RTABMAP_PARAM(OdomMono, InitMinTranslation, float, 0.1, "Minimum translation required for the initialization step.");
+
532 RTABMAP_PARAM(OdomMono, MinTranslation, float, 0.02, "Minimum translation to add new points to local map. On initialization, translation x 5 is used as the minimum.");
+
533 RTABMAP_PARAM(OdomMono, MaxVariance, float, 0.01, "Maximum variance to add new points to local map.");
+
534
+
535 // Odometry Fovis
+
536 RTABMAP_PARAM(OdomFovis, FeatureWindowSize, int, 9, "The size of the n x n image patch surrounding each feature, used for keypoint matching.");
+
537 RTABMAP_PARAM(OdomFovis, MaxPyramidLevel, int, 3, "The maximum Gaussian pyramid level to process the image at. Pyramid level 1 corresponds to the original image.");
+
538 RTABMAP_PARAM(OdomFovis, MinPyramidLevel, int, 0, "The minimum pyramid level.");
+
539 RTABMAP_PARAM(OdomFovis, TargetPixelsPerFeature, int, 250, "Specifies the desired feature density as a ratio of input image pixels per feature detected. This number is used to control the adaptive feature thresholding.");
+
540 RTABMAP_PARAM(OdomFovis, FastThreshold, int, 20, "FAST threshold.");
+
541 RTABMAP_PARAM(OdomFovis, UseAdaptiveThreshold, bool, true, "Use FAST adaptive threshold.");
+
542 RTABMAP_PARAM(OdomFovis, FastThresholdAdaptiveGain, double, 0.005, "FAST threshold adaptive gain.");
+
543 RTABMAP_PARAM(OdomFovis, UseHomographyInitialization, bool, true, "Use homography initialization.");
+
544
+
545 RTABMAP_PARAM(OdomFovis, UseBucketing, bool, true, "");
+
546 RTABMAP_PARAM(OdomFovis, BucketWidth, int, 80, "");
+
547 RTABMAP_PARAM(OdomFovis, BucketHeight, int, 80, "");
+
548 RTABMAP_PARAM(OdomFovis, MaxKeypointsPerBucket, int, 25, "");
+
549 RTABMAP_PARAM(OdomFovis, UseImageNormalization, bool, false, "");
+
550
+
551 RTABMAP_PARAM(OdomFovis, InlierMaxReprojectionError, double, 1.5, "The maximum image-space reprojection error (in pixels) a feature match is allowed to have and still be considered an inlier in the set of features used for motion estimation.");
+
552 RTABMAP_PARAM(OdomFovis, CliqueInlierThreshold, double, 0.1, "See Howard's greedy max-clique algorithm for determining the maximum set of mutually consisten feature matches. This specifies the compatibility threshold, in meters.");
+
553 RTABMAP_PARAM(OdomFovis, MinFeaturesForEstimate, int, 20, "Minimum number of features in the inlier set for the motion estimate to be considered valid.");
+
554 RTABMAP_PARAM(OdomFovis, MaxMeanReprojectionError, double, 10.0, "Maximum mean reprojection error over the inlier feature matches for the motion estimate to be considered valid.");
+
555 RTABMAP_PARAM(OdomFovis, UseSubpixelRefinement, bool, true, "Specifies whether or not to refine feature matches to subpixel resolution.");
+
556 RTABMAP_PARAM(OdomFovis, FeatureSearchWindow, int, 25, "Specifies the size of the search window to apply when searching for feature matches across time frames. The search is conducted around the feature location predicted by the initial rotation estimate.");
+
557 RTABMAP_PARAM(OdomFovis, UpdateTargetFeaturesWithRefined, bool, false, "When subpixel refinement is enabled, the refined feature locations can be saved over the original feature locations. This has a slightly negative impact on frame-to-frame visual odometry, but is likely better when using this library as part of a visual SLAM algorithm.");
+
558
+
559 RTABMAP_PARAM(OdomFovis, StereoRequireMutualMatch, bool, true, "");
+
560 RTABMAP_PARAM(OdomFovis, StereoMaxDistEpipolarLine, double, 1.5, "");
+
561 RTABMAP_PARAM(OdomFovis, StereoMaxRefinementDisplacement, double, 1.0, "");
+
562 RTABMAP_PARAM(OdomFovis, StereoMaxDisparity, int, 128, "");
+
563
+
564 // Odometry viso2
+
565 RTABMAP_PARAM(OdomViso2, RansacIters, int, 200, "Number of RANSAC iterations.");
+
566 RTABMAP_PARAM(OdomViso2, InlierThreshold, double, 2.0, "Fundamental matrix inlier threshold.");
+
567 RTABMAP_PARAM(OdomViso2, Reweighting, bool, true, "Lower border weights (more robust to calibration errors).");
+
568 RTABMAP_PARAM(OdomViso2, MatchNmsN, int, 3, "Non-max-suppression: min. distance between maxima (in pixels).");
+
569 RTABMAP_PARAM(OdomViso2, MatchNmsTau, int, 50, "Non-max-suppression: interest point peakiness threshold.");
+
570 RTABMAP_PARAM(OdomViso2, MatchBinsize, int, 50, "Matching bin width/height (affects efficiency only).");
+
571 RTABMAP_PARAM(OdomViso2, MatchRadius, int, 200, "Matching radius (du/dv in pixels).");
+
572 RTABMAP_PARAM(OdomViso2, MatchDispTolerance, int, 2, "Disparity tolerance for stereo matches (in pixels).");
+
573 RTABMAP_PARAM(OdomViso2, MatchOutlierDispTolerance, int, 5, "Outlier removal: disparity tolerance (in pixels).");
+
574 RTABMAP_PARAM(OdomViso2, MatchOutlierFlowTolerance, int, 5, "Outlier removal: flow tolerance (in pixels).");
+
575 RTABMAP_PARAM(OdomViso2, MatchMultiStage, bool, true, "Multistage matching (denser and faster).");
+
576 RTABMAP_PARAM(OdomViso2, MatchHalfResolution, bool, true, "Match at half resolution, refine at full resolution.");
+
577 RTABMAP_PARAM(OdomViso2, MatchRefinement, int, 1, "Refinement (0=none,1=pixel,2=subpixel).");
+
578 RTABMAP_PARAM(OdomViso2, BucketMaxFeatures, int, 2, "Maximal number of features per bucket.");
+
579 RTABMAP_PARAM(OdomViso2, BucketWidth, double, 50, "Width of bucket.");
+
580 RTABMAP_PARAM(OdomViso2, BucketHeight, double, 50, "Height of bucket.");
+
581
+
582 // Odometry ORB_SLAM
+
583 RTABMAP_PARAM_STR(OdomORBSLAM, VocPath, "", "Path to ORB vocabulary (*.txt).");
+
584 RTABMAP_PARAM(OdomORBSLAM, Bf, double, 0.076, "Fake IR projector baseline (m) used only when stereo is not used.");
+
585 RTABMAP_PARAM(OdomORBSLAM, ThDepth, double, 40.0, "Close/Far threshold. Baseline times.");
+
586 RTABMAP_PARAM(OdomORBSLAM, Fps, float, 0.0, "Camera FPS (0 to estimate from input data).");
+
587 RTABMAP_PARAM(OdomORBSLAM, MaxFeatures, int, 1000, "Maximum ORB features extracted per frame.");
+
588 RTABMAP_PARAM(OdomORBSLAM, MapSize, int, 3000, "Maximum size of the feature map (0 means infinite). Only supported with ORB_SLAM2.");
+
589 RTABMAP_PARAM(OdomORBSLAM, Inertial, bool, false, "Enable IMU. Only supported with ORB_SLAM3.");
+
590 RTABMAP_PARAM(OdomORBSLAM, GyroNoise, double, 0.01, "IMU gyroscope \"white noise\".");
+
591 RTABMAP_PARAM(OdomORBSLAM, AccNoise, double, 0.1, "IMU accelerometer \"white noise\".");
+
592 RTABMAP_PARAM(OdomORBSLAM, GyroWalk, double, 0.000001, "IMU gyroscope \"random walk\".");
+
593 RTABMAP_PARAM(OdomORBSLAM, AccWalk, double, 0.0001, "IMU accelerometer \"random walk\".");
+
594 RTABMAP_PARAM(OdomORBSLAM, SamplingRate, double, 0, "IMU sampling rate (0 to estimate from input data).");
+
595
+
596
+
597 // Odometry OKVIS
+
598 RTABMAP_PARAM_STR(OdomOKVIS, ConfigPath, "", "Path of OKVIS config file.");
+
599
+
600 // Odometry LOAM
+
601 RTABMAP_PARAM(OdomLOAM, Sensor, int, 2, "Velodyne sensor: 0=VLP-16, 1=HDL-32, 2=HDL-64E");
+
602 RTABMAP_PARAM(OdomLOAM, ScanPeriod, float, 0.1, "Scan period (s)");
+
603 RTABMAP_PARAM(OdomLOAM, Resolution, float, 0.2, "Map resolution");
+
604 RTABMAP_PARAM(OdomLOAM, LinVar, float, 0.01, "Linear output variance.");
+
605 RTABMAP_PARAM(OdomLOAM, AngVar, float, 0.01, "Angular output variance.");
+
606 RTABMAP_PARAM(OdomLOAM, LocalMapping, bool, true, "Local mapping. It adds more time to compute odometry, but accuracy is significantly improved.");
+
607
+
608 // Odometry MSCKF_VIO
+
609 RTABMAP_PARAM(OdomMSCKF, GridRow, int, 4, "");
+
610 RTABMAP_PARAM(OdomMSCKF, GridCol, int, 5, "");
+
611 RTABMAP_PARAM(OdomMSCKF, GridMinFeatureNum, int, 3, "");
+
612 RTABMAP_PARAM(OdomMSCKF, GridMaxFeatureNum, int, 4, "");
+
613 RTABMAP_PARAM(OdomMSCKF, PyramidLevels, int, 3, "");
+
614 RTABMAP_PARAM(OdomMSCKF, PatchSize, int, 15, "");
+
615 RTABMAP_PARAM(OdomMSCKF, FastThreshold, int, 10, "");
+
616 RTABMAP_PARAM(OdomMSCKF, MaxIteration, int, 30, "");
+
617 RTABMAP_PARAM(OdomMSCKF, TrackPrecision, double, 0.01, "");
+
618 RTABMAP_PARAM(OdomMSCKF, RansacThreshold, double, 3, "");
+
619 RTABMAP_PARAM(OdomMSCKF, StereoThreshold, double, 5, "");
+
620 RTABMAP_PARAM(OdomMSCKF, PositionStdThreshold, double, 8.0, "");
+
621 RTABMAP_PARAM(OdomMSCKF, RotationThreshold, double, 0.2618, "");
+
622 RTABMAP_PARAM(OdomMSCKF, TranslationThreshold, double, 0.4, "");
+
623 RTABMAP_PARAM(OdomMSCKF, TrackingRateThreshold, double, 0.5, "");
+
624 RTABMAP_PARAM(OdomMSCKF, OptTranslationThreshold, double, 0, "");
+
625 RTABMAP_PARAM(OdomMSCKF, NoiseGyro, double, 0.005, "");
+
626 RTABMAP_PARAM(OdomMSCKF, NoiseAcc, double, 0.05, "");
+
627 RTABMAP_PARAM(OdomMSCKF, NoiseGyroBias, double, 0.001, "");
+
628 RTABMAP_PARAM(OdomMSCKF, NoiseAccBias, double, 0.01, "");
+
629 RTABMAP_PARAM(OdomMSCKF, NoiseFeature, double, 0.035, "");
+
630 RTABMAP_PARAM(OdomMSCKF, InitCovVel, double, 0.25, "");
+
631 RTABMAP_PARAM(OdomMSCKF, InitCovGyroBias, double, 0.01, "");
+
632 RTABMAP_PARAM(OdomMSCKF, InitCovAccBias, double, 0.01, "");
+
633 RTABMAP_PARAM(OdomMSCKF, InitCovExRot, double, 0.00030462, "");
+
634 RTABMAP_PARAM(OdomMSCKF, InitCovExTrans, double, 0.000025, "");
+
635 RTABMAP_PARAM(OdomMSCKF, MaxCamStateSize, int, 20, "");
+
636
+
637 // Odometry VINS-Fusion
+
638 RTABMAP_PARAM_STR(OdomVINSFusion, ConfigPath, "", "Path of VINS-Fusion config file.");
+
639
+
640 // Odometry OpenVINS
+
641 RTABMAP_PARAM_STR(OdomOpenVINS, ConfigPath, "", "Path of OpenVINS config file (*.yaml). Same format used than OpenVINS library. Note that any parameter from that config file will overwrite the same parameter in OdomOpenVINS group.");
+
642 RTABMAP_PARAM(OdomOpenVINS, UseStereo, bool, true, "If we have more than 1 camera, if we should try to track stereo constraints between pairs.");
+
643 RTABMAP_PARAM(OdomOpenVINS, UseKLT, bool, true, "If true we will use KLT, otherwise use a ORB descriptor + robust matching.");
+
644 RTABMAP_PARAM(OdomOpenVINS, NumPts, int, 200, "Number of points (per camera) we will extract and try to track.");
+
645 RTABMAP_PARAM(OdomOpenVINS, MinPxDist, int, 15, "Eistance between features (features near each other provide less information).");
+
646 RTABMAP_PARAM(OdomOpenVINS, FiTriangulate1d, bool, false, "If we should perform 1d triangulation instead of 3d.");
+
647 RTABMAP_PARAM(OdomOpenVINS, FiRefineFeatures, bool, true, "If we should perform Levenberg-Marquardt refinement.");
+
648 RTABMAP_PARAM(OdomOpenVINS, FiMaxRuns, int, 5, "Max runs for Levenberg-Marquardt.");
+
649 RTABMAP_PARAM(OdomOpenVINS, FiMaxBaseline, double, 40, "Max baseline ratio to accept triangulated features.");
+
650 RTABMAP_PARAM(OdomOpenVINS, FiMaxCondNumber, double, 10000, "Max condition number of linear triangulation matrix accept triangulated features.");
+
651
+
652 RTABMAP_PARAM(OdomOpenVINS, UseFEJ, bool, true, "If first-estimate Jacobians should be used (enable for good consistency).");
+
653 RTABMAP_PARAM(OdomOpenVINS, Integration, int, 1, "0=discrete, 1=rk4, 2=analytical (if rk4 or analytical used then analytical covariance propagation is used).");
+
654 RTABMAP_PARAM(OdomOpenVINS, CalibCamExtrinsics, bool, false, "Bool to determine whether or not to calibrate imu-to-camera pose.");
+
655 RTABMAP_PARAM(OdomOpenVINS, CalibCamIntrinsics, bool, false, "Bool to determine whether or not to calibrate camera intrinsics.");
+
656 RTABMAP_PARAM(OdomOpenVINS, CalibCamTimeoffset, bool, false, "Bool to determine whether or not to calibrate camera to IMU time offset.");
+
657 RTABMAP_PARAM(OdomOpenVINS, CalibIMUIntrinsics, bool, false, "Bool to determine whether or not to calibrate the IMU intrinsics.");
+
658 RTABMAP_PARAM(OdomOpenVINS, CalibIMUGSensitivity, bool, false, "Bool to determine whether or not to calibrate the Gravity sensitivity.");
+
659 RTABMAP_PARAM(OdomOpenVINS, MaxClones, int, 11, "Max clone size of sliding window.");
+
660 RTABMAP_PARAM(OdomOpenVINS, MaxSLAM, int, 50, "Max number of estimated SLAM features.");
+
661 RTABMAP_PARAM(OdomOpenVINS, MaxSLAMInUpdate, int, 25, "Max number of SLAM features we allow to be included in a single EKF update..");
+
662 RTABMAP_PARAM(OdomOpenVINS, MaxMSCKFInUpdate, int, 50, "Max number of MSCKF features we will use at a given image timestep..");
+
663 RTABMAP_PARAM(OdomOpenVINS, FeatRepMSCKF, int, 0, "What representation our features are in (msckf features).");
+
664 RTABMAP_PARAM(OdomOpenVINS, FeatRepSLAM, int, 4, "What representation our features are in (slam features).");
+
665 RTABMAP_PARAM(OdomOpenVINS, DtSLAMDelay, double, 0.0, "Delay, in seconds, that we should wait from init before we start estimating SLAM features.");
+
666 RTABMAP_PARAM(OdomOpenVINS, GravityMag, double, 9.81, "Gravity magnitude in the global frame (i.e. should be 9.81 typically).");
+
667 RTABMAP_PARAM_STR(OdomOpenVINS, LeftMaskPath, "", "Mask for left image.");
+
668 RTABMAP_PARAM_STR(OdomOpenVINS, RightMaskPath, "", "Mask for right image.");
+
669
+
670 RTABMAP_PARAM(OdomOpenVINS, InitWindowTime, double, 2.0, "Amount of time we will initialize over (seconds).");
+
671 RTABMAP_PARAM(OdomOpenVINS, InitIMUThresh, double, 1.0, "Variance threshold on our acceleration to be classified as moving.");
+
672 RTABMAP_PARAM(OdomOpenVINS, InitMaxDisparity, double, 10.0, "Max disparity to consider the platform stationary (dependent on resolution).");
+
673 RTABMAP_PARAM(OdomOpenVINS, InitMaxFeatures, int, 50, "How many features to track during initialization (saves on computation).");
+
674 RTABMAP_PARAM(OdomOpenVINS, InitDynUse, bool, false, "If dynamic initialization should be used.");
+
675 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEOptCalib, bool, false, "If we should optimize calibration during intialization (not recommended).");
+
676 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxIter, int, 50, "How many iterations the MLE refinement should use (zero to skip the MLE).");
+
677 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxTime, double, 0.05, "How many seconds the MLE should be completed in.");
+
678 RTABMAP_PARAM(OdomOpenVINS, InitDynMLEMaxThreads, int, 6, "How many threads the MLE should use.");
+
679 RTABMAP_PARAM(OdomOpenVINS, InitDynNumPose, int, 6, "Number of poses to use within our window time (evenly spaced).");
+
680 RTABMAP_PARAM(OdomOpenVINS, InitDynMinDeg, double, 10.0, "Orientation change needed to try to init.");
+
681 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationOri, double, 10.0, "What to inflate the recovered q_GtoI covariance by.");
+
682 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationVel, double, 100.0, "What to inflate the recovered v_IinG covariance by.");
+
683 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBg, double, 10.0, "What to inflate the recovered bias_g covariance by.");
+
684 RTABMAP_PARAM(OdomOpenVINS, InitDynInflationBa, double, 100.0, "What to inflate the recovered bias_a covariance by.");
+
685 RTABMAP_PARAM(OdomOpenVINS, InitDynMinRecCond, double, 1e-15, "Reciprocal condition number thresh for info inversion.");
+
686
+
687 RTABMAP_PARAM(OdomOpenVINS, TryZUPT, bool, true, "If we should try to use zero velocity update.");
+
688 RTABMAP_PARAM(OdomOpenVINS, ZUPTChi2Multiplier, double, 0.0, "Chi2 multiplier for zero velocity.");
+
689 RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxVelodicy, double, 0.1, "Max velocity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
+
690 RTABMAP_PARAM(OdomOpenVINS, ZUPTNoiseMultiplier, double, 10.0, "Multiplier of our zupt measurement IMU noise matrix (default should be 1.0).");
+
691 RTABMAP_PARAM(OdomOpenVINS, ZUPTMaxDisparity, double, 0.5, "Max disparity we will consider to try to do a zupt (i.e. if above this, don't do zupt).");
+
692 RTABMAP_PARAM(OdomOpenVINS, ZUPTOnlyAtBeginning, bool, false, "If we should only use the zupt at the very beginning static initialization phase.");
+
693
+
694 RTABMAP_PARAM(OdomOpenVINS, AccelerometerNoiseDensity, double, 0.01, "[m/s^2/sqrt(Hz)] (accel \"white noise\").");
+
695 RTABMAP_PARAM(OdomOpenVINS, AccelerometerRandomWalk, double, 0.001, "[m/s^3/sqrt(Hz)] (accel bias diffusion).");
+
696 RTABMAP_PARAM(OdomOpenVINS, GyroscopeNoiseDensity, double, 0.001, "[rad/s/sqrt(Hz)] (gyro \"white noise\").");
+
697 RTABMAP_PARAM(OdomOpenVINS, GyroscopeRandomWalk, double, 0.0001, "[rad/s^2/sqrt(Hz)] (gyro bias diffusion).");
+
698 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFSigmaPx, double, 1.0, "Pixel noise for MSCKF features.");
+
699 RTABMAP_PARAM(OdomOpenVINS, UpMSCKFChi2Multiplier, double, 1.0, "Chi2 multiplier for MSCKF features.");
+
700 RTABMAP_PARAM(OdomOpenVINS, UpSLAMSigmaPx, double, 1.0, "Pixel noise for SLAM features.");
+
701 RTABMAP_PARAM(OdomOpenVINS, UpSLAMChi2Multiplier, double, 1.0, "Chi2 multiplier for SLAM features.");
+
702
+
703 // Odometry Open3D
+
704 RTABMAP_PARAM(OdomOpen3D, MaxDepth, float, 3.0, "Maximum depth.");
+
705 RTABMAP_PARAM(OdomOpen3D, Method, int, 0, "Registration method: 0=PointToPlane, 1=Intensity, 2=Hybrid.");
+
706
+
707 // Odometry cuVSLAM
+
708 RTABMAP_PARAM(OdomCuVSLAM, MulticamMode, int, 0, "cuVSLAM multicam_mode setting: 0=moderate, 1=performance, 2=precision.");
+
709
+
710 // Odometry LIO-SAM
+
711 RTABMAP_PARAM_STR(OdomLIOSAM, ConfigPath, "", "Path to LIO-SAM params.yaml config file. When set, sensor/IMU/feature parameters are loaded from the file and the individual parameters below are ignored.");
+
712 RTABMAP_PARAM(OdomLIOSAM, Sensor, int, 0, "LiDAR sensor: 0=Velodyne, 1=Ouster, 2=Livox");
+
713 RTABMAP_PARAM(OdomLIOSAM, NScan, int, 16, "Number of LiDAR channels (16, 32, 64, 128).");
+
714 RTABMAP_PARAM(OdomLIOSAM, HorizonScan, int, 1800, "Horizontal resolution (Velodyne:1800, Ouster:512/1024/2048).");
+
715 RTABMAP_PARAM(OdomLIOSAM, ImuAccNoise, float, 0.01, "IMU accelerometer white noise.");
+
716 RTABMAP_PARAM(OdomLIOSAM, ImuGyrNoise, float, 0.001, "IMU gyroscope white noise.");
+
717 RTABMAP_PARAM(OdomLIOSAM, ImuAccBiasN, float, 0.0002,"IMU accelerometer bias noise.");
+
718 RTABMAP_PARAM(OdomLIOSAM, ImuGyrBiasN, float, 0.00003,"IMU gyroscope bias noise.");
+
719 RTABMAP_PARAM(OdomLIOSAM, ImuGravity, float, 9.80511,"Gravity magnitude.");
+
720 RTABMAP_PARAM(OdomLIOSAM, EdgeThreshold,float, 1.0, "Edge feature curvature threshold.");
+
721 RTABMAP_PARAM(OdomLIOSAM, SurfThreshold,float, 0.1, "Surface feature curvature threshold.");
+
722 RTABMAP_PARAM(OdomLIOSAM, LinVar, float, 0.01, "Linear output variance.");
+
723 RTABMAP_PARAM(OdomLIOSAM, AngVar, float, 0.01, "Angular output variance.");
+
724
+
725 // Common registration parameters
+
726 RTABMAP_PARAM(Reg, RepeatOnce, bool, true, "Do a second registration with the output of the first registration as guess. Only done if no guess was provided for the first registration (like on loop closure). It can be useful if the registration approach used can use a guess to get better matches.");
+
727 RTABMAP_PARAM(Reg, Strategy, int, 0, "0=Vis, 1=Icp, 2=VisIcp");
+
728 RTABMAP_PARAM(Reg, Force3DoF, bool, false, "Force 3 degrees-of-freedom transform (3Dof: x,y and yaw). Parameters z, roll and pitch will be set to 0.");
+
729
+
730 // Visual registration parameters
+
731 RTABMAP_PARAM(Vis, EstimationType, int, 1, "Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP), 2:2D->2D (Epipolar Geometry)");
+
732 RTABMAP_PARAM(Vis, InlierDistance, float, 0.1, uFormat("[%s = 0] Maximum distance for feature correspondences. Used by 3D->3D estimation approach.", kVisEstimationType().c_str()));
+
733 RTABMAP_PARAM(Vis, RefineIterations, int, 5, uFormat("[%s = 0] Number of iterations used to refine the transformation found by RANSAC. 0 means that the transformation is not refined.", kVisEstimationType().c_str()));
+
734 RTABMAP_PARAM(Vis, PnPReprojError, float, 2, uFormat("[%s = 1] PnP reprojection error.", kVisEstimationType().c_str()));
+
735 RTABMAP_PARAM(Vis, PnPFlags, int, 0, uFormat("[%s = 1] PnP flags: 0=Iterative, 1=EPNP, 2=P3P", kVisEstimationType().c_str()));
+
736#if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
737 RTABMAP_PARAM(Vis, PnPRefineIterations, int, 0, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
+
738#else
+
739 RTABMAP_PARAM(Vis, PnPRefineIterations, int, 1, uFormat("[%s = 1] Refine iterations. Set to 0 if \"%s\" is also used.", kVisEstimationType().c_str(), kVisBundleAdjustment().c_str()));
+
740#endif
+
741 RTABMAP_PARAM(Vis, PnPVarianceMedianRatio, int, 4, uFormat("[%s = 1] Ratio used to compute variance of the estimated transformation if 3D correspondences are provided (should be > 1). The higher it is, the smaller the covariance will be. With accurate depth estimation, this could be set to 2. For depth estimated by stereo, 4 or more maybe used to ignore large errors of very far points.", kVisEstimationType().c_str()));
+
742 RTABMAP_PARAM(Vis, PnPMaxVariance, float, 0.0, uFormat("[%s = 1] Max linear variance between 3D point correspondences after PnP. 0 means disabled.", kVisEstimationType().c_str()));
+
743 RTABMAP_PARAM(Vis, PnPSamplingPolicy, unsigned int, 1, uFormat("[%s = 1] Multi-camera random sampling policy: 0=AUTO, 1=ANY, 2=HOMOGENEOUS. With HOMOGENEOUS policy, RANSAC will be done uniformly against all cameras, so at least 2 matches per camera are required. With ANY policy, RANSAC is not constraint to sample on all cameras at the same time. AUTO policy will use HOMOGENEOUS if there are at least 2 matches per camera, otherwise it will fallback to ANY policy.", kVisEstimationType().c_str()).c_str());
+
744 RTABMAP_PARAM(Vis, PnPSplitLinearCovComponents, bool, false, uFormat("[%s = 1] Compute variance for each linear component instead of using the combined XYZ variance for all linear components.", kVisEstimationType().c_str()).c_str());
+
745
+
746 RTABMAP_PARAM(Vis, EpipolarGeometryVar, float, 0.1, uFormat("[%s = 2] Epipolar geometry maximum variance to accept the transformation.", kVisEstimationType().c_str()));
+
747 RTABMAP_PARAM(Vis, MinInliers, int, 20, "Minimum feature correspondences to compute/accept the transformation.");
+
748 RTABMAP_PARAM(Vis, MeanInliersDistance, float, 0.0, "Maximum distance (m) of the mean distance of inliers from the camera to accept the transformation. 0 means disabled.");
+
749 RTABMAP_PARAM(Vis, MinInliersDistribution, float, 0.0, "Minimum distribution value of the inliers in the image to accept the transformation. The distribution is the second eigen value of the PCA (Principal Component Analysis) on the keypoints of the normalized image [-0.5, 0.5]. The value would be between 0 and 0.5. 0 means disabled.");
+
750
+
751 RTABMAP_PARAM(Vis, Iterations, int, 300, "Maximum iterations to compute the transform.");
+
752#if CV_MAJOR_VERSION > 2 && !defined(HAVE_OPENCV_XFEATURES2D)
+
753 // OpenCV>2 without xFeatures2D module doesn't have BRIEF
+
754 RTABMAP_PARAM(Vis, FeatureType, int, 8, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+
755#else
+
756 RTABMAP_PARAM(Vis, FeatureType, int, 6, "0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB-OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector 16=SuperPoint-Rpautrat");
+
757#endif
+
758 RTABMAP_PARAM(Vis, MaxFeatures, int, 1000, "0 no limits.");
+
759 RTABMAP_PARAM(Vis, SSC, bool, false, "If true, SSC (Suppression via Square Covering) is applied to limit keypoints.");
+
760 RTABMAP_PARAM(Vis, MaxDepth, float, 0, "Max depth of the features (0 means no limit).");
+
761 RTABMAP_PARAM(Vis, MinDepth, float, 0, "Min depth of the features (0 means no limit).");
+
762 RTABMAP_PARAM(Vis, DepthAsMask, bool, true, "Use depth image as mask when extracting features.");
+
763 RTABMAP_PARAM(Vis, DepthMaskFloorThr, float, 0.0, uFormat("Filter floor from depth mask below specified threshold (m) before extracting features. 0 means disabled. Ignored if %s is false.", kVisDepthAsMask().c_str()));
+
764 RTABMAP_PARAM_STR(Vis, RoiRatios, "0.0 0.0 0.0 0.0", "Region of interest ratios [left, right, top, bottom].");
+
765 RTABMAP_PARAM(Vis, SubPixWinSize, int, 3, "See cv::cornerSubPix().");
+
766 RTABMAP_PARAM(Vis, SubPixIterations, int, 0, "See cv::cornerSubPix(). 0 disables sub pixel refining.");
+
767 RTABMAP_PARAM(Vis, SubPixEps, float, 0.02, "See cv::cornerSubPix().");
+
768 RTABMAP_PARAM(Vis, GridRows, int, 1, uFormat("Number of rows of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
+
769 RTABMAP_PARAM(Vis, GridCols, int, 1, uFormat("Number of columns of the grid used to extract uniformly \"%s / grid cells\" features from each cell.", kVisMaxFeatures().c_str()));
+
770 RTABMAP_PARAM(Vis, CorType, int, 0, "Correspondences computation approach: 0=Features Matching, 1=Optical Flow");
+
771 RTABMAP_PARAM(Vis, CorNNType, int, 1, uFormat("[%s=0] kNNFlannNaive=0, kNNFlannKdTree=1, kNNFlannLSH=2, kNNBruteForce=3, kNNBruteForceGPU=4, BruteForceCrossCheck=5, SuperGlue=6, GMS=7. Used for features matching approach.", kVisCorType().c_str()));
+
772 RTABMAP_PARAM(Vis, CorNNDR, float, 0.8, uFormat("[%s=0] NNDR: nearest neighbor distance ratio. Used for knn features matching approach.", kVisCorType().c_str()));
+
773 RTABMAP_PARAM(Vis, CorGuessWinSize, int, 40, uFormat("[%s=0] Matching window size (pixels) around projected points when a guess transform is provided to find correspondences. 0 means disabled.", kVisCorType().c_str()));
+
774 RTABMAP_PARAM(Vis, CorGuessMatchToProjection, bool, false, uFormat("[%s=0] Match frame's corners to source's projected points (when guess transform is provided) instead of projected points to frame's corners.", kVisCorType().c_str()));
+
775 RTABMAP_PARAM(Vis, CorFlowWinSize, int, 16, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
776 RTABMAP_PARAM(Vis, CorFlowIterations, int, 30, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
777 RTABMAP_PARAM(Vis, CorFlowEps, float, 0.01, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
778 RTABMAP_PARAM(Vis, CorFlowMaxLevel, int, 3, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach.", kVisCorType().c_str()));
+
779 RTABMAP_PARAM(Vis, CorFlowUseMinEigenVals, bool, true, uFormat("[%s=1] See cv::calcOpticalFlowPyrLK(). Used for optical flow approach. Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kVisCorType().c_str()));
+
780 RTABMAP_PARAM(Vis, CorFlowMinEigThreshold, float, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kVisCorFlowUseMinEigenVals().c_str()));
+
781 RTABMAP_PARAM(Vis, CorFlowErrorThreshold, float, 20, uFormat("[%s=false] Filter out features with error greater than this threshold.", kVisCorFlowUseMinEigenVals().c_str()));
+
782 RTABMAP_PARAM(Vis, CorFlowGpu, bool, false, uFormat("[%s=1] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kVisCorType().c_str(), kVisCorFlowUseMinEigenVals().c_str()));
+
783 #if defined(RTABMAP_G2O) || defined(RTABMAP_ORB_SLAM)
+
784 RTABMAP_PARAM(Vis, BundleAdjustment, int, 1, uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
+
785#else
+
786 RTABMAP_PARAM(Vis, BundleAdjustment, int, 0, uFormat("Optimization with bundle adjustment. Value matches the %s parameter: 0=disabled (TORO is not BA-capable), 1=g2o, 2=GTSAM, 3=Ceres, 4=cvsba.", kOptimizerStrategy().c_str()));
+
787#endif
+
788
+
789 // Features matching approaches
+
790 RTABMAP_PARAM_STR(PyMatcher, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/python/*). See the header to see where the script should be copied.");
+
791 RTABMAP_PARAM(PyMatcher, Iterations, int, 20, "Sinkhorn iterations. Used by SuperGlue.");
+
792 RTABMAP_PARAM(PyMatcher, Threshold, float, 0.2, "Used by SuperGlue.");
+
793 RTABMAP_PARAM(PyMatcher, Cuda, bool, true, "Used by SuperGlue.");
+
794 RTABMAP_PARAM_STR(PyMatcher, Model, "indoor", "For SuperGlue, set only \"indoor\" or \"outdoor\". For OANet, set path to one of the pth file (e.g., \"OANet/model/gl3d/sift-4000/model_best.pth\").");
+
795
+
796 RTABMAP_PARAM(GMS, WithRotation, bool, false, "Take rotation transformation into account.");
+
797 RTABMAP_PARAM(GMS, WithScale, bool, false, "Take scale transformation into account.");
+
798 RTABMAP_PARAM(GMS, ThresholdFactor, double, 6.0, "The higher, the less matches.");
+
799
+
800 // Global descriptor approaches
+
801 RTABMAP_PARAM_STR(PyDescriptor, Path, "", "Path to python script file (see available ones in rtabmap/corelib/src/pydescriptor/*). See the header to see where the script should be used.");
+
802 RTABMAP_PARAM(PyDescriptor, Dim, int, 4096, "Descriptor dimension.");
+
803
+
804 // ICP registration parameters
+
805#ifdef RTABMAP_POINTMATCHER
+
806 RTABMAP_PARAM(Icp, Strategy, int, 1, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
+
807#else
+
808 RTABMAP_PARAM(Icp, Strategy, int, 0, "ICP implementation: 0=Point Cloud Library, 1=libpointmatcher, 2=CCCoreLib (CloudCompare).");
+
809#endif
+
810 RTABMAP_PARAM(Icp, MaxTranslation, float, 0.2, "Maximum ICP translation correction accepted (m).");
+
811 RTABMAP_PARAM(Icp, MaxRotation, float, 0.78, "Maximum ICP rotation correction accepted (rad).");
+
812 RTABMAP_PARAM(Icp, VoxelSize, float, 0.05, "Uniform sampling voxel size (0=disabled).");
+
813 RTABMAP_PARAM(Icp, DownsamplingStep, int, 1, "Downsampling step size (1=no sampling). This is done before uniform sampling.");
+
814 RTABMAP_PARAM(Icp, RangeMin, float, 0, "Minimum range filtering (0=disabled).");
+
815 RTABMAP_PARAM(Icp, RangeMax, float, 0, "Maximum range filtering (0=disabled).");
+
816#ifdef RTABMAP_POINTMATCHER
+
817 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.1, "Max distance for point correspondences.");
+
818#else
+
819 RTABMAP_PARAM(Icp, MaxCorrespondenceDistance, float, 0.05, "Max distance for point correspondences.");
+
820#endif
+
821 RTABMAP_PARAM(Icp, ReciprocalCorrespondences, bool, true, "To be a valid correspondence, the corresponding point in target cloud to point in source cloud should be both their closest closest correspondence.");
+
822 RTABMAP_PARAM(Icp, Iterations, int, 30, "Max iterations.");
+
823 RTABMAP_PARAM(Icp, Epsilon, float, 0, "Set the transformation epsilon (maximum allowable difference between two consecutive transformations) in order for an optimization to be considered as having converged to the final solution.");
+
824 RTABMAP_PARAM(Icp, CorrespondenceRatio, float, 0.1, "Ratio of matching correspondences to accept the transform.");
+
825 RTABMAP_PARAM(Icp, Force4DoF, bool, false, uFormat("Limit ICP to x, y, z and yaw DoF. Available if %s > 0.", kIcpStrategy().c_str()));
+
826 RTABMAP_PARAM(Icp, FiltersEnabled, int, 3, "Flag to enable filters: 1=\"from\" cloud only, 2=\"to\" cloud only, 3=both.");
+
827#ifdef RTABMAP_POINTMATCHER
+
828 RTABMAP_PARAM(Icp, PointToPlane, bool, true, "Use point to plane ICP.");
+
829#else
+
830 RTABMAP_PARAM(Icp, PointToPlane, bool, false, "Use point to plane ICP.");
+
831#endif
+
832 RTABMAP_PARAM(Icp, PointToPlaneK, int, 5, "Number of neighbors to compute normals for point to plane if the cloud doesn't have already normals.");
+
833 RTABMAP_PARAM(Icp, PointToPlaneRadius, float, 0.0, "Search radius to compute normals for point to plane if the cloud doesn't have already normals.");
+
834 RTABMAP_PARAM(Icp, PointToPlaneGroundNormalsUp, float, 0.0, "Invert normals on ground if they are pointing down (useful for ring-like 3D LiDARs). 0 means disabled, 1 means only normals perfectly aligned with -z axis. This is only done with 3D scans.");
+
835 RTABMAP_PARAM(Icp, PointToPlaneMinComplexity, float, 0.02, uFormat("Minimum structural complexity (0.0=low, 1.0=high) of the scan to do PointToPlane registration, otherwise PointToPoint registration is done instead and strategy from %s is used. This check is done only when %s=true.", kIcpPointToPlaneLowComplexityStrategy().c_str(), kIcpPointToPlane().c_str()));
+
836 RTABMAP_PARAM(Icp, PointToPlaneComplexityCentered, bool, false, uFormat("If false (default), the complexity metric uses the uncentered second-moment matrix (1/N) * sum(n_i * n_i^T), whose smallest eigenvalue directly measures how well the surface normals span R^N. If true, uses centered PCA (cv::PCA covariance) for backwards compatibility -- but the centered metric is known to mis-classify perpendicular-surface scenes as degenerate when normals are consistently viewpoint-flipped (only N distinct directions in N-D collapse to rank N-1 after centering). For true degeneracies (parallel surfaces, e.g. corridors) the two metrics agree because the normal mean is zero. The %s threshold of 0.02 works under either setting.", kIcpPointToPlaneMinComplexity().c_str()));
+
837 RTABMAP_PARAM(Icp, PointToPlaneLowComplexityStrategy, int, 1, uFormat("If structural complexity is below %s: set to 0 so that the transform is automatically rejected, set to 1 (default, legacy) to recompute the transform with PointToPoint and limit its correction in axes with most constraints (e.g., for a corridor-like environment, the resulting transform will be limited in y and yaw, x will taken from the guess), set to 2 to recompute the transform with PointToPoint and accept it \"as is\", set to 3 to keep the PointToPlane transform and apply the same axis-constrained projection as strategy 1.", kIcpPointToPlaneMinComplexity().c_str()));
+
838 RTABMAP_PARAM(Icp, OutlierRatio, float, 0.85, uFormat("Outlier ratio. For libpointmatcher (%s=1), sets TrimmedDistOutlierFilter/ratio for convenience when configuration file is not set. For CCCoreLib (%s=2), sets \"finalOverlapRatio\". For PCL (%s=0), if 0<value<1, installs a RANSAC correspondence rejector with inlier threshold = value * %s. The value should be between 0 and 1.", kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpStrategy().c_str(), kIcpMaxCorrespondenceDistance().c_str()));
+
839 RTABMAP_PARAM_STR(Icp, DebugExportFormat, "", "Export scans used for ICP in the specified format (a warning on terminal will be shown with the file paths used). Supported formats are \"pcd\", \"ply\" or \"vtk\". If logger level is debug, from and to scans will stamped, so previous files won't be overwritten.");
+
840
+
841 // libpointmatcher
+
842 RTABMAP_PARAM_STR(Icp, PMConfig, "", uFormat("Configuration file (*.yaml) used by libpointmatcher. Note that data filters set for libpointmatcher are done after filtering done by rtabmap (i.e., %s, %s), so make sure to disable those in rtabmap if you want to use only those from libpointmatcher. Parameters %s, %s and %s are also ignored if configuration file is set.", kIcpVoxelSize().c_str(), kIcpDownsamplingStep().c_str(), kIcpIterations().c_str(), kIcpEpsilon().c_str(), kIcpMaxCorrespondenceDistance().c_str()).c_str());
+
843 RTABMAP_PARAM(Icp, PMMatcherKnn, int, 1, "KDTreeMatcher/knn: number of nearest neighbors to consider it the reference. For convenience when configuration file is not set.");
+
844 RTABMAP_PARAM(Icp, PMMatcherEpsilon, float, 0.0, "KDTreeMatcher/epsilon: approximation to use for the nearest-neighbor search. For convenience when configuration file is not set.");
+
845 RTABMAP_PARAM(Icp, PMMatcherIntensity, bool, false, uFormat("KDTreeMatcher: among nearest neighbors, keep only the one with the most similar intensity. This only work with %s>1.", kIcpPMMatcherKnn().c_str()));
+
846
+
847 RTABMAP_PARAM(Icp, CCSamplingLimit, unsigned int, 50000, "Maximum number of points per cloud (they are randomly resampled below this limit otherwise).");
+
848 RTABMAP_PARAM(Icp, CCFilterOutFarthestPoints, bool, false, "If true, the algorithm will automatically ignore farthest points from the reference, for better convergence.");
+
849 RTABMAP_PARAM(Icp, CCMaxFinalRMS, float, 0.2, "Maximum final RMS error.");
+
850
+
851 // Stereo disparity
+
852 RTABMAP_PARAM(Stereo, WinWidth, int, 15, "Window width.");
+
853 RTABMAP_PARAM(Stereo, WinHeight, int, 3, "Window height.");
+
854 RTABMAP_PARAM(Stereo, Iterations, int, 30, "Maximum iterations.");
+
855 RTABMAP_PARAM(Stereo, MaxLevel, int, 5, "Maximum pyramid level.");
+
856 RTABMAP_PARAM(Stereo, MinDisparity, float, 0.5, "Minimum disparity.");
+
857 RTABMAP_PARAM(Stereo, MaxDisparity, float, 128.0, "Maximum disparity.");
+
858 RTABMAP_PARAM(Stereo, OpticalFlow, bool, true, "Use optical flow to find stereo correspondences, otherwise a simple block matching approach is used.");
+
859 RTABMAP_PARAM(Stereo, SSD, bool, true, uFormat("[%s=false] Use Sum of Squared Differences (SSD) window, otherwise Sum of Absolute Differences (SAD) window is used.", kStereoOpticalFlow().c_str()));
+
860 RTABMAP_PARAM(Stereo, Eps, double, 0.01, uFormat("[%s=true] Epsilon stop criterion.", kStereoOpticalFlow().c_str()));
+
861 RTABMAP_PARAM(Stereo, UseMinEigenVals, bool, true, uFormat("[%s=true] Use minimum eigen values as an error measure, otherwise L1 distance between patches is used as an error measure.", kStereoOpticalFlow().c_str()));
+
862 RTABMAP_PARAM(Stereo, MinEigThreshold, double, 1e-4, uFormat("[%s=true] If the minimum eigenvalue of a feature's spatial gradient matrix is less than this threshold, then the feature is filtered out.", kStereoUseMinEigenVals().c_str()));
+
863 RTABMAP_PARAM(Stereo, ErrorThreshold, double, 50, uFormat("[%s=false] Filter out features with error greater than this threshold.", kStereoUseMinEigenVals().c_str()));
+
864 RTABMAP_PARAM(Stereo, Gpu, bool, false, uFormat("[%s=true] Enable GPU version of the optical flow approach (only available if OpenCV is built with CUDA). Note that %s is not used in the GPU implementation.", kStereoOpticalFlow().c_str(), kStereoUseMinEigenVals().c_str()));
+
865
+
866 RTABMAP_PARAM(Stereo, DenseStrategy, int, 0, "0=cv::StereoBM, 1=cv::StereoSGBM");
+
867
+
868 RTABMAP_PARAM(StereoBM, BlockSize, int, 15, "See cv::StereoBM");
+
869 RTABMAP_PARAM(StereoBM, MinDisparity, int, 0, "See cv::StereoBM");
+
870 RTABMAP_PARAM(StereoBM, NumDisparities, int, 128, "See cv::StereoBM");
+
871 RTABMAP_PARAM(StereoBM, PreFilterSize, int, 9, "See cv::StereoBM");
+
872 RTABMAP_PARAM(StereoBM, PreFilterCap, int, 31, "See cv::StereoBM");
+
873 RTABMAP_PARAM(StereoBM, UniquenessRatio, int, 15, "See cv::StereoBM");
+
874 RTABMAP_PARAM(StereoBM, TextureThreshold, int, 10, "See cv::StereoBM");
+
875 RTABMAP_PARAM(StereoBM, SpeckleWindowSize, int, 100, "See cv::StereoBM");
+
876 RTABMAP_PARAM(StereoBM, SpeckleRange, int, 4, "See cv::StereoBM");
+
877 RTABMAP_PARAM(StereoBM, Disp12MaxDiff, int, -1, "See cv::StereoBM");
+
878
+
879 RTABMAP_PARAM(StereoSGBM, BlockSize, int, 15, "See cv::StereoSGBM");
+
880 RTABMAP_PARAM(StereoSGBM, MinDisparity, int, 0, "See cv::StereoSGBM");
+
881 RTABMAP_PARAM(StereoSGBM, NumDisparities, int, 128, "See cv::StereoSGBM");
+
882 RTABMAP_PARAM(StereoSGBM, PreFilterCap, int, 31, "See cv::StereoSGBM");
+
883 RTABMAP_PARAM(StereoSGBM, UniquenessRatio, int, 20, "See cv::StereoSGBM");
+
884 RTABMAP_PARAM(StereoSGBM, SpeckleWindowSize, int, 100, "See cv::StereoSGBM");
+
885 RTABMAP_PARAM(StereoSGBM, SpeckleRange, int, 4, "See cv::StereoSGBM");
+
886 RTABMAP_PARAM(StereoSGBM, Disp12MaxDiff, int, 1, "See cv::StereoSGBM");
+
887 RTABMAP_PARAM(StereoSGBM, P1, int, 2, "See cv::StereoSGBM");
+
888 RTABMAP_PARAM(StereoSGBM, P2, int, 5, "See cv::StereoSGBM");
+
889#if CV_MAJOR_VERSION < 3
+
890 RTABMAP_PARAM(StereoSGBM, Mode, int, 0, "See cv::StereoSGBM");
+
891#else
+
892 RTABMAP_PARAM(StereoSGBM, Mode, int, 2, "See cv::StereoSGBM");
+
893#endif
+
894
+
895 // Occupancy Grid
+
896 RTABMAP_PARAM(Grid, Sensor, int, 1, "Create occupancy grid from selected sensor: 0=laser scan, 1=depth image(s) or 2=both laser scan and depth image(s).");
+
897 RTABMAP_PARAM(Grid, DepthDecimation, unsigned int, 4, uFormat("[%s=true] Decimation of the depth image before creating cloud.", kGridDepthDecimation().c_str()));
+
898 RTABMAP_PARAM(Grid, RangeMin, float, 0.0, "Minimum range from sensor.");
+
899 RTABMAP_PARAM(Grid, RangeMax, float, 5.0, "Maximum range from sensor. 0=inf.");
+
900 RTABMAP_PARAM_STR(Grid, DepthRoiRatios, "0.0 0.0 0.0 0.0", uFormat("[%s>=1] Region of interest ratios [left, right, top, bottom].", kGridSensor().c_str()));
+
901 RTABMAP_PARAM(Grid, FootprintLength, float, 0.0, "Footprint length used to filter points over the footprint of the robot.");
+
902 RTABMAP_PARAM(Grid, FootprintWidth, float, 0.0, "Footprint width used to filter points over the footprint of the robot. Footprint length should be set.");
+
903 RTABMAP_PARAM(Grid, FootprintHeight, float, 0.0, "Footprint height used to filter points over the footprint of the robot. Footprint length and width should be set.");
+
904 RTABMAP_PARAM(Grid, ScanDecimation, int, 1, uFormat("[%s=0 or 2] Decimation of the laser scan before creating cloud.", kGridSensor().c_str()));
+
905 RTABMAP_PARAM(Grid, CellSize, float, 0.05, "Resolution of the occupancy grid.");
+
906 RTABMAP_PARAM(Grid, PreVoxelFiltering, bool, true, uFormat("Input cloud is downsampled by voxel filter (voxel size is \"%s\") before doing segmentation of obstacles and ground.", kGridCellSize().c_str()));
+
907 RTABMAP_PARAM(Grid, MapFrameProjection, bool, false, "Projection in map frame. On a 3D terrain and a fixed local camera transform (the cloud is created relative to ground), you may want to disable this to do the projection in robot frame instead.");
+
908 RTABMAP_PARAM(Grid, NormalsSegmentation, bool, true, "Segment ground from obstacles using point normals, otherwise a fast passthrough is used.");
+
909 RTABMAP_PARAM(Grid, MaxObstacleHeight, float, 0.0, "Maximum obstacles height (0=disabled).");
+
910 RTABMAP_PARAM(Grid, MinGroundHeight, float, 0.0, "Minimum ground height (0=disabled).");
+
911 RTABMAP_PARAM(Grid, MaxGroundHeight, float, 0.0, uFormat("Maximum ground height (0=disabled). Should be set if \"%s\" is false.", kGridNormalsSegmentation().c_str()));
+
912 RTABMAP_PARAM(Grid, MaxGroundAngle, float, 45, uFormat("[%s=true] Maximum angle (degrees) between point's normal to ground's normal to label it as ground. Points with higher angle difference are considered as obstacles.", kGridNormalsSegmentation().c_str()));
+
913 RTABMAP_PARAM(Grid, NormalK, int, 20, uFormat("[%s=true] K neighbors to compute normals.", kGridNormalsSegmentation().c_str()));
+
914 RTABMAP_PARAM(Grid, ClusterRadius, float, 0.1, uFormat("[%s=true] Cluster maximum radius.", kGridNormalsSegmentation().c_str()));
+
915 RTABMAP_PARAM(Grid, MinClusterSize, int, 10, uFormat("[%s=true] Minimum cluster size to project the points.", kGridNormalsSegmentation().c_str()));
+
916 RTABMAP_PARAM(Grid, FlatObstacleDetected, bool, true, uFormat("[%s=true] Flat obstacles detected.", kGridNormalsSegmentation().c_str()));
+
917#ifdef RTABMAP_OCTOMAP
+
918 RTABMAP_PARAM(Grid, 3D, bool, true, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()));
+
919#else
+
920 RTABMAP_PARAM(Grid, 3D, bool, false, uFormat("A 3D occupancy grid is required if you want an OctoMap (3D ray tracing). Set to false if you want only a 2D map, the cloud will be projected on xy plane. A 2D map can be still generated if checked, but it requires more memory and time to generate it. Ignored if laser scan is 2D and \"%s\" is 0.", kGridSensor().c_str()));
+
921#endif
+
922 RTABMAP_PARAM(Grid, GroundIsObstacle, bool, false, uFormat("[%s=true] Ground segmentation (%s) is ignored, all points are obstacles. Use this only if you want an OctoMap with ground identified as an obstacle (e.g., with an UAV).", kGrid3D().c_str(), kGridNormalsSegmentation().c_str()));
+
923 RTABMAP_PARAM(Grid, NoiseFilteringRadius, float, 0.0, "Noise filtering radius (0=disabled). Done after segmentation.");
+
924 RTABMAP_PARAM(Grid, NoiseFilteringMinNeighbors, int, 5, "Noise filtering minimum neighbors.");
+
925 RTABMAP_PARAM(Grid, Scan2dUnknownSpaceFilled, bool, false, uFormat("Unknown space filled. Only used with 2D laser scans. Use %s to set maximum range if laser scan max range is to set.", kGridRangeMax().c_str()));
+
926 RTABMAP_PARAM(Grid, RayTracing, bool, false, uFormat("Ray tracing is done for each occupied cell, filling unknown space between the sensor and occupied cells. If %s=true, RTAB-Map should be built with OctoMap support, otherwise 3D ray tracing is ignored.", kGrid3D().c_str()));
+
927 RTABMAP_PARAM(GridGlobal, UpdateError, float, 0.01, "Graph changed detection error (m). Update map only if poses in new optimized graph have moved more than this value.");
+
928 RTABMAP_PARAM(GridGlobal, FootprintRadius, float, 0.0, "Footprint radius (m) used to clear all obstacles under the graph.");
+
929 RTABMAP_PARAM(GridGlobal, MinSize, float, 0.0, "Minimum map size (m).");
+
930 RTABMAP_PARAM(GridGlobal, Eroded, bool, false, "Erode obstacle cells.");
+
931 RTABMAP_PARAM(GridGlobal, MaxNodes, int, 0, "Maximum nodes assembled in the map starting from the last node (0=unlimited).");
+
932 RTABMAP_PARAM(GridGlobal, AltitudeDelta, float, 0, "Assemble only nodes that have the same altitude of +-delta meters of the current pose (0=disabled). This is used to generate 2D occupancy grid based on the current altitude (e.g., multi-floor building).");
+
933 RTABMAP_PARAM(GridGlobal, OccupancyThr, float, 0.5, "Occupancy threshold (value between 0 and 1).");
+
934 RTABMAP_PARAM(GridGlobal, ProbHit, float, 0.7, "Probability of a hit (value between 0.5 and 1).");
+
935 RTABMAP_PARAM(GridGlobal, ProbMiss, float, 0.4, "Probability of a miss (value between 0 and 0.5).");
+
936 RTABMAP_PARAM(GridGlobal, ProbClampingMin, float, 0.1192, "Probability clamping minimum (value between 0 and 1).");
+
937 RTABMAP_PARAM(GridGlobal, ProbClampingMax, float, 0.971, "Probability clamping maximum (value between 0 and 1).");
+
938 RTABMAP_PARAM(GridGlobal, FloodFillDepth, unsigned int, 0, "Flood fill filter (0=disabled), used to remove empty cells outside the map. The flood fill is done at the specified depth (between 1 and 16) of the OctoMap.");
+
939
+
940 RTABMAP_PARAM(Marker, Strategy, int, 0, "Marker detection implementation: 0=OpenCV, 1=AprilTag");
+
941 RTABMAP_PARAM(Marker, Dictionary, int, 0, "Dictionary to use: DICT_ARUCO_4X4_50=0, DICT_ARUCO_4X4_100=1, DICT_ARUCO_4X4_250=2, DICT_ARUCO_4X4_1000=3, DICT_ARUCO_5X5_50=4, DICT_ARUCO_5X5_100=5, DICT_ARUCO_5X5_250=6, DICT_ARUCO_5X5_1000=7, DICT_ARUCO_6X6_50=8, DICT_ARUCO_6X6_100=9, DICT_ARUCO_6X6_250=10, DICT_ARUCO_6X6_1000=11, DICT_ARUCO_7X7_50=12, DICT_ARUCO_7X7_100=13, DICT_ARUCO_7X7_250=14, DICT_ARUCO_7X7_1000=15, DICT_ARUCO_ORIGINAL = 16, DICT_APRILTAG_16h5=17, DICT_APRILTAG_25h9=18, DICT_APRILTAG_36h10=19, DICT_APRILTAG_36h11=20, DICT_ARUCO_MIP_36H12=21");
+
942 RTABMAP_PARAM(Marker, Length, float, 0, "The length (m) of the markers' side. Value <=0 means automatic marker length estimation using the depth image (the camera should look at the marker perpendicularly for initialization). If 0, the length is estimated only on the first marker detected, then re-used for all next detections (i.e., this assumes that markers have all the same length). With <0, the length is estimated once for each unique marker, then re-used for next detections with the same marker ID.");
+
943 RTABMAP_PARAM_STR(Marker, Lengths, "", uFormat("List of markers to detect. Format is the marker's ID followed by its length (in meters), multiple markers are separated by a vertical line (\"id1 length|id2 length\"). We can also define a range of markers with \"id1:id2 length\" (id2 included). If empty, all markers of the chosen dictionary can be detected and their length is set/estimated based on %s. For example, to detect markers 12 and 14 with lengths of 8 and 15 cm respectively, and all markers between 30 and 40 with a length of 10 cm, set \"12 0.08|14 0.15|30:40 0.1\".", kMarkerLength().c_str()).c_str());
+
944 RTABMAP_PARAM(Marker, MaxDepthError, float, 0.01, uFormat("Maximum depth error between all corners of a marker when estimating the marker length (when %s is 0). The smaller it is, the more perpendicular the camera should be toward the marker to initialize the length.", kMarkerLength().c_str()));
+
945 RTABMAP_PARAM(Marker, VarianceLinear, float, 0.001, uFormat("Linear variance to set on marker detections. If %s is enabled and %s=2 (GTSAM): it is the variance of the range factor, with 9999 to disable range factor and to do only bearing.", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str()));
+
946 RTABMAP_PARAM(Marker, VarianceAngular, float, 0.01, uFormat("Angular variance to set on marker detections. If %s is enabled, it is ignored with %s=1 (g2o) and it corresponds to bearing variance with %s=2 (GTSAM).", kMarkerVarianceOrientationIgnored().c_str(), kOptimizerStrategy().c_str(), kOptimizerStrategy().c_str()));
+
947 RTABMAP_PARAM(Marker, VarianceOrientationIgnored, bool, false, uFormat("When this setting is false, the landmark's orientation is optimized during graph optimization. When this setting is true, only the position of the landmark is optimized. This can be useful when the landmark's orientation estimation is not reliable. Note that for %s=1 (g2o), only %s needs be set if we ignore orientation. For %s=2 (GTSAM), instead of optimizing the landmark's position directly, a bearing/range factor is used, with %s as the variance of the range factor (with 9999 to optimize the position with only a bearing factor) and %s as the variance of the bearing factor (pitch/yaw).", kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kOptimizerStrategy().c_str(), kMarkerVarianceLinear().c_str(), kMarkerVarianceAngular().c_str()));
+
948 RTABMAP_PARAM(Marker, MaxRange, float, 0.0, "Maximum range in which markers will be detected. <=0 for unlimited range.");
+
949 RTABMAP_PARAM(Marker, MinRange, float, 0.0, "Miniminum range in which markers will be detected. <=0 for unlimited range.");
+
950 RTABMAP_PARAM_STR(Marker, Priors, "", "World prior locations of the markers. The map will be transformed in marker's world frame when a tag is detected. Format is the marker's ID followed by its position (angles in rad), multiple markers are separated by vertical line (\"id1 x y z roll pitch yaw|id2 x y z roll pitch yaw\"). Example: \"1 0 0 1 0 0 0|2 1 0 1 0 0 1.57\" (marker 2 is 1 meter forward than marker 1 with 90 deg yaw rotation).");
+
951 RTABMAP_PARAM(Marker, PriorsVarianceLinear, float, 0.001, "Linear variance to set on marker priors.");
+
952 RTABMAP_PARAM(Marker, PriorsVarianceAngular, float, 0.001, "Angular variance to set on marker priors.");
+
953
+
954 RTABMAP_PARAM(MarkerAprilTag, NThreads, int, 1, "How many threads should be used?");
+
955 RTABMAP_PARAM(MarkerAprilTag, QuadDecimate, float, 1.0, "Detection of quads can be done on a lower-resolution image, improving speed at a cost of pose accuracy and a slight decrease in detection rate. Decoding the binary payload is still done at full resolution.");
+
956 RTABMAP_PARAM(MarkerAprilTag, QuadSigma, float, 0.0, "What Gaussian blur should be applied to the segmented image (used for quad detection?) Parameter is the standard deviation in pixels. Very noisy images benefit from non-zero values (e.g. 0.8).");
+
957 RTABMAP_PARAM(MarkerAprilTag, RefineEdges, bool, true, uFormat("When true, the edges of the each quad are adjusted to \"snap to\" strong gradients nearby. This is useful when decimation is employed, as it can increase the quality of the initial quad estimate substantially. Generally recommended to be on (true). Very computationally inexpensive. Option is ignored if %s = 1.", kMarkerAprilTagQuadDecimate().c_str()));
+
958 RTABMAP_PARAM(MarkerAprilTag, DecodeSharpening, double, 0.25, "How much sharpening should be done to decoded images? This can help decode small tags but may or may not help in odd lighting conditions or low light conditions.");
+
959 RTABMAP_PARAM(MarkerAprilTag, Debug, bool, false, uFormat("When true, write a variety of debugging images to the working directory where the app started (not %s) at various stages through the detection process. (Somewhat slow).", kRtabmapWorkingDirectory().c_str()));
+
960
+
961 RTABMAP_PARAM(MarkerOpenCV, CornerRefinementMethod, int, 0, "Corner refinement method for OpenCV strategy (0: None, 1: Subpixel, 2:contour, 3: AprilTag2). For OpenCV <3.3.0, this is \"doCornerRefinement\" parameter: set 0 for false and 1 for true.");
+
962
+
963 RTABMAP_PARAM(ImuFilter, MadgwickGain, double, 0.1, "Gain of the filter. Higher values lead to faster convergence but more noise. Lower values lead to slower convergence but smoother signal, belongs in [0, 1].");
+
964 RTABMAP_PARAM(ImuFilter, MadgwickZeta, double, 0.0, "Gyro drift gain (approx. rad/s), belongs in [-1, 1].");
+
965
+
966 RTABMAP_PARAM(ImuFilter, ComplementaryGainAcc, double, 0.01, "Gain parameter for the complementary filter, belongs in [0, 1].");
+
967 RTABMAP_PARAM(ImuFilter, ComplementaryBiasAlpha, double, 0.01, "Bias estimation gain parameter, belongs in [0, 1].");
+
968 RTABMAP_PARAM(ImuFilter, ComplementaryDoBiasEstimation, bool, true, "Parameter whether to do bias estimation or not.");
+
969 RTABMAP_PARAM(ImuFilter, ComplementaryDoAdpativeGain, bool, true, "Parameter whether to do adaptive gain or not.");
+
970
+
971public:
+
972 virtual ~Parameters();
+
973
+
+
978 static const ParametersMap & getDefaultParameters()
+
979 {
+
980 return parameters_;
+
981 }
+
+
982
+
987 static std::string getType(const std::string & paramKey);
+
988
+
993 static std::string getDescription(const std::string & paramKey);
+
994
+
995 static bool parse(const ParametersMap & parameters, const std::string & key, bool & value);
+
996 static bool parse(const ParametersMap & parameters, const std::string & key, int & value);
+
997 static bool parse(const ParametersMap & parameters, const std::string & key, unsigned int & value);
+
998 static bool parse(const ParametersMap & parameters, const std::string & key, float & value);
+
999 static bool parse(const ParametersMap & parameters, const std::string & key, double & value);
+
1000 static bool parse(const ParametersMap & parameters, const std::string & key, std::string & value);
+
1001 static void parse(const ParametersMap & parameters, ParametersMap & parametersOut);
+
1002
+
1003 static const char * showUsage();
+
1004 static ParametersMap parseArguments(int argc, char * argv[], bool onlyParameters = false);
+
1005
+
1006 static std::string getVersion();
+
1007 static std::string getDefaultDatabaseName();
+
1008
+
1009 static std::string serialize(const ParametersMap & parameters);
+
1010 static ParametersMap deserialize(const std::string & parameters);
+
1011
+
1012 static bool isFeatureParameter(const std::string & param);
+
1013 static ParametersMap getDefaultOdometryParameters(bool stereo = false, bool vis = true, bool icp = false);
+
1014 static ParametersMap getDefaultParameters(const std::string & group);
+
1019 static ParametersMap filterParameters(const ParametersMap & parameters, const std::string & group, bool remove = false);
+
1020
+
1021 static void readINI(const std::string & configFile, ParametersMap & parameters, bool modifiedOnly = false);
+
1022 static void readINIStr(const std::string & configContent, ParametersMap & parameters, bool modifiedOnly = false);
+
1023 static void writeINI(const std::string & configFile, const ParametersMap & parameters);
+
1024
+
1029 static const std::map<std::string, std::pair<bool, std::string> > & getRemovedParameters();
+
1030
+
1034 static const ParametersMap & getBackwardCompatibilityMap();
+
1035
+
1036 static std::string createDefaultWorkingDirectory();
+
1037
+
1038private:
+
1039 Parameters();
+
1040
+
1041private:
+
1042 static ParametersMap parameters_;
+
1043 static ParametersMap parametersType_;
+
1044 static ParametersMap descriptions_;
+
1045 static Parameters instance_;
+
1046
+
1047 static std::map<std::string, std::pair<bool, std::string> > removedParameters_;
+
1048 static ParametersMap backwardCompatibilityMap_;
+
1049};
+
+
1050
+
1051}
+
1052
+
1053#endif /* PARAMETERS_H_ */
+
UConversion.h
Some conversion functions.
+
uFormat
std::string UTILITE_EXPORT uFormat(const char *fmt,...)
+
rtabmap::BRISK
BRISK detector and descriptor.
Definition Features2d.h:599
+
rtabmap::FAST
FAST corner detector only (no descriptor).
Definition Features2d.h:416
+
rtabmap::GFTT
Good-features-to-track detector (Shi–Tomasi / Harris).
Definition Features2d.h:494
+
rtabmap::KAZE
KAZE detector and descriptor (OpenCV 3+).
Definition Features2d.h:621
+
rtabmap::ORB
ORB detector and descriptor (optional GPU).
Definition Features2d.h:384
+
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
+ +
rtabmap::Parameters::getType
static std::string getType(const std::string &paramKey)
+
rtabmap::Parameters::filterParameters
static ParametersMap filterParameters(const ParametersMap &parameters, const std::string &group, bool remove=false)
+
rtabmap::Parameters::getDefaultParameters
static const ParametersMap & getDefaultParameters()
Definition Parameters.h:978
+
rtabmap::Parameters::getBackwardCompatibilityMap
static const ParametersMap & getBackwardCompatibilityMap()
+
rtabmap::Parameters::getDescription
static std::string getDescription(const std::string &paramKey)
+
rtabmap::Parameters::getRemovedParameters
static const std::map< std::string, std::pair< bool, std::string > > & getRemovedParameters()
+
rtabmap::Rtabmap
Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).
Definition Rtabmap.h:194
+
rtabmap::SIFT
SIFT detector and descriptor (optional GPU / CudaSift).
Definition Features2d.h:349
+
rtabmap::SURF
SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build).
Definition Features2d.h:321
+
rtabmap::StereoBM
Block Matching algorithm for dense stereo matching.
Definition StereoBM.h:47
+
rtabmap::StereoSGBM
Semi-Global Block Matching algorithm for dense stereo matching.
Definition StereoSGBM.h:51
+
rtabmap::Stereo
Sparse stereo matching using block matching.
Definition Stereo.h:55
+
rtabmap::SuperPointRpautrat
SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support).
Definition Features2d.h:698
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/ParticleFilter_8h_source.html b/preview/pr-1492/api/latest/ParticleFilter_8h_source.html new file mode 100644 index 00000000..68a23bb0 --- /dev/null +++ b/preview/pr-1492/api/latest/ParticleFilter_8h_source.html @@ -0,0 +1,280 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/ParticleFilter.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+
+
+ + +
+
+
ParticleFilter.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef PARTICLEFILTER_H_
+
29#define PARTICLEFILTER_H_
+
30
+
31#include <rtabmap/utilite/UMath.h>
+
32#include <rtabmap/utilite/ULogger.h>
+
33
+
34
+
35namespace rtabmap {
+
36
+
37// taken from http://www.developpez.net/forums/d544518/c-cpp/c/equivalent-randn-matlab-c/
+
38#define TWOPI (6.2831853071795864769252867665590057683943387987502) /* 2 * pi */
+
39
+
40/*
+
41 RAND is a macro which returns a pseudo-random numbers from a uniform
+
42 distribution on the interval [0 1]
+
43*/
+
44#define RAND (rand())/((double) RAND_MAX)
+
45
+
46/*
+
47 RANDN is a macro which returns a pseudo-random numbers from a normal
+
48 distribution with mean zero and standard deviation one. This macro uses Box
+
49 Muller's algorithm
+
50*/
+
51#define RANDN (sqrt(-2.0*log(RAND))*cos(TWOPI*RAND))
+
52
+
53std::vector<double> cumSum(const std::vector<double> & v)
+
54{
+
55 std::vector<double> cum(v.size());
+
56 double sum = 0;
+
57 for(unsigned int i=0; i<v.size(); ++i)
+
58 {
+
59 cum[i] = v[i] + sum;
+
60 sum += v[i];
+
61 }
+
62 return cum;
+
63}
+
64
+
65std::vector<double> resample(const std::vector<double> & p, // particles
+
66 const std::vector<double> & w, // weights
+
67 bool normalizeWeights = false)
+
68{
+
69 std::vector<double> np; //new particles
+
70 if(p.size() != w.size() || p.size() == 0)
+
71 {
+
72 UERROR("particles (%d) and weights (%d) are not the same size", p.size(), w.size());
+
73 return np;
+
74 }
+
75
+
76 std::vector<double> cs;
+
77 if(normalizeWeights)
+
78 {
+
79 double wSum = uSum(w);
+
80 std::vector<double> wNorm(w.size());
+
81 for(unsigned int i=0; i<w.size(); ++i)
+
82 {
+
83 wNorm[i] = w[i]/wSum;
+
84 }
+
85 cs = cumSum(wNorm); // cumulative sum
+
86 }
+
87 else
+
88 {
+
89 cs = cumSum(w); // cumulative sum
+
90 }
+
91 for(unsigned int j=0; j<cs.size(); ++j)
+
92 {
+
93 cs[j]/=cs.back();
+
94 }
+
95
+
96 np.resize(p.size());
+
97 for(unsigned int i=0; i<np.size(); ++i)
+
98 {
+
99 unsigned int index = 0;
+
100 double randnum = RAND;
+
101 for(unsigned int j=0; j<cs.size(); ++j)
+
102 {
+
103 if(randnum < cs[j])
+
104 {
+
105 index = j;
+
106 break;
+
107 }
+
108 }
+
109 np[i] = p[index];
+
110 }
+
111 return np;
+
112}
+
113
+
114
+
+
115class ParticleFilter
+
116{
+
117public:
+
118 ParticleFilter(unsigned int nParticles = 200,
+
119 double noise = 0.1,
+
120 double lambda = 10.0,
+
121 double initValue = 0.0) :
+
122 noise_(noise),
+
123 lambda_(lambda)
+
124 {
+
125 particles_.resize(nParticles, initValue);
+
126 }
+
127
+
128 void init(double initValue = 0.0f)
+
129 {
+
130 particles_ = std::vector<double>(particles_.size(), initValue);
+
131 }
+
132
+
133 double filter(double val)
+
134 {
+
135 std::vector<double> weights(particles_.size(), 1);
+
136 double sumWeights = 0;
+
137 for(unsigned int i=0; i<particles_.size(); ++i)
+
138 {
+
139 // add noise to particle
+
140 particles_[i] += noise_ * RANDN;
+
141
+
142 // compute weight
+
143 double dist = fabs(particles_[i] - val);
+
144 //dist = sqrt(dist*dist);
+
145 double w = exp(-lambda_*dist);
+
146 if(uIsFinite(w) && w > 0)
+
147 {
+
148 weights[i] = w;
+
149 }
+
150 sumWeights += weights[i];
+
151 }
+
152
+
153
+
154 //normalize and compute estimated value
+
155 double value =0.0;
+
156 for(unsigned int i=0; i<weights.size(); ++i)
+
157 {
+
158 weights[i] /= sumWeights;
+
159 value += weights[i] * particles_[i];
+
160 }
+
161
+
162 //resample the particles
+
163 particles_ = resample(particles_, weights, false);
+
164
+
165 return value;
+
166 }
+
167
+
168private:
+
169 std::vector<double> particles_;
+
170 double noise_;
+
171 double lambda_;
+
172};
+
+
173
+
174}
+
175
+
176
+
177#endif /* PARTICLEFILTER_H_ */
+
ULogger.h
ULogger class and convenient macros.
+
UERROR
#define UERROR(...)
Definition ULogger.h:62
+
UMath.h
Basic mathematics functions.
+
uSum
T uSum(const std::list< T > &list)
Definition UMath.h:318
+
uIsFinite
bool uIsFinite(const T &value)
Definition UMath.h:53
+ + +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Posix_2UThreadC_8h_source.html b/preview/pr-1492/api/latest/Posix_2UThreadC_8h_source.html new file mode 100644 index 00000000..39997b45 --- /dev/null +++ b/preview/pr-1492/api/latest/Posix_2UThreadC_8h_source.html @@ -0,0 +1,505 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/Posix/UThreadC.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+ + +
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+
UThreadC.h
+
+
+
1
+
2// Written by Phillip Sitbon
+
3// Copyright 2003
+
4//
+
5// Modified by Mathieu Labbe
+
6//
+
7// Posix/Thread.h
+
8// - Posix thread
+
9//
+
11
+
12#ifndef _U_Thread_Posix_
+
13#define _U_Thread_Posix_
+
14
+
15#include "rtabmap/utilite/USemaphore.h"
+
16#include "rtabmap/utilite/UMutex.h"
+
17
+
18#include <pthread.h>
+
19
+
23inline void uSleep(unsigned int ms)
+
24{
+
25 struct timespec req;
+
26 struct timespec rem;
+
27 req.tv_sec = ms / 1000;
+
28 req.tv_nsec = (ms - req.tv_sec * 1000) * 1000 * 1000;
+
29 nanosleep (&req, &rem);
+
30}
+
31
+
35inline void uSleepMicro(unsigned int us)
+
36{
+
37 struct timespec req;
+
38 struct timespec rem;
+
39 req.tv_sec = us / 1000000;
+
40 req.tv_nsec = (us - req.tv_sec * 1000000) * 1000;
+
41 nanosleep (&req, &rem);
+
42}
+
43
+
47inline void uSleepNano(unsigned int ns)
+
48{
+
49 struct timespec req;
+
50 struct timespec rem;
+
51 req.tv_sec = ns / 1000000000;
+
52 req.tv_nsec = (ns - req.tv_sec * 1000000000);
+
53 nanosleep (&req, &rem);
+
54}
+
55
+
56
+
57#define InvalidHandle 0
+
58#define THREAD_HANDLE pthread_t
+
59
+
60typedef void *( * pthread_fn )( void * );
+
61
+
62template
+
63<
+
64 typename Thread_T
+
65>
+
+
66class UThreadC
+
67{
+
68 private:
+
69 struct Instance;
+
70
+
71 public:
+
72 typedef Thread_T & Thread_R;
+
73 typedef const Thread_T & Thread_C_R;
+
74
+
75 typedef THREAD_HANDLE Handle;
+
76 typedef void ( *Handler)( Thread_R );
+
77
+
78 virtual ~UThreadC() {}
+
79
+
80 protected:
+
81 UThreadC() {}
+
82
+
83 virtual void ThreadMain( Thread_R ) = 0;
+
84
+
85 static void Exit()
+
86 { pthread_exit(0); }
+
87#ifndef ANDROID
+
88 static void TestCancel()
+
89 { pthread_testcancel(); }
+
90#endif
+
91
+
92 static Handle Self()
+
93 { return (Handle)pthread_self(); }
+
94
+
95 public:
+
96
+
97 static int Create(
+
98 const Handler & Function,
+
99 Thread_C_R Param,
+
100 Handle * const & H = 0,
+
101 const bool & CreateDetached = false,
+
102 const unsigned int & StackSize = 0,
+
103 const bool & CancelEnable = false,
+
104 const bool & CancelAsync = false
+
105 )
+
106 {
+
107 M_Create().lock();
+
108 pthread_attr_t attr;
+
109 pthread_attr_init(&attr);
+
110
+
111 if ( CreateDetached )
+
112 pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
+
113
+
114 if ( StackSize )
+
115 pthread_attr_setstacksize(&attr,StackSize);
+
116
+
117 Instance I(Param,0,Function,CancelEnable,CancelAsync);
+
118
+
119 Handle h=InvalidHandle;
+
120 int R = pthread_create((pthread_t *)&h,&attr,(pthread_fn)ThreadMainHandler,(void *)&I);
+
121
+
122 pthread_attr_destroy(&attr);
+
123
+
124 if(H) *H = h;
+
125 if ( !R ) S_Create().acquire();
+
126
+
127 M_Create().unlock();
+
128 return R;
+
129 }
+
130
+
131 int Create(
+
132 Thread_C_R Param,
+
133 Handle * const & H = 0,
+
134 const bool & CreateDetached = false,
+
135 const unsigned int & StackSize = 0,
+
136 const bool & CancelEnable = false,
+
137 const bool & CancelAsync = false
+
138 ) const
+
139 {
+
140 M_Create().lock();
+
141 pthread_attr_t attr;
+
142 pthread_attr_init(&attr);
+
143
+
144 if ( CreateDetached )
+
145 pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
+
146
+
147 if ( StackSize )
+
148 pthread_attr_setstacksize(&attr,StackSize);
+
149
+
150 Instance I(Param,const_cast<UThreadC *>(this),0,CancelEnable,CancelAsync);
+
151
+
152 Handle h=InvalidHandle;
+
153 int R = pthread_create((pthread_t *)&h,&attr,(pthread_fn)ThreadMainHandler,(void *)&I);
+
154
+
155 pthread_attr_destroy(&attr);
+
156
+
157 if(H) *H = h;
+
158 if ( !R ) S_Create().acquire();
+
159
+
160 M_Create().unlock();
+
161 return R;
+
162 }
+
163
+
164 static int Join( Handle H )
+
165 { return pthread_join(H,0); }
+
166
+
167#ifndef ANDROID
+
168 static int Kill( Handle H )
+
169 { return pthread_cancel(H); }
+
170#endif
+
171
+
172 static int Detach( Handle H )
+
173 { return pthread_detach(H); }
+
174
+
175 private:
+
176
+
177 static const UMutex &M_Create() { static UMutex M; return M; }
+
178 static USemaphore &S_Create() { static USemaphore S; return S; }
+
179
+
180 static void *ThreadMainHandler( Instance *Param )
+
181 {
+
182 Instance I(*Param);
+
183 Thread_T Data(I.Data);
+
184 S_Create().release();
+
185
+
186#ifndef ANDROID
+
187 if ( I.Flags & 1 /*CancelEnable*/ )
+
188 {
+
189 pthread_setcancelstate(PTHREAD_CANCEL_ENABLE,NULL);
+
190
+
191 if ( I.Flags & 2 /*CancelAsync*/ )
+
192 pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS,NULL);
+
193 else
+
194 pthread_setcanceltype(PTHREAD_CANCEL_DEFERRED,NULL);
+
195 }
+
196 else
+
197 {
+
198 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE,NULL);
+
199 }
+
200#endif
+
201
+
202 if ( I.Owner )
+
203 I.Owner->ThreadMain(Data);
+
204 else
+
205 I.pFN(Data);
+
206
+
207 return 0;
+
208 }
+
209
+
210 struct Instance
+
211 {
+
212 Instance( Thread_C_R P, UThreadC<Thread_T> *const &O, const UThreadC<Thread_T>::Handler &pH = 0, const bool &CE=false, const bool &CA=false )
+
213 : Data(P), Owner(O), pFN(pH), Flags(0) { if ( CE ) Flags|=1; if ( CA ) Flags|=2; }
+
214
+
215 Thread_C_R Data;
+
216 UThreadC<Thread_T> * Owner;
+
217 Handler pFN;
+
218 unsigned char Flags;
+
219 };
+
220};
+
+
221
+
223// Explicit specialization, no thread parameters
+
224//
+
225template<>
+
+
226class UThreadC<void>
+
227{
+
228 private:
+
229 struct Instance;
+
230
+
231 public:
+
232 typedef THREAD_HANDLE Handle;
+
233 typedef void ( *Handler)();
+
234
+
235 virtual ~UThreadC() {}
+
236
+
237 protected:
+
238 UThreadC() {}
+
239
+
240 virtual void ThreadMain() = 0;
+
241
+
242 static void Exit()
+
243 { pthread_exit(0); }
+
244
+
245#ifndef ANDROID
+
246 static void TestCancel()
+
247 { pthread_testcancel(); }
+
248#endif
+
249
+
250 static Handle Self()
+
251 { return (Handle)pthread_self(); }
+
252
+
253 public:
+
254
+
255 static int Create(
+
256 const Handler & Function,
+
257 Handle * const & H = 0,
+
258 const bool & CreateDetached = false,
+
259 const unsigned int & StackSize = 0,
+
260 const bool & CancelEnable = false,
+
261 const bool & CancelAsync = false
+
262 )
+
263 {
+
264 M_Create().lock();
+
265 pthread_attr_t attr;
+
266 pthread_attr_init(&attr);
+
267
+
268 if ( CreateDetached )
+
269 pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
+
270
+
271 if ( StackSize )
+
272 pthread_attr_setstacksize(&attr,StackSize);
+
273
+
274 Instance I(0,Function,CancelEnable,CancelAsync);
+
275
+
276 Handle h=InvalidHandle;
+
277 int R = pthread_create((pthread_t *)&h,&attr,(pthread_fn)ThreadMainHandler,(void *)&I);
+
278
+
279 pthread_attr_destroy(&attr);
+
280
+
281 if(H) *H = h;
+
282 if ( !R ) S_Create().acquire();
+
283
+
284 M_Create().unlock();
+
285 return R;
+
286 }
+
287
+
288 int Create(
+
289 Handle * const & H = 0,
+
290 const bool & CreateDetached = false,
+
291 const unsigned int & StackSize = 0,
+
292 const bool & CancelEnable = false,
+
293 const bool & CancelAsync = false
+
294 ) const
+
295 {
+
296 M_Create().lock();
+
297 pthread_attr_t attr;
+
298 pthread_attr_init(&attr);
+
299
+
300 if ( CreateDetached )
+
301 pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
+
302
+
303 if ( StackSize )
+
304 pthread_attr_setstacksize(&attr,StackSize);
+
305
+
306 Instance I(const_cast<UThreadC *>(this),0,CancelEnable,CancelAsync);
+
307
+
308 Handle h=InvalidHandle;
+
309 int R = pthread_create((pthread_t *)&h,&attr,(pthread_fn)ThreadMainHandler,(void *)&I);
+
310
+
311 pthread_attr_destroy(&attr);
+
312
+
313 if(H) *H = h;
+
314 if ( !R ) S_Create().acquire();
+
315
+
316 M_Create().unlock();
+
317 return R;
+
318 }
+
319
+
320 int Create(
+
321 unsigned long & ThreadId,
+
322 Handle * const & H = 0,
+
323 const bool & CreateDetached = false,
+
324 const unsigned int & StackSize = 0,
+
325 const bool & CancelEnable = false,
+
326 const bool & CancelAsync = false
+
327 ) const
+
328 {
+
329 M_Create().lock();
+
330 pthread_attr_t attr;
+
331 pthread_attr_init(&attr);
+
332
+
333 if ( CreateDetached )
+
334 pthread_attr_setdetachstate(&attr,PTHREAD_CREATE_DETACHED);
+
335
+
336 if ( StackSize )
+
337 pthread_attr_setstacksize(&attr,StackSize);
+
338
+
339 Instance I(const_cast<UThreadC *>(this),0,CancelEnable,CancelAsync);
+
340
+
341 *H = InvalidHandle;
+
342 int R = pthread_create((pthread_t *)&(*H),&attr,(pthread_fn)ThreadMainHandler,(void *)&I);
+
343
+
344 ThreadId = (unsigned long)*H;
+
345
+
346 pthread_attr_destroy(&attr);
+
347
+
348 if ( !R ) S_Create().acquire();
+
349
+
350 M_Create().unlock();
+
351 return R;
+
352 }
+
353
+
354 static int Join( Handle H )
+
355 { return pthread_join(H,0); }
+
356
+
357#ifndef ANDROID
+
358 static int Kill( Handle H )
+
359 { return pthread_cancel(H); }
+
360#endif
+
361
+
362 static int Detach( Handle H )
+
363 { return pthread_detach(H); }
+
364
+
365 private:
+
366
+
367 static const UMutex &M_Create() { static UMutex M; return M; }
+
368 static USemaphore &S_Create() { static USemaphore S; return S; }
+
369
+
370 static void *ThreadMainHandler( Instance *Param )
+
371 {
+
372 Instance I(*Param);
+
373 S_Create().release();
+
374
+
375#ifndef ANDROID
+
376 if ( I.Flags & 1 /*CancelEnable*/ )
+
377 {
+
378 pthread_setcancelstate(PTHREAD_CANCEL_ENABLE,NULL);
+
379
+
380 if ( I.Flags & 2 /*CancelAsync*/ )
+
381 pthread_setcanceltype(PTHREAD_CANCEL_ASYNCHRONOUS,NULL);
+
382 else
+
383 pthread_setcanceltype(PTHREAD_CANCEL_DEFERRED,NULL);
+
384 }
+
385 else
+
386 {
+
387 pthread_setcancelstate(PTHREAD_CANCEL_DISABLE,NULL);
+
388 }
+
389#endif
+
390
+
391 if ( I.Owner )
+
392 I.Owner->ThreadMain();
+
393 else
+
394 I.pFN();
+
395
+
396 return 0;
+
397 }
+
398
+
399 struct Instance
+
400 {
+
401 Instance( UThreadC<void> *const &O, const UThreadC<void>::Handler &pH = 0, const bool &CE=false, const bool &CA=false )
+
402 : pFN(pH), Owner(O), Flags(0) { if ( CE ) Flags|=1; if ( CA ) Flags|=2; }
+
403
+
404 UThreadC<void>::Handler pFN;
+
405 UThreadC<void> * Owner;
+
406 unsigned char Flags;
+
407
+
408 };
+
409};
+
+
410
+
411#endif // !_U_Thread_Posix_
+ +
UMutex::unlock
int unlock() const
Definition UMutex.h:120
+
UMutex::lock
int lock() const
Definition UMutex.h:88
+ +
USemaphore::acquire
bool acquire(int n=1, int ms=0)
Definition USemaphore.h:108
+
USemaphore::release
int release(int n=1)
Definition USemaphore.h:197
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/ProgressState_8h_source.html b/preview/pr-1492/api/latest/ProgressState_8h_source.html new file mode 100644 index 00000000..3495fd6f --- /dev/null +++ b/preview/pr-1492/api/latest/ProgressState_8h_source.html @@ -0,0 +1,162 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/ProgressState.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
ProgressState.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_INCLUDE_RTABMAP_CORE_PROGRESSSTATE_H_
+
29#define CORELIB_INCLUDE_RTABMAP_CORE_PROGRESSSTATE_H_
+
30
+
31#include <rtabmap/utilite/ULogger.h>
+
32
+
33namespace rtabmap {
+
34
+
+
35class ProgressState
+
36{
+
37public:
+
38 ProgressState():canceled_(false){}
+
39 virtual bool callback(const std::string & msg) const
+
40 {
+
41 if(!msg.empty())
+
42 UDEBUG("msg=%s", msg.c_str());
+
43 return true;
+
44 }
+
45 virtual ~ProgressState(){}
+
46
+
47 void setCanceled(bool canceled)
+
48 {
+
49 canceled_ = canceled;
+
50 }
+
51 bool isCanceled() const
+
52 {
+
53 return canceled_;
+
54 }
+
55
+
56private:
+
57 bool canceled_;
+
58};
+
+
59
+
60}
+
61
+
62#endif /* CORELIB_INCLUDE_RTABMAP_CORE_PROGRESSSTATE_H_ */
+
ULogger.h
ULogger class and convenient macros.
+
UDEBUG
#define UDEBUG(...)
Definition ULogger.h:59
+ + +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/PythonInterface_8h_source.html b/preview/pr-1492/api/latest/PythonInterface_8h_source.html new file mode 100644 index 00000000..2bf6d8a3 --- /dev/null +++ b/preview/pr-1492/api/latest/PythonInterface_8h_source.html @@ -0,0 +1,143 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/PythonInterface.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
PythonInterface.h
+
+
+
1/*
+
2 * PythonInterface.h
+
3 *
+
4 * Created on: Jan. 14, 2021
+
5 * Author: mathieu
+
6 */
+
7
+
8#ifndef CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_
+
9#define CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_
+
10
+
11#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
12
+
13#include <string>
+
14#include <rtabmap/utilite/UMutex.h>
+
15
+
16namespace pybind11 {
+
17class scoped_interpreter;
+
18class gil_scoped_release;
+
19}
+
20
+
21namespace rtabmap {
+
22
+
+
28class RTABMAP_CORE_EXPORT PythonInterface
+
29{
+
30public:
+
31 // Pass a caller tag (e.g. class name) so the main-thread assertion
+
32 // can report who triggered the first construction.
+
33 static PythonInterface & instance(const std::string & caller = "");
+
34
+
35 PythonInterface(const PythonInterface &) = delete;
+
36 PythonInterface & operator=(const PythonInterface &) = delete;
+
37
+
38private:
+
39 explicit PythonInterface(const std::string & caller);
+
40 ~PythonInterface();
+
41
+
42 pybind11::scoped_interpreter* guard_;
+
43 pybind11::gil_scoped_release* release_;
+
44};
+
+
45
+
46std::string RTABMAP_CORE_EXPORT getPythonTraceback();
+
47
+
48}
+
49
+
50#endif /* CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_ */
+ + +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Recovery_8h_source.html b/preview/pr-1492/api/latest/Recovery_8h_source.html new file mode 100644 index 00000000..d3a58cf3 --- /dev/null +++ b/preview/pr-1492/api/latest/Recovery_8h_source.html @@ -0,0 +1,145 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Recovery.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+ + +
+
+
Recovery.h
+
+
+
1/*
+
2Copyright (c) 2010-2017, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef RECOVERY_H_
+
29#define RECOVERY_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <string>
+
34
+
35namespace rtabmap {
+
36
+
37class ProgressState;
+
38
+
47bool RTABMAP_CORE_EXPORT databaseRecovery(
+
48 const std::string & corruptedDatabase,
+
49 bool keepCorruptedDatabase = true,
+
50 std::string * errorMsg = 0,
+
51 ProgressState * progressState = 0);
+
52
+
53}
+
54
+
55
+
56#endif /* RECOVERY_H_ */
+ + +
rtabmap::databaseRecovery
bool RTABMAP_CORE_EXPORT databaseRecovery(const std::string &corruptedDatabase, bool keepCorruptedDatabase=true, std::string *errorMsg=0, ProgressState *progressState=0)
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/RegistrationIcp_8h_source.html b/preview/pr-1492/api/latest/RegistrationIcp_8h_source.html new file mode 100644 index 00000000..e08bacd4 --- /dev/null +++ b/preview/pr-1492/api/latest/RegistrationIcp_8h_source.html @@ -0,0 +1,220 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/RegistrationIcp.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
RegistrationIcp.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef REGISTRATIONICP_H_
+
29#define REGISTRATIONICP_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/Registration.h>
+
34#include <rtabmap/core/Signature.h>
+
35
+
36namespace rtabmap {
+
37
+
38// Geometrical registration
+
+
39class RTABMAP_CORE_EXPORT RegistrationIcp : public Registration
+
40{
+
41public:
+
+
42 enum IcpStrategy {
+
43 kIcpUndef = -1,
+
44 kIcpPCL = 0,
+
45 kIcpPointMatcher = 1,
+
46 kIcpCCCoreLib = 2,
+
47 kIcpEnd = 3
+
48 };
+
+
49
+
50public:
+
58 static bool available(IcpStrategy strategy);
+
59
+
64 static const char * strategyName(IcpStrategy strategy);
+
65
+
66 // take ownership of child
+
67 RegistrationIcp(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
+
68 RegistrationIcp(IcpStrategy strategy, const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
+
69 virtual ~RegistrationIcp();
+
70
+
71 virtual void parseParameters(const ParametersMap & parameters);
+
72
+
73protected:
+
74 virtual Transform computeTransformationImpl(
+
75 Signature & from,
+
76 Signature & to,
+
77 Transform guess,
+
78 RegistrationInfo & info) const;
+
79 virtual bool isScanRequiredImpl() const {return true;}
+
80 virtual bool canUseGuessImpl() const {return true;}
+
81 virtual float getMinGeometryCorrespondencesRatioImpl() const {return _correspondenceRatio;}
+
82
+
83private:
+
84 IcpStrategy _strategy;
+
85 float _maxTranslation;
+
86 float _maxRotation;
+
87 float _voxelSize;
+
88 int _downsamplingStep;
+
89 float _rangeMin;
+
90 float _rangeMax;
+
91 float _maxCorrespondenceDistance;
+
92 bool _reciprocalCorrespondences;
+
93 int _maxIterations;
+
94 float _epsilon;
+
95 float _correspondenceRatio;
+
96 bool _force4DoF;
+
97 int _filtersEnabled;
+
98 bool _pointToPlane;
+
99 int _pointToPlaneK;
+
100 float _pointToPlaneRadius;
+
101 float _pointToPlaneGroundNormalsUp;
+
102 float _pointToPlaneMinComplexity;
+
103 bool _pointToPlaneComplexityCentered;
+
104 int _pointToPlaneLowComplexityStrategy;
+
105 std::string _libpointmatcherConfig;
+
106 int _libpointmatcherKnn;
+
107 float _libpointmatcherEpsilon;
+
108 bool _libpointmatcherIntensity;
+
109 float _outlierRatio;
+
110 unsigned int _ccSamplingLimit;
+
111 bool _ccFilterOutFarthestPoints;
+
112 double _ccMaxFinalRMS;
+
113 std::string _debugExportFormat;
+
114 std::string _workingDir;
+
115
+
116 void * _libpointmatcherICP;
+
117 void * _libpointmatcherICPFilters;
+
118};
+
+
119
+
120}
+
121
+
122#endif /* REGISTRATIONICP_H_ */
+ + +
rtabmap::RegistrationIcp::available
static bool available(IcpStrategy strategy)
Returns true if strategy is built into this rtabmap binary.
+
rtabmap::RegistrationIcp::computeTransformationImpl
virtual Transform computeTransformationImpl(Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const
Strategy-specific registration.
+
rtabmap::RegistrationIcp::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.
+
rtabmap::RegistrationIcp::strategyName
static const char * strategyName(IcpStrategy strategy)
Human-readable name for strategy ("PCL", "libpointmatcher", "CCCoreLib", or "Unknown").
+
rtabmap::RegistrationInfo
Statistics and diagnostics returned by Registration.
Definition RegistrationInfo.h:48
+
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/RegistrationInfo_8h_source.html b/preview/pr-1492/api/latest/RegistrationInfo_8h_source.html new file mode 100644 index 00000000..ed1e5f7a --- /dev/null +++ b/preview/pr-1492/api/latest/RegistrationInfo_8h_source.html @@ -0,0 +1,232 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/RegistrationInfo.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
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+
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+
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+
RegistrationInfo.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef REGISTRATIONINFO_H_
+
29#define REGISTRATIONINFO_H_
+
30
+
31
+
32namespace rtabmap {
+
33
+
+
47class RegistrationInfo
+
48{
+
49public:
+
50 RegistrationInfo() :
+
51 totalTime(0.0),
+
52 inliers(0),
+
53 inliersRatio(0),
+
54 inliersMeanDistance(0.0f),
+
55 inliersDistribution(0.0f),
+
56 matches(0),
+
57 variance(0.0f),
+
58 icpInliersRatio(0),
+
59 icpTranslation(0.0f),
+
60 icpRotation(0.0f),
+
61 icpStructuralComplexity(0.0f),
+
62 icpStructuralDistribution(0.0f),
+
63 icpCorrespondences(0),
+
64 icpRMS(0),
+
65 icpIterations(-1)
+
66
+
67 {
+
68 }
+
69
+
+
71 RegistrationInfo copyWithoutData() const
+
72 {
+
73 RegistrationInfo output;
+
74 output.totalTime = totalTime;
+
75 output.covariance = covariance.clone();
+
76 output.rejectedMsg = rejectedMsg;
+
77 output.inliers = inliers;
+
78 output.inliersPerCam = inliersPerCam;
+
79 output.inliersMeanDistance = inliersMeanDistance;
+
80 output.inliersDistribution = inliersDistribution;
+
81 output.matches = matches;
+
82 output.matchesPerCam = matchesPerCam;
+
83 output.variance = variance;
+
84 output.icpInliersRatio = icpInliersRatio;
+
85 output.icpTranslation = icpTranslation;
+
86 output.icpRotation = icpRotation;
+
87 output.icpStructuralComplexity = icpStructuralComplexity;
+
88 output.icpStructuralDistribution = icpStructuralDistribution;
+
89 output.icpCorrespondences = icpCorrespondences;
+
90 output.icpRMS = icpRMS;
+
91 output.icpIterations = icpIterations;
+
92 return output;
+
93 }
+
+
94
+
95 cv::Mat covariance;
+
96 std::string rejectedMsg;
+
97 double totalTime;
+
99 // RegistrationVis
+
100 int inliers;
+
101 float inliersRatio;
+
102 float inliersMeanDistance;
+
103 float inliersDistribution;
+
104 std::vector<int> inliersIDs;
+
105 int matches;
+
106 float variance;
+
107 std::vector<int> matchesIDs;
+
108 std::vector<int> projectedIDs;
+
109 std::vector<int> inliersPerCam;
+
110 std::vector<int> matchesPerCam;
+
112 // RegistrationIcp
+
113 float icpInliersRatio;
+
114 float icpTranslation;
+
115 float icpRotation;
+
116 float icpStructuralComplexity;
+
117 float icpStructuralDistribution;
+
118 int icpCorrespondences;
+
119 float icpRMS;
+
120 int icpIterations;
+
121};
+
+
122
+
123}
+
124
+
125#endif /* REGISTRATIONINFO_H_ */
+
rtabmap::RegistrationInfo
Statistics and diagnostics returned by Registration.
Definition RegistrationInfo.h:48
+ +
rtabmap::RegistrationInfo::inliersPerCam
std::vector< int > inliersPerCam
Definition RegistrationInfo.h:109
+ + + + +
rtabmap::RegistrationInfo::inliersIDs
std::vector< int > inliersIDs
Definition RegistrationInfo.h:104
+ + + + + + + + + + + +
rtabmap::RegistrationInfo::matchesIDs
std::vector< int > matchesIDs
Definition RegistrationInfo.h:107
+
rtabmap::RegistrationInfo::projectedIDs
std::vector< int > projectedIDs
Definition RegistrationInfo.h:108
+
rtabmap::RegistrationInfo::matchesPerCam
std::vector< int > matchesPerCam
Definition RegistrationInfo.h:110
+
rtabmap::RegistrationInfo::copyWithoutData
RegistrationInfo copyWithoutData() const
Copies scalar metrics and covariance; omits correspondence ID vectors.
Definition RegistrationInfo.h:71
+ + +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/RegistrationVis_8h_source.html b/preview/pr-1492/api/latest/RegistrationVis_8h_source.html new file mode 100644 index 00000000..44961ecc --- /dev/null +++ b/preview/pr-1492/api/latest/RegistrationVis_8h_source.html @@ -0,0 +1,234 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/RegistrationVis.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
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+
+ + +
+
+
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+
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+ + +
+
+
RegistrationVis.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef REGISTRATIONVIS_H_
+
29#define REGISTRATIONVIS_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/Registration.h>
+
34#include <rtabmap/core/Signature.h>
+
35
+
36namespace rtabmap {
+
37
+
38class Feature2D;
+
39
+
40#ifdef RTABMAP_PYTHON
+
41class PyMatcher;
+
42#endif
+
43
+
+
60class RTABMAP_CORE_EXPORT RegistrationVis : public Registration
+
61{
+
62public:
+
64 RegistrationVis(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
+
65 virtual ~RegistrationVis();
+
66
+
68 virtual void parseParameters(const ParametersMap & parameters);
+
69
+
71 float getInlierDistance() const {return _inlierDistance;}
+
73 int getIterations() const {return _iterations;}
+
75 int getMinInliers() const {return _minInliers;}
+
77 int getNNType() const {return _nnType;}
+
79 float getNNDR() const {return _nndr;}
+
81 int getEstimationType() const {return _estimationType;}
+
82
+
84 const Feature2D * getDetector() const {return _detectorFrom;}
+
85
+
86protected:
+
87 virtual Transform computeTransformationImpl(
+
88 Signature & from,
+
89 Signature & to,
+
90 Transform guess,
+
91 RegistrationInfo & info) const;
+
92
+
93 virtual bool isImageRequiredImpl() const {return true;}
+
94 virtual bool canUseGuessImpl() const {return _correspondencesApproach != 0 || _guessWinSize>0;}
+
95 virtual int getMinVisualCorrespondencesImpl() const {return _minInliers;}
+
96
+
97private:
+
98 int _minInliers;
+
99 float _inlierDistance;
+
100 int _iterations;
+
101 int _refineIterations;
+
102 float _epipolarGeometryVar;
+
103 int _estimationType;
+
104 float _PnPReprojError;
+
105 int _PnPFlags;
+
106 int _PnPRefineIterations;
+
107 int _PnPVarMedianRatio;
+
108 float _PnPMaxVar;
+
109 bool _PnPSplitLinearCovarianceComponents;
+
110 unsigned int _multiSamplingPolicy;
+
111 int _correspondencesApproach;
+
112 int _flowWinSize;
+
113 int _flowIterations;
+
114 float _flowEps;
+
115 int _flowMaxLevel;
+
116 bool _flowGpu;
+
117 bool _flowUseMinEigenVals;
+
118 float _flowMinEigThreshold;
+
119 float _flowErrorThreshold;
+
120 float _nndr;
+
121 int _nnType;
+
122 bool _gmsWithRotation;
+
123 bool _gmsWithScale;
+
124 double _gmsThresholdFactor;
+
125 int _guessWinSize;
+
126 bool _guessMatchToProjection;
+
127 int _bundleAdjustment;
+
128 bool _depthAsMask;
+
129 float _maskFloorThreshold;
+
130 float _minInliersDistributionThr;
+
131 float _maxInliersMeanDistance;
+
132
+
133 ParametersMap _featureParameters;
+
134 ParametersMap _bundleParameters;
+
135
+
136 Feature2D * _detectorFrom;
+
137 Feature2D * _detectorTo;
+
138
+
139#ifdef RTABMAP_PYTHON
+
140 PyMatcher * _pyMatcher;
+
141#endif
+
142};
+
+
143
+
144}
+
145
+
146#endif /* REGISTRATION_H_ */
+
rtabmap::Feature2D
Abstract 2D feature detector and descriptor extractor for visual SLAM.
Definition Features2d.h:145
+
rtabmap::RegistrationInfo
Statistics and diagnostics returned by Registration.
Definition RegistrationInfo.h:48
+
rtabmap::RegistrationVis
Visual registration between two signatures using features and geometry.
Definition RegistrationVis.h:61
+
rtabmap::RegistrationVis::getDetector
const Feature2D * getDetector() const
Definition RegistrationVis.h:84
+
rtabmap::RegistrationVis::getInlierDistance
float getInlierDistance() const
Definition RegistrationVis.h:71
+
rtabmap::RegistrationVis::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parses Vis/ and feature parameters; recreates feature detectors.
+ + + +
rtabmap::RegistrationVis::computeTransformationImpl
virtual Transform computeTransformationImpl(Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const
Strategy-specific registration.
+
rtabmap::RegistrationVis::RegistrationVis
RegistrationVis(const ParametersMap &parameters=ParametersMap(), Registration *child=0)
child is owned and deleted in the destructor.
+ + +
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Registration_8h_source.html b/preview/pr-1492/api/latest/Registration_8h_source.html new file mode 100644 index 00000000..dc54d155 --- /dev/null +++ b/preview/pr-1492/api/latest/Registration_8h_source.html @@ -0,0 +1,239 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Registration.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
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+
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+
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+
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+ + +
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+
Registration.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef RTABMAP_REGISTRATION_H_
+
29#define RTABMAP_REGISTRATION_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/Parameters.h>
+
34#include <rtabmap/core/Signature.h>
+
35#include <rtabmap/core/RegistrationInfo.h>
+
36
+
37namespace rtabmap {
+
38
+
+
60class RTABMAP_CORE_EXPORT Registration
+
61{
+
62public:
+
+
64 enum Type {
+
65 kTypeUndef = -1,
+
66 kTypeVis = 0,
+
67 kTypeIcp = 1,
+
68 kTypeVisIcp = 2
+
69 };
+
+
71 static double COVARIANCE_LINEAR_EPSILON;
+
73 static double COVARIANCE_ANGULAR_EPSILON;
+
74
+
75public:
+
77 static Registration * create(const ParametersMap & parameters);
+
79 static Registration * create(Type & type, const ParametersMap & parameters = ParametersMap());
+
80
+
81public:
+
82 virtual ~Registration();
+
84 virtual void parseParameters(const ParametersMap & parameters);
+
85
+
87 bool isImageRequired() const;
+
89 bool isScanRequired() const;
+
91 bool isUserDataRequired() const;
+
92
+
94 bool canUseGuess() const;
+
95
+
97 int getMinVisualCorrespondences() const;
+
99 float getMinGeometryCorrespondencesRatio() const;
+
100
+
102 bool repeatOnce() const {return repeatOnce_;}
+
104 bool force3DoF() const {return force3DoF_;}
+
105
+
107 void setChildRegistration(Registration * child);
+
108
+
110 Transform computeTransformation(
+
111 const Signature & from,
+
112 const Signature & to,
+
113 Transform guess = Transform::getIdentity(),
+
114 RegistrationInfo * info = 0) const;
+
116 Transform computeTransformation(
+
117 const SensorData & from,
+
118 const SensorData & to,
+
119 Transform guess = Transform::getIdentity(),
+
120 RegistrationInfo * info = 0) const;
+
121
+
123 Transform computeTransformationMod(
+
124 Signature & from,
+
125 Signature & to,
+
126 Transform guess = Transform::getIdentity(),
+
127 RegistrationInfo * info = 0) const;
+
128
+
129protected:
+
131 Registration(const ParametersMap & parameters = ParametersMap(), Registration * child = 0);
+
132
+
138 virtual Transform computeTransformationImpl(
+
139 Signature & from,
+
140 Signature & to,
+
141 Transform guess,
+
142 RegistrationInfo & info) const = 0;
+
143
+
144 virtual bool isImageRequiredImpl() const {return false;}
+
145 virtual bool isScanRequiredImpl() const {return false;}
+
146 virtual bool isUserDataRequiredImpl() const {return false;}
+
147 virtual bool canUseGuessImpl() const {return false;}
+
148 virtual int getMinVisualCorrespondencesImpl() const {return 0;}
+
149 virtual float getMinGeometryCorrespondencesRatioImpl() const {return 0.0f;}
+
150
+
151private:
+
152 bool repeatOnce_;
+
153 bool force3DoF_;
+
154 Registration * child_;
+
155
+
156};
+
+
157
+
158}
+
159
+
160#endif /* RTABMAP_REGISTRATION_H_ */
+
rtabmap::RegistrationInfo
Statistics and diagnostics returned by Registration.
Definition RegistrationInfo.h:48
+
rtabmap::Registration
Abstract base for registering two observations (visual, ICP, or both).
Definition Registration.h:61
+
rtabmap::Registration::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.
+
rtabmap::Registration::create
static Registration * create(Type &type, const ParametersMap &parameters=ParametersMap())
Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.
+
rtabmap::Registration::computeTransformationImpl
virtual Transform computeTransformationImpl(Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const =0
Strategy-specific registration.
+
rtabmap::Registration::isUserDataRequired
bool isUserDataRequired() const
True if user data is needed (parent or child).
+
rtabmap::Registration::computeTransformation
Transform computeTransformation(const SensorData &from, const SensorData &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
Registers two SensorData observations (wrapped as signatures).
+
rtabmap::Registration::computeTransformationMod
Transform computeTransformationMod(Signature &from, Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
Registers from to to; signatures may be modified by the implementation.
+
rtabmap::Registration::create
static Registration * create(const ParametersMap &parameters)
Creates a registration from Reg/Strategy in parameters. Caller owns the pointer.
+
rtabmap::Registration::repeatOnce
bool repeatOnce() const
Definition Registration.h:102
+
rtabmap::Registration::COVARIANCE_LINEAR_EPSILON
static double COVARIANCE_LINEAR_EPSILON
Minimum diagonal value for linear covariance (m²).
Definition Registration.h:71
+
rtabmap::Registration::Registration
Registration(const ParametersMap &parameters=ParametersMap(), Registration *child=0)
child is owned and deleted in the destructor.
+
rtabmap::Registration::isScanRequired
bool isScanRequired() const
True if laser scans are needed (parent or child).
+
rtabmap::Registration::computeTransformation
Transform computeTransformation(const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
Registers from to to using immutable signatures (copied internally).
+
rtabmap::Registration::canUseGuess
bool canUseGuess() const
True if the strategy can refine an initial guess (parent or child).
+ +
rtabmap::Registration::getMinVisualCorrespondences
int getMinVisualCorrespondences() const
Minimum visual inliers required (max of parent and child thresholds).
+
rtabmap::Registration::setChildRegistration
void setChildRegistration(Registration *child)
Replaces child_; takes ownership of child.
+
rtabmap::Registration::getMinGeometryCorrespondencesRatio
float getMinGeometryCorrespondencesRatio() const
Minimum geometry inlier ratio required (max of parent and child thresholds).
+
rtabmap::Registration::isImageRequired
bool isImageRequired() const
True if images are needed (parent or child).
+
rtabmap::Registration::COVARIANCE_ANGULAR_EPSILON
static double COVARIANCE_ANGULAR_EPSILON
Minimum diagonal value for angular covariance (rad²).
Definition Registration.h:73
+
rtabmap::Registration::Type
Type
Registration strategy selected by Reg/Strategy.
Definition Registration.h:64
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/RtabmapEvent_8h_source.html b/preview/pr-1492/api/latest/RtabmapEvent_8h_source.html new file mode 100644 index 00000000..3fd995a4 --- /dev/null +++ b/preview/pr-1492/api/latest/RtabmapEvent_8h_source.html @@ -0,0 +1,392 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/RtabmapEvent.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
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+
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+
RtabmapEvent.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef RTABMAPEVENT_H_
+
29#define RTABMAPEVENT_H_
+
30
+
31
+
32
+
33#include <rtabmap/utilite/UEvent.h>
+
34#include <rtabmap/utilite/UVariant.h>
+
35#include "rtabmap/core/Statistics.h"
+
36#include "rtabmap/core/Parameters.h"
+
37
+
38namespace rtabmap
+
39{
+
40
+
+
42class RtabmapEvent : public UEvent
+
43{
+
44public:
+
45 RtabmapEvent(const Statistics & stats) :
+
46 UEvent(0),
+
47 _stats(stats) {}
+
48
+
49 virtual ~RtabmapEvent() {}
+
50 const Statistics & getStats() const {return _stats;}
+
51 virtual std::string getClassName() const {return std::string("RtabmapEvent");}
+
52
+
53private:
+
54 Statistics _stats;
+
55};
+
+
56
+
+
57class RtabmapEventCmd : public UEvent
+
58{
+
59public:
+
60 enum dummy {d}; // Hack, to fix Eclipse complaining about not defined Cmd enum ?!
+
61 enum Cmd {
+
62 kCmdUndef,
+
63 kCmdInit, // params: [string] database path + ParametersMap
+
64 kCmdResetMemory,
+
65 kCmdClose, // params: [bool] database saved (default true), [string] output database path (empty=use same database to save, only work when Db/Sqlite3InMemory=true)
+
66 kCmdUpdateParams, // params: ParametersMap
+
67 kCmdDumpMemory,
+
68 kCmdDumpPrediction,
+
69 kCmdGenerateDOTGraph, // params: [bool] global, [string] path, if global=false: [int] id, [int] margin
+
70 kCmdExportPoses, // params: [bool] global, [bool] optimized, [string] path, [int] type (0=raw format, 1=RGBD-SLAM format, 2=KITTI format, 3=TORO, 4=g2o)
+
71 kCmdCleanDataBuffer,
+
72 kCmdPublish3DMap, // params: [bool] global, [bool] optimized, [bool] graphOnly
+
73 kCmdRepublishData, // params: [vector<int>] ids
+
74 kCmdTriggerNewMap,
+
75 kCmdPause,
+
76 kCmdResume,
+
77 kCmdGoal, // params: [string] label or [int] location ID
+
78 kCmdCancelGoal,
+
79 kCmdLabel, // params: [string] label, [int] location ID
+
80 kCmdRemoveLabel // params: [string] label
+
81 };
+
82public:
+
83 RtabmapEventCmd(Cmd cmd, const ParametersMap & parameters = ParametersMap()) :
+
84 UEvent(0),
+
85 cmd_(cmd),
+
86 parameters_(parameters){}
+
87 RtabmapEventCmd(Cmd cmd, const UVariant & value1, const ParametersMap & parameters = ParametersMap()) :
+
88 UEvent(0),
+
89 cmd_(cmd),
+
90 value1_(value1),
+
91 parameters_(parameters){}
+
92 RtabmapEventCmd(Cmd cmd, const UVariant & value1, const UVariant & value2, const ParametersMap & parameters = ParametersMap()) :
+
93 UEvent(0),
+
94 cmd_(cmd),
+
95 value1_(value1),
+
96 value2_(value2),
+
97 parameters_(parameters){}
+
98 RtabmapEventCmd(Cmd cmd, const UVariant & value1, const UVariant & value2, const UVariant & value3, const ParametersMap & parameters = ParametersMap()) :
+
99 UEvent(0),
+
100 cmd_(cmd),
+
101 value1_(value1),
+
102 value2_(value2),
+
103 value3_(value3),
+
104 parameters_(parameters){}
+
105 RtabmapEventCmd(Cmd cmd, const UVariant & value1, const UVariant & value2, const UVariant & value3, const UVariant & value4, const ParametersMap & parameters = ParametersMap()) :
+
106 UEvent(0),
+
107 cmd_(cmd),
+
108 value1_(value1),
+
109 value2_(value2),
+
110 value3_(value3),
+
111 value4_(value4),
+
112 parameters_(parameters){}
+
113
+
114 virtual ~RtabmapEventCmd() {}
+
115 Cmd getCmd() const {return cmd_;}
+
116
+
117 const UVariant & value1() const {return value1_;}
+
118 const UVariant & value2() const {return value2_;}
+
119 const UVariant & value3() const {return value3_;}
+
120 const UVariant & value4() const {return value4_;}
+
121
+
122 const ParametersMap & getParameters() const {return parameters_;}
+
123
+
124 virtual std::string getClassName() const {return std::string("RtabmapEventCmd");}
+
125
+
126private:
+
127 Cmd cmd_;
+
128 UVariant value1_;
+
129 UVariant value2_;
+
130 UVariant value3_;
+
131 UVariant value4_;
+
132 ParametersMap parameters_;
+
133};
+
+
134
+
+
135class RtabmapEventInit : public UEvent
+
136{
+
137public:
+
138 enum dummy {d}; // Hack, to fix Eclipse complaining about not defined Status enum ?!
+
139 enum Status {
+
140 kInitializing,
+
141 kInitialized,
+
142 kClosing,
+
143 kClosed,
+
144 kInfo,
+
145 kError
+
146 };
+
147
+
148public:
+
149 RtabmapEventInit(Status status, const std::string & info = std::string()) :
+
150 UEvent(0),
+
151 _status(status),
+
152 _info(info)
+
153 {}
+
154
+
155 // for convenience
+
156 RtabmapEventInit(const std::string & info) :
+
157 UEvent(0),
+
158 _status(kInfo),
+
159 _info(info)
+
160 {}
+
161
+
162 Status getStatus() const {return _status;}
+
163 const std::string & getInfo() const {return _info;}
+
164
+
165 virtual ~RtabmapEventInit() {}
+
166 virtual std::string getClassName() const {return std::string("RtabmapEventInit");}
+
167private:
+
168 Status _status;
+
169 std::string _info; // "Loading signatures", "Loading words" ...
+
170};
+
+
171
+
+
172class RtabmapEvent3DMap : public UEvent
+
173{
+
174public:
+
175 RtabmapEvent3DMap(int codeError = 0):
+
176 UEvent(codeError){}
+
177 RtabmapEvent3DMap(
+
178 const std::map<int, Signature> & signatures,
+
179 const std::map<int, Transform> & poses,
+
180 const std::multimap<int, Link> & constraints) :
+
181 UEvent(0),
+
182 _signatures(signatures),
+
183 _poses(poses),
+
184 _constraints(constraints)
+
185 {}
+
186
+
187 virtual ~RtabmapEvent3DMap() {}
+
188
+
189 const std::map<int, Signature> & getSignatures() const {return _signatures;}
+
190 const std::map<int, Transform> & getPoses() const {return _poses;}
+
191 const std::multimap<int, Link> & getConstraints() const {return _constraints;}
+
192
+
193 virtual std::string getClassName() const {return std::string("RtabmapEvent3DMap");}
+
194
+
195private:
+
196 std::map<int, Signature> _signatures;
+
197 std::map<int, Transform> _poses;
+
198 std::multimap<int, Link> _constraints;
+
199};
+
+
200
+
+
201class RtabmapGlobalPathEvent : public UEvent
+
202{
+
203public:
+
204 RtabmapGlobalPathEvent():
+
205 UEvent(0),
+
206 _planningTime(0.0) {}
+
207 RtabmapGlobalPathEvent(
+
208 int goalId,
+
209 const std::vector<std::pair<int, Transform> > & poses,
+
210 double planningTime) :
+
211 UEvent(goalId),
+
212 _poses(poses),
+
213 _planningTime(planningTime) {}
+
214 RtabmapGlobalPathEvent(
+
215 int goalId,
+
216 const std::string & goalLabel,
+
217 const std::vector<std::pair<int, Transform> > & poses,
+
218 double planningTime) :
+
219 UEvent(goalId),
+
220 _goalLabel(goalLabel),
+
221 _poses(poses),
+
222 _planningTime(planningTime) {}
+
223
+
224 virtual ~RtabmapGlobalPathEvent() {}
+
225 int getGoal() const {return this->getCode();}
+
226 const std::string & getGoalLabel() const {return _goalLabel;}
+
227 double getPlanningTime() const {return _planningTime;}
+
228 const std::vector<std::pair<int, Transform> > & getPoses() const {return _poses;}
+
229 virtual std::string getClassName() const {return std::string("RtabmapGlobalPathEvent");}
+
230
+
231private:
+
232 std::string _goalLabel;
+
233 std::vector<std::pair<int, Transform> > _poses;
+
234 double _planningTime;
+
235};
+
+
236
+
+
237class RtabmapLabelErrorEvent : public UEvent
+
238{
+
239public:
+
240 RtabmapLabelErrorEvent(int id, const std::string & label):
+
241 UEvent(id),
+
242 _label(label){}
+
243
+
244 virtual ~RtabmapLabelErrorEvent() {}
+
245 int id() const {return this->getCode();}
+
246 const std::string & label() const {return _label;}
+
247 virtual std::string getClassName() const {return std::string("RtabmapLabelErrorEvent");}
+
248
+
249private:
+
250 std::string _label;
+
251};
+
+
252
+
+
253class RtabmapGoalStatusEvent : public UEvent
+
254{
+
255public:
+
256 RtabmapGoalStatusEvent(int status):
+
257 UEvent(status){}
+
258
+
259 virtual ~RtabmapGoalStatusEvent() {}
+
260 virtual std::string getClassName() const {return std::string("RtabmapGoalStatusEvent");}
+
261};
+
+
262
+
263} // namespace rtabmap
+
264
+
265#endif /* RTABMAPEVENT_H_ */
+
UVariant.h
UVariant class for storing and converting between different data types.
+ +
UEvent::getCode
int getCode() const
Definition UEvent.h:74
+
UVariant
A variant type that can hold values of different types.
Definition UVariant.h:54
+ +
rtabmap::RtabmapEvent3DMap::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:193
+ +
rtabmap::RtabmapEventCmd::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:124
+ +
rtabmap::RtabmapEventInit::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:166
+ +
rtabmap::RtabmapEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:51
+ +
rtabmap::RtabmapGlobalPathEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:229
+ +
rtabmap::RtabmapGoalStatusEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:260
+ +
rtabmap::RtabmapLabelErrorEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:247
+
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/RtabmapThread_8h_source.html b/preview/pr-1492/api/latest/RtabmapThread_8h_source.html new file mode 100644 index 00000000..50b7fbf0 --- /dev/null +++ b/preview/pr-1492/api/latest/RtabmapThread_8h_source.html @@ -0,0 +1,224 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/RtabmapThread.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+ + +
+
+
RtabmapThread.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef RTABMAPTHREAD_H_
+
29#define RTABMAPTHREAD_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/utilite/UThreadNode.h>
+
34#include <rtabmap/utilite/UEventsHandler.h>
+
35#include <rtabmap/utilite/USemaphore.h>
+
36#include <rtabmap/utilite/UMutex.h>
+
37
+
38#include "rtabmap/core/RtabmapEvent.h"
+
39#include "rtabmap/core/SensorData.h"
+
40#include "rtabmap/core/Parameters.h"
+
41#include "rtabmap/core/OdometryEvent.h"
+
42
+
43#include <queue>
+
44
+
45class UTimer;
+
46
+
47namespace rtabmap {
+
48
+
49class Rtabmap;
+
50
+
+
51class RTABMAP_CORE_EXPORT RtabmapThread :
+
52 public UThreadNode,
+
53 public UEventsHandler
+
54{
+
55public:
+
56 enum State {
+
57 kStateDetecting,
+
58 kStateProcessCommand
+
59 };
+
60
+
61public:
+
62 // take ownership
+
63 RtabmapThread(Rtabmap * rtabmap);
+
64 virtual ~RtabmapThread();
+
65
+
66 void clearBufferedData();
+
67 void setDetectorRate(float rate);
+
68 void setDataBufferSize(unsigned int bufferSize);
+
69 void createIntermediateNodes(bool enabled);
+
70
+
71 float getDetectorRate() const {return _rate;}
+
72 unsigned int getDataBufferSize() const {return _dataBufferMaxSize;}
+
73 bool getCreateIntermediateNodes() const {return _createIntermediateNodes;}
+
74
+
82 void close(bool databaseSaved, const std::string & databasePath = "");
+
83
+
84protected:
+
85 virtual bool handleEvent(UEvent * anEvent);
+
86
+
87private:
+
88 virtual void mainLoopBegin();
+
89 virtual void mainLoop();
+
90 virtual void mainLoopKill();
+
91 void process();
+
92 void addData(const OdometryEvent & odomEvent);
+
93 bool getData(OdometryEvent & data);
+
94 void pushNewState(State newState, const RtabmapEventCmd & cmdEvent = RtabmapEventCmd(RtabmapEventCmd::kCmdUndef));
+
95 void publishMap(bool optimized, bool full, bool graphOnly) const;
+
96
+
97private:
+
98 UMutex _stateMutex;
+
99 std::queue<State> _state;
+
100 std::queue<RtabmapEventCmd> _stateParam;
+
101
+
102 std::list<OdometryEvent> _dataBuffer;
+
103 std::list<double> _newMapEvents;
+
104 UMutex _dataMutex;
+
105 USemaphore _dataAdded;
+
106 unsigned int _dataBufferMaxSize;
+
107 float _rate;
+
108 bool _createIntermediateNodes;
+
109 double _previousStamp;
+
110
+
111 Rtabmap * _rtabmap;
+
112 bool _paused;
+
113 Transform lastPose_;
+
114 cv::Mat covariance_;
+
115
+
116 cv::Mat _userData;
+
117 UMutex _userDataMutex;
+
118};
+
+
119
+
120} /* namespace rtabmap */
+
121#endif /* RTABMAPTHREAD_H_ */
+ + + + + + + + + +
rtabmap::RtabmapThread::close
void close(bool databaseSaved, const std::string &databasePath="")
+
rtabmap::RtabmapThread::handleEvent
virtual bool handleEvent(UEvent *anEvent)
+
rtabmap::Rtabmap
Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).
Definition Rtabmap.h:194
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Rtabmap_8h_source.html b/preview/pr-1492/api/latest/Rtabmap_8h_source.html new file mode 100644 index 00000000..de5fd417 --- /dev/null +++ b/preview/pr-1492/api/latest/Rtabmap_8h_source.html @@ -0,0 +1,554 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Rtabmap.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+ + +
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+
Rtabmap.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef RTABMAP_H_
+
29#define RTABMAP_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include "rtabmap/core/Parameters.h"
+
34#include "rtabmap/core/SensorData.h"
+
35#include "rtabmap/core/Statistics.h"
+
36#include "rtabmap/core/Link.h"
+
37#include "rtabmap/core/ProgressState.h"
+
38#include "rtabmap/core/Graph.h"
+
39
+
40#include <opencv2/core/core.hpp>
+
41#include <list>
+
42#include <stack>
+
43#include <set>
+
44
+
45namespace rtabmap
+
46{
+
47
+
48class EpipolarGeometry;
+
49class Memory;
+
50class BayesFilter;
+
51class Signature;
+
52class Optimizer;
+
53
+
+
193class RTABMAP_CORE_EXPORT Rtabmap
+
194{
+
195public:
+
+
197 enum VhStrategy {
+
198 kVhNone,
+
199 kVhEpipolar,
+
200 kVhUndef
+
201 };
+
+
202
+
203public:
+
204 Rtabmap();
+
205 virtual ~Rtabmap();
+
206
+
223 bool process(
+
224 const SensorData & data,
+
225 Transform odomPose,
+
226 const cv::Mat & odomCovariance = cv::Mat::eye(6,6,CV_64FC1),
+
227 const std::vector<float> & odomVelocity = std::vector<float>(),
+
228 const std::map<std::string, float> & externalStats = std::map<std::string, float>());
+
236 bool process(
+
237 const SensorData & data,
+
238 Transform odomPose,
+
239 float odomLinearVariance,
+
240 float odomAngularVariance,
+
241 const std::vector<float> & odomVelocity = std::vector<float>(),
+
242 const std::map<std::string, float> & externalStats = std::map<std::string, float>());
+
253 bool process(
+
254 const cv::Mat & image,
+
255 int id=0, const std::map<std::string, float> & externalStats = std::map<std::string, float>());
+
256
+
271 void init(const ParametersMap & parameters, const std::string & databasePath = "", bool loadDatabaseParameters = false);
+
282 void init(const std::string & configFile = "", const std::string & databasePath = "", bool loadDatabaseParameters = false);
+
283
+
294 void close(bool databaseSaved = true, const std::string & ouputDatabasePath = "");
+
295
+
297 const std::string & getWorkingDir() const {return _wDir;}
+
299 bool isRGBDMode() const { return _rgbdSlamMode; }
+
301 int getLoopClosureId() const {return _loopClosureHypothesis.first;}
+
303 float getLoopClosureValue() const {return _loopClosureHypothesis.second;}
+
305 int getHighestHypothesisId() const {return _highestHypothesis.first;}
+
307 float getHighestHypothesisValue() const {return _highestHypothesis.second;}
+
309 int getLastLocationId() const;
+
311 std::list<int> getWM() const;
+
313 std::set<int> getSTM() const;
+
315 int getWMSize() const;
+
317 int getSTMSize() const;
+
319 std::map<int, int> getWeights() const;
+
321 int getTotalMemSize() const;
+
323 double getLastProcessTime() const {return _lastProcessTime;};
+
325 bool isInSTM(int locationId) const;
+
327 bool isIDsGenerated() const;
+
329 const Statistics & getStatistics() const;
+
331 const std::map<int, Transform> & getLocalOptimizedPoses() const {return _optimizedPoses;}
+
333 const std::multimap<int, Link> & getLocalConstraints() const {return _constraints;}
+
337 Transform getPose(int locationId) const;
+
349 Transform getMapCorrection() const {return _mapCorrection;}
+
351 const Memory * getMemory() const {return _memory;}
+
353 float getGoalReachedRadius() const {return _goalReachedRadius;}
+
355 float getLocalRadius() const {return _localRadius;}
+
363 const Transform & getLastLocalizationPose() const {return _lastLocalizationPose;}
+
364
+
369 float getTimeThreshold() const {return _maxTimeAllowed;}
+
383 void setTimeThreshold(float maxTimeAllowed);
+
388 int getMemoryThreshold() const {return _maxMemoryAllowed;}
+
399 void setMemoryThreshold(int maxMemoryAllowed);
+
400
+
448 void setInitialPose(const Transform & initialPose);
+
460 int triggerNewMap();
+
465 bool labelLocation(int id, const std::string & label);
+
481 bool setUserData(int id, const cv::Mat & data);
+
488 void generateDOTGraph(const std::string & path, int id=0, int margin=5);
+
503 void exportPoses(
+
504 const std::string & path,
+
505 bool optimized,
+
506 bool global,
+
507 int format
+
508 );
+
515 void resetMemory();
+
517 void dumpPrediction() const;
+
519 void dumpData() const;
+
524 void parseParameters(const ParametersMap & parameters);
+
526 const ParametersMap & getParameters() const {return _parameters;}
+
535 void setWorkingDirectory(std::string path);
+
544 void rejectLastLoopClosure();
+
553 void deleteLastLocation();
+
568 void setOptimizedPoses(const std::map<int, Transform> & poses, const std::multimap<int, Link> & constraints);
+
576 Signature getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) const;
+
581 RTABMAP_DEPRECATED
+
582 void get3DMap(std::map<int, Signature> & signatures,
+
583 std::map<int, Transform> & poses,
+
584 std::multimap<int, Link> & constraints,
+
585 bool optimized,
+
586 bool global) const;
+
603 void getGraph(std::map<int, Transform> & poses,
+
604 std::multimap<int, Link> & constraints,
+
605 bool optimized,
+
606 bool global,
+
607 std::map<int, Signature> * signatures = 0,
+
608 bool withImages = false,
+
609 bool withScan = false,
+
610 bool withUserData = false,
+
611 bool withGrid = false,
+
612 bool withWords = true,
+
613 bool withGlobalDescriptors = true) const;
+
624 std::map<int, Transform> getNodesInRadius(const Transform & pose, float radius, int k=0, std::map<int, float> * distsSqr=0);
+
635 std::map<int, Transform> getNodesInRadius(int nodeId, float radius, int k=0, std::map<int, float> * distsSqr=0);
+
663 int detectMoreLoopClosures(
+
664 float clusterRadiusMax = 0.5f,
+
665 float clusterAngle = M_PI/6.0f,
+
666 int iterations = 1,
+
667 bool intraSession = true,
+
668 bool interSession = true,
+
669 const ProgressState * state = 0,
+
670 float clusterRadiusMin = 0.0f,
+
671 int toFromMapId = -1);
+
684 bool globalBundleAdjustment(
+
685 int optimizerType = 1 /*g2o*/,
+
686 bool rematchFeatures = true,
+
687 int iterations = 0,
+
688 float pixelVariance = 0.0f);
+
697 int cleanupLocalGrids(
+
698 const std::map<int, Transform> & mapPoses,
+
699 const cv::Mat & map,
+
700 float xMin,
+
701 float yMin,
+
702 float cellSize,
+
703 int cropRadius = 1,
+
704 bool filterScans = false);
+
720 int refineLinks();
+
729 bool addLink(const Link & link);
+
735 cv::Mat getInformation(const cv::Mat & covariance) const;
+
750 void addNodesToRepublish(const std::vector<int> & ids);
+
773 void setDummyDictionary(bool enabled = true);
+
774
+
776 int getPathStatus() const {return _pathStatus;}
+
781 void clearPath(int status);
+
794 bool computePath(int targetNode, bool global);
+
803 bool computePath(const Transform & targetPose, float tolerance = -1.0f);
+
805 const std::vector<std::pair<int, Transform> > & getPath() const {return _path;}
+
807 std::vector<std::pair<int, Transform> > getPathNextPoses() const;
+
809 std::vector<int> getPathNextNodes() const;
+
811 int getPathCurrentGoalId() const;
+
813 unsigned int getPathCurrentIndex() const {return _pathCurrentIndex;}
+
815 unsigned int getPathCurrentGoalIndex() const {return _pathGoalIndex;}
+
817 const Transform & getPathTransformToGoal() const {return _pathTransformToGoal;}
+
818
+
843 std::map<int, Transform> getForwardWMPoses(int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const;
+
879 std::map<int, std::map<int, Transform> > getPaths(const std::map<int, Transform> & poses, const Transform & target, int maxGraphDepth = 0) const;
+
910 void adjustLikelihood(std::map<int, float> & likelihood) const;
+
911
+
912private:
+
913 void optimizeCurrentMap(int id,
+
914 bool lookInDatabase,
+
915 std::map<int, Transform> & optimizedPoses,
+
916 cv::Mat & covariance,
+
917 std::multimap<int, Link> * constraints = 0,
+
918 double * error = 0,
+
919 int * iterationsDone = 0) const;
+
920 std::map<int, Transform> optimizeGraph(
+
921 int fromId,
+
922 const std::set<int> & ids,
+
923 const std::map<int, Transform> & guessPoses,
+
924 bool lookInDatabase,
+
925 cv::Mat & covariance,
+
926 std::multimap<int, Link> * constraints = 0,
+
927 double * error = 0,
+
928 int * iterationsDone = 0) const;
+
929 std::list<std::pair<int, int> > repairGraph(
+
930 graph::MaxGraphErrors & maxGraphErrors,
+
931 std::map<int, Transform> & poses,
+
932 std::multimap<int, Link> & constraints,
+
933 double & optimizationError,
+
934 int & optimizationIterations,
+
935 cv::Mat & optimizationCovariance);
+
936 void updateGoalIndex();
+
937 bool computePath(int targetNode, std::map<int, Transform> nodes, const std::multimap<int, rtabmap::Link> & constraints);
+
938
+
939 void createGlobalScanMap();
+
940
+
941 void setupLogFiles(bool overwrite = false);
+
942 void flushStatisticLogs();
+
943
+
944private:
+
945 // Modifiable parameters
+
946 bool _publishStats;
+
947 bool _publishLastSignatureData;
+
948 bool _publishPdf;
+
949 bool _publishLikelihood;
+
950 bool _publishRAMUsage;
+
951 bool _computeRMSE;
+
952 bool _saveWMState;
+
953 float _maxTimeAllowed;
+
954 unsigned int _maxMemoryAllowed;
+
955 float _loopThr;
+
956 float _loopRatio;
+
957 float _aggressiveLoopThr;
+
958 int _virtualPlaceLikelihoodRatio;
+
959 float _maxLoopClosureDistance;
+
960 bool _verifyLoopClosureHypothesis;
+
961 unsigned int _maxRetrieved;
+
962 unsigned int _maxLocalRetrieved;
+
963 unsigned int _maxRepublished;
+
964 bool _rawDataKept;
+
965 bool _statisticLogsBufferedInRAM;
+
966 bool _statisticLogged;
+
967 bool _statisticLoggedHeaders;
+
968 bool _rgbdSlamMode;
+
969 float _rgbdLinearUpdate;
+
970 float _rgbdAngularUpdate;
+
971 float _rgbdLinearSpeedUpdate;
+
972 float _rgbdAngularSpeedUpdate;
+
973 float _newMapOdomChangeDistance;
+
974 bool _neighborLinkRefining;
+
975 bool _proximityByTime;
+
976 bool _proximityBySpace;
+
977 bool _scanMatchingIdsSavedInLinks;
+
978 bool _loopClosureIdentityGuess;
+
979 float _localRadius;
+
980 float _localImmunizationRatio;
+
981 int _proximityMaxGraphDepth;
+
982 int _proximityMaxPaths;
+
983 int _proximityMaxNeighbors;
+
984 float _proximityFilteringRadius;
+
985 bool _proximityRawPosesUsed;
+
986 float _proximityAngle;
+
987 bool _proximityOdomGuess;
+
988 double _proximityMergedScanCovFactor;
+
989 std::string _databasePath;
+
990 bool _optimizeFromGraphEnd;
+
991 float _optimizationMaxError;
+
992 float _optimizationMaxErrorRepairRadius;
+
993 bool _startNewMapOnLoopClosure;
+
994 bool _startNewMapOnGoodSignature;
+
995 float _goalReachedRadius;
+
996 bool _goalsSavedInUserData;
+
997 int _pathStuckIterations;
+
998 float _pathLinearVelocity;
+
999 float _pathAngularVelocity;
+
1000 bool _forceOdom3doF;
+
1001 bool _restartAtOrigin;
+
1002 bool _loopCovLimited;
+
1003 bool _loopGPS;
+
1004 int _maxOdomCacheSize;
+
1005 bool _localizationSmoothing;
+
1006 double _localizationPriorInf;
+
1007 bool _localizationSecondTryWithoutProximityLinks;
+
1008 bool _createGlobalScanMap;
+
1009 float _markerPriorsLinearVariance;
+
1010 float _markerPriorsAngularVariance;
+
1011
+
1012 std::pair<int, float> _loopClosureHypothesis;
+
1013 std::pair<int, float> _highestHypothesis;
+
1014 double _lastProcessTime;
+
1015 bool _someNodesHaveBeenTransferred;
+
1016 float _distanceTravelled;
+
1017 float _distanceTravelledSinceLastLocalization;
+
1018 bool _optimizeFromGraphEndChanged;
+
1019
+
1020 // Abstract classes containing all loop closure
+
1021 // strategies for a type of signature or configuration.
+
1022 EpipolarGeometry * _epipolarGeometry;
+
1023 BayesFilter * _bayesFilter;
+
1024 Optimizer * _graphOptimizer;
+
1025 ParametersMap _parameters;
+
1026
+
1027 Memory * _memory;
+
1028
+
1029 FILE* _foutFloat;
+
1030 FILE* _foutInt;
+
1031 std::list<std::string> _bufferedLogsF;
+
1032 std::list<std::string> _bufferedLogsI;
+
1033
+
1034 Statistics statistics_;
+
1035
+
1036 std::string _wDir;
+
1037
+
1038 std::map<int, Transform> _optimizedPoses;
+
1039 std::multimap<int, Link> _constraints;
+
1040 Transform _mapCorrection;
+
1041 Transform _mapCorrectionBackup;
+
1042 Transform _lastLocalizationPose;
+
1043 int _lastLocalizationNodeId;
+
1044 cv::Mat _localizationCovariance;
+
1045 std::map<int, std::pair<cv::Point3d, Transform> > _gpsGeocentricCache;
+
1046 bool _currentSessionHasGPS;
+
1047 LaserScan _globalScanMap;
+
1048 std::map<int, Transform> _globalScanMapPoses;
+
1049 std::map<int, Transform> _odomCachePoses;
+
1050 std::multimap<int, Link> _odomCacheConstraints;
+
1051 std::map<int, Transform> _markerPriors;
+
1052 std::pair<int, int> _lastRejectedLoopClosureIds;
+
1053
+
1054 std::set<int> _nodesToRepublish;
+
1055
+
1056 // Planning stuff
+
1057 int _pathStatus;
+
1058 std::vector<std::pair<int,Transform> > _path;
+
1059 std::set<unsigned int> _pathUnreachableNodes;
+
1060 unsigned int _pathCurrentIndex;
+
1061 unsigned int _pathGoalIndex;
+
1062 Transform _pathTransformToGoal;
+
1063 int _pathStuckCount;
+
1064 float _pathStuckDistance;
+
1065
+
1066 bool _dummyDictionary;
+
1067};
+
+
1068
+
1069} // namespace rtabmap
+
1070#endif /* RTABMAP_H_ */
+
rtabmap::BayesFilter
Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.
Definition BayesFilter.h:72
+ +
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
+ +
rtabmap::Memory
Three-tiered memory management (STM, WM, LTM) for RTAB-Map.
Definition Memory.h:102
+
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:88
+ +
rtabmap::Rtabmap
Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).
Definition Rtabmap.h:194
+
rtabmap::Rtabmap::setUserData
bool setUserData(int id, const cv::Mat &data)
Attaches user data to signature id, compressing it on the fly if needed.
+
rtabmap::Rtabmap::getMemory
const Memory * getMemory() const
Definition Rtabmap.h:351
+
rtabmap::Rtabmap::addNodesToRepublish
void addNodesToRepublish(const std::vector< int > &ids)
Marks node ids whose data should be re-emitted on the next process().
+
rtabmap::Rtabmap::computePath
bool computePath(const Transform &targetPose, float tolerance=-1.0f)
Plans a path in the current optimized map toward a metric goal pose.
+
rtabmap::Rtabmap::getNodesInRadius
std::map< int, Transform > getNodesInRadius(const Transform &pose, float radius, int k=0, std::map< int, float > *distsSqr=0)
Returns optimized poses within a metric radius of pose.
+
rtabmap::Rtabmap::getWMSize
int getWMSize() const
+
rtabmap::Rtabmap::setWorkingDirectory
void setWorkingDirectory(std::string path)
Sets the working directory used for dumps, logs and temporary files.
+
rtabmap::Rtabmap::init
void init(const std::string &configFile="", const std::string &databasePath="", bool loadDatabaseParameters=false)
Initializes Rtabmap from a configuration file and a database.
+
rtabmap::Rtabmap::getLoopClosureId
int getLoopClosureId() const
Definition Rtabmap.h:301
+
rtabmap::Rtabmap::getLastLocalizationPose
const Transform & getLastLocalizationPose() const
Definition Rtabmap.h:363
+
rtabmap::Rtabmap::getWeights
std::map< int, int > getWeights() const
+
rtabmap::Rtabmap::process
bool process(const cv::Mat &image, int id=0, const std::map< std::string, float > &externalStats=std::map< std::string, float >())
Appearance-only convenience overload (loop-closure detection without odometry).
+
rtabmap::Rtabmap::dumpData
void dumpData() const
Dumps the Memory state (signatures, words, dictionary) to the working directory.
+
rtabmap::Rtabmap::generateDOTGraph
void generateDOTGraph(const std::string &path, int id=0, int margin=5)
Writes a Graphviz DOT file of the pose graph.
+
rtabmap::Rtabmap::getGraph
void getGraph(std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global, std::map< int, Signature > *signatures=0, bool withImages=false, bool withScan=false, bool withUserData=false, bool withGrid=false, bool withWords=true, bool withGlobalDescriptors=true) const
Extracts a full snapshot of the current pose graph.
+
rtabmap::Rtabmap::getPathNextNodes
std::vector< int > getPathNextNodes() const
+
rtabmap::Rtabmap::getSTMSize
int getSTMSize() const
+
rtabmap::Rtabmap::triggerNewMap
int triggerNewMap()
Starts a new map session (next process() will create a fresh map id).
+
rtabmap::Rtabmap::getLocalConstraints
const std::multimap< int, Link > & getLocalConstraints() const
Definition Rtabmap.h:333
+
rtabmap::Rtabmap::setDummyDictionary
void setDummyDictionary(bool enabled=true)
Loads the visual word dictionary as ids only, without descriptors.
+
rtabmap::Rtabmap::getHighestHypothesisValue
float getHighestHypothesisValue() const
Definition Rtabmap.h:307
+
rtabmap::Rtabmap::clearPath
void clearPath(int status)
Clears the current path and sets its terminal status.
+
rtabmap::Rtabmap::isInSTM
bool isInSTM(int locationId) const
+
rtabmap::Rtabmap::parseParameters
void parseParameters(const ParametersMap &parameters)
Re-parses parameters and propagates them to owned sub-objects (Memory, BayesFilter,...
+
rtabmap::Rtabmap::getStatistics
const Statistics & getStatistics() const
+
rtabmap::Rtabmap::close
void close(bool databaseSaved=true, const std::string &ouputDatabasePath="")
Closes Rtabmap and releases the underlying Memory.
+
rtabmap::Rtabmap::isIDsGenerated
bool isIDsGenerated() const
+
rtabmap::Rtabmap::getPathCurrentGoalId
int getPathCurrentGoalId() const
+
rtabmap::Rtabmap::getPath
const std::vector< std::pair< int, Transform > > & getPath() const
Definition Rtabmap.h:805
+
rtabmap::Rtabmap::detectMoreLoopClosures
int detectMoreLoopClosures(float clusterRadiusMax=0.5f, float clusterAngle=M_PI/6.0f, int iterations=1, bool intraSession=true, bool interSession=true, const ProgressState *state=0, float clusterRadiusMin=0.0f, int toFromMapId=-1)
Post-processing: searches for additional loop closures over the existing graph.
+
rtabmap::Rtabmap::getGoalReachedRadius
float getGoalReachedRadius() const
Definition Rtabmap.h:353
+
rtabmap::Rtabmap::getWorkingDir
const std::string & getWorkingDir() const
Definition Rtabmap.h:297
+
rtabmap::Rtabmap::refineLinks
int refineLinks()
Re-runs registration on every link of the current graph and updates the ones that converge.
+
rtabmap::Rtabmap::setMemoryThreshold
void setMemoryThreshold(int maxMemoryAllowed)
Sets the maximum number of signatures kept in WM (0 = unbounded).
+
rtabmap::Rtabmap::isRGBDMode
bool isRGBDMode() const
Definition Rtabmap.h:299
+
rtabmap::Rtabmap::getLocalRadius
float getLocalRadius() const
Definition Rtabmap.h:355
+
rtabmap::Rtabmap::init
void init(const ParametersMap &parameters, const std::string &databasePath="", bool loadDatabaseParameters=false)
Initializes Rtabmap with parameters and a database.
+
rtabmap::Rtabmap::getSignatureCopy
Signature getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) const
Returns a copy of signature id with optional payloads attached.
+
rtabmap::Rtabmap::getPathCurrentGoalIndex
unsigned int getPathCurrentGoalIndex() const
Definition Rtabmap.h:815
+
rtabmap::Rtabmap::setOptimizedPoses
void setOptimizedPoses(const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints)
Replaces the current optimized poses and constraints with externally provided ones.
+
rtabmap::Rtabmap::getMapCorrection
Transform getMapCorrection() const
Definition Rtabmap.h:349
+
rtabmap::Rtabmap::getSTM
std::set< int > getSTM() const
+
rtabmap::Rtabmap::setTimeThreshold
void setTimeThreshold(float maxTimeAllowed)
Sets the per-iteration time budget (ms).
+
rtabmap::Rtabmap::getForwardWMPoses
std::map< int, Transform > getForwardWMPoses(int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const
Returns optimized poses of WM nodes located in front of fromId.
+
rtabmap::Rtabmap::getMemoryThreshold
int getMemoryThreshold() const
Definition Rtabmap.h:388
+
rtabmap::Rtabmap::getLastProcessTime
double getLastProcessTime() const
Definition Rtabmap.h:323
+
rtabmap::Rtabmap::process
bool process(const SensorData &data, Transform odomPose, float odomLinearVariance, float odomAngularVariance, const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >())
Convenience overload: builds a diagonal covariance from scalar variances.
+
rtabmap::Rtabmap::getLastLocationId
int getLastLocationId() const
+
rtabmap::Rtabmap::getPathCurrentIndex
unsigned int getPathCurrentIndex() const
Definition Rtabmap.h:813
+
rtabmap::Rtabmap::setInitialPose
void setInitialPose(const Transform &initialPose)
Sets the localization prior pose used to seed the next process() call (localization mode only).
+
rtabmap::Rtabmap::getParameters
const ParametersMap & getParameters() const
Definition Rtabmap.h:526
+
rtabmap::Rtabmap::getNodesInRadius
std::map< int, Transform > getNodesInRadius(int nodeId, float radius, int k=0, std::map< int, float > *distsSqr=0)
Returns optimized poses within a metric radius of node nodeId.
+
rtabmap::Rtabmap::adjustLikelihood
void adjustLikelihood(std::map< int, float > &likelihood) const
Applies the standard RTAB-Map likelihood adjustment.
+
rtabmap::Rtabmap::rejectLastLoopClosure
void rejectLastLoopClosure()
Removes the loop-closure link added at the last process() iteration.
+
rtabmap::Rtabmap::globalBundleAdjustment
bool globalBundleAdjustment(int optimizerType=1, bool rematchFeatures=true, int iterations=0, float pixelVariance=0.0f)
Runs a global bundle adjustment over the optimized graph.
+
rtabmap::Rtabmap::getHighestHypothesisId
int getHighestHypothesisId() const
Definition Rtabmap.h:305
+
rtabmap::Rtabmap::getTotalMemSize
int getTotalMemSize() const
+
rtabmap::Rtabmap::computePath
bool computePath(int targetNode, bool global)
Plans a path from the current location to node targetNode.
+
rtabmap::Rtabmap::getPose
Transform getPose(int locationId) const
+
rtabmap::Rtabmap::cleanupLocalGrids
int cleanupLocalGrids(const std::map< int, Transform > &mapPoses, const cv::Mat &map, float xMin, float yMin, float cellSize, int cropRadius=1, bool filterScans=false)
Filters spurious obstacles from every node's local grid using a reference 2D map.
+
rtabmap::Rtabmap::dumpPrediction
void dumpPrediction() const
Dumps the Bayes-filter prediction matrix to a file in the working directory.
+
rtabmap::Rtabmap::getPaths
std::map< int, std::map< int, Transform > > getPaths(const std::map< int, Transform > &poses, const Transform &target, int maxGraphDepth=0) const
Segments a set of optimized poses into paths connected by neighbor links.
+
rtabmap::Rtabmap::process
bool process(const SensorData &data, Transform odomPose, const cv::Mat &odomCovariance=cv::Mat::eye(6, 6, CV_64FC1), const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >())
Main RTAB-Map iteration: ingests one sensor frame and updates the map.
+
rtabmap::Rtabmap::getLoopClosureValue
float getLoopClosureValue() const
Definition Rtabmap.h:303
+
rtabmap::Rtabmap::getWM
std::list< int > getWM() const
+
rtabmap::Rtabmap::get3DMap
RTABMAP_DEPRECATED void get3DMap(std::map< int, Signature > &signatures, std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global) const
Deprecated: use getGraph() instead with withImages=true, withScan=true, withUserData=true and withGri...
+
rtabmap::Rtabmap::getLocalOptimizedPoses
const std::map< int, Transform > & getLocalOptimizedPoses() const
Definition Rtabmap.h:331
+
rtabmap::Rtabmap::getPathTransformToGoal
const Transform & getPathTransformToGoal() const
Definition Rtabmap.h:817
+
rtabmap::Rtabmap::deleteLastLocation
void deleteLastLocation()
Deletes the most recent (non-intermediate) location from the map.
+
rtabmap::Rtabmap::getInformation
cv::Mat getInformation(const cv::Mat &covariance) const
Converts an odometry covariance into an information matrix, clipping by Memory::getOdomMaxInf() when ...
+
rtabmap::Rtabmap::addLink
bool addLink(const Link &link)
Adds an external link to the map.
+
rtabmap::Rtabmap::exportPoses
void exportPoses(const std::string &path, bool optimized, bool global, int format)
Exports the current pose graph to a text file.
+
rtabmap::Rtabmap::resetMemory
void resetMemory()
Clears all in-memory state and resets the database.
+
rtabmap::Rtabmap::labelLocation
bool labelLocation(int id, const std::string &label)
Assigns or clears a label on signature id.
+
rtabmap::Rtabmap::getTimeThreshold
float getTimeThreshold() const
Definition Rtabmap.h:369
+
rtabmap::Rtabmap::getPathNextPoses
std::vector< std::pair< int, Transform > > getPathNextPoses() const
+
rtabmap::Rtabmap::VhStrategy
VhStrategy
Loop-closure verification strategy.
Definition Rtabmap.h:197
+
rtabmap::Rtabmap::kVhEpipolar
@ kVhEpipolar
Epipolar geometry verification (mostly historical, RGB-only mode).
Definition Rtabmap.h:199
+
rtabmap::Rtabmap::kVhNone
@ kVhNone
No verification: the highest hypothesis above threshold is accepted.
Definition Rtabmap.h:198
+
rtabmap::Rtabmap::getPathStatus
int getPathStatus() const
Definition Rtabmap.h:776
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
rtabmap::graph::MaxGraphErrors
Largest pose-graph constraint violations after optimization.
Definition Graph.h:232
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/SensorCaptureInfo_8h_source.html b/preview/pr-1492/api/latest/SensorCaptureInfo_8h_source.html new file mode 100644 index 00000000..7b8c9a18 --- /dev/null +++ b/preview/pr-1492/api/latest/SensorCaptureInfo_8h_source.html @@ -0,0 +1,207 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/SensorCaptureInfo.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
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+
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+
SensorCaptureInfo.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/Transform.h"
+
31#include <string>
+
32
+
33namespace rtabmap
+
34{
+
35
+
+
64class SensorCaptureInfo
+
65{
+
66
+
67public:
+
+
80 SensorCaptureInfo() :
+
81 cameraName(""),
+
82 id(0),
+
83 stamp(0.0),
+
84 timeCapture(0.0f),
+
85 timeDeskewing(0.0f),
+
86 timeDisparity(0.0f),
+
87 timeMirroring(0.0f),
+
88 timeStereoExposureCompensation(0.0f),
+
89 timeImageDecimation(0.0f),
+
90 timeHistogramEqualization(0.0f),
+
91 timeScanFromDepth(0.0f),
+
92 timeUndistortDepth(0.0f),
+
93 timeBilateralFiltering(0.0f),
+
94 timeTotal(0.0f),
+
95 odomCovariance(cv::Mat::eye(6,6,CV_64FC1))
+
96 {
+
97 }
+
+
98
+
102 virtual ~SensorCaptureInfo() {}
+
103
+
104 std::string cameraName;
+
105 int id;
+
106 double stamp;
+
107
+
108 // Timing information (all in seconds)
+
109 float timeCapture;
+
110 float timeDeskewing;
+
111 float timeDisparity;
+
112 float timeMirroring;
+
113 float timeStereoExposureCompensation;
+
114 float timeImageDecimation;
+
115 float timeHistogramEqualization;
+
116 float timeScanFromDepth;
+
117 float timeUndistortDepth;
+
118 float timeBilateralFiltering;
+
119 float timeTotal;
+
120
+
121 // Odometry information
+
122 Transform odomPose;
+
123 cv::Mat odomCovariance;
+
124 std::vector<float> odomVelocity;
+
125};
+
+
126
+
133RTABMAP_DEPRECATED typedef SensorCaptureInfo CameraInfo;
+
134
+
135} // namespace rtabmap
+
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorCaptureInfo::timeBilateralFiltering
float timeBilateralFiltering
Time for bilateral filtering of depth (seconds)
Definition SensorCaptureInfo.h:118
+
rtabmap::SensorCaptureInfo::timeScanFromDepth
float timeScanFromDepth
Time to convert depth image to laser scan (seconds)
Definition SensorCaptureInfo.h:116
+
rtabmap::SensorCaptureInfo::timeCapture
float timeCapture
Time to capture data from the sensor (seconds)
Definition SensorCaptureInfo.h:109
+
rtabmap::SensorCaptureInfo::id
int id
Capture ID (typically matches SensorData ID)
Definition SensorCaptureInfo.h:105
+
rtabmap::SensorCaptureInfo::timeMirroring
float timeMirroring
Time for image mirroring/flipping (seconds)
Definition SensorCaptureInfo.h:112
+
rtabmap::SensorCaptureInfo::timeStereoExposureCompensation
float timeStereoExposureCompensation
Time for stereo exposure compensation (seconds)
Definition SensorCaptureInfo.h:113
+
rtabmap::SensorCaptureInfo::~SensorCaptureInfo
virtual ~SensorCaptureInfo()
Virtual destructor.
Definition SensorCaptureInfo.h:102
+
rtabmap::SensorCaptureInfo::odomPose
Transform odomPose
Odometry pose at the time of capture (in odometry coordinate frame)
Definition SensorCaptureInfo.h:122
+
rtabmap::SensorCaptureInfo::odomVelocity
std::vector< float > odomVelocity
6DOF odometry velocity [vx, vy, vz, vroll, vpitch, vyaw] (m/s, rad/s)
Definition SensorCaptureInfo.h:124
+
rtabmap::SensorCaptureInfo::SensorCaptureInfo
SensorCaptureInfo()
Default constructor.
Definition SensorCaptureInfo.h:80
+
rtabmap::SensorCaptureInfo::cameraName
std::string cameraName
Camera/sensor name identifier.
Definition SensorCaptureInfo.h:104
+
rtabmap::SensorCaptureInfo::odomCovariance
cv::Mat odomCovariance
Odometry twist covariance matrix (6x6, CV_64FC1). Default: identity matrix.
Definition SensorCaptureInfo.h:123
+
rtabmap::SensorCaptureInfo::timeDeskewing
float timeDeskewing
Time for laser scan deskewing (seconds)
Definition SensorCaptureInfo.h:110
+
rtabmap::SensorCaptureInfo::timeTotal
float timeTotal
Total processing time (seconds)
Definition SensorCaptureInfo.h:119
+
rtabmap::SensorCaptureInfo::timeHistogramEqualization
float timeHistogramEqualization
Time for histogram equalization (seconds)
Definition SensorCaptureInfo.h:115
+
rtabmap::SensorCaptureInfo::stamp
double stamp
Timestamp in seconds (typically matches SensorData stamp)
Definition SensorCaptureInfo.h:106
+
rtabmap::SensorCaptureInfo::timeImageDecimation
float timeImageDecimation
Time for image decimation/downsampling (seconds)
Definition SensorCaptureInfo.h:114
+
rtabmap::SensorCaptureInfo::timeDisparity
float timeDisparity
Time to compute stereo disparity (seconds)
Definition SensorCaptureInfo.h:111
+
rtabmap::SensorCaptureInfo::timeUndistortDepth
float timeUndistortDepth
Time to undistort depth image (seconds)
Definition SensorCaptureInfo.h:117
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
rtabmap::CameraInfo
RTABMAP_DEPRECATED typedef SensorCaptureInfo CameraInfo
Backward compatibility typedef.
Definition SensorCaptureInfo.h:133
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/SensorCaptureThread_8h_source.html b/preview/pr-1492/api/latest/SensorCaptureThread_8h_source.html new file mode 100644 index 00000000..af749afd --- /dev/null +++ b/preview/pr-1492/api/latest/SensorCaptureThread_8h_source.html @@ -0,0 +1,358 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/SensorCaptureThread.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
SensorCaptureThread.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
31
+
32#include <rtabmap/core/Parameters.h>
+
33#include <rtabmap/core/Transform.h>
+
34#include <rtabmap/utilite/UThread.h>
+
35#include <rtabmap/utilite/UEventsSender.h>
+
36
+
37namespace clams
+
38{
+
39class DiscreteDepthDistortionModel;
+
40}
+
41
+
42namespace rtabmap
+
43{
+
44
+
45class Camera;
+
46class Lidar;
+
47class SensorCapture;
+
48class SensorCaptureInfo;
+
49class SensorData;
+
50class StereoDense;
+
51class IMUFilter;
+
52class Feature2D;
+
53
+
+
97class RTABMAP_CORE_EXPORT SensorCaptureThread :
+
98 public UThread,
+
99 public UEventsSender
+
100{
+
101public:
+
113 SensorCaptureThread(
+
114 Camera * camera,
+
115 const ParametersMap & parameters = ParametersMap());
+
116
+
136 SensorCaptureThread(
+
137 Camera * camera,
+
138 SensorCapture * odomSensor,
+
139 const Transform & extrinsics,
+
140 double poseTimeOffset = 0.0,
+
141 float poseScaleFactor = 1.0f,
+
142 double poseWaitTime = 0.1,
+
143 const ParametersMap & parameters = ParametersMap());
+
144
+
155 SensorCaptureThread(
+
156 Lidar * lidar,
+
157 const ParametersMap & parameters = ParametersMap());
+
158
+
170 SensorCaptureThread(
+
171 Lidar * lidar,
+
172 Camera * camera,
+
173 const ParametersMap & parameters = ParametersMap());
+
174
+
194 SensorCaptureThread(
+
195 Lidar * lidar,
+
196 SensorCapture * odomSensor,
+
197 double poseTimeOffset = 0.0,
+
198 float poseScaleFactor = 1.0f,
+
199 double poseWaitTime = 0.1,
+
200 const ParametersMap & parameters = ParametersMap());
+
201
+
224 SensorCaptureThread(
+
225 Lidar * lidar,
+
226 Camera * camera,
+
227 SensorCapture * odomSensor,
+
228 const Transform & extrinsics,
+
229 double poseTimeOffset = 0.0,
+
230 float poseScaleFactor = 1.0f,
+
231 double poseWaitTime = 0.1,
+
232 const ParametersMap & parameters = ParametersMap());
+
233
+
239 virtual ~SensorCaptureThread();
+
240
+
245 void setMirroringEnabled(bool enabled) {_mirroring = enabled;}
+
246
+
255 void setStereoExposureCompensation(bool enabled) {_stereoExposureCompensation = enabled;}
+
256
+
261 void setColorOnly(bool colorOnly) {_colorOnly = colorOnly;}
+
262
+
271 void setImageDecimation(int decimation) {_imageDecimation = decimation;}
+
272
+
287 void setHistogramMethod(int histogramMethod) {_histogramMethod = histogramMethod;}
+
288
+
296 void setStereoToDepth(bool enabled) {_stereoToDepth = enabled;}
+
297
+
306 void setFrameRate(float frameRate);
+
307
+
312 RTABMAP_DEPRECATED void setImageRate(float frameRate) {setFrameRate(frameRate);}
+
313
+
330 void setDistortionModel(const std::string & path);
+
331
+
340 void setOdomAsGroundTruth(bool enabled) {_odomAsGt = enabled;}
+
341
+
350 void enableBilateralFiltering(float sigmaS, float sigmaR);
+
351
+
355 void disableBilateralFiltering() {_bilateralFiltering = false;}
+
356
+
374 void enableIMUFiltering(int filteringStrategy=1, const ParametersMap & parameters = ParametersMap(), bool baseFrameConversion = false);
+
375
+
379 void disableIMUFiltering();
+
380
+
394 void enableFeatureDetection(const ParametersMap & parameters = ParametersMap());
+
395
+
399 void disableFeatureDetection();
+
400
+
409 RTABMAP_DEPRECATED void setScanParameters(
+
410 bool fromDepth,
+
411 int downsampleStep, // decimation of the depth image in case the scan is from depth image
+
412 float rangeMin,
+
413 float rangeMax,
+
414 float voxelSize,
+
415 int normalsK,
+
416 float normalsRadius,
+
417 bool forceGroundNormalsUp,
+
418 bool deskewing);
+
419
+
440 void setScanParameters(
+
441 bool fromDepth,
+
442 int downsampleStep=1, // decimation of the depth image in case the scan is from depth image
+
443 float rangeMin=0.0f,
+
444 float rangeMax=0.0f,
+
445 float voxelSize = 0.0f,
+
446 int normalsK = 0,
+
447 float normalsRadius = 0.0f,
+
448 float groundNormalsUp = 0.0f,
+
449 bool deskewing = false);
+
450
+
461 void postUpdate(SensorData * data, SensorCaptureInfo * info = 0) const;
+
462
+
463 // Getters
+
464
+
469 bool isPaused() const {return !this->isRunning();}
+
470
+
475 bool isCapturing() const {return this->isRunning();}
+
476
+
481 bool odomProvided() const;
+
482
+
487 Camera * camera() {return _camera;}
+
488
+
493 SensorCapture * odomSensor() {return _odomSensor;}
+
494
+
499 Lidar * lidar() {return _lidar;}
+
500
+
501private:
+
507 virtual void mainLoopBegin();
+
508
+
515 virtual void mainLoop();
+
516
+
522 virtual void mainLoopKill();
+
523
+
524private:
+
525 Camera * _camera;
+
526 SensorCapture * _odomSensor;
+
527 Lidar * _lidar;
+
528 Transform _extrinsicsOdomToCamera;
+
529 bool _odomAsGt;
+
530 double _poseTimeOffset;
+
531 float _poseScaleFactor;
+
532 double _poseWaitTime;
+
533 bool _mirroring;
+
534 bool _stereoExposureCompensation;
+
535 bool _colorOnly;
+
536 int _imageDecimation;
+
537 int _histogramMethod;
+
538 bool _stereoToDepth;
+
539 bool _scanDeskewing;
+
540 bool _scanFromDepth;
+
541 int _scanDownsampleStep;
+
542 float _scanRangeMin;
+
543 float _scanRangeMax;
+
544 float _scanVoxelSize;
+
545 int _scanNormalsK;
+
546 float _scanNormalsRadius;
+
547 float _scanForceGroundNormalsUp;
+
548 StereoDense * _stereoDense;
+
549 clams::DiscreteDepthDistortionModel * _distortionModel;
+
550 bool _bilateralFiltering;
+
551 float _bilateralSigmaS;
+
552 float _bilateralSigmaR;
+
553 IMUFilter * _imuFilter;
+
554 bool _imuBaseFrameConversion;
+
555 Feature2D * _featureDetector;
+
556 bool _depthAsMask;
+
557};
+
+
558
+
565RTABMAP_DEPRECATED typedef SensorCaptureThread CameraThread;
+
566
+
567} // namespace rtabmap
+ + + + +
rtabmap::Feature2D
Abstract 2D feature detector and descriptor extractor for visual SLAM.
Definition Features2d.h:145
+
rtabmap::IMUFilter
Fuses gyroscope and accelerometer samples into an orientation quaternion.
Definition IMUFilter.h:59
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorCaptureThread
Thread-based sensor data capture and event posting for RTAB-Map.
Definition SensorCaptureThread.h:100
+
rtabmap::SensorCaptureThread::setScanParameters
void setScanParameters(bool fromDepth, int downsampleStep=1, float rangeMin=0.0f, float rangeMax=0.0f, float voxelSize=0.0f, int normalsK=0, float normalsRadius=0.0f, float groundNormalsUp=0.0f, bool deskewing=false)
Sets lidar scan processing parameters.
+
rtabmap::SensorCaptureThread::odomSensor
SensorCapture * odomSensor()
Returns the odometry sensor pointer.
Definition SensorCaptureThread.h:493
+
rtabmap::SensorCaptureThread::setMirroringEnabled
void setMirroringEnabled(bool enabled)
Enables or disables image mirroring (horizontal flip)
Definition SensorCaptureThread.h:245
+
rtabmap::SensorCaptureThread::setImageRate
RTABMAP_DEPRECATED void setImageRate(float frameRate)
Sets the target image capture rate (deprecated)
Definition SensorCaptureThread.h:312
+
rtabmap::SensorCaptureThread::SensorCaptureThread
SensorCaptureThread(Lidar *lidar, Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
Constructor for lidar with camera and odometry sensor.
+
rtabmap::SensorCaptureThread::setStereoExposureCompensation
void setStereoExposureCompensation(bool enabled)
Enables or disables stereo exposure compensation.
Definition SensorCaptureThread.h:255
+
rtabmap::SensorCaptureThread::setHistogramMethod
void setHistogramMethod(int histogramMethod)
Sets histogram equalization method.
Definition SensorCaptureThread.h:287
+
rtabmap::SensorCaptureThread::setScanParameters
RTABMAP_DEPRECATED void setScanParameters(bool fromDepth, int downsampleStep, float rangeMin, float rangeMax, float voxelSize, int normalsK, float normalsRadius, bool forceGroundNormalsUp, bool deskewing)
Sets lidar scan processing parameters (deprecated)
+
rtabmap::SensorCaptureThread::setFrameRate
void setFrameRate(float frameRate)
Sets the target frame rate for capture.
+
rtabmap::SensorCaptureThread::enableBilateralFiltering
void enableBilateralFiltering(float sigmaS, float sigmaR)
Enables bilateral filtering for depth images.
+
rtabmap::SensorCaptureThread::isPaused
bool isPaused() const
Checks if the capture thread is paused.
Definition SensorCaptureThread.h:469
+
rtabmap::SensorCaptureThread::postUpdate
void postUpdate(SensorData *data, SensorCaptureInfo *info=0) const
Post-processing hook called before posting SensorEvent.
+
rtabmap::SensorCaptureThread::disableBilateralFiltering
void disableBilateralFiltering()
Disables bilateral filtering.
Definition SensorCaptureThread.h:355
+
rtabmap::SensorCaptureThread::SensorCaptureThread
SensorCaptureThread(Lidar *lidar, SensorCapture *odomSensor, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
Constructor for lidar with odometry sensor.
+
rtabmap::SensorCaptureThread::setOdomAsGroundTruth
void setOdomAsGroundTruth(bool enabled)
Sets whether odometry poses should be treated as ground truth.
Definition SensorCaptureThread.h:340
+
rtabmap::SensorCaptureThread::setColorOnly
void setColorOnly(bool colorOnly)
Sets whether to capture color images only (skip depth)
Definition SensorCaptureThread.h:261
+
rtabmap::SensorCaptureThread::setImageDecimation
void setImageDecimation(int decimation)
Sets image decimation factor.
Definition SensorCaptureThread.h:271
+
rtabmap::SensorCaptureThread::disableIMUFiltering
void disableIMUFiltering()
Disables IMU data filtering.
+
rtabmap::SensorCaptureThread::SensorCaptureThread
SensorCaptureThread(Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
Constructor for camera with odometry sensor.
+
rtabmap::SensorCaptureThread::SensorCaptureThread
SensorCaptureThread(Lidar *lidar, const ParametersMap &parameters=ParametersMap())
Constructor for lidar-only capture.
+
rtabmap::SensorCaptureThread::odomProvided
bool odomProvided() const
Checks if odometry is provided by the sensors.
+
rtabmap::SensorCaptureThread::enableIMUFiltering
void enableIMUFiltering(int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
Enables IMU data filtering.
+
rtabmap::SensorCaptureThread::SensorCaptureThread
SensorCaptureThread(Lidar *lidar, Camera *camera, const ParametersMap &parameters=ParametersMap())
Constructor for lidar with camera.
+
rtabmap::SensorCaptureThread::enableFeatureDetection
void enableFeatureDetection(const ParametersMap &parameters=ParametersMap())
Enables automatic feature detection on captured images.
+
rtabmap::SensorCaptureThread::lidar
Lidar * lidar()
Returns the lidar pointer.
Definition SensorCaptureThread.h:499
+
rtabmap::SensorCaptureThread::setDistortionModel
void setDistortionModel(const std::string &path)
Sets the depth distortion model file path.
+
rtabmap::SensorCaptureThread::isCapturing
bool isCapturing() const
Checks if the capture thread is actively capturing.
Definition SensorCaptureThread.h:475
+
rtabmap::SensorCaptureThread::SensorCaptureThread
SensorCaptureThread(Camera *camera, const ParametersMap &parameters=ParametersMap())
Constructor for camera-only capture.
+
rtabmap::SensorCaptureThread::camera
Camera * camera()
Returns the camera pointer.
Definition SensorCaptureThread.h:487
+
rtabmap::SensorCaptureThread::setStereoToDepth
void setStereoToDepth(bool enabled)
Enables or disables stereo-to-depth conversion.
Definition SensorCaptureThread.h:296
+
rtabmap::SensorCaptureThread::disableFeatureDetection
void disableFeatureDetection()
Disables automatic feature detection.
+
rtabmap::SensorCaptureThread::~SensorCaptureThread
virtual ~SensorCaptureThread()
Virtual destructor.
+
rtabmap::SensorCapture
Abstract base class for sensor data capture (cameras, lidars, etc.)
Definition SensorCapture.h:79
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::StereoDense
Abstract base class for dense stereo matching algorithms.
Definition StereoDense.h:53
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
rtabmap::CameraThread
RTABMAP_DEPRECATED typedef SensorCaptureThread CameraThread
Backward compatibility typedef.
Definition SensorCaptureThread.h:565
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/SensorCapture_8h_source.html b/preview/pr-1492/api/latest/SensorCapture_8h_source.html new file mode 100644 index 00000000..05e5a470 --- /dev/null +++ b/preview/pr-1492/api/latest/SensorCapture_8h_source.html @@ -0,0 +1,206 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/SensorCapture.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
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+
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+
SensorCapture.h
+
+
+
1/*
+
2Copyright (c) 2010-2022, Mathieu Labbe
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither names of its contributors may be used to endorse or promote products
+
13 derived from this software without specific prior written permission.
+
14
+
15THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
16ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
17WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
18DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
19DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
20(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
21LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
22ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
23(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
24SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
25*/
+
26
+
27#pragma once
+
28
+
29#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
30
+
31#include <opencv2/highgui/highgui.hpp>
+
32#include <rtabmap/core/SensorCaptureInfo.h>
+
33#include "rtabmap/core/SensorData.h"
+
34#include <set>
+
35#include <stack>
+
36#include <list>
+
37#include <vector>
+
38
+
39class UDirectory;
+
40class UTimer;
+
41
+
42namespace rtabmap
+
43{
+
44
+
+
78class RTABMAP_CORE_EXPORT SensorCapture
+
79{
+
80public:
+
84 virtual ~SensorCapture();
+
85
+
107 SensorData takeData(SensorCaptureInfo * info = 0);
+
108
+
126 virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "") = 0;
+
127
+
137 virtual std::string getSerial() const = 0;
+
138
+
152 virtual bool odomProvided() const { return false; }
+
153
+
172 virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.06) { return false; }
+
173
+
174 // Getters
+
175
+
180 float getFrameRate() const {return _frameRate;}
+
181
+
186 const Transform & getLocalTransform() const {return _localTransform;}
+
187
+
188 // Setters
+
189
+
200 void setFrameRate(float frameRate) {_frameRate = frameRate;}
+
201
+
210 void setLocalTransform(const Transform & localTransform) {_localTransform= localTransform;}
+
211
+
218 void resetTimer();
+
219
+
220protected:
+
231 SensorCapture(float frameRate = 0, const Transform & localTransform = Transform::getIdentity());
+
232
+
254 virtual SensorData captureData(SensorCaptureInfo * info = 0) = 0;
+
255
+
264 int getNextSeqID() {return ++_seq;}
+
265
+
266private:
+
267 float _frameRate;
+
268 Transform _localTransform;
+
269 UTimer * _frameRateTimer;
+
270 int _seq;
+
271};
+
+
272
+
273
+
274} // namespace rtabmap
+ + +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorCapture
Abstract base class for sensor data capture (cameras, lidars, etc.)
Definition SensorCapture.h:79
+
rtabmap::SensorCapture::~SensorCapture
virtual ~SensorCapture()
Virtual destructor.
+
rtabmap::SensorCapture::setLocalTransform
void setLocalTransform(const Transform &localTransform)
Sets the local transform from base frame to sensor frame.
Definition SensorCapture.h:210
+
rtabmap::SensorCapture::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")=0
Initializes the sensor.
+
rtabmap::SensorCapture::setFrameRate
void setFrameRate(float frameRate)
Sets the target frame rate.
Definition SensorCapture.h:200
+
rtabmap::SensorCapture::getPose
virtual bool getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
Gets the sensor's pose estimate at a specific timestamp.
Definition SensorCapture.h:172
+
rtabmap::SensorCapture::getSerial
virtual std::string getSerial() const =0
Returns the sensor's serial number or unique identifier.
+
rtabmap::SensorCapture::captureData
virtual SensorData captureData(SensorCaptureInfo *info=0)=0
Pure virtual method to capture sensor data.
+
rtabmap::SensorCapture::getLocalTransform
const Transform & getLocalTransform() const
Returns the local transform from base frame to sensor frame.
Definition SensorCapture.h:186
+
rtabmap::SensorCapture::takeData
SensorData takeData(SensorCaptureInfo *info=0)
Captures sensor data with frame rate control.
+
rtabmap::SensorCapture::getNextSeqID
int getNextSeqID()
Gets the next sequence ID.
Definition SensorCapture.h:264
+
rtabmap::SensorCapture::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())
Protected constructor.
+
rtabmap::SensorCapture::odomProvided
virtual bool odomProvided() const
Checks if the sensor provides odometry poses.
Definition SensorCapture.h:152
+
rtabmap::SensorCapture::getFrameRate
float getFrameRate() const
Returns the target frame rate.
Definition SensorCapture.h:180
+
rtabmap::SensorCapture::resetTimer
void resetTimer()
Resets the frame rate timer.
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/SensorData_8h_source.html b/preview/pr-1492/api/latest/SensorData_8h_source.html new file mode 100644 index 00000000..99e16f5b --- /dev/null +++ b/preview/pr-1492/api/latest/SensorData_8h_source.html @@ -0,0 +1,630 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/SensorData.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
SensorData.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef SENSORDATA_H_
+
29#define SENSORDATA_H_
+
30
+
31#include <rtabmap/core/rtabmap_core_export.h>
+
32#include <rtabmap/core/Transform.h>
+
33#include <rtabmap/core/CameraModel.h>
+
34#include <rtabmap/core/StereoCameraModel.h>
+
35#include <opencv2/core/core.hpp>
+
36#if CV_MAJOR_VERSION < 5
+
37#include <opencv2/features2d/features2d.hpp>
+
38#else
+
39#include <opencv2/features.hpp>
+
40#endif
+
41#include <rtabmap/core/LaserScan.h>
+
42#include <rtabmap/core/IMU.h>
+
43#include <rtabmap/core/GPS.h>
+
44#include <rtabmap/core/EnvSensor.h>
+
45#include <rtabmap/core/Landmark.h>
+
46#include <rtabmap/core/GlobalDescriptor.h>
+
47
+
48namespace rtabmap
+
49{
+
50
+
+
96class RTABMAP_CORE_EXPORT SensorData
+
97{
+
98public:
+
105 SensorData();
+
106
+
119 SensorData(
+
120 const cv::Mat & image,
+
121 int id = 0,
+
122 double stamp = 0.0,
+
123 const cv::Mat & userData = cv::Mat());
+
124
+
137 SensorData(
+
138 const cv::Mat & image,
+
139 const CameraModel & cameraModel,
+
140 int id = 0,
+
141 double stamp = 0.0,
+
142 const cv::Mat & userData = cv::Mat());
+
143
+
156 SensorData(
+
157 const cv::Mat & rgb,
+
158 const cv::Mat & depth,
+
159 const CameraModel & cameraModel,
+
160 int id = 0,
+
161 double stamp = 0.0,
+
162 const cv::Mat & userData = cv::Mat());
+
163
+
177 SensorData(
+
178 const cv::Mat & rgb,
+
179 const cv::Mat & depth,
+
180 const cv::Mat & depth_confidence,
+
181 const CameraModel & cameraModel,
+
182 int id = 0,
+
183 double stamp = 0.0,
+
184 const cv::Mat & userData = cv::Mat());
+
185
+
199 SensorData(
+
200 const LaserScan & laserScan,
+
201 const cv::Mat & rgb,
+
202 const cv::Mat & depth,
+
203 const CameraModel & cameraModel,
+
204 int id = 0,
+
205 double stamp = 0.0,
+
206 const cv::Mat & userData = cv::Mat());
+
207
+
222 SensorData(
+
223 const LaserScan & laserScan,
+
224 const cv::Mat & rgb,
+
225 const cv::Mat & depth,
+
226 const cv::Mat & depthConfidence,
+
227 const CameraModel & cameraModel,
+
228 int id = 0,
+
229 double stamp = 0.0,
+
230 const cv::Mat & userData = cv::Mat());
+
231
+
281 SensorData(
+
282 const cv::Mat & rgb,
+
283 const cv::Mat & depth,
+
284 const std::vector<CameraModel> & cameraModels,
+
285 int id = 0,
+
286 double stamp = 0.0,
+
287 const cv::Mat & userData = cv::Mat());
+
288
+
304 SensorData(
+
305 const cv::Mat & rgb,
+
306 const cv::Mat & depth,
+
307 const cv::Mat & depthConfidence,
+
308 const std::vector<CameraModel> & cameraModels,
+
309 int id = 0,
+
310 double stamp = 0.0,
+
311 const cv::Mat & userData = cv::Mat());
+
312
+
328 SensorData(
+
329 const LaserScan & laserScan,
+
330 const cv::Mat & rgb,
+
331 const cv::Mat & depth,
+
332 const std::vector<CameraModel> & cameraModels,
+
333 int id = 0,
+
334 double stamp = 0.0,
+
335 const cv::Mat & userData = cv::Mat());
+
336
+
353 SensorData(
+
354 const LaserScan & laserScan,
+
355 const cv::Mat & rgb,
+
356 const cv::Mat & depth,
+
357 const cv::Mat & depthConfidence,
+
358 const std::vector<CameraModel> & cameraModels,
+
359 int id = 0,
+
360 double stamp = 0.0,
+
361 const cv::Mat & userData = cv::Mat());
+
362
+
375 SensorData(
+
376 const cv::Mat & left,
+
377 const cv::Mat & right,
+
378 const StereoCameraModel & cameraModel,
+
379 int id = 0,
+
380 double stamp = 0.0,
+
381 const cv::Mat & userData = cv::Mat());
+
382
+
396 SensorData(
+
397 const LaserScan & laserScan,
+
398 const cv::Mat & left,
+
399 const cv::Mat & right,
+
400 const StereoCameraModel & cameraModel,
+
401 int id = 0,
+
402 double stamp = 0.0,
+
403 const cv::Mat & userData = cv::Mat());
+
404
+
419 SensorData(
+
420 const cv::Mat & rgb,
+
421 const cv::Mat & depth,
+
422 const std::vector<StereoCameraModel> & cameraModels,
+
423 int id = 0,
+
424 double stamp = 0.0,
+
425 const cv::Mat & userData = cv::Mat());
+
426
+
440 SensorData(
+
441 const LaserScan & laserScan,
+
442 const cv::Mat & rgb,
+
443 const cv::Mat & depth,
+
444 const std::vector<StereoCameraModel> & cameraModels,
+
445 int id = 0,
+
446 double stamp = 0.0,
+
447 const cv::Mat & userData = cv::Mat());
+
448
+
459 SensorData(
+
460 const IMU & imu,
+
461 int id = 0,
+
462 double stamp = 0.0);
+
463
+
467 virtual ~SensorData();
+
468
+
+
485 bool isValid() const {
+
486 return !(_id == 0 &&
+
487 _stamp == 0.0 &&
+
488 _imageRaw.empty() &&
+
489 _imageCompressed.empty() &&
+
490 _depthOrRightRaw.empty() &&
+
491 _depthOrRightCompressed.empty() &&
+
492 _depthConfidenceRaw.empty() &&
+
493 _depthConfidenceCompressed.empty() &&
+
494 _laserScanRaw.isEmpty() &&
+
495 _laserScanCompressed.isEmpty() &&
+
496 _cameraModels.empty() &&
+
497 _stereoCameraModels.empty() &&
+
498 _userDataRaw.empty() &&
+
499 _userDataCompressed.empty() &&
+
500 _keypoints.size() == 0 &&
+
501 _descriptors.empty() &&
+
502 _groundCellsRaw.empty() &&
+
503 _groundCellsCompressed.empty() &&
+
504 _obstacleCellsRaw.empty() &&
+
505 _obstacleCellsCompressed.empty() &&
+
506 _emptyCellsRaw.empty() &&
+
507 _emptyCellsCompressed.empty() &&
+
508 imu_.empty());
+
509 }
+
+
510
+
515 int id() const {return _id;}
+
516
+
521 void setId(int id) {_id = id;}
+
522
+
527 double stamp() const {return _stamp;}
+
528
+
533 void setStamp(double stamp) {_stamp = stamp;}
+
534
+
540 const cv::Mat & imageCompressed() const {return _imageCompressed;}
+
541
+
547 const cv::Mat & depthOrRightCompressed() const {return _depthOrRightCompressed;}
+
548
+
554 const cv::Mat & depthConfidenceCompressed() const {return _depthConfidenceCompressed;}
+
555
+
560 const LaserScan & laserScanCompressed() const {return _laserScanCompressed;}
+
561
+
566 const cv::Mat & imageRaw() const {return _imageRaw;}
+
567
+
573 const cv::Mat & depthOrRightRaw() const {return _depthOrRightRaw;}
+
574
+
579 const cv::Mat & depthConfidenceRaw() const {return _depthConfidenceRaw;}
+
580
+
585 const LaserScan & laserScanRaw() const {return _laserScanRaw;}
+
586
+
592 void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const CameraModel & model, bool clearPreviousData = true);
+
593 void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depth_confidence, const CameraModel & model, bool clearPreviousData = true);
+
594 void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const std::vector<CameraModel> & models, bool clearPreviousData = true);
+
595 void setRGBDImage(const cv::Mat & rgb, const cv::Mat & depth, const cv::Mat & depth_confidence, const std::vector<CameraModel> & models, bool clearPreviousData = true);
+
596 void setStereoImage(const cv::Mat & left, const cv::Mat & right, const StereoCameraModel & stereoCameraModel, bool clearPreviousData = true);
+
597 void setStereoImage(const cv::Mat & left, const cv::Mat & right, const std::vector<StereoCameraModel> & stereoCameraModels, bool clearPreviousData = true);
+
598
+
604 void setLaserScan(const LaserScan & laserScan, bool clearPreviousData = true);
+
605
+
610 void setCameraModel(const CameraModel & model) {_cameraModels.clear(); _cameraModels.push_back(model);}
+
611
+
616 void setCameraModels(const std::vector<CameraModel> & models) {_cameraModels = models;}
+
617
+
622 void setStereoCameraModel(const StereoCameraModel & stereoCameraModel) {_stereoCameraModels.clear(); _stereoCameraModels.push_back(stereoCameraModel);}
+
623
+
628 void setStereoCameraModels(const std::vector<StereoCameraModel> & stereoCameraModels) {_stereoCameraModels = stereoCameraModels;}
+
629
+
639 cv::Mat depthRaw() const {return !(_depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3) ? _depthOrRightRaw : cv::Mat();}
+
640
+
650 cv::Mat rightRaw() const {return _depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3 ? _depthOrRightRaw : cv::Mat();}
+
651
+
652 // Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.
+
653 RTABMAP_DEPRECATED void setImageRaw(const cv::Mat & image);
+
654 // Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.
+
655 RTABMAP_DEPRECATED void setDepthOrRightRaw(const cv::Mat & image);
+
656 // Use setLaserScan() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.
+
657 RTABMAP_DEPRECATED void setLaserScanRaw(const LaserScan & scan);
+
658 // Use setUserData() or removeRawData() instead.
+
659 RTABMAP_DEPRECATED void setUserDataRaw(const cv::Mat & data);
+
660
+
667 void uncompressData();
+
668
+
686 void uncompressData(
+
687 cv::Mat * imageRaw,
+
688 cv::Mat * depthOrRightRaw,
+
689 LaserScan * laserScanRaw = 0,
+
690 cv::Mat * userDataRaw = 0,
+
691 cv::Mat * groundCellsRaw = 0,
+
692 cv::Mat * obstacleCellsRaw = 0,
+
693 cv::Mat * emptyCellsRaw = 0,
+
694 cv::Mat * depthConfidenceRaw = 0);
+
695
+
710 void uncompressDataConst(
+
711 cv::Mat * imageRaw,
+
712 cv::Mat * depthOrRightRaw,
+
713 LaserScan * laserScanRaw = 0,
+
714 cv::Mat * userDataRaw = 0,
+
715 cv::Mat * groundCellsRaw = 0,
+
716 cv::Mat * obstacleCellsRaw = 0,
+
717 cv::Mat * emptyCellsRaw = 0,
+
718 cv::Mat * depthConfidenceRaw = 0) const;
+
719
+
724 const std::vector<CameraModel> & cameraModels() const {return _cameraModels;}
+
725
+
730 const std::vector<StereoCameraModel> & stereoCameraModels() const {return _stereoCameraModels;}
+
731
+
740 void setUserData(const cv::Mat & userData, bool clearPreviousData = true);
+
741 const cv::Mat & userDataRaw() const {return _userDataRaw;}
+
742 const cv::Mat & userDataCompressed() const {return _userDataCompressed;}
+
743
+
757 void setOccupancyGrid(
+
758 const cv::Mat & ground,
+
759 const cv::Mat & obstacles,
+
760 const cv::Mat & empty,
+
761 float cellSize,
+
762 const cv::Point3f & viewPoint);
+
767 const cv::Mat & gridGroundCellsRaw() const {return _groundCellsRaw;}
+
768
+
774 const cv::Mat & gridGroundCellsCompressed() const {return _groundCellsCompressed;}
+
775
+
780 const cv::Mat & gridObstacleCellsRaw() const {return _obstacleCellsRaw;}
+
781
+
787 const cv::Mat & gridObstacleCellsCompressed() const {return _obstacleCellsCompressed;}
+
788
+
793 const cv::Mat & gridEmptyCellsRaw() const {return _emptyCellsRaw;}
+
794
+
800 const cv::Mat & gridEmptyCellsCompressed() const {return _emptyCellsCompressed;}
+
801
+
806 float gridCellSize() const {return _cellSize;}
+
807
+
812 const cv::Point3f & gridViewPoint() const {return _viewPoint;}
+
813
+
824 void setFeatures(const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & keypoints3D, const cv::Mat & descriptors);
+
825
+
830 const std::vector<cv::KeyPoint> & keypoints() const {return _keypoints;}
+
831
+
836 const std::vector<cv::Point3f> & keypoints3D() const {return _keypoints3D;}
+
837
+
842 const cv::Mat & descriptors() const {return _descriptors;}
+
843
+
848 void addGlobalDescriptor(const GlobalDescriptor & descriptor) {_globalDescriptors.push_back(descriptor);}
+
849
+
854 void setGlobalDescriptors(const std::vector<GlobalDescriptor> & descriptors) {_globalDescriptors = descriptors;}
+
855
+
859 void clearGlobalDescriptors() {_globalDescriptors.clear();}
+
860
+
865 const std::vector<GlobalDescriptor> & globalDescriptors() const {return _globalDescriptors;}
+
866
+
871 void setGroundTruth(const Transform & pose) {groundTruth_ = pose;}
+
872
+
877 const Transform & groundTruth() const {return groundTruth_;}
+
878
+
884 void setGlobalPose(const Transform & pose, const cv::Mat & covariance) {globalPose_ = pose; globalPoseCovariance_ = covariance;}
+
885
+
890 const Transform & globalPose() const {return globalPose_;}
+
891
+
896 const cv::Mat & globalPoseCovariance() const {return globalPoseCovariance_;}
+
897
+
902 void setGPS(const GPS & gps) {gps_ = gps;}
+
903
+
908 const GPS & gps() const {return gps_;}
+
909
+
916 void setIMU(const IMU & imu);
+
917
+
922 const IMU & imu() const {return imu_;}
+
923
+
928 void setEnvSensors(const EnvSensors & sensors) {_envSensors = sensors;}
+
929
+
934 void addEnvSensor(const EnvSensor & sensor) {_envSensors.insert(std::make_pair(sensor.type(), sensor));}
+
935
+
940 const EnvSensors & envSensors() const {return _envSensors;}
+
941
+
947 void setLandmarks(const Landmarks & landmarks) {_landmarks = landmarks;}
+
948
+
953 const Landmarks & landmarks() const {return _landmarks;}
+
954
+
963 unsigned long getMemoryUsed() const;
+
968 void clearCompressedData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
+
973 void clearRawData(bool images = true, bool scan = true, bool userData = true, bool occupancyGrid = true);
+
974
+
984 int isPointVisibleFromCameras(const cv::Point3f & pt) const;
+
985
+
986#ifdef HAVE_OPENCV_CUDEV
+
991 const cv::cuda::GpuMat & imageRawGpu() const {return _imageRawGpu;}
+
992
+
997 void setImageRawGpu(const cv::cuda::GpuMat & image) {_imageRawGpu = image;}
+
998
+
1003 const cv::cuda::GpuMat & depthOrRightRawGpu() const {return _depthOrRightRawGpu;}
+
1004
+
1009 void setDepthOrRightRawGpu(const cv::cuda::GpuMat & image) {_depthOrRightRawGpu = image;}
+
1010#endif
+
1011
+
1012private:
+
1013 int _id;
+
1014 double _stamp;
+
1015
+
1016 // Compressed data
+
1017 cv::Mat _imageCompressed;
+
1018 cv::Mat _depthOrRightCompressed;
+
1019 cv::Mat _depthConfidenceCompressed;
+
1020 LaserScan _laserScanCompressed;
+
1021
+
1022 // Raw data
+
1023 cv::Mat _imageRaw;
+
1024 cv::Mat _depthOrRightRaw;
+
1025 cv::Mat _depthConfidenceRaw;
+
1026 LaserScan _laserScanRaw;
+
1027
+
1028 // Camera models
+
1029 std::vector<CameraModel> _cameraModels;
+
1030 std::vector<StereoCameraModel> _stereoCameraModels;
+
1031
+
1032 // User data
+
1033 cv::Mat _userDataCompressed;
+
1034 cv::Mat _userDataRaw;
+
1035
+
1036 // Occupancy grid
+
1037 cv::Mat _groundCellsCompressed;
+
1038 cv::Mat _obstacleCellsCompressed;
+
1039 cv::Mat _emptyCellsCompressed;
+
1040 cv::Mat _groundCellsRaw;
+
1041 cv::Mat _obstacleCellsRaw;
+
1042 cv::Mat _emptyCellsRaw;
+
1043 float _cellSize;
+
1044 cv::Point3f _viewPoint;
+
1045
+
1046 // Environmental sensors
+
1047 EnvSensors _envSensors;
+
1048
+
1049 // Landmarks
+
1050 Landmarks _landmarks;
+
1051
+
1052 // Visual features
+
1053 std::vector<cv::KeyPoint> _keypoints;
+
1054 std::vector<cv::Point3f> _keypoints3D;
+
1055 cv::Mat _descriptors;
+
1056
+
1057 // Global descriptors
+
1058 std::vector<GlobalDescriptor> _globalDescriptors;
+
1059
+
1060 // Poses
+
1061 Transform groundTruth_;
+
1062 Transform globalPose_;
+
1063 cv::Mat globalPoseCovariance_;
+
1064
+
1065 // Sensor fusion
+
1066 GPS gps_;
+
1067 IMU imu_;
+
1068
+
1069#ifdef HAVE_OPENCV_CUDEV
+
1076 cv::cuda::GpuMat _imageRawGpu;
+
1077 cv::cuda::GpuMat _depthOrRightRawGpu;
+
1078#endif
+
1079};
+
+
1080
+
1081}
+
1082
+
1083
+
1084#endif /* SENSORDATA_H_ */
+
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+
rtabmap::EnvSensor
Single environmental measurement (type, value, timestamp).
Definition EnvSensor.h:51
+
rtabmap::EnvSensor::type
const Type & type() const
Definition EnvSensor.h:101
+
rtabmap::GPS
WGS84 GPS fix attached to a sensor sample or graph node.
Definition GPS.h:47
+ +
rtabmap::IMU
Inertial measurement sample (ROS sensor_msgs/Imu-like fields).
Definition IMU.h:57
+
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::SensorData::imu
const IMU & imu() const
Returns IMU data.
Definition SensorData.h:922
+
rtabmap::SensorData::depthConfidenceRaw
const cv::Mat & depthConfidenceRaw() const
Returns the raw depth confidence map.
Definition SensorData.h:579
+
rtabmap::SensorData::gridObstacleCellsRaw
const cv::Mat & gridObstacleCellsRaw() const
Returns raw obstacle cells.
Definition SensorData.h:780
+
rtabmap::SensorData::addEnvSensor
void addEnvSensor(const EnvSensor &sensor)
Adds a single environmental sensor.
Definition SensorData.h:934
+
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &image, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Mono camera constructor.
+
rtabmap::SensorData::laserScanCompressed
const LaserScan & laserScanCompressed() const
Returns the compressed laser scan.
Definition SensorData.h:560
+
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Stereo camera constructor.
+
rtabmap::SensorData::gps
const GPS & gps() const
Returns GPS data.
Definition SensorData.h:908
+
rtabmap::SensorData::depthRaw
cv::Mat depthRaw() const
Returns the depth image (convenience method)
Definition SensorData.h:639
+
rtabmap::SensorData::setRGBDImage
void setRGBDImage(const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &model, bool clearPreviousData=true)
+
rtabmap::SensorData::setIMU
void setIMU(const IMU &imu)
Sets IMU data.
+
rtabmap::SensorData::depthOrRightRaw
const cv::Mat & depthOrRightRaw() const
Returns the raw depth or right stereo image.
Definition SensorData.h:573
+
rtabmap::SensorData::SensorData
SensorData(const IMU &imu, int id=0, double stamp=0.0)
IMU-only constructor.
+
rtabmap::SensorData::gridGroundCellsRaw
const cv::Mat & gridGroundCellsRaw() const
Returns raw ground cells.
Definition SensorData.h:767
+
rtabmap::SensorData::uncompressDataConst
void uncompressDataConst(cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0, cv::Mat *depthConfidenceRaw=0) const
Uncompresses compressed data into provided output buffers (const version)
+
rtabmap::SensorData::isPointVisibleFromCameras
int isPointVisibleFromCameras(const cv::Point3f &pt) const
Checks if a 3D point is visible from any camera.
+
rtabmap::SensorData::clearCompressedData
void clearCompressedData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)
+
rtabmap::SensorData::clearGlobalDescriptors
void clearGlobalDescriptors()
Clears all global descriptors.
Definition SensorData.h:859
+
rtabmap::SensorData::gridEmptyCellsRaw
const cv::Mat & gridEmptyCellsRaw() const
Returns raw empty cells.
Definition SensorData.h:793
+
rtabmap::SensorData::envSensors
const EnvSensors & envSensors() const
Returns all environmental sensors.
Definition SensorData.h:940
+
rtabmap::SensorData::setId
void setId(int id)
Sets the sensor data ID.
Definition SensorData.h:521
+
rtabmap::SensorData::gridObstacleCellsCompressed
const cv::Mat & gridObstacleCellsCompressed() const
Returns compressed obstacle cells.
Definition SensorData.h:787
+
rtabmap::SensorData::gridViewPoint
const cv::Point3f & gridViewPoint() const
Returns the occupancy grid viewpoint.
Definition SensorData.h:812
+
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
RGB-D constructor with depth confidence and laser scan.
+
rtabmap::SensorData::clearRawData
void clearRawData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)
+
rtabmap::SensorData::globalPose
const Transform & globalPose() const
Returns the global pose.
Definition SensorData.h:890
+
rtabmap::SensorData::stamp
double stamp() const
Returns the timestamp.
Definition SensorData.h:527
+
rtabmap::SensorData::globalPoseCovariance
const cv::Mat & globalPoseCovariance() const
Returns the global pose covariance.
Definition SensorData.h:896
+
rtabmap::SensorData::setStamp
void setStamp(double stamp)
Sets the timestamp.
Definition SensorData.h:533
+
rtabmap::SensorData::setOccupancyGrid
void setOccupancyGrid(const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint)
Sets occupancy grid data.
+
rtabmap::SensorData::descriptors
const cv::Mat & descriptors() const
Returns the feature descriptors.
Definition SensorData.h:842
+
rtabmap::SensorData::getMemoryUsed
unsigned long getMemoryUsed() const
Computes the memory usage of this sensor data.
+
rtabmap::SensorData::cameraModels
const std::vector< CameraModel > & cameraModels() const
Returns the camera models.
Definition SensorData.h:724
+
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera stereo constructor.
+
rtabmap::SensorData::setGroundTruth
void setGroundTruth(const Transform &pose)
Sets the ground truth pose.
Definition SensorData.h:871
+
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera RGB-D constructor with depth confidence.
+
rtabmap::SensorData::setGlobalPose
void setGlobalPose(const Transform &pose, const cv::Mat &covariance)
Sets the global pose with covariance.
Definition SensorData.h:884
+
rtabmap::SensorData::landmarks
const Landmarks & landmarks() const
Returns landmarks.
Definition SensorData.h:953
+
rtabmap::SensorData::id
int id() const
Returns the sensor data ID.
Definition SensorData.h:515
+
rtabmap::SensorData::depthOrRightCompressed
const cv::Mat & depthOrRightCompressed() const
Returns the compressed depth or right stereo image.
Definition SensorData.h:547
+
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depth_confidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
RGB-D constructor with depth confidence.
+
rtabmap::SensorData::uncompressData
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)
Uncompresses compressed data into provided output buffers.
+
rtabmap::SensorData::setLaserScan
void setLaserScan(const LaserScan &laserScan, bool clearPreviousData=true)
+
rtabmap::SensorData::SensorData
SensorData()
Default constructor.
+
rtabmap::SensorData::~SensorData
virtual ~SensorData()
Virtual destructor.
+
rtabmap::SensorData::gridCellSize
float gridCellSize() const
Returns the occupancy grid cell size.
Definition SensorData.h:806
+
rtabmap::SensorData::uncompressData
void uncompressData()
Uncompresses all compressed data in-place.
+
rtabmap::SensorData::rightRaw
cv::Mat rightRaw() const
Returns the right stereo image (convenience method)
Definition SensorData.h:650
+
rtabmap::SensorData::imageCompressed
const cv::Mat & imageCompressed() const
Returns the compressed RGB/grayscale image.
Definition SensorData.h:540
+
rtabmap::SensorData::stereoCameraModels
const std::vector< StereoCameraModel > & stereoCameraModels() const
Returns the stereo camera models.
Definition SensorData.h:730
+
rtabmap::SensorData::keypoints3D
const std::vector< cv::Point3f > & keypoints3D() const
Returns the 3D keypoints.
Definition SensorData.h:836
+
rtabmap::SensorData::setStereoCameraModel
void setStereoCameraModel(const StereoCameraModel &stereoCameraModel)
Sets a single stereo camera model (clears previous models)
Definition SensorData.h:622
+
rtabmap::SensorData::setEnvSensors
void setEnvSensors(const EnvSensors &sensors)
Sets all environmental sensors.
Definition SensorData.h:928
+
rtabmap::SensorData::gridGroundCellsCompressed
const cv::Mat & gridGroundCellsCompressed() const
Returns compressed ground cells.
Definition SensorData.h:774
+
rtabmap::SensorData::setStereoCameraModels
void setStereoCameraModels(const std::vector< StereoCameraModel > &stereoCameraModels)
Sets multiple stereo camera models.
Definition SensorData.h:628
+
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &image, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Appearance-only constructor.
+
rtabmap::SensorData::setGlobalDescriptors
void setGlobalDescriptors(const std::vector< GlobalDescriptor > &descriptors)
Sets all global descriptors.
Definition SensorData.h:854
+
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Stereo camera constructor with laser scan.
+
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
RGB-D constructor with laser scan.
+
rtabmap::SensorData::gridEmptyCellsCompressed
const cv::Mat & gridEmptyCellsCompressed() const
Returns compressed empty cells.
Definition SensorData.h:800
+
rtabmap::SensorData::addGlobalDescriptor
void addGlobalDescriptor(const GlobalDescriptor &descriptor)
Adds a global descriptor.
Definition SensorData.h:848
+
rtabmap::SensorData::setUserData
void setUserData(const cv::Mat &userData, bool clearPreviousData=true)
+
rtabmap::SensorData::globalDescriptors
const std::vector< GlobalDescriptor > & globalDescriptors() const
Returns all global descriptors.
Definition SensorData.h:865
+
rtabmap::SensorData::setFeatures
void setFeatures(const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &keypoints3D, const cv::Mat &descriptors)
Sets visual features (keypoints, 3D points, descriptors)
+
rtabmap::SensorData::setGPS
void setGPS(const GPS &gps)
Sets GPS data.
Definition SensorData.h:902
+
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera stereo constructor with laser scan.
+
rtabmap::SensorData::isValid
bool isValid() const
Checks if the sensor data is valid.
Definition SensorData.h:485
+
rtabmap::SensorData::setCameraModel
void setCameraModel(const CameraModel &model)
Sets a single camera model (clears previous models)
Definition SensorData.h:610
+
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera RGB-D constructor with laser scan.
+
rtabmap::SensorData::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera RGB-D constructor with depth confidence and laser scan.
+
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
Multi-camera RGB-D constructor.
+
rtabmap::SensorData::imageRaw
const cv::Mat & imageRaw() const
Returns the raw RGB/grayscale image.
Definition SensorData.h:566
+
rtabmap::SensorData::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
RGB-D constructor.
+
rtabmap::SensorData::depthConfidenceCompressed
const cv::Mat & depthConfidenceCompressed() const
Returns the compressed depth confidence map.
Definition SensorData.h:554
+
rtabmap::SensorData::laserScanRaw
const LaserScan & laserScanRaw() const
Returns the raw laser scan.
Definition SensorData.h:585
+
rtabmap::SensorData::groundTruth
const Transform & groundTruth() const
Returns the ground truth pose.
Definition SensorData.h:877
+
rtabmap::SensorData::setLandmarks
void setLandmarks(const Landmarks &landmarks)
Sets landmarks.
Definition SensorData.h:947
+
rtabmap::SensorData::setCameraModels
void setCameraModels(const std::vector< CameraModel > &models)
Sets multiple camera models.
Definition SensorData.h:616
+
rtabmap::SensorData::keypoints
const std::vector< cv::KeyPoint > & keypoints() const
Returns the 2D keypoints.
Definition SensorData.h:830
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
rtabmap::Landmarks
std::map< int, Landmark > Landmarks
Map of landmark id → Landmark (typically positive keys).
Definition Landmark.h:113
+
rtabmap::EnvSensors
std::map< EnvSensor::Type, EnvSensor > EnvSensors
Map of environmental readings keyed by EnvSensor::Type (at most one per type).
Definition EnvSensor.h:114
+
+ +
+Generated by doxygen 1.9.8 +
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+
SensorEvent.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include <rtabmap/core/SensorCaptureInfo.h>
+
31#include <rtabmap/utilite/UEvent.h>
+
32#include "rtabmap/core/SensorData.h"
+
33
+
34namespace rtabmap
+
35{
+
36
+
+
63class SensorEvent :
+
64 public UEvent
+
65{
+
66public:
+
+
71 enum Code {
+
72 kCodeData,
+
73 kCodeNoMoreImages
+
74 };
+
+
75
+
76public:
+
+
88 SensorEvent(const cv::Mat & image, int seq=0, double stamp = 0.0, const std::string & cameraName = std::string()) :
+
89 UEvent(kCodeData),
+
90 data_(image, seq, stamp)
+
91 {
+
92 sensorCaptureInfo_.cameraName = cameraName;
+
93 }
+
+
94
+
+
103 SensorEvent() :
+
104 UEvent(kCodeNoMoreImages)
+
105 {
+
106 }
+
+
107
+
+
115 SensorEvent(const SensorData & data) :
+
116 UEvent(kCodeData),
+
117 data_(data)
+
118 {
+
119 }
+
+
120
+
+
130 SensorEvent(const SensorData & data, const std::string & cameraName) :
+
131 UEvent(kCodeData),
+
132 data_(data)
+
133 {
+
134 sensorCaptureInfo_.cameraName = cameraName;
+
135 }
+
+
136
+
+
146 SensorEvent(const SensorData & data, const SensorCaptureInfo & sensorCaptureInfo) :
+
147 UEvent(kCodeData),
+
148 data_(data),
+
149 sensorCaptureInfo_(sensorCaptureInfo)
+
150 {
+
151 }
+
+
152
+
161 const SensorData & data() const {return data_;}
+
162
+
170 const std::string & cameraName() const {return sensorCaptureInfo_.cameraName;}
+
171
+
180 const SensorCaptureInfo & info() const {return sensorCaptureInfo_;}
+
181
+
185 virtual ~SensorEvent() {}
+
186
+
194 virtual std::string getClassName() const {return std::string("SensorEvent");}
+
195
+
196private:
+
197 SensorData data_;
+
198 SensorCaptureInfo sensorCaptureInfo_;
+
199};
+
+
200
+
207RTABMAP_DEPRECATED typedef SensorEvent CameraEvent;
+
208
+
209} // namespace rtabmap
+ +
rtabmap::SensorCaptureInfo
Metadata structure for sensor data capture and processing.
Definition SensorCaptureInfo.h:65
+
rtabmap::SensorCaptureInfo::cameraName
std::string cameraName
Camera/sensor name identifier.
Definition SensorCaptureInfo.h:104
+
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::SensorEvent
Event class for sensor data communication in RTAB-Map's event system.
Definition SensorEvent.h:65
+
rtabmap::SensorEvent::data
const SensorData & data() const
Returns the sensor data contained in this event.
Definition SensorEvent.h:161
+
rtabmap::SensorEvent::SensorEvent
SensorEvent(const SensorData &data, const std::string &cameraName)
Constructor from SensorData with camera name.
Definition SensorEvent.h:130
+
rtabmap::SensorEvent::SensorEvent
SensorEvent(const SensorData &data, const SensorCaptureInfo &sensorCaptureInfo)
Constructor from SensorData with full capture info.
Definition SensorEvent.h:146
+
rtabmap::SensorEvent::~SensorEvent
virtual ~SensorEvent()
Virtual destructor.
Definition SensorEvent.h:185
+
rtabmap::SensorEvent::SensorEvent
SensorEvent(const SensorData &data)
Constructor from SensorData.
Definition SensorEvent.h:115
+
rtabmap::SensorEvent::getClassName
virtual std::string getClassName() const
Returns the class name for event identification.
Definition SensorEvent.h:194
+
rtabmap::SensorEvent::info
const SensorCaptureInfo & info() const
Returns the sensor capture information.
Definition SensorEvent.h:180
+
rtabmap::SensorEvent::Code
Code
Event codes for SensorEvent.
Definition SensorEvent.h:71
+
rtabmap::SensorEvent::kCodeNoMoreImages
@ kCodeNoMoreImages
Event code indicating the sensor stream has ended.
Definition SensorEvent.h:73
+
rtabmap::SensorEvent::kCodeData
@ kCodeData
Event code indicating new sensor data is available.
Definition SensorEvent.h:72
+
rtabmap::SensorEvent::SensorEvent
SensorEvent(const cv::Mat &image, int seq=0, double stamp=0.0, const std::string &cameraName=std::string())
Constructor from a single image.
Definition SensorEvent.h:88
+
rtabmap::SensorEvent::cameraName
const std::string & cameraName() const
Returns the camera name.
Definition SensorEvent.h:170
+
rtabmap::SensorEvent::SensorEvent
SensorEvent()
Constructor for end-of-stream event.
Definition SensorEvent.h:103
+ +
rtabmap::CameraEvent
RTABMAP_DEPRECATED typedef SensorEvent CameraEvent
Backward compatibility typedef.
Definition SensorEvent.h:207
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Signature_8h_source.html b/preview/pr-1492/api/latest/Signature_8h_source.html new file mode 100644 index 00000000..22f154a0 --- /dev/null +++ b/preview/pr-1492/api/latest/Signature_8h_source.html @@ -0,0 +1,365 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Signature.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
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+
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+
Signature.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
31
+
32#include <pcl/point_types.h>
+
33#include <opencv2/core/core.hpp>
+
34#if CV_MAJOR_VERSION < 5
+
35#include <opencv2/features2d/features2d.hpp>
+
36#else
+
37#include <opencv2/features.hpp>
+
38#endif
+
39#include <opencv2/imgproc/imgproc.hpp>
+
40#include <map>
+
41#include <list>
+
42#include <vector>
+
43#include <set>
+
44
+
45#include <rtabmap/core/Transform.h>
+
46#include <rtabmap/core/SensorData.h>
+
47#include <rtabmap/core/Link.h>
+
48
+
49namespace rtabmap
+
50{
+
51
+
+
83class RTABMAP_CORE_EXPORT Signature
+
84{
+
85
+
86public:
+
93 Signature();
+
94
+
112 Signature(int id,
+
113 int mapId = -1,
+
114 int weight = 0,
+
115 double stamp = 0.0,
+
116 const std::string & label = std::string(),
+
117 const Transform & pose = Transform(),
+
118 const Transform & groundTruthPose = Transform(),
+
119 const SensorData & sensorData = SensorData());
+
120
+
132 Signature(const SensorData & data);
+
133
+
137 virtual ~Signature();
+
138
+
151 float compareTo(const Signature & signature) const;
+
152
+
162 bool isBadSignature() const;
+
163
+
168 int id() const {return _id;}
+
169
+
174 int mapId() const {return _mapId;}
+
175
+
189 void setWeight(int weight) {_modified=_modified || _weight!=weight;_weight = weight;}
+
190
+
195 int getWeight() const {return _weight;}
+
196
+
208 void setLabel(const std::string & label) {_modified=_modified || _label.compare(label)!=0;_label = label;}
+
209
+
214 const std::string & getLabel() const {return _label;}
+
215
+
220 double getStamp() const {return _stamp;}
+
221
+
233 void addLinks(const std::list<Link> & links);
+
234
+
247 void addLinks(const std::map<int, Link> & links);
+
248
+
263 void addLink(const Link & link);
+
264
+
272 bool hasLink(int idTo, Link::Type type = Link::kUndef) const;
+
273
+
285 void changeLinkIds(int idFrom, int idTo);
+
286
+
295 void removeLinks(bool keepSelfReferringLinks = false);
+
296
+
304 void removeLink(int idTo);
+
305
+
313 void removeVirtualLinks();
+
314
+
326 void addLandmark(const Link & landmark);
+
327
+
332 const std::map<int, Link> & getLandmarks() const {return _landmarks;}
+
333
+
337 void removeLandmarks();
+
338
+
343 void removeLandmark(int landmarkId);
+
344
+
349 void setSaved(bool saved) {_saved = saved;}
+
350
+
359 void setModified(bool modified) {_modified = modified; _linksModified = modified;}
+
360
+
365 const std::multimap<int, Link> & getLinks() const {return _links;}
+
366
+
371 bool isSaved() const {return _saved;}
+
372
+
380 bool isModified() const {return _modified || _linksModified;}
+
381
+
386 bool isLinksModified() const {return _linksModified;}
+
387
+
388 // Visual words management
+
389
+
396 void removeAllWords();
+
397
+
409 void changeWordsRef(int oldWordId, int activeWordId);
+
410
+
426 void setWords(const std::multimap<int, int> & words, const std::vector<cv::KeyPoint> & keypoints, const std::vector<cv::Point3f> & words3, const cv::Mat & descriptors);
+
427
+
436 bool isEnabled() const {return _enabled;}
+
437
+
442 void setEnabled(bool enabled) {_enabled = enabled;}
+
443
+
452 const std::multimap<int, int> & getWords() const {return _words;}
+
453
+
458 const std::vector<cv::KeyPoint> & getWordsKpts() const {return _wordsKpts;}
+
459
+
469 int getInvalidWordsCount() const {return _invalidWordsCount;}
+
470
+
479 const std::map<int, int> & getWordsChanged() const {return _wordsChanged;}
+
480
+
485 const cv::Mat & getWordsDescriptors() const {return _wordsDescriptors;}
+
486
+
495 void setWordsDescriptors(const cv::Mat & descriptors);
+
496
+
497 // Pose and metric information
+
498
+
519 void setPose(const Transform & pose) {_pose = pose;}
+
520
+
529 void setGroundTruthPose(const Transform & pose) {_groundTruthPose = pose;}
+
530
+
+
544 void setVelocity(float vx, float vy, float vz, float vroll, float vpitch, float vyaw) {
+
545 _velocity = std::vector<float>(6,0);
+
546 _velocity[0]=vx;
+
547 _velocity[1]=vy;
+
548 _velocity[2]=vz;
+
549 _velocity[3]=vroll;
+
550 _velocity[4]=vpitch;
+
551 _velocity[5]=vyaw;
+
552 }
+
+
553
+
562 const std::vector<cv::Point3f> & getWords3() const {return _words3;}
+
563
+
569 const Transform & getPose() const {return _pose;}
+
570
+
579 cv::Mat getPoseCovariance() const;
+
580
+
585 const Transform & getGroundTruthPose() const {return _groundTruthPose;}
+
586
+
591 const std::vector<float> & getVelocity() const {return _velocity;}
+
592
+
597 SensorData & sensorData() {return _sensorData;}
+
598
+
603 const SensorData & sensorData() const {return _sensorData;}
+
604
+
614 unsigned long getMemoryUsed(bool withSensorData=true) const;
+
615
+
616private:
+
617 int _id;
+
618 int _mapId;
+
619 double _stamp;
+
620 std::multimap<int, Link> _links;
+
621 std::map<int, Link> _landmarks;
+
622 int _weight;
+
623 std::string _label;
+
624 bool _saved;
+
625 bool _modified;
+
626 bool _linksModified;
+
627
+
635 std::multimap<int, int> _words;
+
636 std::vector<cv::KeyPoint> _wordsKpts;
+
637 std::vector<cv::Point3f> _words3;
+
638 cv::Mat _wordsDescriptors;
+
639 std::map<int, int> _wordsChanged;
+
640 bool _enabled;
+
641 int _invalidWordsCount;
+
642
+
643 Transform _pose;
+
644 Transform _groundTruthPose;
+
645 std::vector<float> _velocity;
+
646
+
647 SensorData _sensorData;
+
648};
+
+
649
+
650} // namespace rtabmap
+ + +
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+
rtabmap::Signature::getMemoryUsed
unsigned long getMemoryUsed(bool withSensorData=true) const
Computes the memory usage of this signature.
+
rtabmap::Signature::getWordsChanged
const std::map< int, int > & getWordsChanged() const
Returns the word ID change mapping.
Definition Signature.h:479
+
rtabmap::Signature::setSaved
void setSaved(bool saved)
Sets whether this signature has been saved to the database.
Definition Signature.h:349
+
rtabmap::Signature::isSaved
bool isSaved() const
Checks if this signature has been saved to the database.
Definition Signature.h:371
+
rtabmap::Signature::sensorData
const SensorData & sensorData() const
Returns const access to the sensor data.
Definition Signature.h:603
+
rtabmap::Signature::changeWordsRef
void changeWordsRef(int oldWordId, int activeWordId)
Changes visual word references from one word ID to another.
+
rtabmap::Signature::changeLinkIds
void changeLinkIds(int idFrom, int idTo)
Changes all link target IDs from one value to another.
+
rtabmap::Signature::getLinks
const std::multimap< int, Link > & getLinks() const
Returns all links from this signature.
Definition Signature.h:365
+
rtabmap::Signature::setVelocity
void setVelocity(float vx, float vy, float vz, float vroll, float vpitch, float vyaw)
Sets the velocity of this signature.
Definition Signature.h:544
+
rtabmap::Signature::getWordsDescriptors
const cv::Mat & getWordsDescriptors() const
Returns the feature descriptors for visual words.
Definition Signature.h:485
+
rtabmap::Signature::getLandmarks
const std::map< int, Link > & getLandmarks() const
Returns all landmark observations.
Definition Signature.h:332
+
rtabmap::Signature::setModified
void setModified(bool modified)
Sets the modification flag for this signature.
Definition Signature.h:359
+
rtabmap::Signature::sensorData
SensorData & sensorData()
Returns mutable access to the sensor data.
Definition Signature.h:597
+
rtabmap::Signature::setWeight
void setWeight(int weight)
Sets the weight/importance of this signature.
Definition Signature.h:189
+
rtabmap::Signature::id
int id() const
Returns the signature ID.
Definition Signature.h:168
+
rtabmap::Signature::removeVirtualLinks
void removeVirtualLinks()
Removes all virtual links from this signature.
+
rtabmap::Signature::isEnabled
bool isEnabled() const
Checks if this signature is enabled.
Definition Signature.h:436
+
rtabmap::Signature::addLink
void addLink(const Link &link)
Adds a single link to this signature.
+
rtabmap::Signature::getWordsKpts
const std::vector< cv::KeyPoint > & getWordsKpts() const
Returns the keypoints associated with visual words.
Definition Signature.h:458
+
rtabmap::Signature::getPose
const Transform & getPose() const
Returns the pose of this signature.
Definition Signature.h:569
+
rtabmap::Signature::setEnabled
void setEnabled(bool enabled)
Sets whether this signature is enabled.
Definition Signature.h:442
+
rtabmap::Signature::getGroundTruthPose
const Transform & getGroundTruthPose() const
Returns the ground truth pose.
Definition Signature.h:585
+
rtabmap::Signature::~Signature
virtual ~Signature()
Virtual destructor.
+
rtabmap::Signature::getWords
const std::multimap< int, int > & getWords() const
Returns the visual words map.
Definition Signature.h:452
+
rtabmap::Signature::isBadSignature
bool isBadSignature() const
Checks if this signature is considered "bad".
+
rtabmap::Signature::setWords
void setWords(const std::multimap< int, int > &words, const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &words3, const cv::Mat &descriptors)
Sets all visual words for this signature.
+
rtabmap::Signature::removeLandmark
void removeLandmark(int landmarkId)
Removes a specific landmark observation.
+
rtabmap::Signature::getWeight
int getWeight() const
Returns the weight/importance of this signature.
Definition Signature.h:195
+
rtabmap::Signature::addLandmark
void addLandmark(const Link &landmark)
Adds a landmark observation to this signature.
+
rtabmap::Signature::getLabel
const std::string & getLabel() const
Returns the label/name of this signature.
Definition Signature.h:214
+
rtabmap::Signature::setWordsDescriptors
void setWordsDescriptors(const cv::Mat &descriptors)
Sets the feature descriptors for visual words.
+
rtabmap::Signature::removeLinks
void removeLinks(bool keepSelfReferringLinks=false)
Removes all links from this signature.
+
rtabmap::Signature::Signature
Signature()
Default constructor.
+
rtabmap::Signature::isLinksModified
bool isLinksModified() const
Checks if the links have been modified.
Definition Signature.h:386
+
rtabmap::Signature::Signature
Signature(int id, int mapId=-1, int weight=0, double stamp=0.0, const std::string &label=std::string(), const Transform &pose=Transform(), const Transform &groundTruthPose=Transform(), const SensorData &sensorData=SensorData())
Constructor with explicit parameters.
+
rtabmap::Signature::removeLandmarks
void removeLandmarks()
Removes all landmark observations.
+
rtabmap::Signature::setLabel
void setLabel(const std::string &label)
Sets a label/name for this signature.
Definition Signature.h:208
+
rtabmap::Signature::addLinks
void addLinks(const std::list< Link > &links)
Adds multiple links from a list.
+
rtabmap::Signature::setGroundTruthPose
void setGroundTruthPose(const Transform &pose)
Sets the ground truth pose for evaluation.
Definition Signature.h:529
+
rtabmap::Signature::getStamp
double getStamp() const
Returns the timestamp of this signature.
Definition Signature.h:220
+
rtabmap::Signature::removeAllWords
void removeAllWords()
Removes all visual words from this signature.
+
rtabmap::Signature::isModified
bool isModified() const
Checks if this signature has been modified.
Definition Signature.h:380
+
rtabmap::Signature::getWords3
const std::vector< cv::Point3f > & getWords3() const
Returns the 3D points of visual words.
Definition Signature.h:562
+
rtabmap::Signature::removeLink
void removeLink(int idTo)
Removes a specific link to a target signature.
+
rtabmap::Signature::compareTo
float compareTo(const Signature &signature) const
Compares this signature to another signature.
+
rtabmap::Signature::getInvalidWordsCount
int getInvalidWordsCount() const
Returns the count of invalid visual words.
Definition Signature.h:469
+
rtabmap::Signature::mapId
int mapId() const
Returns the map ID.
Definition Signature.h:174
+
rtabmap::Signature::setPose
void setPose(const Transform &pose)
Sets the pose of this signature.
Definition Signature.h:519
+
rtabmap::Signature::hasLink
bool hasLink(int idTo, Link::Type type=Link::kUndef) const
Checks if this signature has a link to a target signature.
+
rtabmap::Signature::getVelocity
const std::vector< float > & getVelocity() const
Returns the velocity of this signature.
Definition Signature.h:591
+
rtabmap::Signature::Signature
Signature(const SensorData &data)
Constructor from sensor data.
+
rtabmap::Signature::addLinks
void addLinks(const std::map< int, Link > &links)
Adds multiple links from a map.
+
rtabmap::Signature::getPoseCovariance
cv::Mat getPoseCovariance() const
Gets the pose covariance matrix.
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Statistics_8h_source.html b/preview/pr-1492/api/latest/Statistics_8h_source.html new file mode 100644 index 00000000..e925c5d6 --- /dev/null +++ b/preview/pr-1492/api/latest/Statistics_8h_source.html @@ -0,0 +1,569 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Statistics.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+
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+ + +
+
+
Statistics.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef STATISTICS_H_
+
29#define STATISTICS_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <opencv2/core/core.hpp>
+
34#if CV_MAJOR_VERSION < 5
+
35#include <opencv2/features2d/features2d.hpp>
+
36#else
+
37#include <opencv2/features.hpp>
+
38#endif
+
39#include <opencv2/imgproc/imgproc.hpp>
+
40#include <list>
+
41#include <vector>
+
42#include <rtabmap/core/Signature.h>
+
43#include <rtabmap/core/Link.h>
+
44#include <rtabmap/utilite/UStl.h>
+
45
+
46namespace rtabmap {
+
47
+
69#define RTABMAP_STATS(PREFIX, NAME, UNIT) \
+
70 public: \
+
71 static std::string k##PREFIX##NAME() {return #PREFIX "/" #NAME "/" #UNIT;} \
+
72 private: \
+
73 class Dummy##PREFIX##NAME { \
+
74 public: \
+
75 Dummy##PREFIX##NAME() {if(!_defaultDataInitialized)_defaultData.insert(std::pair<std::string, float>(#PREFIX "/" #NAME "/" #UNIT, 0.0f));} \
+
76 }; \
+
77 Dummy##PREFIX##NAME dummy##PREFIX##NAME
+
78
+
+
107class RTABMAP_CORE_EXPORT Statistics
+
108{
+
109 RTABMAP_STATS(Loop, Id,); // Combined loop or proximity detection
+
110 RTABMAP_STATS(Loop, RejectedHypothesis,);
+
111 RTABMAP_STATS(Loop, Accepted_hypothesis_id,);
+
112 RTABMAP_STATS(Loop, Suppressed_hypothesis_id,);
+
113 RTABMAP_STATS(Loop, Highest_hypothesis_id,);
+
114 RTABMAP_STATS(Loop, Highest_hypothesis_value,);
+
115 RTABMAP_STATS(Loop, Vp_hypothesis,);
+
116 RTABMAP_STATS(Loop, Reactivate_id,);
+
117 RTABMAP_STATS(Loop, Hypothesis_ratio,);
+
118 RTABMAP_STATS(Loop, Hypothesis_reactivated,);
+
119 RTABMAP_STATS(Loop, Map_id,);
+
120 RTABMAP_STATS(Loop, Visual_words,);
+
121 RTABMAP_STATS(Loop, Visual_inliers,);
+
122 RTABMAP_STATS(Loop, Visual_inliers_ratio,);
+
123 RTABMAP_STATS(Loop, Visual_matches,);
+
124 RTABMAP_STATS(Loop, Visual_variance,);
+
125 RTABMAP_STATS(Loop, Distance_since_last_loc, m);
+
126 RTABMAP_STATS(Loop, Last_id,);
+
127 RTABMAP_STATS(Loop, Optimization_max_error, m);
+
128 RTABMAP_STATS(Loop, Optimization_max_error_ratio, );
+
129 RTABMAP_STATS(Loop, Optimization_max_ang_error, deg);
+
130 RTABMAP_STATS(Loop, Optimization_max_ang_error_ratio, );
+
131 RTABMAP_STATS(Loop, Optimization_error, );
+
132 RTABMAP_STATS(Loop, Optimization_iterations, );
+
133 RTABMAP_STATS(Loop, Optimization_max_error_from_id, );
+
134 RTABMAP_STATS(Loop, Optimization_max_error_to_id, );
+
135 RTABMAP_STATS(Loop, Optimization_max_ang_error_from_id, );
+
136 RTABMAP_STATS(Loop, Optimization_max_ang_error_to_id, );
+
137 RTABMAP_STATS(Loop, Optimization_max_error_removed_from_id, );
+
138 RTABMAP_STATS(Loop, Optimization_max_error_removed_to_id, );
+
139 RTABMAP_STATS(Loop, Optimization_max_error_removed_count, );
+
140 RTABMAP_STATS(Loop, Linear_variance,);
+
141 RTABMAP_STATS(Loop, Angular_variance,);
+
142 RTABMAP_STATS(Loop, Landmark_detected,);
+
143 RTABMAP_STATS(Loop, Landmark_detected_node_ref,);
+
144 RTABMAP_STATS(Loop, Visual_inliers_mean_dist,m);
+
145 RTABMAP_STATS(Loop, Visual_inliers_distribution,);
+
146 RTABMAP_STATS(Loop, Proximity_links_cleared,);
+
147 //Odom correction
+
148 RTABMAP_STATS(Loop, Odom_correction_norm, m);
+
149 RTABMAP_STATS(Loop, Odom_correction_angle, deg);
+
150 RTABMAP_STATS(Loop, Odom_correction_x, m);
+
151 RTABMAP_STATS(Loop, Odom_correction_y, m);
+
152 RTABMAP_STATS(Loop, Odom_correction_z, m);
+
153 RTABMAP_STATS(Loop, Odom_correction_roll, deg);
+
154 RTABMAP_STATS(Loop, Odom_correction_pitch, deg);
+
155 RTABMAP_STATS(Loop, Odom_correction_yaw, deg);
+
156 // Map to Odom
+
157 RTABMAP_STATS(Loop, MapToOdom_norm, m);
+
158 RTABMAP_STATS(Loop, MapToOdom_angle, deg);
+
159 RTABMAP_STATS(Loop, MapToOdom_x, m);
+
160 RTABMAP_STATS(Loop, MapToOdom_y, m);
+
161 RTABMAP_STATS(Loop, MapToOdom_z, m);
+
162 RTABMAP_STATS(Loop, MapToOdom_roll, deg);
+
163 RTABMAP_STATS(Loop, MapToOdom_pitch, deg);
+
164 RTABMAP_STATS(Loop, MapToOdom_yaw, deg);
+
165 // Map to Base
+
166 RTABMAP_STATS(Loop, MapToBase_x, m);
+
167 RTABMAP_STATS(Loop, MapToBase_y, m);
+
168 RTABMAP_STATS(Loop, MapToBase_z, m);
+
169 RTABMAP_STATS(Loop, MapToBase_roll, deg);
+
170 RTABMAP_STATS(Loop, MapToBase_pitch, deg);
+
171 RTABMAP_STATS(Loop, MapToBase_yaw, deg);
+
172 RTABMAP_STATS(Loop, MapToBase_lin_std, m);
+
173 RTABMAP_STATS(Loop, MapToBase_lin_var, m2);
+
174
+
175 RTABMAP_STATS(Proximity, Time_detections,);
+
176 RTABMAP_STATS(Proximity, Space_last_detection_id,);
+
177 RTABMAP_STATS(Proximity, Space_paths,);
+
178 RTABMAP_STATS(Proximity, Space_visual_paths_checked,);
+
179 RTABMAP_STATS(Proximity, Space_scan_paths_checked,);
+
180 RTABMAP_STATS(Proximity, Space_detections_added_visually,);
+
181 RTABMAP_STATS(Proximity, Space_detections_added_icp_multi,);
+
182 RTABMAP_STATS(Proximity, Space_detections_added_icp_global,);
+
183
+
184 RTABMAP_STATS(NeighborLinkRefining, Accepted,);
+
185 RTABMAP_STATS(NeighborLinkRefining, Inliers,);
+
186 RTABMAP_STATS(NeighborLinkRefining, ICP_inliers_ratio,);
+
187 RTABMAP_STATS(NeighborLinkRefining, ICP_rotation, rad);
+
188 RTABMAP_STATS(NeighborLinkRefining, ICP_translation, m);
+
189 RTABMAP_STATS(NeighborLinkRefining, ICP_complexity,);
+
190 RTABMAP_STATS(NeighborLinkRefining, Variance,);
+
191 RTABMAP_STATS(NeighborLinkRefining, Pts,);
+
192
+
193 RTABMAP_STATS(Memory, Working_memory_size,);
+
194 RTABMAP_STATS(Memory, Working_memory_inter_size,);
+
195 RTABMAP_STATS(Memory, Short_time_memory_size,);
+
196 RTABMAP_STATS(Memory, Short_time_memory_inter_size,);
+
197 RTABMAP_STATS(Memory, Database_memory_used, MB);
+
198 RTABMAP_STATS(Memory, Signatures_removed,);
+
199 RTABMAP_STATS(Memory, Immunized_globally,);
+
200 RTABMAP_STATS(Memory, Immunized_locally,);
+
201 RTABMAP_STATS(Memory, Immunized_locally_max,);
+
202 RTABMAP_STATS(Memory, Signatures_retrieved,);
+
203 RTABMAP_STATS(Memory, Images_buffered,);
+
204 RTABMAP_STATS(Memory, Rehearsal_sim,);
+
205 RTABMAP_STATS(Memory, Rehearsal_id,);
+
206 RTABMAP_STATS(Memory, Rehearsal_merged,);
+
207 RTABMAP_STATS(Memory, Local_graph_size,);
+
208 RTABMAP_STATS(Memory, Odom_cache_poses,);
+
209 RTABMAP_STATS(Memory, Odom_cache_links,);
+
210 RTABMAP_STATS(Memory, Small_movement,);
+
211 RTABMAP_STATS(Memory, Fast_movement,);
+
212 RTABMAP_STATS(Memory, New_landmark,);
+
213 RTABMAP_STATS(Memory, Odometry_variance_ang,);
+
214 RTABMAP_STATS(Memory, Odometry_variance_lin,);
+
215 RTABMAP_STATS(Memory, Distance_travelled, m);
+
216 RTABMAP_STATS(Memory, RAM_usage, MB);
+
217 RTABMAP_STATS(Memory, RAM_estimated, MB);
+
218 RTABMAP_STATS(Memory, Triangulated_points, );
+
219 RTABMAP_STATS(Memory, Closest_node_distance, m);
+
220 RTABMAP_STATS(Memory, Closest_node_angle, rad);
+
221
+
222 RTABMAP_STATS(Timing, Memory_update, ms);
+
223 RTABMAP_STATS(Timing, Neighbor_link_refining, ms);
+
224 RTABMAP_STATS(Timing, Proximity_by_time, ms);
+
225 RTABMAP_STATS(Timing, Proximity_by_space_search, ms);
+
226 RTABMAP_STATS(Timing, Proximity_by_space_visual, ms);
+
227 RTABMAP_STATS(Timing, Proximity_by_space, ms);
+
228 RTABMAP_STATS(Timing, Cleaning_neighbors, ms);
+
229 RTABMAP_STATS(Timing, Reactivation, ms);
+
230 RTABMAP_STATS(Timing, Add_loop_closure_link, ms);
+
231 RTABMAP_STATS(Timing, Map_optimization, ms);
+
232 RTABMAP_STATS(Timing, Likelihood_computation, ms);
+
233 RTABMAP_STATS(Timing, Posterior_computation, ms);
+
234 RTABMAP_STATS(Timing, Hypotheses_creation, ms);
+
235 RTABMAP_STATS(Timing, Hypotheses_validation, ms);
+
236 RTABMAP_STATS(Timing, Statistics_creation, ms);
+
237 RTABMAP_STATS(Timing, Memory_cleanup, ms);
+
238 RTABMAP_STATS(Timing, Total, ms);
+
239 RTABMAP_STATS(Timing, Forgetting, ms);
+
240 RTABMAP_STATS(Timing, Joining_trash, ms);
+
241 RTABMAP_STATS(Timing, Emptying_trash, ms);
+
242 RTABMAP_STATS(Timing, Finalizing_statistics, ms);
+
243 RTABMAP_STATS(Timing, RAM_estimation, ms);
+
244
+
245 RTABMAP_STATS(TimingMem, Pre_update, ms);
+
246 RTABMAP_STATS(TimingMem, Signature_creation, ms);
+
247 RTABMAP_STATS(TimingMem, Rehearsal, ms);
+
248 RTABMAP_STATS(TimingMem, Keypoints_detection, ms);
+
249 RTABMAP_STATS(TimingMem, Subpixel, ms);
+
250 RTABMAP_STATS(TimingMem, Stereo_correspondences, ms);
+
251 RTABMAP_STATS(TimingMem, Descriptors_extraction, ms);
+
252 RTABMAP_STATS(TimingMem, Rectification, ms);
+
253 RTABMAP_STATS(TimingMem, Keypoints_3D, ms);
+
254 RTABMAP_STATS(TimingMem, Keypoints_3D_motion, ms);
+
255 RTABMAP_STATS(TimingMem, Joining_dictionary_update, ms);
+
256 RTABMAP_STATS(TimingMem, Add_new_words, ms);
+
257 RTABMAP_STATS(TimingMem, Compressing_data, ms);
+
258 RTABMAP_STATS(TimingMem, Post_decimation, ms);
+
259 RTABMAP_STATS(TimingMem, Scan_filtering, ms);
+
260 RTABMAP_STATS(TimingMem, Occupancy_grid, ms);
+
261 RTABMAP_STATS(TimingMem, Markers_detection, ms);
+
262
+
263 RTABMAP_STATS(Keypoint, Dictionary_size, words);
+
264 RTABMAP_STATS(Keypoint, Current_frame, words);
+
265 RTABMAP_STATS(Keypoint, Indexed_words, words);
+
266 RTABMAP_STATS(Keypoint, Index_memory_usage, KB);
+
267
+
268 RTABMAP_STATS(Gt, Translational_rmse, m);
+
269 RTABMAP_STATS(Gt, Translational_mean, m);
+
270 RTABMAP_STATS(Gt, Translational_median, m);
+
271 RTABMAP_STATS(Gt, Translational_std, m);
+
272 RTABMAP_STATS(Gt, Translational_min, m);
+
273 RTABMAP_STATS(Gt, Translational_max, m);
+
274 RTABMAP_STATS(Gt, Rotational_rmse, deg);
+
275 RTABMAP_STATS(Gt, Rotational_mean, deg);
+
276 RTABMAP_STATS(Gt, Rotational_median, deg);
+
277 RTABMAP_STATS(Gt, Rotational_std, deg);
+
278 RTABMAP_STATS(Gt, Rotational_min, deg);
+
279 RTABMAP_STATS(Gt, Rotational_max, deg);
+
280 RTABMAP_STATS(Gt, Localization_linear_error, m);
+
281 RTABMAP_STATS(Gt, Localization_angular_error, deg);
+
282
+
283public:
+
292 static const std::map<std::string, float> & defaultData();
+
293
+
307 static std::string serializeData(const std::map<std::string, float> & data);
+
308
+
321 static std::map<std::string, float> deserializeData(const std::string & data);
+
322
+
323public:
+
332 Statistics();
+
333
+
337 virtual ~Statistics();
+
338
+
354 void addStatistic(const std::string & name, float value);
+
355
+
356 // setters
+
357
+
367 void setExtended(bool extended) {_extended = extended;}
+
368
+
373 void setRefImageId(int id) {_refImageId = id;}
+
374
+
379 void setRefImageMapId(int id) {_refImageMapId = id;}
+
380
+
385 void setLoopClosureId(int id) {_loopClosureId = id;}
+
386
+
391 void setLoopClosureMapId(int id) {_loopClosureMapId = id;}
+
392
+
397 void setProximityDetectionId(int id) {_proximiyDetectionId = id;}
+
398
+
403 void setProximityDetectionMapId(int id) {_proximiyDetectionMapId = id;}
+
404
+
409 void setStamp(double stamp) {_stamp = stamp;}
+
410
+
418 RTABMAP_DEPRECATED void setLastSignatureData(const Signature & data);
+
419
+
430 void addSignatureData(const Signature & data) {uInsert(_signaturesData, std::make_pair(data.id(), data));}
+
431
+
436 void setSignaturesData(const std::map<int, Signature> & data) {_signaturesData = data;}
+
437
+
446 void setPoses(const std::map<int, Transform> & poses) {_poses = poses;}
+
447
+
456 void setConstraints(const std::multimap<int, Link> & constraints) {_constraints = constraints;}
+
457
+
467 void setMapCorrection(const Transform & mapCorrection) {_mapCorrection = mapCorrection;}
+
468
+
476 void setLoopClosureTransform(const Transform & loopClosureTransform) {_loopClosureTransform = loopClosureTransform;}
+
477
+
485 void setLocalizationCovariance(const cv::Mat & covariance) {_localizationCovariance = covariance;}
+
486
+
491 void setLabels(const std::map<int, std::string> & labels) {_labels = labels;}
+
492
+
497 void setWeights(const std::map<int, int> & weights) {_weights = weights;}
+
498
+
504 void setPosterior(const std::map<int, float> & posterior) {_posterior = posterior;}
+
505
+
513 void setLikelihood(const std::map<int, float> & likelihood) {_likelihood = likelihood;}
+
514
+
519 void setRawLikelihood(const std::map<int, float> & rawLikelihood) {_rawLikelihood = rawLikelihood;}
+
520
+
528 void setLocalPath(const std::vector<int> & localPath) {_localPath=localPath;}
+
529
+
534 void setCurrentGoalId(int goal) {_currentGoalId=goal;}
+
535
+
543 void setReducedIds(const std::map<int, int> & reducedIds) {_reducedIds = reducedIds;}
+
544
+
552 void setWmState(const std::vector<int> & state) {_wmState = state;}
+
553
+
561 void setOdomCachePoses(const std::map<int, Transform> & poses) {_odomCachePoses = poses;}
+
562
+
570 void setOdomCacheConstraints(const std::multimap<int, Link> & constraints) {_odomCacheConstraints = constraints;}
+
571
+
572 // getters
+
573
+
578 bool extended() const {return _extended;}
+
579
+
584 int refImageId() const {return _refImageId;}
+
585
+
590 int refImageMapId() const {return _refImageMapId;}
+
591
+
596 int loopClosureId() const {return _loopClosureId;}
+
597
+
602 int loopClosureMapId() const {return _loopClosureMapId;}
+
603
+
608 int proximityDetectionId() const {return _proximiyDetectionId;}
+
609
+
614 int proximityDetectionMapId() const {return _proximiyDetectionMapId;}
+
615
+
620 double stamp() const {return _stamp;}
+
621
+
630 const Signature & getLastSignatureData() const {return _signaturesData.empty()?_dummyEmptyData:_signaturesData.rbegin()->second;}
+
631
+
636 const std::map<int, Signature> & getSignaturesData() const {return _signaturesData;}
+
637
+
642 const std::map<int, Transform> & poses() const {return _poses;}
+
643
+
648 const std::multimap<int, Link> & constraints() const {return _constraints;}
+
649
+
657 const Transform & mapCorrection() const {return _mapCorrection;}
+
658
+
663 const Transform & loopClosureTransform() const {return _loopClosureTransform;}
+
664
+
669 const cv::Mat & localizationCovariance() const {return _localizationCovariance;}
+
670
+
675 const std::map<int, std::string> & labels() const {return _labels;}
+
676
+
681 const std::map<int, int> & weights() const {return _weights;}
+
682
+
687 const std::map<int, float> & posterior() const {return _posterior;}
+
688
+
693 const std::map<int, float> & likelihood() const {return _likelihood;}
+
694
+
699 const std::map<int, float> & rawLikelihood() const {return _rawLikelihood;}
+
700
+
705 const std::vector<int> & localPath() const {return _localPath;}
+
706
+
711 int currentGoalId() const {return _currentGoalId;}
+
712
+
717 const std::map<int, int> & reducedIds() const {return _reducedIds;}
+
718
+
723 const std::vector<int> & wmState() const {return _wmState;}
+
724
+
729 const std::map<int, Transform> & odomCachePoses() const {return _odomCachePoses;}
+
730
+
735 const std::multimap<int, Link> & odomCacheConstraints() const {return _odomCacheConstraints;}
+
736
+
748 const std::map<std::string, float> & data() const {return _data;}
+
749
+
750private:
+
751 bool _extended;
+
752
+
753 int _refImageId;
+
754 int _refImageMapId;
+
755 int _loopClosureId;
+
756 int _loopClosureMapId;
+
757 int _proximiyDetectionId;
+
758 int _proximiyDetectionMapId;
+
759 double _stamp;
+
760
+
761 std::map<int, Signature> _signaturesData;
+
762 Signature _dummyEmptyData;
+
763
+
764 std::map<int, Transform> _poses;
+
765 std::multimap<int, Link> _constraints;
+
766 Transform _mapCorrection;
+
767 Transform _loopClosureTransform;
+
768 cv::Mat _localizationCovariance;
+
769
+
770 std::map<int, std::string> _labels;
+
771 std::map<int, int> _weights;
+
772 std::map<int, float> _posterior;
+
773 std::map<int, float> _likelihood;
+
774 std::map<int, float> _rawLikelihood;
+
775
+
776 std::vector<int> _localPath;
+
777 int _currentGoalId;
+
778
+
779 std::map<int, int> _reducedIds;
+
780
+
781 std::vector<int> _wmState;
+
782
+
783 std::map<int, Transform> _odomCachePoses;
+
784 std::multimap<int, Link> _odomCacheConstraints;
+
785
+
795 std::map<std::string, float> _data;
+
796
+
797 static std::map<std::string, float> _defaultData;
+
798 static bool _defaultDataInitialized;
+
799 // end extended data
+
800};
+
+
801
+
802}// end namespace rtabmap
+
803
+
804#endif /* STATISTICS_H_ */
+
UStl.h
Wrappers of STL for convenient functions.
+
uInsert
void uInsert(std::map< K, V > &map, const std::pair< K, V > &pair)
Definition UStl.h:441
+
rtabmap::Memory
Three-tiered memory management (STM, WM, LTM) for RTAB-Map.
Definition Memory.h:102
+
rtabmap::Signature
Represents a node in RTAB-Map's pose graph.
Definition Signature.h:84
+
rtabmap::Signature::id
int id() const
Returns the signature ID.
Definition Signature.h:168
+
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
+
rtabmap::Statistics::proximityDetectionId
int proximityDetectionId() const
Returns the proximity detection ID.
Definition Statistics.h:608
+
rtabmap::Statistics::wmState
const std::vector< int > & wmState() const
Returns the working memory state.
Definition Statistics.h:723
+
rtabmap::Statistics::setStamp
void setStamp(double stamp)
Sets the timestamp for these statistics.
Definition Statistics.h:409
+
rtabmap::Statistics::deserializeData
static std::map< std::string, float > deserializeData(const std::string &data)
Deserializes a statistics data map from a string.
+
rtabmap::Statistics::setLoopClosureId
void setLoopClosureId(int id)
Sets the loop closure detection ID.
Definition Statistics.h:385
+
rtabmap::Statistics::loopClosureMapId
int loopClosureMapId() const
Returns the loop closure map ID.
Definition Statistics.h:602
+
rtabmap::Statistics::extended
bool extended() const
Returns whether extended statistics mode is enabled.
Definition Statistics.h:578
+
rtabmap::Statistics::setRawLikelihood
void setRawLikelihood(const std::map< int, float > &rawLikelihood)
Sets raw likelihood values (before normalization)
Definition Statistics.h:519
+
rtabmap::Statistics::stamp
double stamp() const
Returns the timestamp.
Definition Statistics.h:620
+
rtabmap::Statistics::addStatistic
void addStatistic(const std::string &name, float value)
Adds a statistic value to the data map.
+
rtabmap::Statistics::setProximityDetectionId
void setProximityDetectionId(int id)
Sets the proximity detection ID.
Definition Statistics.h:397
+
rtabmap::Statistics::constraints
const std::multimap< int, Link > & constraints() const
Returns the constraint graph.
Definition Statistics.h:648
+
rtabmap::Statistics::loopClosureTransform
const Transform & loopClosureTransform() const
Returns the loop closure transform.
Definition Statistics.h:663
+
rtabmap::Statistics::setRefImageMapId
void setRefImageMapId(int id)
Sets the reference image map ID.
Definition Statistics.h:379
+
rtabmap::Statistics::setLoopClosureMapId
void setLoopClosureMapId(int id)
Sets the loop closure map ID.
Definition Statistics.h:391
+
rtabmap::Statistics::setLocalPath
void setLocalPath(const std::vector< int > &localPath)
Sets the local path (sequence of node IDs)
Definition Statistics.h:528
+
rtabmap::Statistics::odomCacheConstraints
const std::multimap< int, Link > & odomCacheConstraints() const
Returns odometry cache constraints.
Definition Statistics.h:735
+
rtabmap::Statistics::refImageMapId
int refImageMapId() const
Returns the reference image map ID.
Definition Statistics.h:590
+
rtabmap::Statistics::rawLikelihood
const std::map< int, float > & rawLikelihood() const
Returns raw likelihood values.
Definition Statistics.h:699
+
rtabmap::Statistics::refImageId
int refImageId() const
Returns the reference image ID.
Definition Statistics.h:584
+
rtabmap::Statistics::localizationCovariance
const cv::Mat & localizationCovariance() const
Returns the localization covariance matrix.
Definition Statistics.h:669
+
rtabmap::Statistics::likelihood
const std::map< int, float > & likelihood() const
Returns likelihood values.
Definition Statistics.h:693
+
rtabmap::Statistics::setRefImageId
void setRefImageId(int id)
Sets the reference image ID (current/last processed signature ID)
Definition Statistics.h:373
+
rtabmap::Statistics::addSignatureData
void addSignatureData(const Signature &data)
Adds signature data to the statistics.
Definition Statistics.h:430
+
rtabmap::Statistics::getLastSignatureData
const Signature & getLastSignatureData() const
Returns the last signature data.
Definition Statistics.h:630
+
rtabmap::Statistics::setProximityDetectionMapId
void setProximityDetectionMapId(int id)
Sets the proximity detection map ID.
Definition Statistics.h:403
+
rtabmap::Statistics::Statistics
Statistics()
Default constructor.
+
rtabmap::Statistics::setOdomCachePoses
void setOdomCachePoses(const std::map< int, Transform > &poses)
Sets odometry cache poses.
Definition Statistics.h:561
+
rtabmap::Statistics::setMapCorrection
void setMapCorrection(const Transform &mapCorrection)
Sets the map correction transform.
Definition Statistics.h:467
+
rtabmap::Statistics::loopClosureId
int loopClosureId() const
Returns the loop closure detection ID.
Definition Statistics.h:596
+
rtabmap::Statistics::setLocalizationCovariance
void setLocalizationCovariance(const cv::Mat &covariance)
Sets the localization covariance matrix.
Definition Statistics.h:485
+
rtabmap::Statistics::mapCorrection
const Transform & mapCorrection() const
Returns the map correction transform.
Definition Statistics.h:657
+
rtabmap::Statistics::localPath
const std::vector< int > & localPath() const
Returns the local path.
Definition Statistics.h:705
+
rtabmap::Statistics::setCurrentGoalId
void setCurrentGoalId(int goal)
Sets the current goal node ID.
Definition Statistics.h:534
+
rtabmap::Statistics::setLikelihood
void setLikelihood(const std::map< int, float > &likelihood)
Sets likelihood values for loop closure hypotheses.
Definition Statistics.h:513
+
rtabmap::Statistics::reducedIds
const std::map< int, int > & reducedIds() const
Returns the reduced IDs mapping.
Definition Statistics.h:717
+
rtabmap::Statistics::odomCachePoses
const std::map< int, Transform > & odomCachePoses() const
Returns odometry cache poses.
Definition Statistics.h:729
+
rtabmap::Statistics::setPosterior
void setPosterior(const std::map< int, float > &posterior)
Sets posterior probabilities for loop closure hypotheses.
Definition Statistics.h:504
+
rtabmap::Statistics::defaultData
static const std::map< std::string, float > & defaultData()
Returns the default statistics data map.
+
rtabmap::Statistics::setWeights
void setWeights(const std::map< int, int > &weights)
Sets node weights.
Definition Statistics.h:497
+
rtabmap::Statistics::setExtended
void setExtended(bool extended)
Sets whether extended statistics mode is enabled.
Definition Statistics.h:367
+
rtabmap::Statistics::setWmState
void setWmState(const std::vector< int > &state)
Sets the working memory state.
Definition Statistics.h:552
+
rtabmap::Statistics::setLabels
void setLabels(const std::map< int, std::string > &labels)
Sets node labels.
Definition Statistics.h:491
+
rtabmap::Statistics::weights
const std::map< int, int > & weights() const
Returns node weights.
Definition Statistics.h:681
+
rtabmap::Statistics::serializeData
static std::string serializeData(const std::map< std::string, float > &data)
Serializes a statistics data map to a string.
+
rtabmap::Statistics::data
const std::map< std::string, float > & data() const
Returns the statistics data map.
Definition Statistics.h:748
+
rtabmap::Statistics::getSignaturesData
const std::map< int, Signature > & getSignaturesData() const
Returns all signature data.
Definition Statistics.h:636
+
rtabmap::Statistics::setReducedIds
void setReducedIds(const std::map< int, int > &reducedIds)
Sets the reduced IDs mapping.
Definition Statistics.h:543
+
rtabmap::Statistics::setLoopClosureTransform
void setLoopClosureTransform(const Transform &loopClosureTransform)
Sets the loop closure transform.
Definition Statistics.h:476
+
rtabmap::Statistics::setConstraints
void setConstraints(const std::multimap< int, Link > &constraints)
Sets the constraint graph (links between nodes)
Definition Statistics.h:456
+
rtabmap::Statistics::posterior
const std::map< int, float > & posterior() const
Returns posterior probabilities.
Definition Statistics.h:687
+
rtabmap::Statistics::poses
const std::map< int, Transform > & poses() const
Returns the pose graph.
Definition Statistics.h:642
+
rtabmap::Statistics::setPoses
void setPoses(const std::map< int, Transform > &poses)
Sets the pose graph (node poses)
Definition Statistics.h:446
+
rtabmap::Statistics::setSignaturesData
void setSignaturesData(const std::map< int, Signature > &data)
Sets all signature data at once.
Definition Statistics.h:436
+
rtabmap::Statistics::currentGoalId
int currentGoalId() const
Returns the current goal node ID.
Definition Statistics.h:711
+
rtabmap::Statistics::setOdomCacheConstraints
void setOdomCacheConstraints(const std::multimap< int, Link > &constraints)
Sets odometry cache constraints.
Definition Statistics.h:570
+
rtabmap::Statistics::setLastSignatureData
RTABMAP_DEPRECATED void setLastSignatureData(const Signature &data)
Sets the last signature data (deprecated)
+
rtabmap::Statistics::proximityDetectionMapId
int proximityDetectionMapId() const
Returns the proximity detection map ID.
Definition Statistics.h:614
+
rtabmap::Statistics::~Statistics
virtual ~Statistics()
Virtual destructor.
+
rtabmap::Statistics::labels
const std::map< int, std::string > & labels() const
Returns node labels.
Definition Statistics.h:675
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/StereoBM_8h_source.html b/preview/pr-1492/api/latest/StereoBM_8h_source.html new file mode 100644 index 00000000..71832da7 --- /dev/null +++ b/preview/pr-1492/api/latest/StereoBM_8h_source.html @@ -0,0 +1,170 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/stereo/StereoBM.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
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+
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StereoBM.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef STEREOBM_H_
+
29#define STEREOBM_H_
+
30
+
31#include <rtabmap/core/StereoDense.h>
+
32#include <rtabmap/core/Parameters.h>
+
33#include <opencv2/core/core.hpp>
+
34
+
35namespace rtabmap {
+
36
+
+
47class RTABMAP_CORE_EXPORT StereoBM : public StereoDense {
+
48public:
+
55 StereoBM(int blockSize, int numDisparities);
+
56
+
64 StereoBM(const ParametersMap & parameters = ParametersMap());
+
65
+
69 virtual ~StereoBM() {}
+
70
+
89 virtual void parseParameters(const ParametersMap & parameters);
+
90
+
104 virtual cv::Mat computeDisparity(
+
105 const cv::Mat & leftImage,
+
106 const cv::Mat & rightImage) const;
+
107
+
108private:
+
109 int blockSize_;
+
110 int minDisparity_;
+
111 int numDisparities_;
+
112 int preFilterSize_;
+
113 int preFilterCap_;
+
114 int uniquenessRatio_;
+
115 int textureThreshold_;
+
116 int speckleWindowSize_;
+
117 int speckleRange_;
+
118 int disp12MaxDiff_;
+
119};
+
+
120
+
121} /* namespace rtabmap */
+
122
+
123#endif /* STEREOBM_H_ */
+
rtabmap::StereoBM
Block Matching algorithm for dense stereo matching.
Definition StereoBM.h:47
+
rtabmap::StereoBM::StereoBM
StereoBM(int blockSize, int numDisparities)
Constructor with explicit block size and number of disparities.
+
rtabmap::StereoBM::~StereoBM
virtual ~StereoBM()
Virtual destructor.
Definition StereoBM.h:69
+
rtabmap::StereoBM::StereoBM
StereoBM(const ParametersMap &parameters=ParametersMap())
Constructor with parameters map.
+
rtabmap::StereoBM::computeDisparity
virtual cv::Mat computeDisparity(const cv::Mat &leftImage, const cv::Mat &rightImage) const
Compute disparity map from stereo image pair.
+
rtabmap::StereoBM::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parse parameters from a parameters map.
+
rtabmap::StereoDense
Abstract base class for dense stereo matching algorithms.
Definition StereoDense.h:53
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/StereoCameraModel_8h_source.html b/preview/pr-1492/api/latest/StereoCameraModel_8h_source.html new file mode 100644 index 00000000..1d49c767 --- /dev/null +++ b/preview/pr-1492/api/latest/StereoCameraModel_8h_source.html @@ -0,0 +1,306 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/StereoCameraModel.h Source File + + + + + + + + + + + + +
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+ + + + + + +
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+
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+ + +
+
+
StereoCameraModel.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef STEREOCAMERAMODEL_H_
+
29#define STEREOCAMERAMODEL_H_
+
30
+
31#include <rtabmap/core/CameraModel.h>
+
32
+
33namespace rtabmap {
+
34
+
+
53class RTABMAP_CORE_EXPORT StereoCameraModel
+
54{
+
55public:
+
59 StereoCameraModel() : leftSuffix_("left"), rightSuffix_("right") {}
+
60
+
92 StereoCameraModel(
+
93 const std::string & name,
+
94 const cv::Size & imageSize1,
+
95 const cv::Mat & K1, const cv::Mat & D1, const cv::Mat & R1, const cv::Mat & P1,
+
96 const cv::Size & imageSize2,
+
97 const cv::Mat & K2, const cv::Mat & D2, const cv::Mat & R2, const cv::Mat & P2,
+
98 const cv::Mat & R, const cv::Mat & T, const cv::Mat & E, const cv::Mat & F,
+
99 const Transform & localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0));
+
100
+
124 StereoCameraModel(
+
125 const std::string & name,
+
126 const CameraModel & leftCameraModel,
+
127 const CameraModel & rightCameraModel,
+
128 const cv::Mat & R = cv::Mat(),
+
129 const cv::Mat & T = cv::Mat(),
+
130 const cv::Mat & E = cv::Mat(),
+
131 const cv::Mat & F = cv::Mat());
+
132
+
156 StereoCameraModel(
+
157 const std::string & name,
+
158 const CameraModel & leftCameraModel,
+
159 const CameraModel & rightCameraModel,
+
160 const Transform & extrinsics);
+
161
+
180 StereoCameraModel(
+
181 double fx,
+
182 double fy,
+
183 double cx,
+
184 double cy,
+
185 double baseline,
+
186 const Transform & localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
+
187 const cv::Size & imageSize = cv::Size(0,0));
+
188
+
206 StereoCameraModel(
+
207 const std::string & name,
+
208 double fx,
+
209 double fy,
+
210 double cx,
+
211 double cy,
+
212 double baseline,
+
213 const Transform & localTransform = Transform(0,0,1,0, -1,0,0,0, 0,-1,0,0),
+
214 const cv::Size & imageSize = cv::Size(0,0));
+
215
+
219 virtual ~StereoCameraModel() {}
+
220
+
224 bool isValidForProjection() const {return left_.isValidForProjection() && right_.isValidForProjection() && baseline() > 0.0;}
+
225
+
229 bool isValidForRectification() const {return left_.isValidForRectification() && right_.isValidForRectification();}
+
230
+
234 void initRectificationMap() {left_.initRectificationMap(); right_.initRectificationMap();}
+
235
+
239 bool isRectificationMapInitialized() const {return left_.isRectificationMapInitialized() && right_.isRectificationMapInitialized();}
+
240
+
253 void setName(const std::string & name, const std::string & leftSuffix = "left", const std::string & rightSuffix = "right");
+
254
+
258 const std::string & name() const {return name_;}
+
259
+
263 void setImageSize(const cv::Size & size) {left_.setImageSize(size); right_.setImageSize(size);}
+
264
+
284 bool load(const std::string & directory, const std::string & cameraName, bool ignoreStereoTransform = true, bool initRectificationMaps = true);
+
285
+
299 bool save(const std::string & directory, bool ignoreStereoTransform = true) const;
+
300
+
315 bool saveStereoTransform(const std::string & directory) const;
+
316
+
330 std::vector<unsigned char> serialize() const;
+
331
+
343 unsigned int deserialize(const std::vector<unsigned char>& data);
+
344
+
365 unsigned int deserialize(const unsigned char * data, unsigned int dataSize);
+
366
+
378 double baseline() const {return right_.fx()!=0.0 && left_.fx() != 0.0 ? left_.Tx() / left_.fx() - right_.Tx()/right_.fx():0.0;}
+
379
+
395 float computeDepth(float disparity) const;
+
396
+
411 float computeDisparity(float depth) const; // m
+
412
+
428 float computeDisparity(unsigned short depth) const; // mm
+
429
+
430 const cv::Mat & R() const {return R_;}
+
+
431 const cv::Mat & T() const {return T_;}
+
+
432 const cv::Mat & E() const {return E_;}
+
+
433 const cv::Mat & F() const {return F_;}
+
434
+
+
447 void scale(double scale);
+
448
+
461 void roi(const cv::Rect & roi);
+
462
+
466 void setLocalTransform(const Transform & transform) {left_.setLocalTransform(transform);}
+
467
+
471 const Transform & localTransform() const {return left_.localTransform();}
+
472
+
497 Transform stereoTransform() const;
+
498
+
502 const CameraModel & left() const {return left_;}
+
506 const CameraModel & right() const {return right_;}
+
507
+
511 const std::string & getLeftSuffix() const {return leftSuffix_;}
+
515 const std::string & getRightSuffix() const {return rightSuffix_;}
+
516
+
517private:
+
528 void updateStereoRectification();
+
529
+
530private:
+
531 std::string leftSuffix_;
+
532 std::string rightSuffix_;
+
533 CameraModel left_;
+
534 CameraModel right_;
+
535 std::string name_;
+
536
+
537 cv::Mat R_;
+
538 cv::Mat T_;
+
539 cv::Mat E_;
+
540 cv::Mat F_;
+
541};
+
542
+
556RTABMAP_CORE_EXPORT std::ostream& operator<<(std::ostream& os, const StereoCameraModel& model);
+
557
+
558} // rtabmap
+
559
+
560#endif /* STEREOCAMERAMODEL_H_ */
+
+
+
+
+
+
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::StereoCameraModel::left
const CameraModel & left() const
Returns the left camera model.
Definition StereoCameraModel.h:502
+
rtabmap::StereoCameraModel::StereoCameraModel
StereoCameraModel(double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0), const cv::Size &imageSize=cv::Size(0, 0))
Minimal constructor using focal lengths and baseline only.
+
rtabmap::StereoCameraModel::StereoCameraModel
StereoCameraModel()
Default constructor. Creates an empty stereo model with default suffixes ("left", "right").
Definition StereoCameraModel.h:59
+
rtabmap::StereoCameraModel::StereoCameraModel
StereoCameraModel(const std::string &name, const cv::Size &imageSize1, const cv::Mat &K1, const cv::Mat &D1, const cv::Mat &R1, const cv::Mat &P1, const cv::Size &imageSize2, const cv::Mat &K2, const cv::Mat &D2, const cv::Mat &R2, const cv::Mat &P2, const cv::Mat &R, const cv::Mat &T, const cv::Mat &E, const cv::Mat &F, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0))
Constructs a StereoCameraModel from detailed intrinsic and extrinsic parameters for both cameras.
+
rtabmap::StereoCameraModel::saveStereoTransform
bool saveStereoTransform(const std::string &directory) const
Saves stereo extrinsic parameters to a YAML file in ROS format.
+
rtabmap::StereoCameraModel::F
const cv::Mat & F() const
Fundamental matrix.
Definition StereoCameraModel.h:433
+
rtabmap::StereoCameraModel::scale
void scale(double scale)
Scales both cameras' calibration by a factor.
+
rtabmap::StereoCameraModel::computeDisparity
float computeDisparity(unsigned short depth) const
Computes the disparity value from a depth given in unsigned short format (millimeters).
+
rtabmap::StereoCameraModel::getRightSuffix
const std::string & getRightSuffix() const
Gets the suffix used for the right camera calibration file.
Definition StereoCameraModel.h:515
+
rtabmap::StereoCameraModel::serialize
std::vector< unsigned char > serialize() const
Serializes the stereo camera model into a byte vector.
+
rtabmap::StereoCameraModel::stereoTransform
Transform stereoTransform() const
Returns the stereo transform (left camera relative to right camera coordinate system).
+
rtabmap::StereoCameraModel::computeDepth
float computeDepth(float disparity) const
Computes the depth (Z coordinate) from a given disparity value.
+
rtabmap::StereoCameraModel::localTransform
const Transform & localTransform() const
Gets the local transform from left camera to robot base.
Definition StereoCameraModel.h:471
+
rtabmap::StereoCameraModel::initRectificationMap
void initRectificationMap()
Initializes the rectification maps for both cameras.
Definition StereoCameraModel.h:234
+
rtabmap::StereoCameraModel::isValidForProjection
bool isValidForProjection() const
Returns true if both left and right models are valid for projection and the baseline is positive.
Definition StereoCameraModel.h:224
+
rtabmap::StereoCameraModel::deserialize
unsigned int deserialize(const std::vector< unsigned char > &data)
Deserializes stereo camera model data from a byte vector.
+
rtabmap::StereoCameraModel::StereoCameraModel
StereoCameraModel(const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const Transform &extrinsics)
Constructs a StereoCameraModel from two camera models and an extrinsic Transform between them.
+
rtabmap::StereoCameraModel::getLeftSuffix
const std::string & getLeftSuffix() const
Gets the suffix used for the left camera calibration file.
Definition StereoCameraModel.h:511
+
rtabmap::StereoCameraModel::R
const cv::Mat & R() const
Stereo extrinsic rotation matrix.
Definition StereoCameraModel.h:430
+
rtabmap::StereoCameraModel::T
const cv::Mat & T() const
Stereo extrinsic translation vector.
Definition StereoCameraModel.h:431
+
rtabmap::StereoCameraModel::setImageSize
void setImageSize(const cv::Size &size)
Sets the image size for both left and right cameras.
Definition StereoCameraModel.h:263
+
rtabmap::StereoCameraModel::E
const cv::Mat & E() const
Essential matrix.
Definition StereoCameraModel.h:432
+
rtabmap::StereoCameraModel::baseline
double baseline() const
Returns the stereo baseline in meters.
Definition StereoCameraModel.h:378
+
rtabmap::StereoCameraModel::StereoCameraModel
StereoCameraModel(const std::string &name, double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0), const cv::Size &imageSize=cv::Size(0, 0))
Minimal constructor that also sets a name, required if we want to save it to a file.
+
rtabmap::StereoCameraModel::load
bool load(const std::string &directory, const std::string &cameraName, bool ignoreStereoTransform=true, bool initRectificationMaps=true)
Loads stereo camera calibration data from disk.
+
rtabmap::StereoCameraModel::isRectificationMapInitialized
bool isRectificationMapInitialized() const
Returns true if rectification maps are initialized.
Definition StereoCameraModel.h:239
+
rtabmap::StereoCameraModel::right
const CameraModel & right() const
Returns the right camera model.
Definition StereoCameraModel.h:506
+
rtabmap::StereoCameraModel::save
bool save(const std::string &directory, bool ignoreStereoTransform=true) const
Saves stereo camera calibration data to disk.
+
rtabmap::StereoCameraModel::roi
void roi(const cv::Rect &roi)
Applies region-of-interest (ROI) cropping to both cameras.
+
rtabmap::StereoCameraModel::isValidForRectification
bool isValidForRectification() const
Returns true if both left and right models are valid for rectification.
Definition StereoCameraModel.h:229
+
rtabmap::StereoCameraModel::setName
void setName(const std::string &name, const std::string &leftSuffix="left", const std::string &rightSuffix="right")
Sets the camera name and optional image suffixes for the left and right cameras.
+
rtabmap::StereoCameraModel::name
const std::string & name() const
Gets the camera name.
Definition StereoCameraModel.h:258
+
rtabmap::StereoCameraModel::StereoCameraModel
StereoCameraModel(const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const cv::Mat &R=cv::Mat(), const cv::Mat &T=cv::Mat(), const cv::Mat &E=cv::Mat(), const cv::Mat &F=cv::Mat())
Constructs a StereoCameraModel from two individual camera models and optional stereo extrinsic parame...
+
rtabmap::StereoCameraModel::computeDisparity
float computeDisparity(float depth) const
Computes the disparity value from a given depth.
+
rtabmap::StereoCameraModel::setLocalTransform
void setLocalTransform(const Transform &transform)
Sets the local transform from left camera to robot base.
Definition StereoCameraModel.h:466
+
rtabmap::StereoCameraModel::~StereoCameraModel
virtual ~StereoCameraModel()
Destructor.
Definition StereoCameraModel.h:219
+
rtabmap::StereoCameraModel::deserialize
unsigned int deserialize(const unsigned char *data, unsigned int dataSize)
Deserializes stereo camera model data from a raw byte array.
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+ +
rtabmap::operator<<
RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)
Stream operator for printing a camera model to an output stream.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/StereoDense_8h_source.html b/preview/pr-1492/api/latest/StereoDense_8h_source.html new file mode 100644 index 00000000..b0eff569 --- /dev/null +++ b/preview/pr-1492/api/latest/StereoDense_8h_source.html @@ -0,0 +1,171 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/StereoDense.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+ + +
+
+
StereoDense.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef STEREODENSE_H_
+
29#define STEREODENSE_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/Parameters.h>
+
34#include <opencv2/core/core.hpp>
+
35
+
36namespace rtabmap {
+
37
+
+
53class RTABMAP_CORE_EXPORT StereoDense {
+
54public:
+
+
59 enum Type {
+
60 kTypeBM = 0,
+
61 kTypeSGBM = 1
+
62 };
+
+
63
+
75 static StereoDense * create(const ParametersMap & parameters);
+
76
+
87 static StereoDense * create(StereoDense::Type type, const ParametersMap & parameters = ParametersMap());
+
88
+
89public:
+
93 virtual ~StereoDense() {}
+
94
+
103 virtual void parseParameters(const ParametersMap & parameters) {}
+
104
+
119 virtual cv::Mat computeDisparity(
+
120 const cv::Mat & leftImage,
+
121 const cv::Mat & rightImage) const = 0;
+
122
+
123protected:
+
129 StereoDense(const ParametersMap & parameters = ParametersMap()) {}
+
130};
+
+
131
+
132} /* namespace rtabmap */
+
133
+
134#endif /* STEREODENSE_H_ */
+
rtabmap::StereoDense
Abstract base class for dense stereo matching algorithms.
Definition StereoDense.h:53
+
rtabmap::StereoDense::Type
Type
Enumeration of available stereo matching algorithm types.
Definition StereoDense.h:59
+
rtabmap::StereoDense::StereoDense
StereoDense(const ParametersMap &parameters=ParametersMap())
Protected constructor.
Definition StereoDense.h:129
+
rtabmap::StereoDense::~StereoDense
virtual ~StereoDense()
Virtual destructor.
Definition StereoDense.h:93
+
rtabmap::StereoDense::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parse parameters from a parameters map.
Definition StereoDense.h:103
+
rtabmap::StereoDense::computeDisparity
virtual cv::Mat computeDisparity(const cv::Mat &leftImage, const cv::Mat &rightImage) const =0
Compute disparity map from stereo image pair.
+
rtabmap::StereoDense::create
static StereoDense * create(const ParametersMap &parameters)
Factory method to create a StereoDense instance from parameters.
+
rtabmap::StereoDense::create
static StereoDense * create(StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
Factory method to create a StereoDense instance of a specific type.
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/StereoSGBM_8h_source.html b/preview/pr-1492/api/latest/StereoSGBM_8h_source.html new file mode 100644 index 00000000..f35c4f1e --- /dev/null +++ b/preview/pr-1492/api/latest/StereoSGBM_8h_source.html @@ -0,0 +1,168 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/stereo/StereoSGBM.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + + + + + + + + +
+
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+
+
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+
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+
StereoSGBM.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef STEREOSGBM_H_
+
29#define STEREOSGBM_H_
+
30
+
31#include <rtabmap/core/StereoDense.h>
+
32#include <rtabmap/core/Parameters.h>
+
33#include <opencv2/core/core.hpp>
+
34
+
35namespace rtabmap {
+
36
+
+
51class RTABMAP_CORE_EXPORT StereoSGBM : public StereoDense {
+
52public:
+
60 StereoSGBM(const ParametersMap & parameters = ParametersMap());
+
61
+
65 virtual ~StereoSGBM() {}
+
66
+
86 virtual void parseParameters(const ParametersMap & parameters);
+
87
+
101 virtual cv::Mat computeDisparity(
+
102 const cv::Mat & leftImage,
+
103 const cv::Mat & rightImage) const;
+
104
+
105private:
+
106 int blockSize_;
+
107 int minDisparity_;
+
108 int numDisparities_;
+
109 int preFilterCap_;
+
110 int uniquenessRatio_;
+
111 int speckleWindowSize_;
+
112 int speckleRange_;
+
113 int P1_;
+
114 int P2_;
+
115 int disp12MaxDiff_;
+
116 int mode_;
+
117};
+
+
118
+
119} /* namespace rtabmap */
+
120
+
121#endif /* STEREOSGBM_H_ */
+
rtabmap::StereoDense
Abstract base class for dense stereo matching algorithms.
Definition StereoDense.h:53
+
rtabmap::StereoSGBM
Semi-Global Block Matching algorithm for dense stereo matching.
Definition StereoSGBM.h:51
+
rtabmap::StereoSGBM::~StereoSGBM
virtual ~StereoSGBM()
Virtual destructor.
Definition StereoSGBM.h:65
+
rtabmap::StereoSGBM::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parse parameters from a parameters map.
+
rtabmap::StereoSGBM::StereoSGBM
StereoSGBM(const ParametersMap &parameters=ParametersMap())
Constructor with parameters map.
+
rtabmap::StereoSGBM::computeDisparity
virtual cv::Mat computeDisparity(const cv::Mat &leftImage, const cv::Mat &rightImage) const
Compute disparity map from stereo image pair.
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Stereo_8h_source.html b/preview/pr-1492/api/latest/Stereo_8h_source.html new file mode 100644 index 00000000..365aa536 --- /dev/null +++ b/preview/pr-1492/api/latest/Stereo_8h_source.html @@ -0,0 +1,252 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Stereo.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
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+
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+
+
+
+
+
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+
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+ + +
+
+
Stereo.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef STEREO_H_
+
29#define STEREO_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/Parameters.h>
+
34#include <opencv2/core/core.hpp>
+
35
+
36namespace rtabmap {
+
37
+
+
55class RTABMAP_CORE_EXPORT Stereo {
+
56public:
+
70 static Stereo * create(const ParametersMap & parameters = ParametersMap());
+
71
+
72public:
+
82 Stereo(const ParametersMap & parameters = ParametersMap());
+
83
+
87 virtual ~Stereo() {}
+
88
+
104 virtual void parseParameters(const ParametersMap & parameters);
+
105
+
124 virtual std::vector<cv::Point2f> computeCorrespondences(
+
125 const cv::Mat & leftImage,
+
126 const cv::Mat & rightImage,
+
127 const std::vector<cv::Point2f> & leftCorners,
+
128 std::vector<unsigned char> & status) const;
+
129#ifdef HAVE_OPENCV_CUDEV
+
143 virtual std::vector<cv::Point2f> computeCorrespondences(
+
144 const cv::cuda::GpuMat & leftImage,
+
145 const cv::cuda::GpuMat & rightImage,
+
146 const std::vector<cv::Point2f> & leftCorners,
+
147 std::vector<unsigned char> & status) const;
+
148#endif
+
149
+
154 cv::Size winSize() const {return cv::Size(winWidth_, winHeight_);}
+
155
+
160 int iterations() const {return iterations_;}
+
161
+
166 int maxLevel() const {return maxLevel_;}
+
167
+
172 float minDisparity() const {return minDisparity_;}
+
173
+
178 float maxDisparity() const {return maxDisparity_;}
+
179
+
184 bool winSSD() const {return winSSD_;}
+
185
+
190 virtual bool isGpuEnabled() const {return false;}
+
191
+
192private:
+
193 int winWidth_;
+
194 int winHeight_;
+
195 int iterations_;
+
196 int maxLevel_;
+
197 float minDisparity_;
+
198 float maxDisparity_;
+
199 bool winSSD_;
+
200};
+
+
201
+
+
219class RTABMAP_CORE_EXPORT StereoOpticalFlow : public Stereo {
+
220public:
+
230 StereoOpticalFlow(const ParametersMap & parameters = ParametersMap());
+
231
+
235 virtual ~StereoOpticalFlow() {}
+
236
+
250 virtual void parseParameters(const ParametersMap & parameters);
+
251
+
269 virtual std::vector<cv::Point2f> computeCorrespondences(
+
270 const cv::Mat & leftImage,
+
271 const cv::Mat & rightImage,
+
272 const std::vector<cv::Point2f> & leftCorners,
+
273 std::vector<unsigned char> & status) const;
+
274
+
275#ifdef HAVE_OPENCV_CUDEV
+
291 virtual std::vector<cv::Point2f> computeCorrespondences(
+
292 const cv::cuda::GpuMat & leftImage,
+
293 const cv::cuda::GpuMat & rightImage,
+
294 const std::vector<cv::Point2f> & leftCorners,
+
295 std::vector<unsigned char> & status) const;
+
296#endif
+
297
+
302 float epsilon() const {return epsilon_;}
+
303
+
312 virtual bool isGpuEnabled() const;
+
313
+
314 bool usingMinEigenVals() const {return useMinEigenVals_;}
+
315 float minEigThreshold() const {return minEigThreshold_;}
+
316 float errorThreshold() const {return errorThreshold_;}
+
317
+
318private:
+
333 void updateStatus(
+
334 const std::vector<cv::Point2f> & leftCorners,
+
335 const std::vector<cv::Point2f> & rightCorners,
+
336 std::vector<unsigned char> & status,
+
337 std::vector<float> err = {}) const;
+
338
+
339private:
+
340 float epsilon_;
+
341 bool useMinEigenVals_;
+
342 float minEigThreshold_;
+
343 float errorThreshold_;
+
344 bool gpu_;
+
345};
+
+
346
+
347} /* namespace rtabmap */
+
348
+
349#endif /* STEREO_H_ */
+
rtabmap::StereoOpticalFlow
Sparse stereo matching using optical flow.
Definition Stereo.h:219
+
rtabmap::StereoOpticalFlow::computeCorrespondences
virtual std::vector< cv::Point2f > computeCorrespondences(const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const
Compute stereo correspondences using optical flow.
+
rtabmap::StereoOpticalFlow::StereoOpticalFlow
StereoOpticalFlow(const ParametersMap &parameters=ParametersMap())
Constructor.
+
rtabmap::StereoOpticalFlow::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parse parameters from a parameters map.
+
rtabmap::StereoOpticalFlow::isGpuEnabled
virtual bool isGpuEnabled() const
Check if GPU acceleration is enabled.
+
rtabmap::StereoOpticalFlow::epsilon
float epsilon() const
Get the convergence threshold (epsilon)
Definition Stereo.h:302
+
rtabmap::StereoOpticalFlow::~StereoOpticalFlow
virtual ~StereoOpticalFlow()
Virtual destructor.
Definition Stereo.h:235
+
rtabmap::Stereo
Sparse stereo matching using block matching.
Definition Stereo.h:55
+
rtabmap::Stereo::Stereo
Stereo(const ParametersMap &parameters=ParametersMap())
Constructor.
+
rtabmap::Stereo::create
static Stereo * create(const ParametersMap &parameters=ParametersMap())
Factory method to create a Stereo instance.
+
rtabmap::Stereo::maxLevel
int maxLevel() const
Get the maximum pyramid level.
Definition Stereo.h:166
+
rtabmap::Stereo::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parse parameters from a parameters map.
+
rtabmap::Stereo::winSize
cv::Size winSize() const
Get the search window size.
Definition Stereo.h:154
+
rtabmap::Stereo::maxDisparity
float maxDisparity() const
Get the maximum disparity value.
Definition Stereo.h:178
+
rtabmap::Stereo::minDisparity
float minDisparity() const
Get the minimum disparity value.
Definition Stereo.h:172
+
rtabmap::Stereo::iterations
int iterations() const
Get the number of iterations.
Definition Stereo.h:160
+
rtabmap::Stereo::isGpuEnabled
virtual bool isGpuEnabled() const
Check if GPU acceleration is enabled.
Definition Stereo.h:190
+
rtabmap::Stereo::~Stereo
virtual ~Stereo()
Virtual destructor.
Definition Stereo.h:87
+
rtabmap::Stereo::winSSD
bool winSSD() const
Check if SSD (Sum of Squared Differences) is used.
Definition Stereo.h:184
+
rtabmap::Stereo::computeCorrespondences
virtual std::vector< cv::Point2f > computeCorrespondences(const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const
Compute stereo correspondences using block matching.
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Transform_8h_source.html b/preview/pr-1492/api/latest/Transform_8h_source.html new file mode 100644 index 00000000..9ee9bad4 --- /dev/null +++ b/preview/pr-1492/api/latest/Transform_8h_source.html @@ -0,0 +1,358 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/Transform.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
Transform.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef TRANSFORM_H_
+
29#define TRANSFORM_H_
+
30
+
31#include <rtabmap/core/rtabmap_core_export.h>
+
32#include <vector>
+
33#include <string>
+
34#include <map>
+
35#include <Eigen/Core>
+
36#include <Eigen/Geometry>
+
37#include <opencv2/core/core.hpp>
+
38
+
39namespace rtabmap {
+
40
+
+
52class RTABMAP_CORE_EXPORT Transform
+
53{
+
54public:
+
55
+
59 Transform();
+
65 Transform(float r11, float r12, float r13, float o14,
+
66 float r21, float r22, float r23, float o24,
+
67 float r31, float r32, float r33, float o34);
+
72 Transform(const cv::Mat & transformationMatrix);
+
78 Transform(float x, float y, float z, float roll, float pitch, float yaw);
+
84 Transform(float x, float y, float z, float qx, float qy, float qz, float qw);
+
88 Transform(float x, float y, float theta);
+
89
+
93 Transform clone() const;
+
94
+
95 // --- Accessors (rotation matrix elements, translation) ---
+
96 float r11() const {return data()[0];}
+
97 float r12() const {return data()[1];}
+
98 float r13() const {return data()[2];}
+
99 float r21() const {return data()[4];}
+
100 float r22() const {return data()[5];}
+
101 float r23() const {return data()[6];}
+
102 float r31() const {return data()[8];}
+
103 float r32() const {return data()[9];}
+
104 float r33() const {return data()[10];}
+
105
+
106 float o14() const {return data()[3];}
+
+
107 float o24() const {return data()[7];}
+
+
108 float o34() const {return data()[11];}
+
109
+
110 float & operator[](int index) {return data()[index];}
+
111 const float & operator[](int index) const {return data()[index];}
+
112 float & operator()(int row, int col) {return data()[row*4 + col];}
+
113 const float & operator()(int row, int col) const {return data()[row*4 + col];}
+
114
+
118 bool isNull() const;
+
122 bool isIdentity() const;
+
123
+
127 void setNull();
+
131 void setIdentity();
+
132
+
136 const cv::Mat & dataMatrix() const {return data_;}
+
140 const float * data() const {return (const float *)data_.data;}
+
141 float * data() {return (float *)data_.data;}
+
142
+
146 int size() const {return 12;}
+
147
+
149 float & x() {return data()[3];}
+
+
150 float & y() {return data()[7];}
+
+
151 float & z() {return data()[11];}
+
152 const float & x() const {return data()[3];}
+
153 const float & y() const {return data()[7];}
+
154 const float & z() const {return data()[11];}
+
155
+
159 float theta() const;
+
160
+
164 bool isInvertible() const;
+
168 Transform inverse() const;
+
172 Transform rotation() const;
+
176 Transform translation() const;
+
180 Transform to3DoF() const;
+
184 Transform to4DoF() const;
+
188 bool is3DoF() const;
+
192 bool is4DoF() const;
+
193
+
197 cv::Mat rotationMatrix() const;
+
201 cv::Mat translationMatrix() const;
+
202
+
206 void getTranslationAndEulerAngles(float & x, float & y, float & z, float & roll, float & pitch, float & yaw) const;
+
210 void getEulerAngles(float & roll, float & pitch, float & yaw) const;
+
214 void getTranslation(float & x, float & y, float & z) const;
+
218 float getAngle(const Transform & t) const;
+
222 float getNorm() const;
+
226 float getNormSquared() const;
+
230 float getDistance(const Transform & t) const;
+
234 float getDistanceSquared(const Transform & t) const;
+
240 Transform interpolate(float t, const Transform & other) const;
+
244 void normalizeRotation();
+
248 std::string prettyPrint() const;
+
249
+
251 Transform operator*(const Transform & t) const;
+
252 Transform & operator*=(const Transform & t);
+
253 bool operator==(const Transform & t) const;
+
254 bool operator!=(const Transform & t) const;
+
255
+
256 // --- Eigen conversions ---
+
257 Eigen::Matrix4f toEigen4f() const;
+
258 Eigen::Matrix4d toEigen4d() const;
+
259 Eigen::Affine3f toEigen3f() const;
+
260 Eigen::Affine3d toEigen3d() const;
+
261
+
262 Eigen::Quaternionf getQuaternionf() const;
+
263 Eigen::Quaterniond getQuaterniond() const;
+
264
+
265public:
+
266 // --- Static helpers ---
+
267
+
271 static Transform getIdentity();
+
272
+
274 static Transform fromEigen4f(const Eigen::Matrix4f & matrix);
+
275 static Transform fromEigen4d(const Eigen::Matrix4d & matrix);
+
276 static Transform fromEigen3f(const Eigen::Affine3f & matrix);
+
277 static Transform fromEigen3d(const Eigen::Affine3d & matrix);
+
278 static Transform fromEigen3f(const Eigen::Isometry3f & matrix);
+
279 static Transform fromEigen3d(const Eigen::Isometry3d & matrix);
+
280 static Transform fromEigen3f(const Eigen::Matrix<float, 3, 4> & matrix);
+
281 static Transform fromEigen3d(const Eigen::Matrix<double, 3, 4> & matrix);
+
282
+
+
289 static Transform opengl_T_rtabmap() {return Transform(
+
290 0.0f, -1.0f, 0.0f, 0.0f,
+
291 0.0f, 0.0f, 1.0f, 0.0f,
+
292 -1.0f, 0.0f, 0.0f, 0.0f);}
+
+
+
299 static Transform rtabmap_T_opengl() {return Transform(
+
300 0.0f, 0.0f,-1.0f, 0.0f,
+
301 -1.0f, 0.0f, 0.0f, 0.0f,
+
302 0.0f, 1.0f, 0.0f, 0.0f);}
+
+
303
+
313 static Transform fromString(const std::string & string);
+
317 static bool canParseString(const std::string & string);
+
318
+
328 static Transform getTransform(
+
329 const std::map<double, Transform> & tfBuffer,
+
330 const double & stamp);
+
334 RTABMAP_DEPRECATED static Transform getClosestTransform(
+
335 const std::map<double, Transform> & tfBuffer,
+
336 const double & stamp,
+
337 double * stampDiff);
+
338
+
339private:
+
340 cv::Mat data_;
+
341};
+
342
+
346RTABMAP_CORE_EXPORT std::ostream& operator<<(std::ostream& os, const Transform& s);
+
347
+
+
352class TransformStamped
+
353{
+
354public:
+
355 TransformStamped(const Transform & transform, const double & stamp) :
+
356 transform_(transform),
+
357 stamp_(stamp)
+
358 {}
+
359 const Transform & transform() const {return transform_;}
+
360 const double & stamp() const {return stamp_;}
+
361
+
362private:
+
363 Transform transform_;
+
364 double stamp_;
+
365};
+
+
366
+
367}
+
368
+
369#endif /* TRANSFORM_H_ */
+
+
+
+
+
+
rtabmap::TransformStamped
Associates a transform with a timestamp.
Definition Transform.h:353
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+
rtabmap::Transform::isNull
bool isNull() const
Checks whether the transform is null (all zeros).
+
rtabmap::Transform::Transform
Transform(float x, float y, float z, float roll, float pitch, float yaw)
Constructs a Transform from position and Euler angles (in radians).
+
rtabmap::Transform::r11
float r11() const
Rotation matrix element at row 1, col 1.
Definition Transform.h:96
+
rtabmap::Transform::rotationMatrix
cv::Mat rotationMatrix() const
Returns the 3x3 rotation matrix (cv::Mat).
+
rtabmap::Transform::size
int size() const
Returns the number of float elements (always 12).
Definition Transform.h:146
+
rtabmap::Transform::getTranslation
void getTranslation(float &x, float &y, float &z) const
Extracts translation only.
+
rtabmap::Transform::o34
float o34() const
Translation z.
Definition Transform.h:108
+
rtabmap::Transform::to3DoF
Transform to3DoF() const
Converts to 3 DoF (x, y, theta).
+
rtabmap::Transform::getTransform
static Transform getTransform(const std::map< double, Transform > &tfBuffer, const double &stamp)
Retrieves the transform to a given timestamp.
+
rtabmap::Transform::operator*
Transform operator*(const Transform &t) const
Operator overloads.
+
rtabmap::Transform::x
float & x()
Translation getters/setters.
Definition Transform.h:149
+
rtabmap::Transform::is3DoF
bool is3DoF() const
Checks if the transform is 3 DoF (no pitch/roll).
+
rtabmap::Transform::prettyPrint
std::string prettyPrint() const
Returns a string representation of the transform.
+
rtabmap::Transform::translationMatrix
cv::Mat translationMatrix() const
Returns the 3x1 translation matrix (cv::Mat).
+
rtabmap::Transform::inverse
Transform inverse() const
Returns the inverse of the transform.
+
rtabmap::Transform::Transform
Transform(const cv::Mat &transformationMatrix)
Constructs a Transform from a 3x4 OpenCV matrix.
+
rtabmap::Transform::fromString
static Transform fromString(const std::string &string)
Parses a transform from a string representation. Supported formats:
+
rtabmap::Transform::data
const float * data() const
Returns a pointer to the raw data (12 floats).
Definition Transform.h:140
+
rtabmap::Transform::getIdentity
static Transform getIdentity()
Returns identity transform.
+
rtabmap::Transform::clone
Transform clone() const
Returns a deep copy of the transform.
+
rtabmap::Transform::to4DoF
Transform to4DoF() const
Converts to 4 DoF (x, y, z, yaw).
+
rtabmap::Transform::Transform
Transform(float r11, float r12, float r13, float o14, float r21, float r22, float r23, float o24, float r31, float r32, float r33, float o34)
Constructor from rotation matrix elements and translation components.
+
rtabmap::Transform::rtabmap_T_opengl
static Transform rtabmap_T_opengl()
Returns the transform from OpenGL to RTAB-Map coordinate system.
Definition Transform.h:299
+
rtabmap::Transform::o24
float o24() const
Translation y.
Definition Transform.h:107
+
rtabmap::Transform::dataMatrix
const cv::Mat & dataMatrix() const
Returns the internal OpenCV matrix (3x4).
Definition Transform.h:136
+
rtabmap::Transform::getTranslationAndEulerAngles
void getTranslationAndEulerAngles(float &x, float &y, float &z, float &roll, float &pitch, float &yaw) const
Extracts translation and Euler angles (radians).
+
rtabmap::Transform::getClosestTransform
static RTABMAP_DEPRECATED Transform getClosestTransform(const std::map< double, Transform > &tfBuffer, const double &stamp, double *stampDiff)
+
rtabmap::Transform::getAngle
float getAngle(const Transform &t) const
Returns angular difference (in radians) with another transform.
+
rtabmap::Transform::opengl_T_rtabmap
static Transform opengl_T_rtabmap()
Returns the transform from RTAB-Map to OpenGL coordinate system.
Definition Transform.h:289
+
rtabmap::Transform::Transform
Transform()
Default constructor. Initializes to a null (all zeros) transform.
+
rtabmap::Transform::y
float & y()
Translation y.
Definition Transform.h:150
+
rtabmap::Transform::normalizeRotation
void normalizeRotation()
Normalizes the rotation matrix.
+
rtabmap::Transform::theta
float theta() const
Returns 2D orientation (theta) in radians.
+
rtabmap::Transform::is4DoF
bool is4DoF() const
Checks if the transform is 4 DoF (no pitch).
+
rtabmap::Transform::o14
float o14() const
Translation x.
Definition Transform.h:106
+
rtabmap::Transform::isInvertible
bool isInvertible() const
Returns whether the transform is invertible.
+
rtabmap::Transform::getDistance
float getDistance(const Transform &t) const
Returns the Euclidean distance to another transform.
+
rtabmap::Transform::getEulerAngles
void getEulerAngles(float &roll, float &pitch, float &yaw) const
Extracts Euler angles (roll, pitch, yaw).
+
rtabmap::Transform::isIdentity
bool isIdentity() const
Checks whether the transform is identity.
+
rtabmap::Transform::getDistanceSquared
float getDistanceSquared(const Transform &t) const
Returns the squared distance to another transform.
+
rtabmap::Transform::fromEigen4f
static Transform fromEigen4f(const Eigen::Matrix4f &matrix)
Converts from Eigen representations.
+
rtabmap::Transform::getNormSquared
float getNormSquared() const
Returns the squared norm of the translation vector.
+
rtabmap::Transform::translation
Transform translation() const
Returns only the translation component.
+
rtabmap::Transform::rotation
Transform rotation() const
Returns only the rotation component.
+
rtabmap::Transform::setNull
void setNull()
Sets the transform to null (zero matrix).
+
rtabmap::Transform::getNorm
float getNorm() const
Returns the Euclidean norm of the translation vector.
+
rtabmap::Transform::interpolate
Transform interpolate(float t, const Transform &other) const
Interpolates between this and another transform.
+
rtabmap::Transform::Transform
Transform(float x, float y, float theta)
Constructs a 2D Transform (x, y, theta).
+
rtabmap::Transform::canParseString
static bool canParseString(const std::string &string)
Checks if a string can be parsed into a transform.
+
rtabmap::Transform::Transform
Transform(float x, float y, float z, float qx, float qy, float qz, float qw)
Constructs a Transform from position and quaternion.
+
rtabmap::Transform::z
float & z()
Translation z.
Definition Transform.h:151
+
rtabmap::Transform::setIdentity
void setIdentity()
Sets the transform to the identity transform.
+ +
rtabmap::operator<<
RTABMAP_CORE_EXPORT std::ostream & operator<<(std::ostream &os, const CameraModel &model)
Stream operator for printing a camera model to an output stream.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UConversion_8h.html b/preview/pr-1492/api/latest/UConversion_8h.html new file mode 100644 index 00000000..3d3d99d2 --- /dev/null +++ b/preview/pr-1492/api/latest/UConversion_8h.html @@ -0,0 +1,1050 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UConversion.h File Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
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+
+
+
+
+ + +
+
+
+Functions
+
UConversion.h File Reference
+
+
+ +

Some conversion functions. +More...

+
#include "rtabmap/utilite/utilite_export.h"
+#include <string>
+#include <vector>
+#include <stdarg.h>
+
+Include dependency graph for UConversion.h:
+
+
+ + + + + + + + + + + +
+
+This graph shows which files directly or indirectly include this file:
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+

Go to the source code of this file.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Functions

std::string UTILITE_EXPORT uReplaceChar (const std::string &str, char before, char after)
 
std::string UTILITE_EXPORT uReplaceChar (const std::string &str, char before, const std::string &after)
 
std::string UTILITE_EXPORT uToUpperCase (const std::string &str)
 
std::string UTILITE_EXPORT uToLowerCase (const std::string &str)
 
std::string UTILITE_EXPORT uNumber2Str (unsigned int number)
 
std::string UTILITE_EXPORT uNumber2Str (int number)
 
std::string UTILITE_EXPORT uNumber2Str (float number, int precision=6, bool fixed=false)
 
std::string UTILITE_EXPORT uNumber2Str (double number, int precision=6, bool fixed=false)
 
int UTILITE_EXPORT uStr2Int (const std::string &str)
 
float UTILITE_EXPORT uStr2Float (const std::string &str)
 
double UTILITE_EXPORT uStr2Double (const std::string &str)
 
std::string UTILITE_EXPORT uBool2Str (bool boolean)
 
bool UTILITE_EXPORT uStr2Bool (const char *str)
 
+bool UTILITE_EXPORT uStr2Bool (const std::string &str)
 
std::vector< unsigned char > UTILITE_EXPORT uStr2Bytes (const std::string &str)
 
std::string UTILITE_EXPORT uBytes2Str (const std::vector< unsigned char > &bytes)
 
std::string UTILITE_EXPORT uBytes2Hex (const char *bytes, unsigned int bytesLen)
 
std::vector< char > UTILITE_EXPORT uHex2Bytes (const std::string &hex)
 
std::vector< char > UTILITE_EXPORT uHex2Bytes (const char *hex, int hexLen)
 
std::string UTILITE_EXPORT uHex2Str (const std::string &hex)
 
unsigned char UTILITE_EXPORT uHex2Ascii (const unsigned char &c, bool rightPart)
 
unsigned char UTILITE_EXPORT uAscii2Hex (const unsigned char &c)
 
std::string UTILITE_EXPORT uFormatv (const char *fmt, va_list ap)
 
std::string UTILITE_EXPORT uFormat (const char *fmt,...)
 
+

Detailed Description

+

Some conversion functions.

+

This contains functions to do some convenient conversion like uNumber2str(), uBytes2Hex() or uHex2Bytes().

+ +

Definition in file UConversion.h.

+

Function Documentation

+ +

◆ uReplaceChar() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
std::string UTILITE_EXPORT uReplaceChar (const std::string & str,
char before,
char after 
)
+
+

Replace old characters in a string to new ones. Example :

std::string str = "Hello";
+
uReplaceChar(str, 'l', 'p');
+
// The results is str = "Heppo";
+
uReplaceChar
std::string UTILITE_EXPORT uReplaceChar(const std::string &str, char before, char after)
+
Parameters
+ + + + +
strthe string
beforethe character to be replaced by the new one
afterthe new character replacing the old one
+
+
+
Returns
the modified string
+ +
+
+ +

◆ uReplaceChar() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
std::string UTILITE_EXPORT uReplaceChar (const std::string & str,
char before,
const std::string & after 
)
+
+

Replace old characters in a string with the specified string. Example :

std::string str = "Hello";
+
uReplaceChar(str, 'o', "oween");
+
// The results is str = "Helloween";
+
Parameters
+ + + + +
strthe string
beforethe character to be replaced by the new one
afterthe new string replacing the old character
+
+
+
Returns
the modified string
+ +
+
+ +

◆ uToUpperCase()

+ +
+
+ + + + + + + + +
std::string UTILITE_EXPORT uToUpperCase (const std::string & str)
+
+

Transform characters from a string to upper case. Example :

std::string str = "hello!";
+
str = uToUpperCase(str);
+
//str is now equal to "HELLO!"
+
uToUpperCase
std::string UTILITE_EXPORT uToUpperCase(const std::string &str)
+
Parameters
+ + +
strthe string
+
+
+
Returns
the modified string
+ +
+
+ +

◆ uToLowerCase()

+ +
+
+ + + + + + + + +
std::string UTILITE_EXPORT uToLowerCase (const std::string & str)
+
+

Transform characters from a string to lower case. Example :

std::string str = "HELLO!";
+
str = uToLowerCase(str, false);
+
//str is now equal to "hello!"
+
uToLowerCase
std::string UTILITE_EXPORT uToLowerCase(const std::string &str)
+
Parameters
+ + +
strthe string
+
+
+
Returns
the modified string
+ +
+
+ +

◆ uNumber2Str() [1/4]

+ +
+
+ + + + + + + + +
std::string UTILITE_EXPORT uNumber2Str (unsigned int number)
+
+

Convert an unsigned integer to a string.

+

This function converts an unsigned integer value to its string representation. The conversion uses standard decimal notation.

+

Example:

std::string str = uNumber2Str(42u);
+
// str contains "42"
+
uNumber2Str
std::string UTILITE_EXPORT uNumber2Str(unsigned int number)
+
Parameters
+ + +
numberthe unsigned integer number to convert to a string
+
+
+
Returns
the string representation of the number
+ +
+
+ +

◆ uNumber2Str() [2/4]

+ +
+
+ + + + + + + + +
std::string UTILITE_EXPORT uNumber2Str (int number)
+
+

Convert a signed integer to a string.

+

This function converts a signed integer value to its string representation. Negative numbers will include a minus sign prefix.

+

Example:

std::string str = uNumber2Str(-42);
+
// str contains "-42"
+
Parameters
+ + +
numberthe integer number to convert to a string
+
+
+
Returns
the string representation of the number (includes minus sign for negative values)
+ +
+
+ +

◆ uNumber2Str() [3/4]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
std::string UTILITE_EXPORT uNumber2Str (float number,
int precision = 6,
bool fixed = false 
)
+
+

Convert a float to a string.

+

This function converts a floating-point value to its string representation with configurable precision and format.

+

Example:

std::string str1 = uNumber2Str(3.14159f, 2, false);
+
// str1 contains "3.14" (scientific notation if needed)
+
+
std::string str2 = uNumber2Str(3.14159f, 2, true);
+
// str2 contains "3.14" (fixed decimal notation)
+
Parameters
+ + + + +
numberthe float number to convert to a string
precisionthe number of decimal places to display (default: 6)
fixedif true, use fixed decimal notation; if false, use scientific notation when appropriate (default: false)
+
+
+
Returns
the string representation of the number
+ +
+
+ +

◆ uNumber2Str() [4/4]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
std::string UTILITE_EXPORT uNumber2Str (double number,
int precision = 6,
bool fixed = false 
)
+
+

Convert a double to a string.

+

This function converts a double-precision floating-point value to its string representation with configurable precision and format.

+

Example:

std::string str1 = uNumber2Str(3.141592653589793, 4, false);
+
// str1 contains "3.1416" (scientific notation if needed)
+
+
std::string str2 = uNumber2Str(3.141592653589793, 4, true);
+
// str2 contains "3.1416" (fixed decimal notation)
+
Parameters
+ + + + +
numberthe double number to convert to a string
precisionthe number of decimal places to display (default: 6)
fixedif true, use fixed decimal notation; if false, use scientific notation when appropriate (default: false)
+
+
+
Returns
the string representation of the number
+ +
+
+ +

◆ uStr2Int()

+ +
+
+ + + + + + + + +
int UTILITE_EXPORT uStr2Int (const std::string & str)
+
+

Convert a string to an integer.

Parameters
+ + +
thestring
+
+
+
Returns
the number
+ +
+
+ +

◆ uStr2Float()

+ +
+
+ + + + + + + + +
float UTILITE_EXPORT uStr2Float (const std::string & str)
+
+

Convert a string to a float independent of the locale (comma/dot).

Parameters
+ + +
thestring
+
+
+
Returns
the number
+ +
+
+ +

◆ uStr2Double()

+ +
+
+ + + + + + + + +
double UTILITE_EXPORT uStr2Double (const std::string & str)
+
+

Convert a string to a double independent of the locale (comma/dot).

Parameters
+ + +
thestring
+
+
+
Returns
the number
+ +
+
+ +

◆ uBool2Str()

+ +
+
+ + + + + + + + +
std::string UTILITE_EXPORT uBool2Str (bool boolean)
+
+

Convert a bool to a string. The format used is "true" and "false".

Parameters
+ + +
booleanthe boolean to convert in a string
+
+
+
Returns
the string
+ +
+
+ +

◆ uStr2Bool()

+ +
+
+ + + + + + + + +
bool UTILITE_EXPORT uStr2Bool (const char * str)
+
+

Convert a string to a boolean. The format used is : "false", "FALSE" or "0" give false. All others give true.

Parameters
+ + +
strthe string to convert in a boolean
+
+
+
Returns
the boolean
+ +
+
+ +

◆ uStr2Bytes()

+ +
+
+ + + + + + + + +
std::vector< unsigned char > UTILITE_EXPORT uStr2Bytes (const std::string & str)
+
+

Convert a string to an array of bytes including the null character ('\0').

Parameters
+ + +
strthe string
+
+
+
Returns
the array of bytes
+ +
+
+ +

◆ uBytes2Str()

+ +
+
+ + + + + + + + +
std::string UTILITE_EXPORT uBytes2Str (const std::vector< unsigned char > & bytes)
+
+

Convert an array of bytes to string, the array of bytes must end with the null character ('\0').

Parameters
+ + +
bytesthe array of bytes
+
+
+
Returns
the string
+ +
+
+ +

◆ uBytes2Hex()

+ +
+
+ + + + + + + + + + + + + + + + + + +
std::string UTILITE_EXPORT uBytes2Hex (const char * bytes,
unsigned int bytesLen 
)
+
+

Convert a bytes array to an hexadecimal string. The resulting string is twice the size of the bytes array. The hexadecimal Characters are in upper case. Example :

char bytes[] = {0x3F};
+
std::string hex = uBytes2Hex(bytes, 1);
+
// The string constains "3F".
+
uBytes2Hex
std::string UTILITE_EXPORT uBytes2Hex(const char *bytes, unsigned int bytesLen)
+
Parameters
+ + + +
bytesthe bytes array
bytesLenthe length of the bytes array
+
+
+
Returns
the hexadecimal string
+ +
+
+ +

◆ uHex2Bytes() [1/2]

+ +
+
+ + + + + + + + +
std::vector< char > UTILITE_EXPORT uHex2Bytes (const std::string & hex)
+
+

Convert an hexadecimal string to a bytes array. The string must be pair length. The hexadecimal Characters can be in upper or lower case. Example :

std::string hex = "1f3B";
+
std::vector<char> bytes = uHex2Bytes(hex);
+
// The array contains {0x1F, 0x3B}.
+
uHex2Bytes
std::vector< char > UTILITE_EXPORT uHex2Bytes(const std::string &hex)
+
Parameters
+ + +
hexthe hexadecimal string
+
+
+
Returns
the bytes array
+ +
+
+ +

◆ uHex2Bytes() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
std::vector< char > UTILITE_EXPORT uHex2Bytes (const char * hex,
int hexLen 
)
+
+

Convert an hexadecimal string to a bytes array. The string must be pair length. The hexadecimal Characters can be in upper or lower case. Example :

std::vector<char> bytes = uHex2Bytes("1f3B", 4);
+
// The array contains {0x1F, 0x3B}.
+
Parameters
+ + + +
hexthe hexadecimal string
bytesLenthe hexadecimal string length
+
+
+
Returns
the bytes array
+ +
+
+ +

◆ uHex2Str()

+ +
+
+ + + + + + + + +
std::string UTILITE_EXPORT uHex2Str (const std::string & hex)
+
+

Convert an hexadecimal string to an ascii string. A convenient way when using only strings. The hexadecimal str MUST not contains any null values 0x00 ("00"). Think to use of hex2bytes() to handle 0x00 values. Characters can be in upper or lower case. Example :

std::string str = uHex2Str("48656C6C4F21");
+
// The string contains "Hello!".
+
uHex2Str
std::string UTILITE_EXPORT uHex2Str(const std::string &hex)
+
See also
hex2bytes
+
Parameters
+ + +
hexthe hexadecimal string
+
+
+
Returns
the ascii string
+ +
+
+ +

◆ uHex2Ascii()

+ +
+
+ + + + + + + + + + + + + + + + + + +
unsigned char UTILITE_EXPORT uHex2Ascii (const unsigned char & c,
bool rightPart 
)
+
+

Convert hexadecimal (left or right part) value to an ascii character. Example :

unsigned char F = uHex2Ascii(0xFA, false);
+
unsigned char A = uHex2Ascii(0xFA, true);
+
uHex2Ascii
unsigned char UTILITE_EXPORT uHex2Ascii(const unsigned char &c, bool rightPart)
+
See also
ascii2hex
+
Parameters
+ + + +
cthe hexadecimal value
rightPartIf we want the character corresponding to the right of left part (4 bits) of the byte value.
+
+
+
Returns
the ascii character (in upper case)
+ +
+
+ +

◆ uAscii2Hex()

+ +
+
+ + + + + + + + +
unsigned char UTILITE_EXPORT uAscii2Hex (const unsigned char & c)
+
+

Convert an ascii character to an hexadecimal value (right 4 bits). Characters can be in upper or lower case. Example :

unsigned char hex = uAscii2Hex('F');
+
// The results is hex = 0x0F;
+
uAscii2Hex
unsigned char UTILITE_EXPORT uAscii2Hex(const unsigned char &c)
+
See also
hex2ascii
+
Parameters
+ + +
cthe ascii character
+
+
+
Returns
the hexadecimal value
+ +
+
+ +

◆ uFormatv()

+ +
+
+ + + + + + + + + + + + + + + + + + +
std::string UTILITE_EXPORT uFormatv (const char * fmt,
va_list ap 
)
+
+

Format a string like printf, and return it as a std::string

+ +
+
+ +

◆ uFormat()

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+
+ + + + + + + + + + + + + + + + + + +
std::string UTILITE_EXPORT uFormat (const char * fmt,
 ... 
)
+
+

Format a string like printf, and return it as a std::string

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+Generated by doxygen 1.9.8 +
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+
UConversion.h
+
+
+Go to the documentation of this file.
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UCONVERSION_H
+
21#define UCONVERSION_H
+
22
+
23#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
+
24
+
25#include <string>
+
26#include <vector>
+
27#include <stdarg.h>
+
28
+
51std::string UTILITE_EXPORT uReplaceChar(const std::string & str, char before, char after);
+
52
+
67std::string UTILITE_EXPORT uReplaceChar(const std::string & str, char before, const std::string & after);
+
68
+
80std::string UTILITE_EXPORT uToUpperCase(const std::string & str);
+
81
+
93std::string UTILITE_EXPORT uToLowerCase(const std::string & str);
+
94
+
110std::string UTILITE_EXPORT uNumber2Str(unsigned int number);
+
111
+
127std::string UTILITE_EXPORT uNumber2Str(int number);
+
128
+
149std::string UTILITE_EXPORT uNumber2Str(float number, int precision=6, bool fixed = false);
+
150
+
171std::string UTILITE_EXPORT uNumber2Str(double number, int precision=6, bool fixed = false);
+
172
+
178int UTILITE_EXPORT uStr2Int(const std::string & str);
+
179
+
185float UTILITE_EXPORT uStr2Float(const std::string & str);
+
186
+
192double UTILITE_EXPORT uStr2Double(const std::string & str);
+
193
+
194
+
201std::string UTILITE_EXPORT uBool2Str(bool boolean);
+
209bool UTILITE_EXPORT uStr2Bool(const char * str);
+
210bool UTILITE_EXPORT uStr2Bool(const std::string & str);
+
211
+
217std::vector<unsigned char> UTILITE_EXPORT uStr2Bytes(const std::string & str);
+
218
+
224std::string UTILITE_EXPORT uBytes2Str(const std::vector<unsigned char> & bytes);
+
225
+
241std::string UTILITE_EXPORT uBytes2Hex(const char * bytes, unsigned int bytesLen);
+
256std::vector<char> UTILITE_EXPORT uHex2Bytes(const std::string & hex);
+
271std::vector<char> UTILITE_EXPORT uHex2Bytes(const char * hex, int hexLen);
+
272
+
289std::string UTILITE_EXPORT uHex2Str(const std::string & hex);
+
290
+
303unsigned char UTILITE_EXPORT uHex2Ascii(const unsigned char & c, bool rightPart);
+
304
+
317unsigned char UTILITE_EXPORT uAscii2Hex(const unsigned char & c);
+
318
+
322std::string UTILITE_EXPORT uFormatv (const char *fmt, va_list ap);
+
323
+
327std::string UTILITE_EXPORT uFormat (const char *fmt, ...);
+
328
+
329#ifdef _WIN32
+
334UTILITE_EXPORT wchar_t * createWCharFromChar(const char * text);
+
335
+
340UTILITE_EXPORT char * createCharFromWChar(const wchar_t * wText);
+
341#endif
+
342
+
343#endif /* UCONVERSION_H */
+
uBytes2Str
std::string UTILITE_EXPORT uBytes2Str(const std::vector< unsigned char > &bytes)
+
uHex2Ascii
unsigned char UTILITE_EXPORT uHex2Ascii(const unsigned char &c, bool rightPart)
+
uStr2Int
int UTILITE_EXPORT uStr2Int(const std::string &str)
+
uToLowerCase
std::string UTILITE_EXPORT uToLowerCase(const std::string &str)
+
uBytes2Hex
std::string UTILITE_EXPORT uBytes2Hex(const char *bytes, unsigned int bytesLen)
+
uFormat
std::string UTILITE_EXPORT uFormat(const char *fmt,...)
+
uAscii2Hex
unsigned char UTILITE_EXPORT uAscii2Hex(const unsigned char &c)
+
uHex2Str
std::string UTILITE_EXPORT uHex2Str(const std::string &hex)
+
uFormatv
std::string UTILITE_EXPORT uFormatv(const char *fmt, va_list ap)
+
uStr2Double
double UTILITE_EXPORT uStr2Double(const std::string &str)
+
uNumber2Str
std::string UTILITE_EXPORT uNumber2Str(unsigned int number)
+
uStr2Bytes
std::vector< unsigned char > UTILITE_EXPORT uStr2Bytes(const std::string &str)
+
uStr2Float
float UTILITE_EXPORT uStr2Float(const std::string &str)
+
uHex2Bytes
std::vector< char > UTILITE_EXPORT uHex2Bytes(const std::string &hex)
+
uStr2Bool
bool UTILITE_EXPORT uStr2Bool(const char *str)
+
uReplaceChar
std::string UTILITE_EXPORT uReplaceChar(const std::string &str, char before, char after)
+
uBool2Str
std::string UTILITE_EXPORT uBool2Str(bool boolean)
+
uToUpperCase
std::string UTILITE_EXPORT uToUpperCase(const std::string &str)
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UDestroyer_8h_source.html b/preview/pr-1492/api/latest/UDestroyer_8h_source.html new file mode 100644 index 00000000..811f5c03 --- /dev/null +++ b/preview/pr-1492/api/latest/UDestroyer_8h_source.html @@ -0,0 +1,159 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UDestroyer.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
UDestroyer.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UDESTROYER_H
+
21#define UDESTROYER_H
+
22
+
31template <class T>
+
+
32class UDestroyer
+
33{
+
34public:
+
39 UDestroyer(T* doomed = 0) : doomed_(doomed) {}
+
40
+
41 ~UDestroyer()
+
42 {
+
43 if(doomed_)
+
44 {
+
45 delete doomed_;
+
46 doomed_ = 0;
+
47 }
+
48 }
+
49
+
+
55 bool setDoomed(T* doomed)
+
56 {
+
57 if(doomed_ && doomed)
+
58 {
+
59 return false;
+
60 }
+
61 doomed_ = doomed;
+
62 return true;
+
63 }
+
+
64
+
65private:
+
66 // Prevent users from making copies of a
+
67 // Destroyer to avoid double deletion:
+
68 UDestroyer(const UDestroyer<T>&);
+
69 void operator=(const UDestroyer<T>&);
+
70
+
71private:
+
72 T* doomed_;
+
73};
+
+
74
+
75#endif // UDESTROYER_H
+ +
UDestroyer::setDoomed
bool setDoomed(T *doomed)
Definition UDestroyer.h:55
+
UDestroyer::UDestroyer
UDestroyer(T *doomed=0)
Definition UDestroyer.h:39
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UDirectory_8h_source.html b/preview/pr-1492/api/latest/UDirectory_8h_source.html new file mode 100644 index 00000000..55bcb711 --- /dev/null +++ b/preview/pr-1492/api/latest/UDirectory_8h_source.html @@ -0,0 +1,185 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UDirectory.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
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+
No Matches
+
+
+
+
+ + +
+
+
UDirectory.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UDIRECTORY_H
+
21#define UDIRECTORY_H
+
22
+
23#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
+
24
+
25#include <string>
+
26#include <vector>
+
27#include <list>
+
28
+
+
34class UTILITE_EXPORT UDirectory
+
35{
+
36public:
+
42 static bool exists(const std::string & dirPath);
+
43
+
49 static std::string getDir(const std::string & filePath);
+
50
+
56 static std::string currentDir(bool trailingSeparator = false);
+
57
+
63 static bool makeDir(const std::string & dirPath);
+
64
+
70 static bool removeDir(const std::string & dirPath);
+
71
+
76 static std::string homeDir();
+
77
+
81 static std::string separator();
+
82
+
83public:
+
90 UDirectory(const std::string & path = "", const std::string & extensions = "");
+
91 UDirectory(const UDirectory & dir);
+
92 UDirectory & operator=(const UDirectory & dir);
+
93 ~UDirectory();
+
94
+
99 void setPath(const std::string & path, const std::string & extensions = "");
+
100
+
104 void update();
+
105
+
110 bool isValid();
+
111
+
116 std::string getNextFileName();
+
117
+
122 std::string getNextFilePath();
+
123
+
129 const std::list<std::string> & getFileNames() const {return fileNames_;}
+
130
+
134 void rewind();
+
135
+
136private:
+
137 std::string path_;
+
138 std::vector<std::string> extensions_;
+
139 std::list<std::string> fileNames_;
+
140 std::list<std::string>::iterator iFileName_;
+
141};
+
+
142
+
143#endif /* UDIRECTORY_H */
+ +
UDirectory::getDir
static std::string getDir(const std::string &filePath)
+
UDirectory::getNextFilePath
std::string getNextFilePath()
+
UDirectory::currentDir
static std::string currentDir(bool trailingSeparator=false)
+
UDirectory::homeDir
static std::string homeDir()
+
UDirectory::separator
static std::string separator()
+
UDirectory::removeDir
static bool removeDir(const std::string &dirPath)
+
UDirectory::getNextFileName
std::string getNextFileName()
+
UDirectory::isValid
bool isValid()
+
UDirectory::makeDir
static bool makeDir(const std::string &dirPath)
+
UDirectory::getFileNames
const std::list< std::string > & getFileNames() const
Definition UDirectory.h:129
+
UDirectory::setPath
void setPath(const std::string &path, const std::string &extensions="")
+
UDirectory::update
void update()
+
UDirectory::rewind
void rewind()
+
UDirectory::UDirectory
UDirectory(const std::string &path="", const std::string &extensions="")
+
UDirectory::exists
static bool exists(const std::string &dirPath)
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UEvent_8h_source.html b/preview/pr-1492/api/latest/UEvent_8h_source.html new file mode 100644 index 00000000..5610a9f5 --- /dev/null +++ b/preview/pr-1492/api/latest/UEvent_8h_source.html @@ -0,0 +1,145 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UEvent.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
UEvent.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UEVENT_H
+
21#define UEVENT_H
+
22
+
23#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
+
24
+
25#include <string>
+
26
+
27class UEventsHandler;
+
28
+
+
57class UTILITE_EXPORT UEvent{
+
58public:
+
59 virtual ~UEvent() {}
+
60
+
68 virtual std::string getClassName() const = 0; // TODO : macro?
+
69
+
74 int getCode() const {return code_;}
+
75
+
76protected:
+
81 UEvent(int code = 0) : code_(code) {}
+
82
+
83private:
+
84 int code_;
+
85};
+
+
86
+
87#endif // UEVENT_H
+ +
UEvent::getClassName
virtual std::string getClassName() const =0
+
UEvent::UEvent
UEvent(int code=0)
Definition UEvent.h:81
+
UEvent::getCode
int getCode() const
Definition UEvent.h:74
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UEventsHandler_8h_source.html b/preview/pr-1492/api/latest/UEventsHandler_8h_source.html new file mode 100644 index 00000000..8d74efda --- /dev/null +++ b/preview/pr-1492/api/latest/UEventsHandler_8h_source.html @@ -0,0 +1,152 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UEventsHandler.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
UEventsHandler.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UEVENTSHANDLER_H
+
21#define UEVENTSHANDLER_H
+
22
+
23#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
+
24
+
25#include "rtabmap/utilite/UEventsSender.h"
+
26class UEvent;
+
27
+
+
128class UTILITE_EXPORT UEventsHandler : public UEventsSender {
+
129public:
+
130
+
131 void registerToEventsManager();
+
132 void unregisterFromEventsManager();
+
133
+
134
+
135protected:
+
140 friend class UEventsManager;
+
141
+
158 virtual bool handleEvent(UEvent * event) = 0;
+
159
+
160protected:
+
172 UEventsHandler() {}
+
173
+
182 virtual ~UEventsHandler();
+
183
+
184private:
+
185
+
186};
+
+
187
+
188#endif // UEVENTSHANDLER_H
+ + +
UEventsHandler::handleEvent
virtual bool handleEvent(UEvent *event)=0
+
UEventsHandler::~UEventsHandler
virtual ~UEventsHandler()
+ + + +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UEventsManager_8h_source.html b/preview/pr-1492/api/latest/UEventsManager_8h_source.html new file mode 100644 index 00000000..a315cba2 --- /dev/null +++ b/preview/pr-1492/api/latest/UEventsManager_8h_source.html @@ -0,0 +1,310 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UEventsManager.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
UEventsManager.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UEVENTSMANAGER_H
+
21#define UEVENTSMANAGER_H
+
22
+
23#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
+
24
+
25#include "rtabmap/utilite/UEventsHandler.h"
+
26#include "rtabmap/utilite/UThreadNode.h"
+
27#include "rtabmap/utilite/ULogger.h"
+
28#include "rtabmap/utilite/UDestroyer.h"
+
29
+
30#include <list>
+
31#include <map>
+
32
+
33// TODO Not implemented... for multithreading event handling
+
+
34class UEventDispatcher : public UThread
+
35{
+
36public:
+
37 virtual ~UEventDispatcher();
+
38protected:
+
39 friend class UEventsManager;
+
40 UEventDispatcher();
+
41
+
42 virtual void mainLoop();
+
43
+
44private:
+
45 virtual void killCleanup();
+
46
+
47private:
+
48 UEvent * _event;
+
49 std::vector<UEventsHandler*> _handlers;
+
50};
+
+
51
+
+
78class UTILITE_EXPORT UEventsManager : public UThread{
+
79
+
80public:
+
81
+
88 static void addHandler(UEventsHandler* handler);
+
89
+
96 static void removeHandler(UEventsHandler* handler);
+
97
+
110 static void post(UEvent * event, bool async = true, const UEventsSender * sender = 0);
+
111
+
112 static void createPipe(
+
113 const UEventsSender * sender,
+
114 const UEventsHandler * receiver,
+
115 const std::string & eventName);
+
116
+
117 static void removePipe(
+
118 const UEventsSender * sender,
+
119 const UEventsHandler * receiver,
+
120 const std::string & eventName);
+
121
+
122 static void removeAllPipes(const UEventsSender * sender);
+
123 static void removeNullPipes(const UEventsSender * sender);
+
124
+
125protected:
+
126
+
127 /*
+
128 * This method is used to have a reference on the
+
129 * EventsManager. When no EventsManager exists, one is
+
130 * created. There is only one instance in the application.
+
131 * See the Singleton pattern further explanation.
+
132 *
+
133 * @return the reference on the EventsManager
+
134 */
+
135 static UEventsManager* getInstance();
+
136
+
137 /*
+
138 * Called only once in getInstance(). It can't be instantiated
+
139 * by the user.
+
140 *
+
141 */
+
142 UEventsManager();
+
143
+
144 /*
+
145 * Only called by a Destroyer.
+
146 */
+
147 virtual ~UEventsManager();
+
148
+
149 /*
+
150 * A Destroyer is used to remove a dynamically created
+
151 * Singleton. It is friend here to have access to the
+
152 * destructor.
+
153 *
+
154 */
+
155 friend class UDestroyer<UEventsManager>;
+
156
+
160 virtual void mainLoop();
+
161
+
162private:
+
163
+
167 virtual void mainLoopKill();
+
168
+
169 /*
+
170 * This method dispatches asynchronized events to all handlers.
+
171 * FIFO (first in first out) dispatching is used.
+
172 */
+
173 virtual void dispatchEvents();
+
174
+
175 /*
+
176 * This method dispatches an event to all handlers.
+
177 */
+
178 virtual bool dispatchEvent(UEvent * event, const UEventsSender * sender);
+
179
+
180 /*
+
181 * This method is used to add an events
+
182 * handler to the list of handlers.
+
183 *
+
184 * @param handler the handler to be added.
+
185 */
+
186 void _addHandler(UEventsHandler* handler);
+
187
+
188 /*
+
189 * This method is used to remove an events
+
190 * handler from the list of handlers.
+
191 *
+
192 * @param handler the handler to be removed.
+
193 */
+
194 void _removeHandler(UEventsHandler* handler);
+
195
+
196 /*
+
197 * This method is used to post an event to
+
198 * handlers.
+
199 *
+
200 * Event can be posted asynchronously or not. In the first case,
+
201 * the event is dispatched by the UEventsManager's thread. In the
+
202 * second case, the event is handled immediately by event's
+
203 * receivers, thus in the sender thread.
+
204 *
+
205 * @param event the event to be posted.
+
206 * @param async if true, the event is dispatched by the UEventsManager thread, otherwise it's in the caller thread (synchronous).
+
207 */
+
208 void _postEvent(UEvent * event, bool async = true, const UEventsSender * sender = 0);
+
209
+
210 std::list<UEventsHandler*> getPipes(
+
211 const UEventsSender * sender,
+
212 const std::string & eventName);
+
213
+
214 void _createPipe(
+
215 const UEventsSender * sender,
+
216 const UEventsHandler * receiver,
+
217 const std::string & eventName);
+
218
+
219 void _removePipe(
+
220 const UEventsSender * sender,
+
221 const UEventsHandler * receiver,
+
222 const std::string & eventName);
+
223
+
224 void _removeAllPipes(const UEventsSender * sender);
+
225 void _removeNullPipes(const UEventsSender * sender);
+
226
+
227private:
+
228
+
229 class Pipe
+
230 {
+
231 public:
+
232 Pipe(const UEventsSender * sender, const UEventsHandler * receiver, const std::string & eventName) :
+
233 sender_(sender),
+
234 receiver_(receiver),
+
235 eventName_(eventName)
+
236 {}
+
237 const UEventsSender * sender_;
+
238 const UEventsHandler * receiver_;
+
239 const std::string eventName_;
+
240 };
+
241
+
242 static UEventsManager* instance_; /* The EventsManager instance pointer. */
+
243 static UDestroyer<UEventsManager> destroyer_; /* The EventsManager's destroyer. */
+
244 std::list<std::pair<UEvent*, const UEventsSender * > > events_; /* The events list. */
+
245 std::list<UEventsHandler*> handlers_; /* The handlers list. */
+
246 UMutex eventsMutex_; /* The mutex of the events list, */
+
247 UMutex handlersMutex_; /* The mutex of the handlers list. */
+
248 USemaphore postEventSem_; /* Semaphore used to signal when an events is posted. */
+
249 std::list<Pipe> pipes_;
+
250 UMutex pipesMutex_;
+
251};
+
+
252
+
253#endif // UEVENTSMANAGER_H
+
ULogger.h
ULogger class and convenient macros.
+ + +
UEventDispatcher::mainLoop
virtual void mainLoop()
+ + + +
UEventsManager::removeHandler
static void removeHandler(UEventsHandler *handler)
+
UEventsManager::addHandler
static void addHandler(UEventsHandler *handler)
+
UEventsManager::mainLoop
virtual void mainLoop()
+
UEventsManager::post
static void post(UEvent *event, bool async=true, const UEventsSender *sender=0)
+ + + + +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UEventsSender_8h_source.html b/preview/pr-1492/api/latest/UEventsSender_8h_source.html new file mode 100644 index 00000000..7eb726e1 --- /dev/null +++ b/preview/pr-1492/api/latest/UEventsSender_8h_source.html @@ -0,0 +1,126 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UEventsSender.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
UEventsSender.h
+
+
+
1/*
+
2 * UEventsSender.h
+
3 *
+
4 * Created on: 2013-10-14
+
5 * Author: Mathieu
+
6 */
+
7
+
8#ifndef UEVENTSSENDER_H_
+
9#define UEVENTSSENDER_H_
+
10
+
11#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
+
12
+
13class UEvent;
+
14
+
+
15class UTILITE_EXPORT UEventsSender
+
16{
+
17public:
+
18 UEventsSender(){}
+
19 virtual ~UEventsSender();
+
20
+
21protected:
+
22
+
27 void post(UEvent * event, bool async = true) const;
+
28};
+
+
29
+
30
+
31#endif /* UEVENTSSENDER_H_ */
+ + +
UEventsSender::post
void post(UEvent *event, bool async=true) const
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UException_8h_source.html b/preview/pr-1492/api/latest/UException_8h_source.html new file mode 100644 index 00000000..f750f89c --- /dev/null +++ b/preview/pr-1492/api/latest/UException_8h_source.html @@ -0,0 +1,130 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UException.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
UException.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UEXCEPTION_H_
+
21#define UEXCEPTION_H_
+
22
+
23#include <stdexcept>
+
24
+
+
25class UException: public std::runtime_error {
+
26public:
+
27
+
28 UException(const std::string & what) :
+
29 std::runtime_error(what)
+
30 {}
+
31};
+
+
32
+
33#endif /* UEXCEPTION_H_ */
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UFile_8h_source.html b/preview/pr-1492/api/latest/UFile_8h_source.html new file mode 100644 index 00000000..85ce117e --- /dev/null +++ b/preview/pr-1492/api/latest/UFile_8h_source.html @@ -0,0 +1,195 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UFile.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
UFile.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef FILE_H
+
21#define FILE_H
+
22
+
23#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
+
24
+
25#include "rtabmap/utilite/UDirectory.h"
+
26#include <string>
+
27
+
+
33class UTILITE_EXPORT UFile
+
34{
+
35public:
+
41 static bool exists(const std::string &filePath);
+
42
+
48 static long length(const std::string &filePath);
+
49
+
55 static int erase(const std::string &filePath);
+
56
+
63 static int rename(const std::string &oldFilePath,
+
64 const std::string &newFilePath);
+
65
+
71 static std::string getName(const std::string & filePath);
+
72
+
77 static std::string getExtension(const std::string &filePath);
+
78
+
84 static void copy(const std::string & from, const std::string & to);
+
85
+
86public:
+
91 UFile(const std::string & path) : path_(path) {}
+
92 ~UFile() {}
+
93
+
98 bool isValid() {return exists(path_);}
+
99
+
104 bool exists() {return exists(path_);}
+
105
+
110 long length() {return length(path_);}
+
111
+
+
116 int rename(const std::string &newName)
+
117 {
+
118 std::string ext = this->getExtension();
+
119 std::string newPath = UDirectory::getDir(path_) + std::string("/") + newName;
+
120 if(ext.size())
+
121 {
+
122 newPath += std::string(".") + getExtension(path_);
+
123 }
+
124 int result = rename(path_, newPath);
+
125 if(result == 0)
+
126 {
+
127 path_ = newPath;
+
128 }
+
129 return result;
+
130 }
+
+
135 std::string getName() {return getName(path_);}
+
140 std::string getExtension() {return getExtension(path_);}
+
141
+
146 void copy(const std::string & to) {copy(path_, to);}
+
147
+
148private:
+
149 std::string path_;
+
150};
+
+
151
+
152#endif
+
UDirectory::getDir
static std::string getDir(const std::string &filePath)
+
UFile
Definition UFile.h:34
+
UFile::length
long length()
Definition UFile.h:110
+
UFile::UFile
UFile(const std::string &path)
Definition UFile.h:91
+
UFile::erase
static int erase(const std::string &filePath)
+
UFile::getName
static std::string getName(const std::string &filePath)
+
UFile::rename
int rename(const std::string &newName)
Definition UFile.h:116
+
UFile::exists
bool exists()
Definition UFile.h:104
+
UFile::rename
static int rename(const std::string &oldFilePath, const std::string &newFilePath)
+
UFile::copy
void copy(const std::string &to)
Definition UFile.h:146
+
UFile::getExtension
std::string getExtension()
Definition UFile.h:140
+
UFile::copy
static void copy(const std::string &from, const std::string &to)
+
UFile::exists
static bool exists(const std::string &filePath)
+
UFile::getExtension
static std::string getExtension(const std::string &filePath)
+
UFile::isValid
bool isValid()
Definition UFile.h:98
+
UFile::length
static long length(const std::string &filePath)
+
UFile::getName
std::string getName()
Definition UFile.h:135
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/ULogger_8h.html b/preview/pr-1492/api/latest/ULogger_8h.html new file mode 100644 index 00000000..9c9222a1 --- /dev/null +++ b/preview/pr-1492/api/latest/ULogger_8h.html @@ -0,0 +1,600 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/ULogger.h File Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
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+ + +
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+
+Classes | +Macros
+
ULogger.h File Reference
+
+
+ +

ULogger class and convenient macros. +More...

+
#include "rtabmap/utilite/utilite_export.h"
+#include "rtabmap/utilite/UMutex.h"
+#include "rtabmap/utilite/UDestroyer.h"
+#include "rtabmap/utilite/UEvent.h"
+#include "rtabmap/utilite/UException.h"
+#include <stdio.h>
+#include <time.h>
+#include <string>
+#include <vector>
+#include <map>
+#include <set>
+#include <stdarg.h>
+
+Include dependency graph for ULogger.h:
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+This graph shows which files directly or indirectly include this file:
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+

Go to the source code of this file.

+ + + + + + +

+Classes

class  ULogEvent
 
class  ULogger
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Macros

#define ULOGGER_LOG(level, ...)   ULogger::write(level, __FILE__, __LINE__, __FUNCTION__, __VA_ARGS__)
 
#define ULOGGER_DEBUG(...)   ULOGGER_LOG(ULogger::kDebug, __VA_ARGS__)
 
#define ULOGGER_INFO(...)   ULOGGER_LOG(ULogger::kInfo, __VA_ARGS__)
 
#define ULOGGER_WARN(...)   ULOGGER_LOG(ULogger::kWarning, __VA_ARGS__)
 
#define ULOGGER_ERROR(...)   ULOGGER_LOG(ULogger::kError, __VA_ARGS__)
 
#define ULOGGER_FATAL(...)   ULOGGER_LOG(ULogger::kFatal, __VA_ARGS__)
 
#define UDEBUG(...)   ULOGGER_DEBUG(__VA_ARGS__)
 
#define UINFO(...)   ULOGGER_INFO(__VA_ARGS__)
 
#define UWARN(...)   ULOGGER_WARN(__VA_ARGS__)
 
#define UERROR(...)   ULOGGER_ERROR(__VA_ARGS__)
 
#define UFATAL(...)   ULOGGER_FATAL(__VA_ARGS__)
 
#define UASSERT(condition)   if(!(condition)) ULogger::write(ULogger::kFatal, __FILE__, __LINE__, __FUNCTION__, "Condition (%s) not met!", #condition)
 
#define UASSERT_MSG(condition, msg_str)   if(!(condition)) ULogger::write(ULogger::kFatal, __FILE__, __LINE__, __FUNCTION__, "Condition (%s) not met! [%s]", #condition, msg_str)
 
+

Detailed Description

+

ULogger class and convenient macros.

+

This contains macros useful for logging a message anywhere in the application. Once the ULogger is set, use these macros like a printf to print debug messages.

+ +

Definition in file ULogger.h.

+

Macro Definition Documentation

+ +

◆ ULOGGER_LOG

+ +
+
+ + + + + + + + + + + + + + + + + + +
#define ULOGGER_LOG( level,
 ... 
)   ULogger::write(level, __FILE__, __LINE__, __FUNCTION__, __VA_ARGS__)
+
+ +

Definition at line 51 of file ULogger.h.

+ +
+
+ +

◆ ULOGGER_DEBUG

+ +
+
+ + + + + + + + +
#define ULOGGER_DEBUG( ...)   ULOGGER_LOG(ULogger::kDebug, __VA_ARGS__)
+
+ +

Definition at line 53 of file ULogger.h.

+ +
+
+ +

◆ ULOGGER_INFO

+ +
+
+ + + + + + + + +
#define ULOGGER_INFO( ...)   ULOGGER_LOG(ULogger::kInfo, __VA_ARGS__)
+
+ +

Definition at line 54 of file ULogger.h.

+ +
+
+ +

◆ ULOGGER_WARN

+ +
+
+ + + + + + + + +
#define ULOGGER_WARN( ...)   ULOGGER_LOG(ULogger::kWarning, __VA_ARGS__)
+
+ +

Definition at line 55 of file ULogger.h.

+ +
+
+ +

◆ ULOGGER_ERROR

+ +
+
+ + + + + + + + +
#define ULOGGER_ERROR( ...)   ULOGGER_LOG(ULogger::kError, __VA_ARGS__)
+
+ +

Definition at line 56 of file ULogger.h.

+ +
+
+ +

◆ ULOGGER_FATAL

+ +
+
+ + + + + + + + +
#define ULOGGER_FATAL( ...)   ULOGGER_LOG(ULogger::kFatal, __VA_ARGS__)
+
+ +

Definition at line 57 of file ULogger.h.

+ +
+
+ +

◆ UDEBUG

+ +
+
+ + + + + + + + +
#define UDEBUG( ...)   ULOGGER_DEBUG(__VA_ARGS__)
+
+

Print a debug level message in the logger. Format is the same as a printf:

UDEBUG("This is a debug message with the number %d", 42);
+
UDEBUG
#define UDEBUG(...)
Definition ULogger.h:59
+
+

Definition at line 59 of file ULogger.h.

+ +
+
+ +

◆ UINFO

+ +
+
+ + + + + + + + +
#define UINFO( ...)   ULOGGER_INFO(__VA_ARGS__)
+
+

Print a information level message in the logger. Format is the same as a printf:

UINFO("This is a information message with the number %d", 42);
+
UINFO
#define UINFO(...)
Definition ULogger.h:60
+
+

Definition at line 60 of file ULogger.h.

+ +
+
+ +

◆ UWARN

+ +
+
+ + + + + + + + +
#define UWARN( ...)   ULOGGER_WARN(__VA_ARGS__)
+
+

Print a warning level message in the logger. Format is the same as a printf:

UWARN("This is a warning message with the number %d", 42);
+
UWARN
#define UWARN(...)
Definition ULogger.h:61
+
+

Definition at line 61 of file ULogger.h.

+ +
+
+ +

◆ UERROR

+ +
+
+ + + + + + + + +
#define UERROR( ...)   ULOGGER_ERROR(__VA_ARGS__)
+
+

Print an error level message in the logger. Format is the same as a printf:

UERROR("This is an error message with the number %d", 42);
+
UERROR
#define UERROR(...)
Definition ULogger.h:62
+
+

Definition at line 62 of file ULogger.h.

+ +
+
+ +

◆ UFATAL

+ +
+
+ + + + + + + + +
#define UFATAL( ...)   ULOGGER_FATAL(__VA_ARGS__)
+
+

Print a fatal error level message in the logger. The application will exit on fatal error. Format is the same as a printf:

UFATAL("This is a fatal error message with the number %d", 42);
+
UFATAL
#define UFATAL(...)
Definition ULogger.h:63
+
+

Definition at line 63 of file ULogger.h.

+ +
+
+ +

◆ UASSERT

+ +
+
+ + + + + + + + +
#define UASSERT( condition)   if(!(condition)) ULogger::write(ULogger::kFatal, __FILE__, __LINE__, __FUNCTION__, "Condition (%s) not met!", #condition)
+
+

Print a fatal error level message in the logger if condition is not met. The application will exit on fatal error. Format is the same as a printf:

UASSERT(a!=42, "This is a fatal error message with the number %d", 42);
+
UASSERT
#define UASSERT(condition)
Definition ULogger.h:66
+
+

Definition at line 66 of file ULogger.h.

+ +
+
+ +

◆ UASSERT_MSG

+ +
+
+ + + + + + + + + + + + + + + + + + +
#define UASSERT_MSG( condition,
 msg_str 
)   if(!(condition)) ULogger::write(ULogger::kFatal, __FILE__, __LINE__, __FUNCTION__, "Condition (%s) not met! [%s]", #condition, msg_str)
+
+ +

Definition at line 67 of file ULogger.h.

+ +
+
+
+ +
+Generated by doxygen 1.9.8 +
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zuL|0y0-TRUVSj%gCZiW3(ndl;LIy!JIhh>j=<@M5efDgO8@)7=l9F89-IKDjv$y?$ z>jP_{0E8fQKfez^tVctvEj6ukDG+~pI>k^30HEnQS2-OW9q``dgoFfO9=n~M9ML&? z0+#LQ_wUJa*Rw%MzCT7|9>M8_{S~P9D_d66%&I?e*r^HLlPe*tfA@2532HO3hL_xW%y0PFu7^Ufw# zPe8bO{_H0V3}I$`u)cr4LZkzz|NC(+mNoX@(!h9#v0eWA=V$lU9&N(Uv${q`_TZCe zzfNsPyUxuCS@5U*ln;OJN!{}Il;X_7{(IB^&mYfB=9^8&a^zUa6sD1vDafcwmrFf( G{(k`SpZMhf literal 0 HcmV?d00001 diff --git a/preview/pr-1492/api/latest/ULogger_8h_source.html b/preview/pr-1492/api/latest/ULogger_8h_source.html new file mode 100644 index 00000000..4a97d210 --- /dev/null +++ b/preview/pr-1492/api/latest/ULogger_8h_source.html @@ -0,0 +1,442 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/ULogger.h Source File + + + + + + + + + + + + +

+
+
ULogger.h
+
+
+Go to the documentation of this file.
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef ULOGGER_H
+
21#define ULOGGER_H
+
22
+
23#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
+
24
+
25#include "rtabmap/utilite/UMutex.h"
+
26#include "rtabmap/utilite/UDestroyer.h"
+
27#include "rtabmap/utilite/UEvent.h"
+
28#include "rtabmap/utilite/UException.h"
+
29
+
30#include <stdio.h>
+
31#include <time.h>
+
32#include <string>
+
33#include <vector>
+
34#include <map>
+
35#include <set>
+
36
+
37#include <stdarg.h>
+
38
+
48/*
+
49 * Convenient macros for logging...
+
50 */
+
51#define ULOGGER_LOG(level, ...) ULogger::write(level, __FILE__, __LINE__, __FUNCTION__, __VA_ARGS__)
+
52
+
53#define ULOGGER_DEBUG(...) ULOGGER_LOG(ULogger::kDebug, __VA_ARGS__)
+
54#define ULOGGER_INFO(...) ULOGGER_LOG(ULogger::kInfo, __VA_ARGS__)
+
55#define ULOGGER_WARN(...) ULOGGER_LOG(ULogger::kWarning, __VA_ARGS__)
+
56#define ULOGGER_ERROR(...) ULOGGER_LOG(ULogger::kError, __VA_ARGS__)
+
57#define ULOGGER_FATAL(...) ULOGGER_LOG(ULogger::kFatal, __VA_ARGS__) // Throw UException
+
58
+
59#define UDEBUG(...) ULOGGER_DEBUG(__VA_ARGS__)
+
60#define UINFO(...) ULOGGER_INFO(__VA_ARGS__)
+
61#define UWARN(...) ULOGGER_WARN(__VA_ARGS__)
+
62#define UERROR(...) ULOGGER_ERROR(__VA_ARGS__)
+
63#define UFATAL(...) ULOGGER_FATAL(__VA_ARGS__) // Throw UException
+
64
+
65// Throw UException
+
66#define UASSERT(condition) if(!(condition)) ULogger::write(ULogger::kFatal, __FILE__, __LINE__, __FUNCTION__, "Condition (%s) not met!", #condition)
+
67#define UASSERT_MSG(condition, msg_str) if(!(condition)) ULogger::write(ULogger::kFatal, __FILE__, __LINE__, __FUNCTION__, "Condition (%s) not met! [%s]", #condition, msg_str)
+
68
+
+
121class ULogEvent : public UEvent
+
122{
+
123public:
+
+
129 ULogEvent(const std::string & msg, int level) :
+
130 UEvent(level),
+
131 msg_(msg)
+
132 {}
+
+
133 virtual ~ULogEvent() {}
+
137 const std::string & getMsg() const {return msg_;}
+
141 virtual std::string getClassName() const {return "ULogEvent";}
+
142private:
+
143 std::string msg_;
+
144};
+
+
145
+
+
229class UTILITE_EXPORT ULogger
+
230{
+
231
+
232public:
+
236 static const std::string kDefaultLogFileName;
+
237
+
244 enum Type{kTypeNoLog, kTypeConsole, kTypeFile};
+
245
+
252 enum Level{kDebug, kInfo, kWarning, kError, kFatal};
+
253
+
265 static void setType(Type type, const std::string &fileName = kDefaultLogFileName, bool append = true);
+
266 static Type type() {return type_;}
+
267
+
268 // Setters
+
273 static void setPrintTime(bool printTime) {printTime_ = printTime;}
+
274 static bool isPrintTime() {return printTime_;}
+
275
+
280 static void setPrintLevel(bool printLevel) {printLevel_ = printLevel;}
+
281 static bool isPrintLevel() {return printLevel_;}
+
282
+
287 static void setPrintEndline(bool printEndline) {printEndline_ = printEndline;}
+
288 static bool isPrintEndLine() {return printEndline_;}
+
289
+
295 static void setPrintColored(bool printColored) {printColored_ = printColored;}
+
296 static bool isPrintColored() {return printColored_;}
+
297
+
302 static void setPrintWhere(bool printWhere) {printWhere_ = printWhere;}
+
303 static bool isPrintWhere() {return printWhere_;}
+
304
+
309 static void setPrintThreadId(bool printThreadId) {printThreadID_ = printThreadId;}
+
310 static bool isPrintThreadId() {return printThreadID_;}
+
311
+
316 static void setPrintWhereFullPath(bool printWhereFullPath) {printWhereFullPath_ = printWhereFullPath;}
+
317 static bool isPrintWhereFullPath() {return printWhereFullPath_;}
+
318
+
329 static void setBuffered(bool buffered);
+
330 static bool isBuffered() {return buffered_;}
+
331
+
343 static void setLevel(ULogger::Level level) {level_ = level;}
+
344 static ULogger::Level level() {return level_;}
+
345
+
352 static void setEventLevel(ULogger::Level eventSentLevel) {eventLevel_ = eventSentLevel;}
+
353 static ULogger::Level eventLevel() {return eventLevel_;}
+
354
+
358 static void setTreadIdFilter(const std::set<unsigned long> & ids) {threadIdFilter_ = ids;}
+
359 static void setTreadIdFilter(const std::vector<std::string> & ids);
+
360 static const std::set<unsigned long> & getTreadIdFilter() {return threadIdFilter_;}
+
361
+
366 static void registerCurrentThread(const std::string & name);
+
367 static void unregisterCurrentThread();
+
368 static std::map<std::string, unsigned long> getRegisteredThreads();
+
369
+
373 static void reset();
+
374
+
379 static void flush();
+
380
+
381 /*
+
382 * Write a message to logger: use UDEBUG(), UINFO(), UWARN(), UERROR() or UFATAL() instead.
+
383 * @param level the log level of this message
+
384 * @param file the file path
+
385 * @param line the line in the file
+
386 * @param function the function name in which the message is logged
+
387 * @param msg the message to write
+
388 * @param ... the variable arguments
+
389 */
+
390 static void write(ULogger::Level level,
+
391 const char * file,
+
392 int line,
+
393 const char *function,
+
394 const char* msg,
+
395 ...);
+
396
+
402 static int getTime(std::string &timeStr);
+
403
+
404protected:
+
405 /*
+
406 * This method is used to have a reference on the
+
407 * Logger. When no Logger exists, one is
+
408 * created. There is only one instance in the application.
+
409 * Must be protected by loggerMutex_.
+
410 * See the Singleton pattern for further explanation.
+
411 *
+
412 * @return the reference on the Logger
+
413 */
+
414 static ULogger* getInstance();
+
415
+
416 /*
+
417 * Called only once in getInstance(). It can't be instanciated
+
418 * by the user.
+
419 *
+
420 * @see getInstance()
+
421 */
+
422 ULogger() {}
+
423
+
424 /*
+
425 * Only called by a Destroyer.
+
426 * @see Destroyer
+
427 */
+
428 virtual ~ULogger();
+
429
+
430 /*
+
431 * Flush buffered messages
+
432 */
+
433 void _flush();
+
434
+
435 /*
+
436 * A Destroyer is used to remove a dynamicaly created
+
437 * Singleton. It is friend here to have access to the
+
438 * destructor.
+
439 *
+
440 * @see Destroyer
+
441 */
+
442 friend class UDestroyer<ULogger>;
+
443
+
444 /*
+
445 * The log file name.
+
446 */
+
447 static std::string logFileName_;
+
448
+
449 /*
+
450 * Default true, it doesn't overwrite the file.
+
451 */
+
452 static bool append_;
+
453
+
454private:
+
455 /*
+
456 * Create an instance according to type. See the Abstract factory
+
457 * pattern for further explanation.
+
458 * @see type_
+
459 * @return the reference on the new logger
+
460 */
+
461 static ULogger* createInstance();
+
462
+
463 /*
+
464 * Write a message on the output with the format :
+
465 * "A message". Inherited class
+
466 * must override this method to output the message. It
+
467 * does nothing by default.
+
468 * @param msg the message to write.
+
469 * @param arg the variable arguments
+
470 */
+
471 virtual void _write(const char*, va_list) {} // Do nothing by default
+
472 virtual void _writeStr(const char*) {} // Do nothing by default
+
473
+
474private:
+
475 /*
+
476 * The Logger instance pointer.
+
477 */
+
478 static ULogger* instance_;
+
479
+
480 /*
+
481 * The Logger's destroyer
+
482 */
+
483 static UDestroyer<ULogger> destroyer_;
+
484
+
485 /*
+
486 * If the logger prints the time for each message.
+
487 * Default is true.
+
488 */
+
489 static bool printTime_;
+
490
+
491 /*
+
492 * If the logger prints the level for each message.
+
493 * Default is true.
+
494 */
+
495 static bool printLevel_;
+
496
+
497 /*
+
498 * If the logger prints the end line for each message.
+
499 * Default is true.
+
500 */
+
501 static bool printEndline_;
+
502
+
503 /*
+
504 * If the logger prints text with color.
+
505 * Default is true.
+
506 */
+
507 static bool printColored_;
+
508
+
509 /*
+
510 * If the logger prints where the message is logged (fileName::function():line).
+
511 * Default is true.
+
512 */
+
513 static bool printWhere_;
+
514
+
515 /*
+
516 * If the logger prints the full path of the source file
+
517 * where the message is written. Only works when
+
518 * "printWhere_" is true.
+
519 * Default is false.
+
520 */
+
521 static bool printWhereFullPath_;
+
522
+
523 /*
+
524 * If the logger prints the thread ID.
+
525 * Default is false.
+
526 */
+
527 static bool printThreadID_;
+
528
+
529 /*
+
530 * If the logger limit the size of the "where" path to
+
531 * characters. If the path is over 8 characters, a "~"
+
532 * is added. Only works when "printWhereFullPath_" is false.
+
533 * Default is false.
+
534 */
+
535 static bool limitWhereLength_;
+
536
+
537 /*
+
538 * The type of the logger.
+
539 */
+
540 static Type type_;
+
541
+
542 /*
+
543 * The severity of the log.
+
544 */
+
545 static Level level_;
+
546
+
547 /*
+
548 * The severity at which the message is also sent in a ULogEvent.
+
549 */
+
550 static Level eventLevel_;
+
551
+
552 static const char * levelName_[5];
+
553
+
554 /*
+
555 * Mutex used when accessing public functions.
+
556 */
+
557 static UMutex loggerMutex_;
+
558
+
559 /*
+
560 * If the logger prints messages only when ULogger::flush() is called.
+
561 * Default is false.
+
562 */
+
563 static bool buffered_;
+
564
+
565 static std::string bufferedMsgs_;
+
566
+
567 static std::set<unsigned long> threadIdFilter_;
+
568 static std::map<std::string, unsigned long> registeredThreads_;
+
569};
+
+
570
+
571#endif // ULOGGER_H
+ + + +
ULogEvent::getMsg
const std::string & getMsg() const
Definition ULogger.h:137
+
ULogEvent::getClassName
virtual std::string getClassName() const
Definition ULogger.h:141
+
ULogEvent::ULogEvent
ULogEvent(const std::string &msg, int level)
Definition ULogger.h:129
+ +
ULogger::reset
static void reset()
+
ULogger::setPrintThreadId
static void setPrintThreadId(bool printThreadId)
Definition ULogger.h:309
+
ULogger::setType
static void setType(Type type, const std::string &fileName=kDefaultLogFileName, bool append=true)
+
ULogger::getTime
static int getTime(std::string &timeStr)
+
ULogger::setPrintTime
static void setPrintTime(bool printTime)
Definition ULogger.h:273
+
ULogger::setPrintWhereFullPath
static void setPrintWhereFullPath(bool printWhereFullPath)
Definition ULogger.h:316
+
ULogger::setPrintLevel
static void setPrintLevel(bool printLevel)
Definition ULogger.h:280
+ +
ULogger::flush
static void flush()
+
ULogger::setPrintColored
static void setPrintColored(bool printColored)
Definition ULogger.h:295
+
ULogger::registerCurrentThread
static void registerCurrentThread(const std::string &name)
+
ULogger::setPrintEndline
static void setPrintEndline(bool printEndline)
Definition ULogger.h:287
+ +
ULogger::setBuffered
static void setBuffered(bool buffered)
+
ULogger::setEventLevel
static void setEventLevel(ULogger::Level eventSentLevel)
Definition ULogger.h:352
+
ULogger::kDefaultLogFileName
static const std::string kDefaultLogFileName
Definition ULogger.h:236
+
ULogger::setLevel
static void setLevel(ULogger::Level level)
Definition ULogger.h:343
+
ULogger::setTreadIdFilter
static void setTreadIdFilter(const std::set< unsigned long > &ids)
Definition ULogger.h:358
+
ULogger::setPrintWhere
static void setPrintWhere(bool printWhere)
Definition ULogger.h:302
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UMath_8h.html b/preview/pr-1492/api/latest/UMath_8h.html new file mode 100644 index 00000000..70be972e --- /dev/null +++ b/preview/pr-1492/api/latest/UMath_8h.html @@ -0,0 +1,2574 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UMath.h File Reference + + + + + + + + + + + + +
+
+ + + + + + +
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+
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+
+Enumerations | +Functions
+
UMath.h File Reference
+
+
+ +

Basic mathematics functions. +More...

+
#include <cmath>
+#include <list>
+#include <vector>
+
+Include dependency graph for UMath.h:
+
+
+ + + + + + + + + +
+
+This graph shows which files directly or indirectly include this file:
+
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
+
+

Go to the source code of this file.

+ + + + +

+Enumerations

enum  UXMatchMethod {
+  UXCorrRaw +, UXCorrBiased +, UXCorrUnbiased +, UXCorrCoeff +,
+  UXCovRaw +, UXCovBiased +, UXCovUnbiased +, UXCovCoeff +
+ }
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Functions

template<class T >
bool uIsNan (const T &value)
 
template<class T >
bool uIsFinite (const T &value)
 
template<class T >
T uMin3 (const T &a, const T &b, const T &c)
 
template<class T >
T uMax3 (const T &a, const T &b, const T &c)
 
template<class T >
T uMax (const T *v, unsigned int size, unsigned int &index)
 
template<class T >
T uMax (const std::vector< T > &v, unsigned int &index)
 
template<class T >
T uMax (const T *v, unsigned int size)
 
template<class T >
T uMax (const std::vector< T > &v)
 
template<class T >
T uMin (const T *v, unsigned int size, unsigned int &index)
 
template<class T >
T uMin (const std::vector< T > &v, unsigned int &index)
 
template<class T >
T uMin (const T *v, unsigned int size)
 
template<class T >
T uMin (const std::vector< T > &v)
 
template<class T >
void uMinMax (const T *v, unsigned int size, T &min, T &max, unsigned int &indexMin, unsigned int &indexMax)
 
template<class T >
void uMinMax (const std::vector< T > &v, T &min, T &max, unsigned int &indexMin, unsigned int &indexMax)
 
template<class T >
void uMinMax (const T *v, unsigned int size, T &min, T &max)
 
template<class T >
void uMinMax (const std::vector< T > &v, T &min, T &max)
 
template<class T >
int uSign (const T &v)
 
template<class T >
T uSum (const std::list< T > &list)
 
template<class T >
T uSum (const T *v, unsigned int size)
 
template<class T >
T uSum (const std::vector< T > &v)
 
template<class T >
T uSumSquared (const T *v, unsigned int size, T subtract=T())
 
template<class T >
T uSumSquared (const std::vector< T > &v, T subtract=T())
 
template<class T >
T uMean (const T *v, unsigned int size)
 
template<class T >
T uMean (const std::list< T > &list)
 
template<class T >
T uMean (const std::vector< T > &v)
 
template<class T >
T uMeanSquaredError (const T *x, unsigned int sizeX, const T *y, unsigned int sizeY)
 
template<class T >
T uMeanSquaredError (const std::vector< T > &x, const std::vector< T > &y)
 
template<class T >
T uVariance (const T *v, unsigned int size, T meanV)
 
template<class T >
T uVariance (const std::list< T > &list, const T &m)
 
template<class T >
T uVariance (const T *v, unsigned int size)
 
template<class T >
T uVariance (const std::vector< T > &v, const T &m)
 
template<class T >
T uNormSquared (const std::vector< T > &v)
 
template<class T >
T uNorm (const std::vector< T > &v)
 
template<class T >
T uNormSquared (const T &x1, const T &x2)
 
template<class T >
T uNorm (const T &x1, const T &x2)
 
template<class T >
T uNormSquared (const T &x1, const T &x2, const T &x3)
 
template<class T >
T uNorm (const T &x1, const T &x2, const T &x3)
 
template<class T >
std::vector< T > uNormalize (const std::vector< T > &v)
 
template<class T >
std::list< unsigned int > uLocalMaxima (const T *v, unsigned int size)
 
template<class T >
std::list< unsigned int > uLocalMaxima (const std::vector< T > &v)
 
template<class T >
std::vector< T > uXMatch (const T *vA, const T *vB, unsigned int sizeA, unsigned int sizeB, UXMatchMethod method)
 
template<class T >
std::vector< T > uXMatch (const std::vector< T > &vA, const std::vector< T > &vB, UXMatchMethod method)
 
template<class T >
T uXMatch (const T *vA, const T *vB, unsigned int sizeA, unsigned int sizeB, unsigned int index, UXMatchMethod method)
 
template<class T >
T uXMatch (const std::vector< T > &vA, const std::vector< T > &vB, unsigned int index, UXMatchMethod method)
 
std::vector< float > uHamming (unsigned int L)
 
template<typename T >
bool uIsInBounds (const T &value, const T &low, const T &high)
 
+

Detailed Description

+

Basic mathematics functions.

+ +

Definition in file UMath.h.

+

Enumeration Type Documentation

+ +

◆ UXMatchMethod

+ +
+
+ + + + +
enum UXMatchMethod
+
+

Enum of cross matching methods (cross-correlation, cross-covariance) : UXCorrRaw, UXCorrBiased, UXCorrUnbiased, UXCorrCoeff, UXCovRaw, UXCovBiased, UXCovUnbiased, UXCovCoeff.

+ +

Definition at line 696 of file UMath.h.

+ +
+
+

Function Documentation

+ +

◆ uIsNan()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
bool uIsNan (const T & value)
+ 		+inline
+
+

Return true if the number is NAN.

+ +

Definition at line 40 of file UMath.h.

+ +
+
+ +

◆ uIsFinite()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
bool uIsFinite (const T & value)
+ 		+inline
+
+

Return true if the number is finite.

+ +

Definition at line 53 of file UMath.h.

+ +
+
+ +

◆ uMin3()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
T uMin3 (const T & a,
const T & b,
const T & c 
)
+ 		+inline
+
+

Get the minimum of the 3 values.

Returns
the minimum value
+ +

Definition at line 67 of file UMath.h.

+ +
+
+ +

◆ uMax3()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
T uMax3 (const T & a,
const T & b,
const T & c 
)
+ 		+inline
+
+

Get the maximum of the 3 values.

Returns
the maximum value
+ +

Definition at line 78 of file UMath.h.

+ +
+
+ +

◆ uMax() [1/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
T uMax (const T * v,
unsigned int size,
unsigned int & index 
)
+ 		+inline
+
+

Get the maximum of a vector.

Parameters
+ + + + +
vthe array
sizethe size of the array
indexthe index of the maximum value in the vector.
+
+
+
Returns
the maximum value of the array
+ +

Definition at line 92 of file UMath.h.

+ +
+
+ +

◆ uMax() [2/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uMax (const std::vector< T > & v,
unsigned int & index 
)
+ 		+inline
+
+

Get the maximum of a vector.

Parameters
+ + + +
vthe array
indexthe index of the maximum value in the vector.
+
+
+
Returns
the maximum value of the array
+ +

Definition at line 120 of file UMath.h.

+ +
+
+ +

◆ uMax() [3/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uMax (const T * v,
unsigned int size 
)
+ 		+inline
+
+

Get the maximum of a vector.

Parameters
+ + + +
vthe array
sizethe size of the array
+
+
+
Returns
the maximum value of the array
+ +

Definition at line 132 of file UMath.h.

+ +
+
+ +

◆ uMax() [4/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
T uMax (const std::vector< T > & v)
+ 		+inline
+
+

Get the maximum of a vector.

Parameters
+ + +
vthe array
+
+
+
Returns
the maximum value of the array
+ +

Definition at line 144 of file UMath.h.

+ +
+
+ +

◆ uMin() [1/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
T uMin (const T * v,
unsigned int size,
unsigned int & index 
)
+ 		+inline
+
+

Get the minimum of a vector.

Parameters
+ + + + +
vthe array
sizethe size of the array
indexthe index of the minimum value in the vector.
+
+
+
Returns
the minimum value of the array
+ +

Definition at line 157 of file UMath.h.

+ +
+
+ +

◆ uMin() [2/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uMin (const std::vector< T > & v,
unsigned int & index 
)
+ 		+inline
+
+

Get the minimum of a vector.

Parameters
+ + + +
vthe array
indexthe index of the minimum value in the vector.
+
+
+
Returns
the minimum value of the array
+ +

Definition at line 185 of file UMath.h.

+ +
+
+ +

◆ uMin() [3/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uMin (const T * v,
unsigned int size 
)
+ 		+inline
+
+

Get the minimum of a vector.

Parameters
+ + + +
vthe array
sizethe size of the array
+
+
+
Returns
the minimum value of the array
+ +

Definition at line 197 of file UMath.h.

+ +
+
+ +

◆ uMin() [4/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
T uMin (const std::vector< T > & v)
+ 		+inline
+
+

Get the minimum of a vector.

Parameters
+ + +
vthe array
+
+
+
Returns
the minimum value of the array
+ +

Definition at line 209 of file UMath.h.

+ +
+
+ +

◆ uMinMax() [1/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void uMinMax (const T * v,
unsigned int size,
T & min,
T & max,
unsigned int & indexMin,
unsigned int & indexMax 
)
+ 		+inline
+
+

Get the minimum and maximum of a vector.

Parameters
+ + + + + + + +
vthe array
sizethe size of the array
minreference to output minimum
maxreference to output maximum
minreference to output minimum index
maxreference to output maximum index
+
+
+ +

Definition at line 224 of file UMath.h.

+ +
+
+ +

◆ uMinMax() [2/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void uMinMax (const std::vector< T > & v,
T & min,
T & max,
unsigned int & indexMin,
unsigned int & indexMax 
)
+ 		+inline
+
+

Get the minimum and maximum of a vector.

Parameters
+ + + + + + +
vthe array
minreference to output minimum
maxreference to output maximum
minreference to output minimum index
maxreference to output maximum index
+
+
+ +

Definition at line 262 of file UMath.h.

+ +
+
+ +

◆ uMinMax() [3/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void uMinMax (const T * v,
unsigned int size,
T & min,
T & max 
)
+ 		+inline
+
+

Get the minimum and maximum of a vector.

Parameters
+ + + + + +
vthe array
sizethe size of the array
minreference to output minimum
maxreference to output maximum
+
+
+ +

Definition at line 275 of file UMath.h.

+ +
+
+ +

◆ uMinMax() [4/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void uMinMax (const std::vector< T > & v,
T & min,
T & max 
)
+ 		+inline
+
+

Get the minimum and maximum of a vector.

Parameters
+ + + + +
vthe array
minreference to output minimum
maxreference to output maximum
+
+
+ +

Definition at line 289 of file UMath.h.

+ +
+
+ +

◆ uSign()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
int uSign (const T & v)
+ 		+inline
+
+

Get the sign of value.

Parameters
+ + +
vthe value
+
+
+
Returns
-1 if v<0, otherwise 1
+ +

Definition at line 300 of file UMath.h.

+ +
+
+ +

◆ uSum() [1/3]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
T uSum (const std::list< T > & list)
+ 		+inline
+
+

Get the sum of all values contained in a list. Provided for convenience.

Parameters
+ + +
listthe list
+
+
+
Returns
the sum of values of the list
+ +

Definition at line 318 of file UMath.h.

+ +
+
+ +

◆ uSum() [2/3]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uSum (const T * v,
unsigned int size 
)
+ 		+inline
+
+

Get the sum of all values contained in an array: sum(x).

Parameters
+ + + +
vthe array
sizethe size of the array
+
+
+
Returns
the sum of values of the array
+ +

Definition at line 335 of file UMath.h.

+ +
+
+ +

◆ uSum() [3/3]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
T uSum (const std::vector< T > & v)
+ 		+inline
+
+

Get the sum of all values contained in a vector. Provided for convenience.

Parameters
+ + +
vthe vector
+
+
+
Returns
the sum of values of the vector
+ +

Definition at line 354 of file UMath.h.

+ +
+
+ +

◆ uSumSquared() [1/2]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
T uSumSquared (const T * v,
unsigned int size,
T subtract = T() 
)
+ 		+inline
+
+

Get the sum of all squared values contained in an array: sum(x.^2).

Parameters
+ + + + +
vthe array
sizethe size of the array
subtractan optional value to remove to v before squaring v: sum((x-sub).^2)
+
+
+
Returns
the sum of values of the array
+ +

Definition at line 367 of file UMath.h.

+ +
+
+ +

◆ uSumSquared() [2/2]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uSumSquared (const std::vector< T > & v,
T subtract = T() 
)
+ 		+inline
+
+

Get the sum of all squared values contained in an array: sum(x.^2).

Parameters
+ + + +
vthe array
subtractan optional value to remove to v before squaring v: sum((x-sub).^2)
+
+
+
Returns
the sum of values of the array
+ +

Definition at line 387 of file UMath.h.

+ +
+
+ +

◆ uMean() [1/3]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uMean (const T * v,
unsigned int size 
)
+ 		+inline
+
+

Compute the mean of an array.

Parameters
+ + + +
vthe array
sizethe size of the array
+
+
+
Returns
the mean
+ +

Definition at line 399 of file UMath.h.

+ +
+
+ +

◆ uMean() [2/3]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
T uMean (const std::list< T > & list)
+ 		+inline
+
+

Get the mean of a list. Provided for convenience.

Parameters
+ + +
listthe list
+
+
+
Returns
the mean
+ +

Definition at line 419 of file UMath.h.

+ +
+
+ +

◆ uMean() [3/3]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
T uMean (const std::vector< T > & v)
+ 		+inline
+
+

Get the mean of a vector. Provided for convenience.

Parameters
+ + +
vthe vector
+
+
+
Returns
the mean
+ +

Definition at line 439 of file UMath.h.

+ +
+
+ +

◆ uMeanSquaredError() [1/2]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
T uMeanSquaredError (const T * x,
unsigned int sizeX,
const T * y,
unsigned int sizeY 
)
+ 		+inline
+
+

Compute mean squared error between two arrays: mean((x-y).^2).

Parameters
+ + + + + +
xthe first array
sizeXthe size of the array x
ythe second array
sizeYthe size of the array y (must be same size as x)
+
+
+
Returns
the mean squared error (return -1 if error cannot be computed)
+ +

Definition at line 453 of file UMath.h.

+ +
+
+ +

◆ uMeanSquaredError() [2/2]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uMeanSquaredError (const std::vector< T > & x,
const std::vector< T > & y 
)
+ 		+inline
+
+

Compute mean squared error between two arrays: mean((x-y).^2).

Parameters
+ + + +
xthe first array
ythe second array (must be same size as x)
+
+
+
Returns
the mean squared error (return -1 if error cannot be computed)
+ +

Definition at line 475 of file UMath.h.

+ +
+
+ +

◆ uVariance() [1/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
T uVariance (const T * v,
unsigned int size,
T meanV 
)
+ 		+inline
+
+

Compute the variance of an array.

Parameters
+ + + + +
vthe array
sizethe size of the array
meanVthe mean of the array
+
+
+
Returns
the variance
+
See also
mean()
+ +

Definition at line 489 of file UMath.h.

+ +
+
+ +

◆ uVariance() [2/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uVariance (const std::list< T > & list,
const T & m 
)
+ 		+inline
+
+

Get the variance of a list. Provided for convenience.

Parameters
+ + + +
listthe list
mthe mean of the list
+
+
+
Returns
the variance
+
See also
mean()
+ +

Definition at line 512 of file UMath.h.

+ +
+
+ +

◆ uVariance() [3/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uVariance (const T * v,
unsigned int size 
)
+ 		+inline
+
+

Compute the variance of an array.

Parameters
+ + + +
vthe array
sizethe size of the array
+
+
+
Returns
the variance
+ +

Definition at line 534 of file UMath.h.

+ +
+
+ +

◆ uVariance() [4/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uVariance (const std::vector< T > & v,
const T & m 
)
+ 		+inline
+
+

Get the variance of a vector. Provided for convenience.

Parameters
+ + + +
vthe vector
mthe mean of the vector
+
+
+
Returns
the variance
+
See also
mean()
+ +

Definition at line 548 of file UMath.h.

+ +
+
+ +

◆ uNormSquared() [1/3]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
T uNormSquared (const std::vector< T > & v)
+ 		+inline
+
+

Get the squared norm of the vector : return x1*x1 + x2*x2 + x3*x3 + ...

Returns
the squared norm of the vector
+ +

Definition at line 558 of file UMath.h.

+ +
+
+ +

◆ uNorm() [1/3]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
T uNorm (const std::vector< T > & v)
+ 		+inline
+
+

Get the norm of the vector : return sqrt(x1*x1 + x2*x2 + x3*x3 + ...)

Returns
the norm of the vector
+ +

Definition at line 573 of file UMath.h.

+ +
+
+ +

◆ uNormSquared() [2/3]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uNormSquared (const T & x1,
const T & x2 
)
+ 		+inline
+
+

Get the squared norm of the vector : return x1*x1 + x2*x2

Returns
the squared norm of the vector
+ +

Definition at line 583 of file UMath.h.

+ +
+
+ +

◆ uNorm() [2/3]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
T uNorm (const T & x1,
const T & x2 
)
+ 		+inline
+
+

Get the norm of the vector : return sqrt(x1*x1 + x2*x2 + x3*x3)

Returns
the norm of the vector
+ +

Definition at line 593 of file UMath.h.

+ +
+
+ +

◆ uNormSquared() [3/3]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
T uNormSquared (const T & x1,
const T & x2,
const T & x3 
)
+ 		+inline
+
+

Get the squared norm of the vector : return x1*x1 + x2*x2 + x3*x3

Returns
the squared norm of the vector
+ +

Definition at line 603 of file UMath.h.

+ +
+
+ +

◆ uNorm() [3/3]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
T uNorm (const T & x1,
const T & x2,
const T & x3 
)
+ 		+inline
+
+

Get the norm of the vector : return sqrt(x1*x1 + x2*x2 + x3*x3)

Returns
the norm of the vector
+ +

Definition at line 613 of file UMath.h.

+ +
+
+ +

◆ uNormalize()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
std::vector< T > uNormalize (const std::vector< T > & v)
+ 		+inline
+
+

Normalize the vector : [x1 x2 x3 ...] ./ uNorm([x1 x2 x3 ...])

Returns
the vector normalized
+ +

Definition at line 623 of file UMath.h.

+ +
+
+ +

◆ uLocalMaxima() [1/2]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
std::list< unsigned int > uLocalMaxima (const T * v,
unsigned int size 
)
+ 		+inline
+
+

Find all local maxima.

+ +

Definition at line 645 of file UMath.h.

+ +
+
+ +

◆ uLocalMaxima() [2/2]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
std::list< unsigned int > uLocalMaxima (const std::vector< T > & v)
+ 		+inline
+
+

Find all local maxima.

+ +

Definition at line 687 of file UMath.h.

+ +
+
+ +

◆ uXMatch() [1/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
std::vector< T > uXMatch (const T * vA,
const T * vB,
unsigned int sizeA,
unsigned int sizeB,
UXMatchMethod method 
)
+ 		+inline
+
+

Do a full cross-correlation or cross-covariance between 2 arrays.

Parameters
+ + + + + + +
vAthe first array
vBthe second array
sizeAthe size of the first array
sizeBthe size of the second array
methodsee UXMatchMethod
+
+
+
Returns
the resulting correlation/covariance vector of size = sizeA + sizeB - 1
+ +

Definition at line 708 of file UMath.h.

+ +
+
+ +

◆ uXMatch() [2/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
std::vector< T > uXMatch (const std::vector< T > & vA,
const std::vector< T > & vB,
UXMatchMethod method 
)
+ 		+inline
+
+

Do a full cross-correlation or cross-covariance between 2 arrays.

Parameters
+ + + + +
vAthe first array
vBthe second array
methodsee UXMatchMethod
+
+
+
Returns
the resulting correlation/covariance vector of size = sizeA + sizeB - 1
+ +

Definition at line 820 of file UMath.h.

+ +
+
+ +

◆ uXMatch() [3/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
T uXMatch (const T * vA,
const T * vB,
unsigned int sizeA,
unsigned int sizeB,
unsigned int index,
UXMatchMethod method 
)
+ 		+inline
+
+

Do a cross correlation between 2 arrays at a specified index.

Parameters
+ + + + + + + +
vAthe first array
vBthe second array
sizeAthe size of the first array
sizeBthe size of the second array
indexthe index to correlate
methodsee UXMatchMethod
+
+
+
Returns
the resulting correlation value
+ +

Definition at line 836 of file UMath.h.

+ +
+
+ +

◆ uXMatch() [4/4]

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
T uXMatch (const std::vector< T > & vA,
const std::vector< T > & vB,
unsigned int index,
UXMatchMethod method 
)
+ 		+inline
+
+

Do a cross correlation between 2 arrays at a specified index.

Parameters
+ + + + + + + +
vAthe first array
vBthe second array
sizeAthe size of the first array
sizeBthe size of the second array
indexthe index to correlate
methodsee UXMatchMethod
+
+
+
Returns
the resulting correlation value
+ +

Definition at line 909 of file UMath.h.

+ +
+
+ +

◆ uHamming()

+ +
+
+ + + + + +
+ + + + + + + + +
std::vector< float > uHamming (unsigned int L)
+ 		+inline
+
+

Return Hamming window of length L.

Parameters
+ + +
Lthe window length
+
+
+
Returns
the Hamming window (values are between 0 and 1)
+ +

Definition at line 919 of file UMath.h.

+ +
+
+ +

◆ uIsInBounds()

+ +
+
+
+template<typename T >
+ + + + + + + + + + + + + + + + + + + + + + + + +
bool uIsInBounds (const T & value,
const T & low,
const T & high 
)
+
+ +

Definition at line 932 of file UMath.h.

+ +
+
+
+ +
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 +
+
UMath.h
+
+
+Go to the documentation of this file.
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UMATH_H
+
21#define UMATH_H
+
22
+
27#include <cmath>
+
28#include <list>
+
29#include <vector>
+
30
+
31#if _MSC_VER
+
32 #undef min
+
33 #undef max
+
34#endif
+
35
+
39template<class T>
+
+
40inline bool uIsNan(const T & value)
+
41{
+
42#if _MSC_VER
+
43 return _isnan(value) != 0;
+
44#else
+
45 return std::isnan(value);
+
46#endif
+
47}
+
+
48
+
52template<class T>
+
+
53inline bool uIsFinite(const T & value)
+
54{
+
55#if _MSC_VER
+
56 return _finite(value) != 0;
+
57#else
+
58 return std::isfinite(value);
+
59#endif
+
60}
+
+
61
+
66template<class T>
+
+
67inline T uMin3( const T& a, const T& b, const T& c)
+
68{
+
69 float m=a<b?a:b;
+
70 return m<c?m:c;
+
71}
+
+
72
+
77template<class T>
+
+
78inline T uMax3( const T& a, const T& b, const T& c)
+
79{
+
80 float m=a>b?a:b;
+
81 return m>c?m:c;
+
82}
+
+
83
+
91template<class T>
+
+
92inline T uMax(const T * v, unsigned int size, unsigned int & index)
+
93{
+
94 T max = 0;
+
95 index = 0;
+
96 if(!v || size == 0)
+
97 {
+
98 return max;
+
99 }
+
100 max = v[0];
+
101 for(unsigned int i=1; i<size; ++i)
+
102 {
+
103 if(uIsNan(max) || (max < v[i] && !uIsNan(v[i])))
+
104 {
+
105 max = v[i];
+
106 index = i;
+
107 }
+
108 }
+
109
+
110 return max;
+
111}
+
+
112
+
119template<class T>
+
+
120inline T uMax(const std::vector<T> & v, unsigned int & index)
+
121{
+
122 return uMax(v.data(), v.size(), index);
+
123}
+
+
124
+
131template<class T>
+
+
132inline T uMax(const T * v, unsigned int size)
+
133{
+
134 unsigned int index;
+
135 return uMax(v, size, index);
+
136}
+
+
137
+
143template<class T>
+
+
144inline T uMax(const std::vector<T> & v)
+
145{
+
146 return uMax(v.data(), v.size());
+
147}
+
+
148
+
156template<class T>
+
+
157inline T uMin(const T * v, unsigned int size, unsigned int & index)
+
158{
+
159 T min = 0;
+
160 index = 0;
+
161 if(!v || size == 0)
+
162 {
+
163 return min;
+
164 }
+
165 min = v[0];
+
166 for(unsigned int i=1; i<size; ++i)
+
167 {
+
168 if(uIsNan(min) || (min > v[i] && !uIsNan(v[i])))
+
169 {
+
170 min = v[i];
+
171 index = i;
+
172 }
+
173 }
+
174
+
175 return min;
+
176}
+
+
177
+
184template<class T>
+
+
185inline T uMin(const std::vector<T> & v, unsigned int & index)
+
186{
+
187 return uMin(v.data(), v.size(), index);
+
188}
+
+
189
+
196template<class T>
+
+
197inline T uMin(const T * v, unsigned int size)
+
198{
+
199 unsigned int index;
+
200 return uMin(v, size, index);
+
201}
+
+
202
+
208template<class T>
+
+
209inline T uMin(const std::vector<T> & v)
+
210{
+
211 return uMin(v.data(), v.size());
+
212}
+
+
213
+
223template<class T>
+
+
224inline void uMinMax(const T * v, unsigned int size, T & min, T & max, unsigned int & indexMin, unsigned int & indexMax)
+
225{
+
226 min = 0;
+
227 max = 0;
+
228 indexMin = 0;
+
229 indexMax = 0;
+
230 if(!v || size == 0)
+
231 {
+
232 return;
+
233 }
+
234 min = v[0];
+
235 max = v[0];
+
236
+
237 for(unsigned int i=1; i<size; ++i)
+
238 {
+
239 if(uIsNan(min) || (min > v[i] && !uIsNan(v[i])))
+
240 {
+
241 min = v[i];
+
242 indexMin = i;
+
243 }
+
244
+
245 if(uIsNan(max) || (max < v[i] && !uIsNan(v[i])))
+
246 {
+
247 max = v[i];
+
248 indexMax = i;
+
249 }
+
250 }
+
251}
+
+
252
+
261template<class T>
+
+
262inline void uMinMax(const std::vector<T> & v, T & min, T & max, unsigned int & indexMin, unsigned int & indexMax)
+
263{
+
264 uMinMax(v.data(), v.size(), min, max, indexMin, indexMax);
+
265}
+
+
266
+
274template<class T>
+
+
275inline void uMinMax(const T * v, unsigned int size, T & min, T & max)
+
276{
+
277 unsigned int indexMin;
+
278 unsigned int indexMax;
+
279 uMinMax(v, size, min, max, indexMin, indexMax);
+
280}
+
+
281
+
288template<class T>
+
+
289inline void uMinMax(const std::vector<T> & v, T & min, T & max)
+
290{
+
291 uMinMax(v.data(), v.size(), min, max);
+
292}
+
+
293
+
299template<class T>
+
+
300inline int uSign(const T & v)
+
301{
+
302 if(v < 0)
+
303 {
+
304 return -1;
+
305 }
+
306 else
+
307 {
+
308 return 1;
+
309 }
+
310}
+
+
311
+
317template<class T>
+
+
318inline T uSum(const std::list<T> & list)
+
319{
+
320 T sum = 0;
+
321 for(typename std::list<T>::const_iterator i=list.begin(); i!=list.end(); ++i)
+
322 {
+
323 sum += *i;
+
324 }
+
325 return sum;
+
326}
+
+
327
+
334template<class T>
+
+
335inline T uSum(const T * v, unsigned int size)
+
336{
+
337 T sum = 0;
+
338 if(v && size)
+
339 {
+
340 for(unsigned int i=0; i<size; ++i)
+
341 {
+
342 sum += v[i];
+
343 }
+
344 }
+
345 return sum;
+
346}
+
+
347
+
353template<class T>
+
+
354inline T uSum(const std::vector<T> & v)
+
355{
+
356 return uSum(v.data(), (int)v.size());
+
357}
+
+
358
+
366template<class T>
+
+
367inline T uSumSquared(const T * v, unsigned int size, T subtract = T())
+
368{
+
369 T sum = 0;
+
370 if(v && size)
+
371 {
+
372 for(unsigned int i=0; i<size; ++i)
+
373 {
+
374 sum += (v[i]-subtract)*(v[i]-subtract);
+
375 }
+
376 }
+
377 return sum;
+
378}
+
+
379
+
386template<class T>
+
+
387inline T uSumSquared(const std::vector<T> & v, T subtract = T())
+
388{
+
389 return uSumSquared(v.data(), v.size(), subtract);
+
390}
+
+
391
+
398template<class T>
+
+
399inline T uMean(const T * v, unsigned int size)
+
400{
+
401 T buf = 0;
+
402 if(v && size)
+
403 {
+
404 for(unsigned int i=0; i<size; ++i)
+
405 {
+
406 buf += v[i];
+
407 }
+
408 buf /= size;
+
409 }
+
410 return buf;
+
411}
+
+
412
+
418template<class T>
+
+
419inline T uMean(const std::list<T> & list)
+
420{
+
421 T m = 0;
+
422 if(list.size())
+
423 {
+
424 for(typename std::list<T>::const_iterator i=list.begin(); i!=list.end(); ++i)
+
425 {
+
426 m += *i;
+
427 }
+
428 m /= list.size();
+
429 }
+
430 return m;
+
431}
+
+
432
+
438template<class T>
+
+
439inline T uMean(const std::vector<T> & v)
+
440{
+
441 return uMean(v.data(), v.size());
+
442}
+
+
443
+
452template<class T>
+
+
453inline T uMeanSquaredError(const T * x, unsigned int sizeX, const T * y, unsigned int sizeY)
+
454{
+
455 T sum = 0;
+
456 if(x && y && sizeX == sizeY)
+
457 {
+
458 for(unsigned int i=0; i<sizeX; ++i)
+
459 {
+
460 T diff = x[i]-y[i];
+
461 sum += diff*diff;
+
462 }
+
463 return sum/(T)sizeX;
+
464 }
+
465 return (T)-1;
+
466}
+
+
467
+
474template<class T>
+
+
475inline T uMeanSquaredError(const std::vector<T> & x, const std::vector<T> & y)
+
476{
+
477 return uMeanSquaredError(x.data(), x.size(), y.data(), y.size());
+
478}
+
+
479
+
488template<class T>
+
+
489inline T uVariance(const T * v, unsigned int size, T meanV)
+
490{
+
491 T buf = 0;
+
492 if(v && size>1)
+
493 {
+
494 float sum = 0;
+
495 for(unsigned int i=0; i<size; ++i)
+
496 {
+
497 sum += (v[i]-meanV)*(v[i]-meanV);
+
498 }
+
499 buf = sum/(size-1);
+
500 }
+
501 return buf;
+
502}
+
+
503
+
511template<class T>
+
+
512inline T uVariance(const std::list<T> & list, const T & m)
+
513{
+
514 T buf = 0;
+
515 if(list.size()>1)
+
516 {
+
517 float sum = 0;
+
518 for(typename std::list<T>::const_iterator i=list.begin(); i!=list.end(); ++i)
+
519 {
+
520 sum += (*i-m)*(*i-m);
+
521 }
+
522 buf = sum/(list.size()-1);
+
523 }
+
524 return buf;
+
525}
+
+
526
+
533template<class T>
+
+
534inline T uVariance(const T * v, unsigned int size)
+
535{
+
536 T m = uMean(v, size);
+
537 return uVariance(v, size, m);
+
538}
+
+
539
+
547template<class T>
+
+
548inline T uVariance(const std::vector<T> & v, const T & m)
+
549{
+
550 return uVariance(v.data(), v.size(), m);
+
551}
+
+
552
+
557template<class T>
+
+
558inline T uNormSquared(const std::vector<T> & v)
+
559{
+
560 float sum = 0.0f;
+
561 for(unsigned int i=0; i<v.size(); ++i)
+
562 {
+
563 sum += v[i]*v[i];
+
564 }
+
565 return sum;
+
566}
+
+
567
+
572template<class T>
+
+
573inline T uNorm(const std::vector<T> & v)
+
574{
+
575 return std::sqrt(uNormSquared(v));
+
576}
+
+
577
+
582template<class T>
+
+
583inline T uNormSquared(const T & x1, const T & x2)
+
584{
+
585 return x1*x1 + x2*x2;
+
586}
+
+
587
+
592template<class T>
+
+
593inline T uNorm(const T & x1, const T & x2)
+
594{
+
595 return std::sqrt(uNormSquared(x1, x2));
+
596}
+
+
597
+
602template<class T>
+
+
603inline T uNormSquared(const T & x1, const T & x2, const T & x3)
+
604{
+
605 return x1*x1 + x2*x2 + x3*x3;
+
606}
+
+
607
+
612template<class T>
+
+
613inline T uNorm(const T & x1, const T & x2, const T & x3)
+
614{
+
615 return std::sqrt(uNormSquared(x1, x2, x3));
+
616}
+
+
617
+
622template<class T>
+
+
623inline std::vector<T> uNormalize(const std::vector<T> & v)
+
624{
+
625 float norm = uNorm(v);
+
626 if(norm == 0)
+
627 {
+
628 return v;
+
629 }
+
630 else
+
631 {
+
632 std::vector<T> r(v.size());
+
633 for(unsigned int i=0; i<v.size(); ++i)
+
634 {
+
635 r[i] = v[i]/norm;
+
636 }
+
637 return r;
+
638 }
+
639}
+
+
640
+
644template<class T>
+
+
645inline std::list<unsigned int> uLocalMaxima(const T * v, unsigned int size)
+
646{
+
647 std::list<unsigned int> maxima;
+
648 if(size)
+
649 {
+
650 for(unsigned int i=0; i<size; ++i)
+
651 {
+
652 if(i == 0)
+
653 {
+
654 // first item
+
655 if((i+1 < size && v[i] > v[i+1]) ||
+
656 i+1 >= size)
+
657 {
+
658 maxima.push_back(i);
+
659 }
+
660 }
+
661 else if(i == size - 1)
+
662 {
+
663 //last item
+
664 if((i >= 1 && v[i] > v[i-1]) ||
+
665 i == 0)
+
666 {
+
667 maxima.push_back(i);
+
668 }
+
669 }
+
670 else
+
671 {
+
672 //all others, check previous and next
+
673 if(v[i] > v[i-1] && v[i] > v[i+1])
+
674 {
+
675 maxima.push_back(i);
+
676 }
+
677 }
+
678 }
+
679 }
+
680 return maxima;
+
681}
+
+
682
+
686template<class T>
+
+
687inline std::list<unsigned int> uLocalMaxima(const std::vector<T> & v)
+
688{
+
689 return uLocalMaxima(v.data(), v.size());
+
690}
+
+
691
+
696enum UXMatchMethod{UXCorrRaw, UXCorrBiased, UXCorrUnbiased, UXCorrCoeff, UXCovRaw, UXCovBiased, UXCovUnbiased, UXCovCoeff};
+
697
+
707template<class T>
+
+
708inline std::vector<T> uXMatch(const T * vA, const T * vB, unsigned int sizeA, unsigned int sizeB, UXMatchMethod method)
+
709{
+
710 if(!vA || !vB || sizeA == 0 || sizeB == 0)
+
711 {
+
712 return std::vector<T>();
+
713 }
+
714
+
715 std::vector<T> result(sizeA + sizeB - 1);
+
716
+
717 T meanA = 0;
+
718 T meanB = 0;
+
719 if(method > UXCorrCoeff)
+
720 {
+
721 meanA = uMean(vA, sizeA);
+
722 meanB = uMean(vB, sizeB);
+
723 }
+
724
+
725 T den = 1;
+
726 if(method == UXCorrCoeff || method == UXCovCoeff)
+
727 {
+
728 den = std::sqrt(uSumSquared(vA, sizeA, meanA) * uSumSquared(vB, sizeB, meanB));
+
729 }
+
730 else if(method == UXCorrBiased || method == UXCovBiased)
+
731 {
+
732 den = (T)std::max(sizeA, sizeB);
+
733 }
+
734
+
735 if(sizeA == sizeB)
+
736 {
+
737 T resultA;
+
738 T resultB;
+
739
+
740 int posA;
+
741 int posB;
+
742 unsigned int j;
+
743
+
744 // Optimization, filling two results at once
+
745 for(unsigned int i=0; i<sizeA; ++i)
+
746 {
+
747 if(method == UXCorrUnbiased || method == UXCovUnbiased)
+
748 {
+
749 den = 0;
+
750 }
+
751
+
752 posA = sizeA - i - 1;
+
753 posB = sizeB - i - 1;
+
754 resultA = 0;
+
755 resultB = 0;
+
756 for(j=0; (j + posB) < sizeB && (j + posA) < sizeA; ++j)
+
757 {
+
758 resultA += (vA[j] - meanA) * (vB[j + posB] - meanB);
+
759 resultB += (vA[j + posA] - meanA) * (vB[j] - meanB);
+
760 if(method == UXCorrUnbiased || method == UXCovUnbiased)
+
761 {
+
762 ++den;
+
763 }
+
764 }
+
765
+
766 result[i] = resultA / den;
+
767 result[result.size()-1 -i] = resultB / den;
+
768 }
+
769 }
+
770 else
+
771 {
+
772 for(unsigned int i=0; i<result.size(); ++i)
+
773 {
+
774 if(method == UXCorrUnbiased || method == UXCovUnbiased)
+
775 {
+
776 den = 0;
+
777 }
+
778
+
779 int posB = sizeB - i - 1;
+
780 T r = 0;
+
781 if(posB >= 0)
+
782 {
+
783 for(unsigned int j=0; (j + posB) < sizeB && j < sizeA; ++j)
+
784 {
+
785 r += (vA[j] - meanA) * (vB[j + posB] - meanB);
+
786 if(method == UXCorrUnbiased || method == UXCovUnbiased)
+
787 {
+
788 ++den;
+
789 }
+
790 }
+
791 }
+
792 else
+
793 {
+
794 int posA = posB*-1;
+
795 for(unsigned int i=0; (i+posA) < sizeA && i < sizeB; ++i)
+
796 {
+
797 r += (vA[i+posA] - meanA) * (vB[i] - meanB);
+
798 if(method == UXCorrUnbiased || method == UXCovUnbiased)
+
799 {
+
800 ++den;
+
801 }
+
802 }
+
803 }
+
804
+
805 result[i] = r / den;
+
806 }
+
807 }
+
808
+
809 return result;
+
810}
+
+
811
+
819template<class T>
+
+
820inline std::vector<T> uXMatch(const std::vector<T> & vA, const std::vector<T> & vB, UXMatchMethod method)
+
821{
+
822 return uXMatch(vA.data(), vB.data(), vA.size(), vB.size(), method);
+
823}
+
+
824
+
835template<class T>
+
+
836inline T uXMatch(const T * vA, const T * vB, unsigned int sizeA, unsigned int sizeB, unsigned int index, UXMatchMethod method)
+
837{
+
838 T result = 0;
+
839 if(!vA || !vB || sizeA == 0 || sizeB == 0)
+
840 {
+
841 return result;
+
842 }
+
843
+
844 T meanA = 0;
+
845 T meanB = 0;
+
846 if(method > UXCorrCoeff)
+
847 {
+
848 meanA = uMean(vA, sizeA);
+
849 meanB = uMean(vB, sizeB);
+
850 }
+
851 unsigned int size = sizeA + sizeB - 1;
+
852
+
853 T den = 1;
+
854 if(method == UXCorrCoeff || method == UXCovCoeff)
+
855 {
+
856 den = std::sqrt(uSumSquared(vA, sizeA, meanA) * uSumSquared(vB, sizeB, meanB));
+
857 }
+
858 else if(method == UXCorrBiased || method == UXCovBiased)
+
859 {
+
860 den = (T)std::max(sizeA, sizeB);
+
861 }
+
862 else if(method == UXCorrUnbiased || method == UXCovUnbiased)
+
863 {
+
864 den = 0;
+
865 }
+
866
+
867 if(index < size)
+
868 {
+
869 int posB = sizeB - index - 1;
+
870 unsigned int i;
+
871 if(posB >= 0)
+
872 {
+
873 for(i=0; (i + posB) < sizeB && i < sizeA; ++i)
+
874 {
+
875 result += (vA[i] - meanA) * (vB[i + posB] - meanB);
+
876 if(method == UXCorrUnbiased || method == UXCovUnbiased)
+
877 {
+
878 ++den;
+
879 }
+
880 }
+
881 }
+
882 else
+
883 {
+
884 int posA = posB*-1;
+
885 for(i=0; (i+posA) < sizeA && i < sizeB; ++i)
+
886 {
+
887 result += (vA[i+posA] - meanA) * (vB[i] - meanB);
+
888 if(method == UXCorrUnbiased || method == UXCovUnbiased)
+
889 {
+
890 ++den;
+
891 }
+
892 }
+
893 }
+
894 }
+
895 return result / den;
+
896}
+
+
897
+
908template<class T>
+
+
909inline T uXMatch(const std::vector<T> & vA, const std::vector<T> & vB, unsigned int index, UXMatchMethod method)
+
910{
+
911 return uXMatch(vA.data(), vB.data(), vA.size(), vB.size(), index, method);
+
912}
+
+
913
+
+
919inline std::vector<float> uHamming(unsigned int L)
+
920{
+
921 std::vector<float> w(L);
+
922 unsigned int N = L-1;
+
923 float pi = 3.14159265f;
+
924 for(unsigned int n=0; n<N; ++n)
+
925 {
+
926 w[n] = 0.54f-0.46f*std::cos(2.0f*pi*float(n)/float(N));
+
927 }
+
928 return w;
+
929}
+
+
930
+
931template <typename T>
+
932bool uIsInBounds(const T& value, const T& low, const T& high)
+
933{
+
934 return uIsFinite(value) && !(value < low) && !(value >= high);
+
935}
+
936
+
937#endif // UMATH_H
+
uIsNan
bool uIsNan(const T &value)
Definition UMath.h:40
+
uMax
T uMax(const T *v, unsigned int size, unsigned int &index)
Definition UMath.h:92
+
uMeanSquaredError
T uMeanSquaredError(const T *x, unsigned int sizeX, const T *y, unsigned int sizeY)
Definition UMath.h:453
+
uNormalize
std::vector< T > uNormalize(const std::vector< T > &v)
Definition UMath.h:623
+
uLocalMaxima
std::list< unsigned int > uLocalMaxima(const T *v, unsigned int size)
Definition UMath.h:645
+
uMax3
T uMax3(const T &a, const T &b, const T &c)
Definition UMath.h:78
+
uSign
int uSign(const T &v)
Definition UMath.h:300
+
uMean
T uMean(const T *v, unsigned int size)
Definition UMath.h:399
+
uSum
T uSum(const std::list< T > &list)
Definition UMath.h:318
+
uXMatch
std::vector< T > uXMatch(const T *vA, const T *vB, unsigned int sizeA, unsigned int sizeB, UXMatchMethod method)
Definition UMath.h:708
+
uMin
T uMin(const T *v, unsigned int size, unsigned int &index)
Definition UMath.h:157
+
uNorm
T uNorm(const std::vector< T > &v)
Definition UMath.h:573
+
uIsFinite
bool uIsFinite(const T &value)
Definition UMath.h:53
+
uMin3
T uMin3(const T &a, const T &b, const T &c)
Definition UMath.h:67
+
uVariance
T uVariance(const T *v, unsigned int size, T meanV)
Definition UMath.h:489
+
uHamming
std::vector< float > uHamming(unsigned int L)
Definition UMath.h:919
+
UXMatchMethod
UXMatchMethod
Definition UMath.h:696
+
uSumSquared
T uSumSquared(const T *v, unsigned int size, T subtract=T())
Definition UMath.h:367
+
uNormSquared
T uNormSquared(const std::vector< T > &v)
Definition UMath.h:558
+
uMinMax
void uMinMax(const T *v, unsigned int size, T &min, T &max, unsigned int &indexMin, unsigned int &indexMax)
Definition UMath.h:224
+
+ +
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UMutex.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UMUTEX_H
+
21#define UMUTEX_H
+
22
+
23#include <errno.h>
+
24
+
25#ifdef _WIN32
+
26 #include "rtabmap/utilite/Win32/UWin32.h"
+
27#else
+
28 #include <pthread.h>
+
29#endif
+
30
+
31
+
+
54class UMutex
+
55{
+
56
+
57public:
+
58
+
+
62 UMutex()
+
63 {
+
64#ifdef _WIN32
+
65 InitializeCriticalSection(&C);
+
66#else
+
67 pthread_mutexattr_t attr;
+
68 pthread_mutexattr_init(&attr);
+
69 pthread_mutexattr_settype(&attr,PTHREAD_MUTEX_RECURSIVE);
+
70 pthread_mutex_init(&M,&attr);
+
71 pthread_mutexattr_destroy(&attr);
+
72#endif
+
73 }
+
+
74
+
75 virtual ~UMutex()
+
76 {
+
77#ifdef _WIN32
+
78 DeleteCriticalSection(&C);
+
79#else
+
80 pthread_mutex_unlock(&M); pthread_mutex_destroy(&M);
+
81#endif
+
82 }
+
83
+
+
88 int lock() const
+
89 {
+
90#ifdef _WIN32
+
91 EnterCriticalSection(&C); return 0;
+
92#else
+
93 return pthread_mutex_lock(&M);
+
94#endif
+
95 }
+
+
96
+
102#ifdef _WIN32
+
103 #if(_WIN32_WINNT >= 0x0400)
+
104 int lockTry() const
+
105 {
+
106 return (TryEnterCriticalSection(&C)?0:EBUSY);
+
107 }
+
108 #endif
+
109#else
+
+
110 int lockTry() const
+
111 {
+
112 return pthread_mutex_trylock(&M);
+
113 }
+
+
114#endif
+
115
+
+
120 int unlock() const
+
121 {
+
122#ifdef _WIN32
+
123 LeaveCriticalSection(&C); return 0;
+
124#else
+
125 return pthread_mutex_unlock(&M);
+
126#endif
+
127 }
+
+
128
+
129 private:
+
130#ifdef _WIN32
+
131 mutable CRITICAL_SECTION C;
+
132#else
+
133 mutable pthread_mutex_t M;
+
134#endif
+
135 void operator=(UMutex &) {}
+
136 UMutex( const UMutex & ) {}
+
137};
+
+
138
+
+
164class UScopeMutex
+
165{
+
166public:
+
167 UScopeMutex(const UMutex & mutex) :
+
168 mutex_(mutex)
+
169 {
+
170 mutex_.lock();
+
171 }
+
172 // backward compatibility
+
173 UScopeMutex(UMutex * mutex) :
+
174 mutex_(*mutex)
+
175 {
+
176 mutex_.lock();
+
177 }
+
178 ~UScopeMutex()
+
179 {
+
180 mutex_.unlock();
+
181 }
+
182private:
+
183 const UMutex & mutex_;
+
184};
+
+
185
+
186#endif // UMUTEX_H
+ +
UMutex::UMutex
UMutex()
Definition UMutex.h:62
+
UMutex::unlock
int unlock() const
Definition UMutex.h:120
+
UMutex::lockTry
int lockTry() const
Definition UMutex.h:110
+
UMutex::lock
int lock() const
Definition UMutex.h:88
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UObjDeletionThread_8h_source.html b/preview/pr-1492/api/latest/UObjDeletionThread_8h_source.html new file mode 100644 index 00000000..e1669cc8 --- /dev/null +++ b/preview/pr-1492/api/latest/UObjDeletionThread_8h_source.html @@ -0,0 +1,208 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UObjDeletionThread.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
UObjDeletionThread.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UOBJDELETIONTHREAD_H
+
21#define UOBJDELETIONTHREAD_H
+
22
+
23#include "rtabmap/utilite/UThreadNode.h"
+
24#include "rtabmap/utilite/UEvent.h"
+
25#include "rtabmap/utilite/UEventsManager.h"
+
26
+
+
31class UObjDeletedEvent : public UEvent
+
32{
+
33public:
+
34 UObjDeletedEvent(int objDeletionThreadId) : UEvent(objDeletionThreadId) {}
+
35 virtual ~UObjDeletedEvent() {}
+
39 virtual std::string getClassName() const {return std::string("UObjDeletedEvent");}
+
40};
+
+
41
+
47template<class T>
+
+
48class UObjDeletionThread : public UThread
+
49{
+
50public:
+
+
56 UObjDeletionThread(T * obj, int id=0) :
+
57 obj_(obj),
+
58 id_(id),
+
59 waitMs_(0) {}
+
+
60
+
+
68 virtual ~UObjDeletionThread()
+
69 {
+
70 join(true);
+
71 if(obj_)
+
72 {
+
73 delete obj_;
+
74 }
+
75 }
+
+
76
+
81 void startDeletion(int waitMs = 0) {waitMs_ = waitMs; this->start();}
+
82
+
87 int id() const {return id_;}
+
88
+
+
93 void setObj(T * obj)
+
94 {
+
95 join();
+
96 if(obj_)
+
97 {
+
98 delete obj_;
+
99 obj_ = 0;
+
100 }
+
101 obj_ = obj;
+
102 }
+
+
103
+
104private:
+
108 virtual void mainLoop()
+
109 {
+
110 if(waitMs_)
+
111 {
+
112 uSleep(waitMs_);
+
113 }
+
114 if(obj_)
+
115 {
+
116 delete obj_;
+
117 obj_ = 0;
+
118 }
+
119 this->kill();
+
120 UEventsManager::post(new UObjDeletedEvent(id_), false);
+
121 }
+
122
+
123private:
+
124 T * obj_;
+
125 int id_;
+
126 int waitMs_;
+
127};
+
+
128
+
129#endif /* UOBJDELETIONTHREAD_H */
+ +
UEventsManager::post
static void post(UEvent *event, bool async=true, const UEventsSender *sender=0)
+ +
UObjDeletedEvent::getClassName
virtual std::string getClassName() const
Definition UObjDeletionThread.h:39
+ + +
UObjDeletionThread::startDeletion
void startDeletion(int waitMs=0)
Definition UObjDeletionThread.h:81
+ + +
UObjDeletionThread::UObjDeletionThread
UObjDeletionThread(T *obj, int id=0)
Definition UObjDeletionThread.h:56
+ +
UThread::start
void start()
+
UThread::kill
void kill()
+
UThread::join
void join(bool killFirst=false)
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UProcessInfo_8h.html b/preview/pr-1492/api/latest/UProcessInfo_8h.html new file mode 100644 index 00000000..df8d990c --- /dev/null +++ b/preview/pr-1492/api/latest/UProcessInfo_8h.html @@ -0,0 +1,129 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UProcessInfo.h File Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
No Matches
+
+
+
+
+ + +
+
+
+Classes
+
UProcessInfo.h File Reference
+
+
+ +

UProcessInfo class for getting process information. +More...

+
#include "rtabmap/utilite/utilite_export.h"
+
+Include dependency graph for UProcessInfo.h:
+
+
+ + + + + +
+
+This graph shows which files directly or indirectly include this file:
+
+
+ + + + + +
+
+

Go to the source code of this file.

+ + + + + +

+Classes

class  UProcessInfo
 Class for getting information about the current process. More...
 
+

Detailed Description

+

UProcessInfo class for getting process information.

+

This class provides methods to retrieve information about the current process, such as memory usage.

+ +

Definition in file UProcessInfo.h.

+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UProcessInfo_8h__dep__incl.map b/preview/pr-1492/api/latest/UProcessInfo_8h__dep__incl.map new file mode 100644 index 00000000..e9679168 --- /dev/null +++ b/preview/pr-1492/api/latest/UProcessInfo_8h__dep__incl.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/UProcessInfo_8h__dep__incl.md5 b/preview/pr-1492/api/latest/UProcessInfo_8h__dep__incl.md5 new file mode 100644 index 00000000..b368b422 --- /dev/null +++ b/preview/pr-1492/api/latest/UProcessInfo_8h__dep__incl.md5 @@ -0,0 +1 @@ +52bfde1d4653c713ebe3fa2a3c6916c6 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/UProcessInfo_8h__dep__incl.png b/preview/pr-1492/api/latest/UProcessInfo_8h__dep__incl.png new file mode 100644 index 0000000000000000000000000000000000000000..4de27f89312ed4e63c256825cd9c32cfa0d12ef1 GIT binary patch literal 7095 zcmc(Eg3(IWutv_9Z{HeNe33o0eJ@> z^BorUy*;uN19EajGiF3fmb>56wLq)PKbI{5Qoh!IhY7SfDTyK#bF?|%CAO`LDyyjY 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@@ -0,0 +1,134 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UProcessInfo.h Source File + + + + + + + + + + + + +
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+ + + + + + +
+
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UProcessInfo.h
+
+
+Go to the documentation of this file.
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UPROCESSINFO_H
+
21#define UPROCESSINFO_H
+
22
+
23#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
+
24
+
+
47class UTILITE_EXPORT UProcessInfo {
+
48public:
+
52 UProcessInfo();
+
53
+
57 virtual ~UProcessInfo();
+
58
+
67 static long int getMemoryUsage();
+
68};
+
+
69
+
70#endif /* UPROCESSINFO_H */
+
UProcessInfo
Class for getting information about the current process.
Definition UProcessInfo.h:47
+
UProcessInfo::~UProcessInfo
virtual ~UProcessInfo()
Virtual destructor.
+
UProcessInfo::getMemoryUsage
static long int getMemoryUsage()
Get the memory used by the current process.
+
UProcessInfo::UProcessInfo
UProcessInfo()
Constructor.
+
+ +
+Generated by doxygen 1.9.8 +
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USemaphore.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20/*
+
21 * Originally written by Phillip Sitbon
+
22 * Copyright 2003
+
23 */
+
24
+
25#ifndef USEMAPHORE_H
+
26#define USEMAPHORE_H
+
27
+
28#include <errno.h>
+
29
+
30#ifdef _WIN32
+
31#include "rtabmap/utilite/Win32/UWin32.h"
+
32#include <atomic>
+
33#define SEM_VALUE_MAX ((int) ((~0u) >> 1))
+
34#else
+
35#include <pthread.h>
+
36#include <sys/time.h>
+
37#endif
+
38
+
+
55class USemaphore
+
56{
+
57public:
+
+
62 USemaphore( int initValue = 0 )
+
63#ifdef _WIN32
+
64 : _count(initValue)
+
65#endif
+
66 {
+
67#ifdef _WIN32
+
68 S = CreateSemaphore(0,initValue,SEM_VALUE_MAX,0);
+
69#else
+
70 _available = initValue;
+
71 pthread_mutex_init(&_waitMutex, NULL);
+
72 pthread_cond_init(&_cond, NULL);
+
73#endif
+
74 }
+
+
75
+
76 virtual ~USemaphore()
+
77 {
+
78#ifdef _WIN32
+
79 CloseHandle(S);
+
80#else
+
81 pthread_cond_destroy(&_cond);
+
82 pthread_mutex_destroy(&_waitMutex);
+
83#endif
+
84 }
+
85
+
94#ifdef _WIN32
+
95 bool acquire(int n = 1, int ms = 0) const
+
96 {
+
97 int rt = 0;
+
98 while(n-- > 0 && rt==0)
+
99 {
+
100 rt = WaitForSingleObject((HANDLE)S, ms<=0?INFINITE:ms);
+
101 if(rt == 0) {
+
102 --_count;
+
103 }
+
104 }
+
105 return rt == 0;
+
106 }
+
107#else
+
+
108 bool acquire(int n = 1, int ms = 0)
+
109 {
+
110 int rt = 0;
+
111 pthread_mutex_lock(&_waitMutex);
+
112 while (n > _available && rt == 0)
+
113 {
+
114 if(ms > 0)
+
115 {
+
116 struct timespec timeToWait;
+
117 struct timeval now;
+
118
+
119 gettimeofday(&now,NULL);
+
120
+
121 timeToWait.tv_sec = now.tv_sec + ms/1000;
+
122 timeToWait.tv_nsec = (now.tv_usec+1000UL*(ms%1000))*1000UL;
+
123
+
124 rt = pthread_cond_timedwait(&_cond, &_waitMutex, &timeToWait);
+
125 }
+
126 else
+
127 {
+
128 rt = pthread_cond_wait(&_cond, &_waitMutex);
+
129 }
+
130 }
+
131 if(rt == 0)
+
132 {
+
133 // only remove them if waiting did not fail
+
134 _available -= n;
+
135 }
+
136 pthread_mutex_unlock(&_waitMutex);
+
137 return rt == 0;
+
138 }
+
+
139#endif
+
140
+
141 /*
+
142 * Try to acquire the semaphore, not a blocking call.
+
143 * @return 0 if the semaphore was acquired, EAGAIN if it couldn't be taken
+
144 * without waiting.
+
145 * @note The Windows overload takes no argument (it always acquires 1).
+
146 */
+
147#ifdef _WIN32
+
148 int acquireTry() const
+
149 {
+
150 // Non-blocking try-acquire: timeout 0, not INFINITE. INFINITE here
+
151 // turned this into a blocking acquire and hung tests when the count
+
152 // reached 0.
+
153 if(WaitForSingleObject((HANDLE)S, 0) == WAIT_OBJECT_0)
+
154 {
+
155 --_count;
+
156 return 0;
+
157 }
+
158 return EAGAIN;
+
159 }
+
160#else
+
+
164 int acquireTry(int n)
+
165 {
+
166 pthread_mutex_lock(&_waitMutex);
+
167 if(n > _available)
+
168 {
+
169 pthread_mutex_unlock(&_waitMutex);
+
170 return EAGAIN;
+
171 }
+
172 _available -= n;
+
173 pthread_mutex_unlock(&_waitMutex);
+
174 return 0;
+
175 }
+
+
176#endif
+
177
+
186#ifdef _WIN32
+
187 int release(int n = 1) const
+
188 {
+
189 if(ReleaseSemaphore((HANDLE)S, n, 0))
+
190 {
+
191 _count += n;
+
192 return 0;
+
193 }
+
194 return ERANGE;
+
195 }
+
196#else
+
+
197 int release(int n = 1)
+
198 {
+
199 pthread_mutex_lock(&_waitMutex);
+
200 _available += n;
+
201 pthread_cond_broadcast(&_cond);
+
202 pthread_mutex_unlock(&_waitMutex);
+
203 return 0;
+
204 }
+
+
205#endif
+
206
+
211#ifdef _WIN32
+
212 int value() const
+
213 {
+
214 // ReleaseSemaphore(S, 0, &V) returns FALSE on Windows (release count
+
215 // must be >= 1) and never writes V, so we mirror the count in an atomic
+
216 // instead. The value is eventually-consistent under concurrent
+
217 // acquire/release but accurate at quiescence.
+
218 return (int)_count.load();
+
219 }
+
220#else
+
+
221 int value()
+
222 {
+
223 int value = 0;
+
224 pthread_mutex_lock(&_waitMutex);
+
225 value = _available;
+
226 pthread_mutex_unlock(&_waitMutex);
+
227 return value;
+
228 }
+
+
229#endif
+
230
+
231#ifdef _WIN32
+
232 /*
+
233 * Reset the semaphore count.
+
234 * @param init the initial value
+
235 * TODO implement on posix ?
+
236 */
+
237 void reset( int init = 0 )
+
238 {
+
239 CloseHandle(S);
+
240 S = CreateSemaphore(0,init,SEM_VALUE_MAX,0);
+
241 _count = init;
+
242 }
+
243#endif
+
244
+
245private:
+
246 void operator=(const USemaphore &){}
+
247#ifdef _WIN32
+
248 USemaphore(const USemaphore &S){}
+
249 HANDLE S;
+
250 mutable std::atomic<long> _count;
+
251#else
+
252 USemaphore(const USemaphore &):_available(0){}
+
253 pthread_mutex_t _waitMutex;
+
254 pthread_cond_t _cond;
+
255 int _available;
+
256#endif
+
257};
+
+
258
+
259#endif // USEMAPHORE_H
+ +
USemaphore::acquire
bool acquire(int n=1, int ms=0)
Definition USemaphore.h:108
+
USemaphore::acquireTry
int acquireTry(int n)
Definition USemaphore.h:164
+
USemaphore::release
int release(int n=1)
Definition USemaphore.h:197
+
USemaphore::value
int value()
Definition USemaphore.h:221
+
USemaphore::USemaphore
USemaphore(int initValue=0)
Definition USemaphore.h:62
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UStl_8h.html b/preview/pr-1492/api/latest/UStl_8h.html new file mode 100644 index 00000000..76a8fb62 --- /dev/null +++ b/preview/pr-1492/api/latest/UStl_8h.html @@ -0,0 +1,2073 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UStl.h File Reference + + + + + + + + + + + + +
+
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+ + +
+
+
+Functions
+
UStl.h File Reference
+
+
+ +

Wrappers of STL for convenient functions. +More...

+
#include <list>
+#include <map>
+#include <set>
+#include <vector>
+#include <string>
+#include <algorithm>
+#include <stdlib.h>
+
+Include dependency graph for UStl.h:
+
+
+ + + + + + + + + + + + + + + + + +
+
+This graph shows which files directly or indirectly include this file:
+
+
+ + + + + + + + + + + + + + + + + + + + + +
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+

Go to the source code of this file.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Functions

template<class K , class V >
std::list< K > uUniqueKeys (const std::multimap< K, V > &mm)
 
template<class K , class V >
std::vector< K > uKeys (const std::multimap< K, V > &mm)
 
template<class K , class V >
std::list< K > uKeysList (const std::multimap< K, V > &mm)
 
template<class K , class V >
std::vector< V > uValues (const std::multimap< K, V > &mm)
 
template<class K , class V >
std::list< V > uValuesList (const std::multimap< K, V > &mm)
 
template<class K , class V >
std::list< V > uValues (const std::multimap< K, V > &mm, const K &key)
 
template<class K , class V >
std::vector< K > uKeys (const std::map< K, V > &m)
 
template<class K , class V >
std::list< K > uKeysList (const std::map< K, V > &m)
 
template<class K , class V >
std::set< K > uKeysSet (const std::map< K, V > &m)
 
template<class K , class V >
std::vector< V > uValues (const std::map< K, V > &m)
 
template<class K , class V >
std::list< V > uValuesList (const std::map< K, V > &m)
 
template<class K , class V >
V uValue (const std::map< K, V > &m, const K &key, const V &defaultValue=V())
 
template<class K , class V >
V uTake (std::map< K, V > &m, const K &key, const V &defaultValue=V())
 
template<class V >
std::list< V >::iterator uIteratorAt (std::list< V > &list, const unsigned int &pos)
 
template<class V >
std::list< V >::const_iterator uIteratorAt (const std::list< V > &list, const unsigned int &pos)
 
template<class V >
std::set< V >::iterator uIteratorAt (std::set< V > &set, const unsigned int &pos)
 
template<class V >
std::set< V >::const_iterator uIteratorAt (const std::set< V > &set, const unsigned int &pos)
 
template<class V >
std::vector< V >::iterator uIteratorAt (std::vector< V > &v, const unsigned int &pos)
 
template<class V >
std::vector< V >::const_iterator uIteratorAt (const std::vector< V > &v, const unsigned int &pos)
 
template<class V >
V & uValueAt (std::list< V > &list, const unsigned int &pos)
 
template<class V >
const V & uValueAt (const std::list< V > &list, const unsigned int &pos)
 
template<class V >
bool uContains (const std::list< V > &list, const V &value)
 
template<class K , class V >
bool uContains (const std::map< K, V > &map, const K &key)
 
template<class K , class V >
bool uContains (const std::multimap< K, V > &map, const K &key)
 
template<class K , class V >
void uInsert (std::map< K, V > &map, const std::pair< K, V > &pair)
 
template<class K , class V >
void uInsert (std::map< K, V > &map, const std::map< K, V > &items)
 
template<class V >
std::vector< V > uListToVector (const std::list< V > &list)
 
template<class V >
std::list< V > uVectorToList (const std::vector< V > &v)
 
template<class K , class V >
std::map< K, V > uMultimapToMap (const std::multimap< K, V > &m)
 
template<class K , class V >
std::map< K, V > uMultimapToMapUnique (const std::multimap< K, V > &m)
 
template<class V >
void uAppend (std::list< V > &list, const std::list< V > &newItems)
 
template<class V >
int uIndexOf (const std::vector< V > &list, const V &value)
 
std::list< std::string > uSplit (const std::string &str, char separator=' ')
 
std::string uJoin (const std::list< std::string > &strings, const std::string &separator="")
 
bool uIsDigit (const char c)
 
bool uIsInteger (const std::string &str, bool checkForSign=true)
 
bool uIsNumber (const std::string &str)
 
std::list< std::string > uSplitNumChar (const std::string &str)
 
int uStrNumCmp (const std::string &a, const std::string &b)
 
bool uStrContains (const std::string &string, const std::string &substring)
 
int uCompareVersion (const std::string &version, int major, int minor=-1, int patch=-1)
 
std::string uPad (const std::string &title, int padding=20)
 
+

Detailed Description

+

Wrappers of STL for convenient functions.

+

All functions you will find here are here for the use of STL in a more convenient way.

+ +

Definition in file UStl.h.

+

Function Documentation

+ +

◆ uUniqueKeys()

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + +
std::list< K > uUniqueKeys (const std::multimap< K, V > & mm)
+ 		+inline
+
+

Get unique keys from a std::multimap.

Parameters
+ + +
mmthe multimap
+
+
+
Returns
the list which contains unique keys
+ +

Definition at line 46 of file UStl.h.

+ +
+
+ +

◆ uKeys() [1/2]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + +
std::vector< K > uKeys (const std::multimap< K, V > & mm)
+ 		+inline
+
+

Get all keys from a std::multimap.

Parameters
+ + +
mmthe multimap
+
+
+
Returns
the vector which contains all keys (may contains duplicated keys)
+ +

Definition at line 67 of file UStl.h.

+ +
+
+ +

◆ uKeysList() [1/2]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + +
std::list< K > uKeysList (const std::multimap< K, V > & mm)
+ 		+inline
+
+

Get all keys from a std::multimap.

Parameters
+ + +
mmthe multimap
+
+
+
Returns
the list which contains all keys (may contains duplicated keys)
+ +

Definition at line 84 of file UStl.h.

+ +
+
+ +

◆ uValues() [1/3]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + +
std::vector< V > uValues (const std::multimap< K, V > & mm)
+ 		+inline
+
+

Get all values from a std::multimap.

Parameters
+ + +
mmthe multimap
+
+
+
Returns
the vector which contains all values (contains values from duplicated keys)
+ +

Definition at line 100 of file UStl.h.

+ +
+
+ +

◆ uValuesList() [1/2]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + +
std::list< V > uValuesList (const std::multimap< K, V > & mm)
+ 		+inline
+
+

Get all values from a std::multimap.

Parameters
+ + +
mmthe multimap
+
+
+
Returns
the list which contains all values (contains values from duplicated keys)
+ +

Definition at line 117 of file UStl.h.

+ +
+
+ +

◆ uValues() [2/3]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
std::list< V > uValues (const std::multimap< K, V > & mm,
const K & key 
)
+ 		+inline
+
+

Get values for a specified key from a std::multimap.

Parameters
+ + + +
mmthe multimap
keythe key
+
+
+
Returns
the list which contains the values of the key
+ +

Definition at line 134 of file UStl.h.

+ +
+
+ +

◆ uKeys() [2/2]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + +
std::vector< K > uKeys (const std::map< K, V > & m)
+ 		+inline
+
+

Get all keys from a std::map.

Parameters
+ + +
mthe map
+
+
+
Returns
the vector of keys
+ +

Definition at line 152 of file UStl.h.

+ +
+
+ +

◆ uKeysList() [2/2]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + +
std::list< K > uKeysList (const std::map< K, V > & m)
+ 		+inline
+
+

Get all keys from a std::map.

Parameters
+ + +
mthe map
+
+
+
Returns
the list of keys
+ +

Definition at line 170 of file UStl.h.

+ +
+
+ +

◆ uKeysSet()

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + +
std::set< K > uKeysSet (const std::map< K, V > & m)
+ 		+inline
+
+

Get all keys from a std::map.

Parameters
+ + +
mthe map
+
+
+
Returns
the set of keys
+ +

Definition at line 186 of file UStl.h.

+ +
+
+ +

◆ uValues() [3/3]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + +
std::vector< V > uValues (const std::map< K, V > & m)
+ 		+inline
+
+

Get all values from a std::map.

Parameters
+ + +
mthe map
+
+
+
Returns
the vector of values
+ +

Definition at line 202 of file UStl.h.

+ +
+
+ +

◆ uValuesList() [2/2]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + +
std::list< V > uValuesList (const std::map< K, V > & m)
+ 		+inline
+
+

Get all values from a std::map.

Parameters
+ + +
mthe map
+
+
+
Returns
the list of values
+ +

Definition at line 220 of file UStl.h.

+ +
+
+ +

◆ uValue()

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
V uValue (const std::map< K, V > & m,
const K & key,
const V & defaultValue = V() 
)
+ 		+inline
+
+

Get the value of a specified key from a std::map.

Parameters
+ + + + +
mthe map
keythe key
defaultValuethe default value used if the key is not found
+
+
+
Returns
the value
+ +

Definition at line 238 of file UStl.h.

+ +
+
+ +

◆ uTake()

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
V uTake (std::map< K, V > & m,
const K & key,
const V & defaultValue = V() 
)
+ 		+inline
+
+

Get the value of a specified key from a std::map. This will remove the value from the map;

Parameters
+ + + + +
mthe map
keythe key
defaultValuethe default value used if the key is not found
+
+
+
Returns
the value
+ +

Definition at line 258 of file UStl.h.

+ +
+
+ +

◆ uIteratorAt() [1/6]

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
std::list< V >::iterator uIteratorAt (std::list< V > & list,
const unsigned int & pos 
)
+ 		+inline
+
+

Get the iterator at a specified position in a std::list. If the position is out of range, the result is the end iterator of the list.

Parameters
+ + + +
listthe list
posthe index position in the list
+
+
+
Returns
the iterator at the specified index
+ +

Definition at line 282 of file UStl.h.

+ +
+
+ +

◆ uIteratorAt() [2/6]

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
std::list< V >::const_iterator uIteratorAt (const std::list< V > & list,
const unsigned int & pos 
)
+ 		+inline
+
+

Get the iterator at a specified position in a std::list. If the position is out of range, the result is the end iterator of the list.

Parameters
+ + + +
listthe list
posthe index position in the list
+
+
+
Returns
the iterator at the specified index
+ +

Definition at line 300 of file UStl.h.

+ +
+
+ +

◆ uIteratorAt() [3/6]

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
std::set< V >::iterator uIteratorAt (std::set< V > & set,
const unsigned int & pos 
)
+ 		+inline
+
+

Get the iterator at a specified position in a std::set. If the position is out of range, the result is the end iterator of the set.

Parameters
+ + + +
setthe set
posthe index position in the set
+
+
+
Returns
the iterator at the specified index
+ +

Definition at line 318 of file UStl.h.

+ +
+
+ +

◆ uIteratorAt() [4/6]

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
std::set< V >::const_iterator uIteratorAt (const std::set< V > & set,
const unsigned int & pos 
)
+ 		+inline
+
+

Get the iterator at a specified position in a std::set. If the position is out of range, the result is the end iterator of the set.

Parameters
+ + + +
setthe set
posthe index position in the set
+
+
+
Returns
the iterator at the specified index
+ +

Definition at line 336 of file UStl.h.

+ +
+
+ +

◆ uIteratorAt() [5/6]

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
std::vector< V >::iterator uIteratorAt (std::vector< V > & v,
const unsigned int & pos 
)
+ 		+inline
+
+

Get the iterator at a specified position in a std::vector. If the position is out of range, the result is the end iterator of the vector.

Parameters
+ + + +
vthe vector
posthe index position in the vector
+
+
+
Returns
the iterator at the specified index
+ +

Definition at line 354 of file UStl.h.

+ +
+
+ +

◆ uIteratorAt() [6/6]

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
std::vector< V >::const_iterator uIteratorAt (const std::vector< V > & v,
const unsigned int & pos 
)
+ 		+inline
+
+

Get the iterator at a specified position in a std::vector. If the position is out of range, the result is the end iterator of the vector.

Parameters
+ + + +
vthe vector
posthe index position in the vector
+
+
+
Returns
the iterator at the specified index
+ +

Definition at line 367 of file UStl.h.

+ +
+
+ +

◆ uValueAt() [1/2]

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
V & uValueAt (std::list< V > & list,
const unsigned int & pos 
)
+ 		+inline
+
+

Get the value at a specified position in a std::list. If the position is out of range, the result is undefined.

Parameters
+ + + +
listthe list
posthe index position in the list
+
+
+
Returns
the value at the specified index
+ +

Definition at line 380 of file UStl.h.

+ +
+
+ +

◆ uValueAt() [2/2]

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
const V & uValueAt (const std::list< V > & list,
const unsigned int & pos 
)
+ 		+inline
+
+

Get the value at a specified position in a std::list. If the position is out of range, the result is undefined.

Parameters
+ + + +
listthe list
posthe index position in the list
+
+
+
Returns
the value at the specified index
+ +

Definition at line 394 of file UStl.h.

+ +
+
+ +

◆ uContains() [1/3]

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
bool uContains (const std::list< V > & list,
const V & value 
)
+ 		+inline
+
+

Check if the list contains the specified value.

Parameters
+ + + +
listthe list
valuethe value
+
+
+
Returns
true if the value is found in the list, otherwise false
+ +

Definition at line 407 of file UStl.h.

+ +
+
+ +

◆ uContains() [2/3]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
bool uContains (const std::map< K, V > & map,
const K & key 
)
+ 		+inline
+
+

Check if the map contains the specified key.

Parameters
+ + + +
mapthe map
keythe key
+
+
+
Returns
true if the value is found in the map, otherwise false
+ +

Definition at line 419 of file UStl.h.

+ +
+
+ +

◆ uContains() [3/3]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
bool uContains (const std::multimap< K, V > & map,
const K & key 
)
+ 		+inline
+
+

Check if the multimap contains the specified key.

Parameters
+ + + +
mapthe map
keythe key
+
+
+
Returns
true if the value is found in the map, otherwise false
+ +

Definition at line 431 of file UStl.h.

+ +
+
+ +

◆ uInsert() [1/2]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void uInsert (std::map< K, V > & map,
const std::pair< K, V > & pair 
)
+ 		+inline
+
+

Insert an item in the map. Contrary to the insert in the STL, if the key already exists, the value will be replaced by the new one.

+ +

Definition at line 441 of file UStl.h.

+ +
+
+ +

◆ uInsert() [2/2]

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void uInsert (std::map< K, V > & map,
const std::map< K, V > & items 
)
+ 		+inline
+
+

Insert items in the map. Contrary to the insert in the STL, if the key already exists, the value will be replaced by the new one.

+ +

Definition at line 455 of file UStl.h.

+ +
+
+ +

◆ uListToVector()

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + +
std::vector< V > uListToVector (const std::list< V > & list)
+ 		+inline
+
+

Convert a std::list to a std::vector.

Parameters
+ + +
listthe list
+
+
+
Returns
the vector
+ +

Definition at line 473 of file UStl.h.

+ +
+
+ +

◆ uVectorToList()

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + +
std::list< V > uVectorToList (const std::vector< V > & v)
+ 		+inline
+
+

Convert a std::vector to a std::list.

Parameters
+ + +
vthe vector
+
+
+
Returns
the list
+ +

Definition at line 484 of file UStl.h.

+ +
+
+ +

◆ uMultimapToMap()

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + +
std::map< K, V > uMultimapToMap (const std::multimap< K, V > & m)
+ 		+inline
+
+

Convert a std::multimap to a std::map

See also
uMultimapToMapUnique to keep only unique keys
+ +

Definition at line 494 of file UStl.h.

+ +
+
+ +

◆ uMultimapToMapUnique()

+ +
+
+
+template<class K , class V >
+ + + + + +
+ + + + + + + + +
std::map< K, V > uMultimapToMapUnique (const std::multimap< K, V > & m)
+ 		+inline
+
+

Convert a std::multimap to a std::map, keeping only unique keys!

+ +

Definition at line 503 of file UStl.h.

+ +
+
+ +

◆ uAppend()

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void uAppend (std::list< V > & list,
const std::list< V > & newItems 
)
+ 		+inline
+
+

Append a list to another list.

Parameters
+ + + +
listthe list on which the other list will be appended
newItemsthe list of items to be appended
+
+
+ +

Definition at line 524 of file UStl.h.

+ +
+
+ +

◆ uIndexOf()

+ +
+
+
+template<class V >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
int uIndexOf (const std::vector< V > & list,
const V & value 
)
+ 		+inline
+
+

Get the index in the list of the specified value. S negative index is returned if the value is not found.

Parameters
+ + + +
listthe list
valuethe value
+
+
+
Returns
the index of the value in the list
+ +

Definition at line 537 of file UStl.h.

+ +
+
+ +

◆ uSplit()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
std::list< std::string > uSplit (const std::string & str,
char separator = ' ' 
)
+ 		+inline
+
+

Split a string into multiple string around the specified separator. Example:

std::list<std::string> v = split("Hello the world!", ' ');
+

The list v will contain {"Hello", "the", "world!"}

Parameters
+ + + +
strthe string
separatorthe separator character
+
+
+
Returns
the list of strings
+ +

Definition at line 564 of file UStl.h.

+ +
+
+ +

◆ uJoin()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
std::string uJoin (const std::list< std::string > & strings,
const std::string & separator = "" 
)
+ 		+inline
+
+

Join multiple strings into one string with optional separator. Example:

std::list<std::string> v;
+
v.push_back("Hello");
+
v.push_back("world!");
+
std::string joined = uJoin(v, " ");
+
uJoin
std::string uJoin(const std::list< std::string > &strings, const std::string &separator="")
Definition UStl.h:601
+

The output string is "Hello world!"

Parameters
+ + + +
stringsa list of strings
separatorthe separator string
+
+
+
Returns
the joined string
+ +

Definition at line 601 of file UStl.h.

+ +
+
+ +

◆ uIsDigit()

+ +
+
+ + + + + +
+ + + + + + + + +
bool uIsDigit (const char c)
+ 		+inline
+
+

Check if a character is a digit.

Parameters
+ + +
cthe character
+
+
+
Returns
true if the character is a digit (if c >= '0' && c <= '9')
+ +

Definition at line 620 of file UStl.h.

+ +
+
+ +

◆ uIsInteger()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
bool uIsInteger (const std::string & str,
bool checkForSign = true 
)
+ 		+inline
+
+

Check if a string is a integer number.

Parameters
+ + +
strthe string
+
+
+
Returns
true if the string is a integer number
+ +

Definition at line 630 of file UStl.h.

+ +
+
+ +

◆ uIsNumber()

+ +
+
+ + + + + +
+ + + + + + + + +
bool uIsNumber (const std::string & str)
+ 		+inline
+
+

Check if a string is a number (integer or float).

Parameters
+ + +
strthe string
+
+
+
Returns
true if the string is a number
+ +

Definition at line 645 of file UStl.h.

+ +
+
+ +

◆ uSplitNumChar()

+ +
+
+ + + + + +
+ + + + + + + + +
std::list< std::string > uSplitNumChar (const std::string & str)
+ 		+inline
+
+

Split a string into number and character strings. Example:

std::list<std::string> v = uSplit("Hello 03 my 65 world!");
+
uSplit
std::list< std::string > uSplit(const std::string &str, char separator=' ')
Definition UStl.h:564
+

The list v will contain {"Hello ", "03", " my ", "65", " world!"}

Parameters
+ + +
strthe string
+
+
+
Returns
the list of strings
+ +

Definition at line 670 of file UStl.h.

+ +
+
+ +

◆ uStrNumCmp()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
int uStrNumCmp (const std::string & a,
const std::string & b 
)
+ 		+inline
+
+

Compare two alphanumeric strings. Useful to sort filenames (human-like sorting). Example:

std::string a = "Image9.jpg";
+
std::string b = "Image10.jpg";
+
int r = uStrNumCmp(a, b); // r returns -1 (a is smaller than b). In contrast, std::strcmp(a, b) would return 1.
+
uStrNumCmp
int uStrNumCmp(const std::string &a, const std::string &b)
Definition UStl.h:717
+
Parameters
+ + + +
athe first string
bthe second string
+
+
+
Returns
-1 if a<b, 0 if a=b and 1 if a>b
+ +

Definition at line 717 of file UStl.h.

+ +
+
+ +

◆ uStrContains()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
bool uStrContains (const std::string & string,
const std::string & substring 
)
+ 		+inline
+
+

Check if a string contains a specified substring.

+ +

Definition at line 785 of file UStl.h.

+ +
+
+ +

◆ uCompareVersion()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
int uCompareVersion (const std::string & version,
int major,
int minor = -1,
int patch = -1 
)
+ 		+inline
+
+ +

Definition at line 790 of file UStl.h.

+ +
+
+ +

◆ uPad()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
std::string uPad (const std::string & title,
int padding = 20 
)
+ 		+inline
+
+ +

Definition at line 812 of file UStl.h.

+ +
+
+
+ +
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UStl.h
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+Go to the documentation of this file.
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef USTL_H
+
21#define USTL_H
+
22
+
23#include <list>
+
24#include <map>
+
25#include <set>
+
26#include <vector>
+
27#include <string>
+
28#include <algorithm>
+
29#include <stdlib.h>
+
30
+
45template<class K, class V>
+
+
46inline std::list<K> uUniqueKeys(const std::multimap<K, V> & mm)
+
47{
+
48 std::list<K> l;
+
49 typename std::list<K>::reverse_iterator lastValue;
+
50 for(typename std::multimap<K, V>::const_iterator iter = mm.begin(); iter!=mm.end(); ++iter)
+
51 {
+
52 if(iter == mm.begin() || (iter != mm.begin() && *lastValue != iter->first))
+
53 {
+
54 l.push_back(iter->first);
+
55 lastValue = l.rbegin();
+
56 }
+
57 }
+
58 return l;
+
59}
+
+
60
+
66template<class K, class V>
+
+
67inline std::vector<K> uKeys(const std::multimap<K, V> & mm)
+
68{
+
69 std::vector<K> v(mm.size());
+
70 int i=0;
+
71 for(typename std::multimap<K, V>::const_iterator iter = mm.begin(); iter!=mm.end(); ++iter)
+
72 {
+
73 v[i++] = iter->first;
+
74 }
+
75 return v;
+
76}
+
+
77
+
83template<class K, class V>
+
+
84inline std::list<K> uKeysList(const std::multimap<K, V> & mm)
+
85{
+
86 std::list<K> l;
+
87 for(typename std::multimap<K, V>::const_iterator iter = mm.begin(); iter!=mm.end(); ++iter)
+
88 {
+
89 l.push_back(iter->first);
+
90 }
+
91 return l;
+
92}
+
+
93
+
99template<class K, class V>
+
+
100inline std::vector<V> uValues(const std::multimap<K, V> & mm)
+
101{
+
102 std::vector<V> v(mm.size());
+
103 int i=0;
+
104 for(typename std::multimap<K, V>::const_iterator iter = mm.begin(); iter!=mm.end(); ++iter)
+
105 {
+
106 v[i++] = iter->second;
+
107 }
+
108 return v;
+
109}
+
+
110
+
116template<class K, class V>
+
+
117inline std::list<V> uValuesList(const std::multimap<K, V> & mm)
+
118{
+
119 std::list<V> l;
+
120 for(typename std::multimap<K, V>::const_iterator iter = mm.begin(); iter!=mm.end(); ++iter)
+
121 {
+
122 l.push_back(iter->second);
+
123 }
+
124 return l;
+
125}
+
+
126
+
133template<class K, class V>
+
+
134inline std::list<V> uValues(const std::multimap<K, V> & mm, const K & key)
+
135{
+
136 std::list<V> l;
+
137 std::pair<typename std::multimap<K, V>::const_iterator, typename std::multimap<K, V>::const_iterator> range;
+
138 range = mm.equal_range(key);
+
139 for(typename std::multimap<K, V>::const_iterator iter = range.first; iter!=range.second; ++iter)
+
140 {
+
141 l.push_back(iter->second);
+
142 }
+
143 return l;
+
144}
+
+
145
+
151template<class K, class V>
+
+
152inline std::vector<K> uKeys(const std::map<K, V> & m)
+
153{
+
154 std::vector<K> v(m.size());
+
155 int i=0;
+
156 for(typename std::map<K, V>::const_iterator iter = m.begin(); iter!=m.end(); ++iter)
+
157 {
+
158 v[i] = iter->first;
+
159 ++i;
+
160 }
+
161 return v;
+
162}
+
+
163
+
169template<class K, class V>
+
+
170inline std::list<K> uKeysList(const std::map<K, V> & m)
+
171{
+
172 std::list<K> l;
+
173 for(typename std::map<K, V>::const_iterator iter = m.begin(); iter!=m.end(); ++iter)
+
174 {
+
175 l.push_back(iter->first);
+
176 }
+
177 return l;
+
178}
+
+
179
+
185template<class K, class V>
+
+
186inline std::set<K> uKeysSet(const std::map<K, V> & m)
+
187{
+
188 std::set<K> s;
+
189 for(typename std::map<K, V>::const_iterator iter = m.begin(); iter!=m.end(); ++iter)
+
190 {
+
191 s.insert(s.end(), iter->first);
+
192 }
+
193 return s;
+
194}
+
+
195
+
201template<class K, class V>
+
+
202inline std::vector<V> uValues(const std::map<K, V> & m)
+
203{
+
204 std::vector<V> v(m.size());
+
205 int i=0;
+
206 for(typename std::map<K, V>::const_iterator iter = m.begin(); iter!=m.end(); ++iter)
+
207 {
+
208 v[i] = iter->second;
+
209 ++i;
+
210 }
+
211 return v;
+
212}
+
+
213
+
219template<class K, class V>
+
+
220inline std::list<V> uValuesList(const std::map<K, V> & m)
+
221{
+
222 std::list<V> l;
+
223 for(typename std::map<K, V>::const_iterator iter = m.begin(); iter!=m.end(); ++iter)
+
224 {
+
225 l.push_back(iter->second);
+
226 }
+
227 return l;
+
228}
+
+
229
+
237template<class K, class V>
+
+
238inline V uValue(const std::map<K, V> & m, const K & key, const V & defaultValue = V())
+
239{
+
240 V v = defaultValue;
+
241 typename std::map<K, V>::const_iterator i = m.find(key);
+
242 if(i != m.end())
+
243 {
+
244 v = i->second;
+
245 }
+
246 return v;
+
247}
+
+
248
+
257template<class K, class V>
+
+
258inline V uTake(std::map<K, V> & m, const K & key, const V & defaultValue = V())
+
259{
+
260 V v;
+
261 typename std::map<K, V>::iterator i = m.find(key);
+
262 if(i != m.end())
+
263 {
+
264 v = i->second;
+
265 m.erase(i);
+
266 }
+
267 else
+
268 {
+
269 v = defaultValue;
+
270 }
+
271 return v;
+
272}
+
+
273
+
281template<class V>
+
+
282inline typename std::list<V>::iterator uIteratorAt(std::list<V> & list, const unsigned int & pos)
+
283{
+
284 typename std::list<V>::iterator iter = list.begin();
+
285 for(unsigned int i = 0; i<pos && iter != list.end(); ++i )
+
286 {
+
287 ++iter;
+
288 }
+
289 return iter;
+
290}
+
+
291
+
299template<class V>
+
+
300inline typename std::list<V>::const_iterator uIteratorAt(const std::list<V> & list, const unsigned int & pos)
+
301{
+
302 typename std::list<V>::const_iterator iter = list.begin();
+
303 for(unsigned int i = 0; i<pos && iter != list.end(); ++i )
+
304 {
+
305 ++iter;
+
306 }
+
307 return iter;
+
308}
+
+
309
+
317template<class V>
+
+
318inline typename std::set<V>::iterator uIteratorAt(std::set<V> & set, const unsigned int & pos)
+
319{
+
320 typename std::set<V>::iterator iter = set.begin();
+
321 for(unsigned int i = 0; i<pos && iter != set.end(); ++i )
+
322 {
+
323 ++iter;
+
324 }
+
325 return iter;
+
326}
+
+
327
+
335template<class V>
+
+
336inline typename std::set<V>::const_iterator uIteratorAt(const std::set<V> & set, const unsigned int & pos)
+
337{
+
338 typename std::set<V>::const_iterator iter = set.begin();
+
339 for(unsigned int i = 0; i<pos && iter != set.end(); ++i )
+
340 {
+
341 ++iter;
+
342 }
+
343 return iter;
+
344}
+
+
345
+
353template<class V>
+
+
354inline typename std::vector<V>::iterator uIteratorAt(std::vector<V> & v, const unsigned int & pos)
+
355{
+
356 return v.begin() + pos;
+
357}
+
+
358
+
366template<class V>
+
+
367inline typename std::vector<V>::const_iterator uIteratorAt(const std::vector<V> & v, const unsigned int & pos)
+
368{
+
369 return v.begin() + pos;
+
370}
+
+
371
+
379template<class V>
+
+
380inline V & uValueAt(std::list<V> & list, const unsigned int & pos)
+
381{
+
382 typename std::list<V>::iterator iter = uIteratorAt(list, pos);
+
383 return *iter;
+
384}
+
+
385
+
393template<class V>
+
+
394inline const V & uValueAt(const std::list<V> & list, const unsigned int & pos)
+
395{
+
396 typename std::list<V>::const_iterator iter = uIteratorAt(list, pos);
+
397 return *iter;
+
398}
+
+
399
+
406template<class V>
+
+
407inline bool uContains(const std::list<V> & list, const V & value)
+
408{
+
409 return std::find(list.begin(), list.end(), value) != list.end();
+
410}
+
+
411
+
418template<class K, class V>
+
+
419inline bool uContains(const std::map<K, V> & map, const K & key)
+
420{
+
421 return map.find(key) != map.end();
+
422}
+
+
423
+
430template<class K, class V>
+
+
431inline bool uContains(const std::multimap<K, V> & map, const K & key)
+
432{
+
433 return map.find(key) != map.end();
+
434}
+
+
435
+
440template<class K, class V>
+
+
441inline void uInsert(std::map<K, V> & map, const std::pair<K, V> & pair)
+
442{
+
443 std::pair<typename std::map<K, V>::iterator, bool> inserted = map.insert(pair);
+
444 if(inserted.second == false)
+
445 {
+
446 inserted.first->second = pair.second;
+
447 }
+
448}
+
+
449
+
454template<class K, class V>
+
+
455inline void uInsert(std::map<K, V> & map, const std::map<K, V> & items)
+
456{
+
457 for(typename std::map<K, V>::const_iterator iter=items.begin(); iter!=items.end(); ++iter)
+
458 {
+
459 std::pair<typename std::map<K, V>::iterator, bool> inserted = map.insert(*iter);
+
460 if(inserted.second == false)
+
461 {
+
462 inserted.first->second = iter->second;
+
463 }
+
464 }
+
465}
+
+
466
+
472template<class V>
+
+
473inline std::vector<V> uListToVector(const std::list<V> & list)
+
474{
+
475 return std::vector<V>(list.begin(), list.end());
+
476}
+
+
477
+
483template<class V>
+
+
484inline std::list<V> uVectorToList(const std::vector<V> & v)
+
485{
+
486 return std::list<V>(v.begin(), v.end());
+
487}
+
+
488
+
493template<class K, class V>
+
+
494inline std::map<K, V> uMultimapToMap(const std::multimap<K, V> & m)
+
495{
+
496 return std::map<K, V>(m.begin(), m.end());
+
497}
+
+
498
+
502template<class K, class V>
+
+
503inline std::map<K, V> uMultimapToMapUnique(const std::multimap<K, V> & m)
+
504{
+
505 std::map<K, V> mapOut;
+
506 std::list<K> uniqueKeys = uUniqueKeys(m);
+
507 for(typename std::list<K>::const_iterator iter = uniqueKeys.begin(); iter!=uniqueKeys.end(); ++iter)
+
508 {
+
509 if(m.count(*iter) == 1)
+
510 {
+
511 typename std::multimap<K, V>::const_iterator jter=m.find(*iter);
+
512 mapOut.insert(mapOut.end(), std::pair<K,V>(jter->first, jter->second));
+
513 }
+
514 }
+
515 return mapOut;
+
516}
+
+
517
+
523template<class V>
+
+
524inline void uAppend(std::list<V> & list, const std::list<V> & newItems)
+
525{
+
526 list.insert(list.end(), newItems.begin(), newItems.end());
+
527}
+
+
528
+
536template<class V>
+
+
537inline int uIndexOf(const std::vector<V> & list, const V & value)
+
538{
+
539 int index=-1;
+
540 int i=0;
+
541 for(typename std::vector<V>::const_iterator iter = list.begin(); iter!=list.end(); ++iter)
+
542 {
+
543 if(*iter == value)
+
544 {
+
545 index = i;
+
546 break;
+
547 }
+
548 ++i;
+
549 }
+
550 return index;
+
551}
+
+
552
+
+
564inline std::list<std::string> uSplit(const std::string & str, char separator = ' ')
+
565{
+
566 std::list<std::string> v;
+
567 std::string buf;
+
568 for(unsigned int i=0; i<str.size(); ++i)
+
569 {
+
570 if(str[i] != separator)
+
571 {
+
572 buf += str[i];
+
573 }
+
574 else if(buf.size())
+
575 {
+
576 v.push_back(buf);
+
577 buf = "";
+
578 }
+
579 }
+
580 if(buf.size())
+
581 {
+
582 v.push_back(buf);
+
583 }
+
584 return v;
+
585}
+
+
586
+
+
601inline std::string uJoin(const std::list<std::string> & strings, const std::string & separator = "")
+
602{
+
603 std::string out;
+
604 for(std::list<std::string>::const_iterator iter = strings.begin(); iter!=strings.end(); ++iter)
+
605 {
+
606 if(iter!=strings.begin() && !separator.empty())
+
607 {
+
608 out += separator;
+
609 }
+
610 out+=*iter;
+
611 }
+
612 return out;
+
613}
+
+
614
+
+
620inline bool uIsDigit(const char c)
+
621{
+
622 return c >= '0' && c <= '9';
+
623}
+
+
624
+
+
630inline bool uIsInteger(const std::string & str, bool checkForSign = true)
+
631{
+
632 bool isInteger = str.size()!=0;
+
633 for(unsigned int i=0; i<str.size() && isInteger; ++i)
+
634 {
+
635 isInteger = (checkForSign && i==0 && str[i]=='-') || uIsDigit(str[i]);
+
636 }
+
637 return isInteger;
+
638}
+
+
639
+
+
645inline bool uIsNumber(const std::string & str)
+
646{
+
647 std::list<std::string> list = uSplit(str, '.');
+
648 if(list.size() == 1)
+
649 {
+
650 return uIsInteger(str);
+
651 }
+
652 else if(list.size() == 2)
+
653 {
+
654 return uIsInteger(list.front()) && uIsInteger(list.back(), false);
+
655 }
+
656 return false;
+
657}
+
+
658
+
659
+
+
670inline std::list<std::string> uSplitNumChar(const std::string & str)
+
671{
+
672 std::list<std::string> list;
+
673 std::string buf;
+
674 bool num = false;
+
675 for(unsigned int i=0; i<str.size(); ++i)
+
676 {
+
677 if(uIsDigit(str[i]))
+
678 {
+
679 if(!num && buf.size())
+
680 {
+
681 list.push_back(buf);
+
682 buf.clear();
+
683 }
+
684 buf += str[i];
+
685 num = true;
+
686 }
+
687 else
+
688 {
+
689 if(num)
+
690 {
+
691 list.push_back(buf);
+
692 buf.clear();
+
693 }
+
694 buf += str[i];
+
695 num = false;
+
696 }
+
697 }
+
698 if(buf.size())
+
699 {
+
700 list.push_back(buf);
+
701 }
+
702 return list;
+
703}
+
+
704
+
+
717inline int uStrNumCmp(const std::string & a, const std::string & b)
+
718{
+
719 std::vector<std::string> listA;
+
720 std::vector<std::string> listB;
+
721
+
722 listA = uListToVector(uSplitNumChar(a));
+
723 listB = uListToVector(uSplitNumChar(b));
+
724
+
725 unsigned int i;
+
726 int result = 0;
+
727 for(i=0; i<listA.size() && i<listB.size(); ++i)
+
728 {
+
729 if(uIsDigit(listA[i].at(0)) && uIsDigit(listB[i].at(0)))
+
730 {
+
731 //padding if zeros at the beginning
+
732 if(listA[i].at(0) == '0' && listB[i].size() < listA[i].size())
+
733 {
+
734 while(listB[i].size() < listA[i].size())
+
735 {
+
736 listB[i] += '0';
+
737 }
+
738 }
+
739 else if(listB[i].at(0) == '0' && listA[i].size() < listB[i].size())
+
740 {
+
741 while(listA[i].size() < listB[i].size())
+
742 {
+
743 listA[i] += '0';
+
744 }
+
745 }
+
746
+
747 if(listB[i].size() < listA[i].size())
+
748 {
+
749 result = 1;
+
750 }
+
751 else if(listB[i].size() > listA[i].size())
+
752 {
+
753 result = -1;
+
754 }
+
755 else
+
756 {
+
757 result = listA[i].compare(listB[i]);
+
758 }
+
759 }
+
760 else if(uIsDigit(listA[i].at(0)))
+
761 {
+
762 result = -1;
+
763 }
+
764 else if(uIsDigit(listB[i].at(0)))
+
765 {
+
766 result = 1;
+
767 }
+
768 else
+
769 {
+
770 result = listA[i].compare(listB[i]);
+
771 }
+
772
+
773 if(result != 0)
+
774 {
+
775 break;
+
776 }
+
777 }
+
778
+
779 return result;
+
780}
+
+
781
+
+
785inline bool uStrContains(const std::string & string, const std::string & substring)
+
786{
+
787 return string.find(substring) != std::string::npos;
+
788}
+
+
789
+
790inline int uCompareVersion(const std::string & version, int major, int minor=-1, int patch=-1)
+
791{
+
792 std::vector<std::string> v = uListToVector(uSplit(version, '.'));
+
793 if(v.size() == 3)
+
794 {
+
795 int vMajor = atoi(v[0].c_str());
+
796 int vMinor = atoi(v[1].c_str());
+
797 int vPatch = atoi(v[2].c_str());
+
798 if(vMajor > major ||
+
799 (vMajor == major && minor!=-1 && vMinor > minor) ||
+
800 (vMajor == major && minor!=-1 && vMinor == minor && patch!=-1 && vPatch > patch))
+
801 {
+
802 return 1;
+
803 }
+
804 else if(vMajor == major && (minor == -1 || (vMinor == minor && (patch == -1 || vPatch == patch))))
+
805 {
+
806 return 0;
+
807 }
+
808 }
+
809 return -1;
+
810}
+
811
+
812inline std::string uPad(const std::string & title, int padding = 20)
+
813{
+
814 int emptySize = padding - (int)title.size();
+
815 if(emptySize>0)
+
816 {
+
817 return title + std::string(emptySize, ' ');
+
818 }
+
819 return title;
+
820}
+
821
+
822#endif /* USTL_H */
+
uValue
V uValue(const std::map< K, V > &m, const K &key, const V &defaultValue=V())
Definition UStl.h:238
+
uValueAt
V & uValueAt(std::list< V > &list, const unsigned int &pos)
Definition UStl.h:380
+
uJoin
std::string uJoin(const std::list< std::string > &strings, const std::string &separator="")
Definition UStl.h:601
+
uSplitNumChar
std::list< std::string > uSplitNumChar(const std::string &str)
Definition UStl.h:670
+
uAppend
void uAppend(std::list< V > &list, const std::list< V > &newItems)
Definition UStl.h:524
+
uContains
bool uContains(const std::list< V > &list, const V &value)
Definition UStl.h:407
+
uVectorToList
std::list< V > uVectorToList(const std::vector< V > &v)
Definition UStl.h:484
+
uIsNumber
bool uIsNumber(const std::string &str)
Definition UStl.h:645
+
uUniqueKeys
std::list< K > uUniqueKeys(const std::multimap< K, V > &mm)
Definition UStl.h:46
+
uTake
V uTake(std::map< K, V > &m, const K &key, const V &defaultValue=V())
Definition UStl.h:258
+
uValues
std::vector< V > uValues(const std::multimap< K, V > &mm)
Definition UStl.h:100
+
uListToVector
std::vector< V > uListToVector(const std::list< V > &list)
Definition UStl.h:473
+
uValuesList
std::list< V > uValuesList(const std::multimap< K, V > &mm)
Definition UStl.h:117
+
uKeys
std::vector< K > uKeys(const std::multimap< K, V > &mm)
Definition UStl.h:67
+
uIteratorAt
std::list< V >::iterator uIteratorAt(std::list< V > &list, const unsigned int &pos)
Definition UStl.h:282
+
uSplit
std::list< std::string > uSplit(const std::string &str, char separator=' ')
Definition UStl.h:564
+
uStrContains
bool uStrContains(const std::string &string, const std::string &substring)
Definition UStl.h:785
+
uMultimapToMapUnique
std::map< K, V > uMultimapToMapUnique(const std::multimap< K, V > &m)
Definition UStl.h:503
+
uInsert
void uInsert(std::map< K, V > &map, const std::pair< K, V > &pair)
Definition UStl.h:441
+
uIsDigit
bool uIsDigit(const char c)
Definition UStl.h:620
+
uIndexOf
int uIndexOf(const std::vector< V > &list, const V &value)
Definition UStl.h:537
+
uKeysSet
std::set< K > uKeysSet(const std::map< K, V > &m)
Definition UStl.h:186
+
uKeysList
std::list< K > uKeysList(const std::multimap< K, V > &mm)
Definition UStl.h:84
+
uStrNumCmp
int uStrNumCmp(const std::string &a, const std::string &b)
Definition UStl.h:717
+
uMultimapToMap
std::map< K, V > uMultimapToMap(const std::multimap< K, V > &m)
Definition UStl.h:494
+
uIsInteger
bool uIsInteger(const std::string &str, bool checkForSign=true)
Definition UStl.h:630
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UThreadC_8h_source.html b/preview/pr-1492/api/latest/UThreadC_8h_source.html new file mode 100644 index 00000000..8ba01981 --- /dev/null +++ b/preview/pr-1492/api/latest/UThreadC_8h_source.html @@ -0,0 +1,130 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UThreadC.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
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+
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+
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+
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+
+
+ + +
+
+
UThreadC.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UTHREADC_H
+
21#define UTHREADC_H
+
22
+
23#include <errno.h>
+
24
+
25/*
+
26 * Use of StateThread is safer. The Thread class in his
+
27 * base form is not supported.
+
28 * @see StateThread
+
29 */
+
30#ifdef _WIN32
+
31 #include "rtabmap/utilite/Win32/UThreadC.h"
+
32#else
+
33 #include "rtabmap/utilite/Posix/UThreadC.h"
+
34#endif
+
35
+
36#endif // UTHREADC_H
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UThreadNode_8h_source.html b/preview/pr-1492/api/latest/UThreadNode_8h_source.html new file mode 100644 index 00000000..379a6c9e --- /dev/null +++ b/preview/pr-1492/api/latest/UThreadNode_8h_source.html @@ -0,0 +1,124 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UThreadNode.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
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+
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+
+
+
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+
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+
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+ + +
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+
UThreadNode.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UTHREADNODE_H_
+
21#define UTHREADNODE_H_
+
22
+
23#include "rtabmap/utilite/UThread.h"
+
24
+
25//For backward compatibility
+
26typedef UThread UThreadNode;
+
27
+
28
+
29#endif /* UTHREADNODE_H_ */
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UThread_8h_source.html b/preview/pr-1492/api/latest/UThread_8h_source.html new file mode 100644 index 00000000..055e95da --- /dev/null +++ b/preview/pr-1492/api/latest/UThread_8h_source.html @@ -0,0 +1,241 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UThread.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
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+
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+ + +
+
+
UThread.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UTHREADNODE_H
+
21#define UTHREADNODE_H
+
22
+
23#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
+
24
+
25#include "rtabmap/utilite/UThreadC.h"
+
26
+
+
86class UTILITE_EXPORT UThread : public UThreadC<void>
+
87{
+
88public:
+
92 enum Priority{kPLow, kPBelowNormal, kPNormal, kPAboveNormal, kPRealTime};
+
93
+
94public:
+
95 //return caller thread id
+
96 static unsigned long currentThreadId() {return (unsigned long)UThreadC<void>::Self();}
+
97
+
98public:
+
104 UThread(Priority priority = kPNormal);
+
105
+
112 virtual ~UThread();
+
113
+
119 void start();
+
120
+
127 void kill();
+
128
+
135 void join(bool killFirst = false);
+
136
+
141 void setPriority(Priority priority);
+
142
+
149 void setAffinity(int cpu = 0);
+
150
+
154 bool isCreating() const;
+
155
+
159 bool isRunning() const;
+
160
+
164 bool isIdle() const;
+
165
+
169 bool isKilled() const;
+
170
+
171 Handle getThreadHandle() const {return handle_;}
+
172 unsigned long getThreadId() const {return threadId_;}
+
173
+
174protected:
+
175
+
176private:
+
183 virtual void mainLoopBegin() {}
+
184
+
194 virtual void mainLoop() = 0;
+
195
+
203 virtual void mainLoopKill() {}
+
204
+
211 virtual void mainLoopEnd() {}
+
212
+
213 /*
+
214 * Inherited method ThreadMain() from Thread.
+
215 * @see Thread<void>
+
216 */
+
217 void ThreadMain();
+
218
+
219 /*
+
220 * Apply thread priority. This is called when starting the thread.
+
221 * *@todo : Support pthread
+
222 */
+
223 void applyPriority();
+
224
+
225 /*
+
226 * Apply cpu affinity. This is called when starting the thread.
+
227 * *@todo : Support Windows
+
228 */
+
229 void applyAffinity();
+
230
+
231 /*
+
232 * Inherited method Create() from Thread.
+
233 * Here we force this function to be private so the
+
234 * inherited class can't have access to it.
+
235 * @see Thread<void>
+
236 */
+
237 int Create(
+
238 Handle * const & H = 0,
+
239 const bool & CreateDetached = false,
+
240 const unsigned int & StackSize = 0,
+
241 const bool & CancelEnable = false, // UNUSED
+
242 const bool & CancelAsync = false // UNUSED
+
243 ) const;
+
244
+
245 //Methods from UThread<void> class hided
+
246 static int Join( Handle H )
+
247 { return UThreadC<void>::Join(H); }
+
248#ifndef ANDROID
+
249 static int Kill( Handle H )
+
250 { return UThreadC<void>::Kill(H); }
+
251#endif
+
252 static int Detach( Handle H )
+
253 { return UThreadC<void>::Detach(H); }
+
254
+
255private:
+
256 void operator=(UThread &) {}
+
257 UThread( const UThread &) : state_(kSIdle) {}
+
258
+
259private:
+
260 enum State{kSIdle, kSCreating, kSRunning, kSKilled}; /* Enum of states. */
+
261 State state_; /* The thread state. */
+
262 Priority priority_; /* The thread priority. */
+
263 Handle handle_; /* The thread handle. */
+
264 unsigned long threadId_; /* The thread id. */
+
265 int cpuAffinity_; /* The cpu affinity. */
+
266 UMutex killSafelyMutex_; /* Mutex used to protect the kill() method. */
+
267 UMutex runningMutex_; /* Mutex used to notify the join method when the thread has finished. */
+
268};
+
+
269
+
270#endif // UTHREADNODE_H
+ + + +
UThread::start
void start()
+
UThread::UThread
UThread(Priority priority=kPNormal)
+
UThread::isIdle
bool isIdle() const
+
UThread::isRunning
bool isRunning() const
+
UThread::isKilled
bool isKilled() const
+
UThread::~UThread
virtual ~UThread()
+ +
UThread::setPriority
void setPriority(Priority priority)
+
UThread::kill
void kill()
+
UThread::setAffinity
void setAffinity(int cpu=0)
+
UThread::isCreating
bool isCreating() const
+
UThread::join
void join(bool killFirst=false)
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UTimer_8h_source.html b/preview/pr-1492/api/latest/UTimer_8h_source.html new file mode 100644 index 00000000..5649e44c --- /dev/null +++ b/preview/pr-1492/api/latest/UTimer_8h_source.html @@ -0,0 +1,164 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UTimer.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
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+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
UTimer.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UTIMER_H
+
21#define UTIMER_H
+
22
+
23#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
+
24
+
25#ifdef _WIN32
+
26#include <windows.h>
+
27#else
+
28#include <sys/time.h>
+
29#include <time.h>
+
30#endif
+
31
+
+
46class UTILITE_EXPORT UTimer
+
47{
+
48public:
+
49 UTimer();
+
50 ~UTimer();
+
51
+
57 static double now();
+
58
+
62 void start();
+
63
+
67 void stop();
+
68
+
75 double elapsed() {return getElapsedTime();}
+
76 double getElapsedTime();
+
77
+
86 double restart() {return ticks();}
+
87 double ticks();
+
88
+
89private:
+
90#ifdef _WIN32
+
91 LARGE_INTEGER startTimeRecorded_; /* When we start the timer, timeRecorded is copied over lastTimeRecorded.*/
+
92 LARGE_INTEGER stopTimeRecorded_; /* When we stop the timer. */
+
93
+
94 LARGE_INTEGER frequency_; /* Keep the frequency of the counter */
+
95#else
+
96 struct timeval startTimeRecorded_; /* When we start the timer, timeRecorded is copied over lastTimeRecorded.*/
+
97 struct timeval stopTimeRecorded_; /* When we stop the timer. */
+
98#endif
+
99};
+
+
100
+
101#endif //UTIMER_H
+ +
UTimer::start
void start()
+
UTimer::elapsed
double elapsed()
Definition UTimer.h:75
+
UTimer::stop
void stop()
+
UTimer::restart
double restart()
Definition UTimer.h:86
+
UTimer::now
static double now()
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UVariant_8h.html b/preview/pr-1492/api/latest/UVariant_8h.html new file mode 100644 index 00000000..bc394569 --- /dev/null +++ b/preview/pr-1492/api/latest/UVariant_8h.html @@ -0,0 +1,145 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UVariant.h File Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
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+Classes
+
UVariant.h File Reference
+
+
+ +

UVariant class for storing and converting between different data types. +More...

+
#include "rtabmap/utilite/utilite_export.h"
+#include <string>
+#include <vector>
+
+Include dependency graph for UVariant.h:
+
+
+ + + + + + + + + +
+
+This graph shows which files directly or indirectly include this file:
+
+
+ + + + + + + + + +
+
+

Go to the source code of this file.

+ + + + + +

+Classes

class  UVariant
 A variant type that can hold values of different types. More...
 
+

Detailed Description

+

UVariant class for storing and converting between different data types.

+

This class provides a type-safe way to store values of different types and convert between them. It supports basic types (bool, char, int, float, etc.) and arrays of these types.

+

Example:

UVariant v(42);
+
if(v.isInt())
+
{
+
int value = v.toInt();
+
}
+
UVariant
A variant type that can hold values of different types.
Definition UVariant.h:54
+
+

Definition in file UVariant.h.

+
+ +
+Generated by doxygen 1.9.8 +
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zfB*m$SuF`C7j!u+_}*V1%_Ygp%k%N`dz$vf>F!8_=dFiq=JB$&at|S}5onH3*+lcX4j3@HTb8zA;dX`UZ-b(G;v4siywhClq>BkIuz_dkI4y0Nf9sP0J}H<@(A=X=m?`g;=Z~3 z2Y?0jIK7uxrQAG$m2D8=S$u#gO0zx0a;{Ft#T#cTf?u#dp$o-@9`}63@HP}_T zxjx}bHM=@LS^@|Vo`NB=G*gudrju6|v)r)nWMF-xW>KqXtOnR9uGkK1S}dwJ4Z~}& zO{QOjDGE3l~RH_41gl4s;ZegFv+v3 z;=DI + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UVariant.h Source File + + + + + + + + + + + + +
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UVariant.h
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+Go to the documentation of this file.
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UVARIANT_H
+
21#define UVARIANT_H
+
22
+
23#include "rtabmap/utilite/utilite_export.h" // DLL export/import defines
+
24#include <string>
+
25#include <vector>
+
26
+
+
53class UTILITE_EXPORT UVariant
+
54{
+
55public:
+ +
81public:
+
86 UVariant();
+
87
+
92 UVariant(const bool & value);
+
93
+
98 UVariant(const signed char & value);
+
99
+
104 UVariant(const unsigned char & value);
+
105
+
110 UVariant(const short & value);
+
111
+
116 UVariant(const unsigned short & value);
+
117
+
122 UVariant(const int & value);
+
123
+
128 UVariant(const unsigned int & value);
+
129
+
134 UVariant(const float & value);
+
135
+
140 UVariant(const double & value);
+
141
+
146 UVariant(const char * value);
+
147
+
152 UVariant(const std::string & value);
+
153
+
158 UVariant(const std::vector<signed char> & value);
+
159
+
164 UVariant(const std::vector<unsigned char> & value);
+
165
+
170 UVariant(const std::vector<short> & value);
+
171
+
176 UVariant(const std::vector<unsigned short> & value);
+
177
+
182 UVariant(const std::vector<int> & value);
+
183
+
188 UVariant(const std::vector<unsigned int> & value);
+
189
+
194 UVariant(const std::vector<float> & value);
+
195
+
200 UVariant(const std::vector<double> & value);
+
201
+
206 Type type() const {return type_;}
+
207
+
212 bool isUndef() const {return type_ == kUndef;}
+
213
+
218 bool isBool() const {return type_ == kBool;}
+
219
+
224 bool isChar() const {return type_ == kChar;}
+
225
+
230 bool isUChar() const {return type_ == kUChar;}
+
231
+
236 bool isShort() const {return type_ == kShort;}
+
237
+
242 bool isUShort() const {return type_ == kUShort;}
+
243
+
248 bool isInt() const {return type_ == kInt;}
+
249
+
254 bool isUInt() const {return type_ == kUInt;}
+
255
+
260 bool isFloat() const {return type_ == kFloat;}
+
261
+
266 bool isDouble() const {return type_ == kDouble;}
+
267
+
272 bool isStr() const {return type_ == kStr;}
+
273
+
278 bool isCharArray() const {return type_ == kCharArray;}
+
279
+
284 bool isUCharArray() const {return type_ == kUCharArray;}
+
285
+
290 bool isShortArray() const {return type_ == kShortArray;}
+
291
+
296 bool isUShortArray() const {return type_ == kUShortArray;}
+
297
+
302 bool isIntArray() const {return type_ == kIntArray;}
+
303
+
308 bool isUIntArray() const {return type_ == kUIntArray;}
+
309
+
314 bool isFloatArray() const {return type_ == kFloatArray;}
+
315
+
320 bool isDoubleArray() const {return type_ == kDoubleArray;}
+
321
+
326 bool toBool() const;
+
327
+
333 signed char toChar(bool * ok = 0) const;
+
334
+
340 unsigned char toUChar(bool * ok = 0) const;
+
341
+
347 short toShort(bool * ok = 0) const;
+
348
+
354 unsigned short toUShort(bool * ok = 0) const;
+
355
+
361 int toInt(bool * ok = 0) const;
+
362
+
368 unsigned int toUInt(bool * ok = 0) const;
+
369
+
375 float toFloat(bool * ok = 0) const;
+
376
+
382 double toDouble(bool * ok = 0) const;
+
383
+
389 std::string toStr(bool * ok = 0) const;
+
390
+
396 std::vector<signed char> toCharArray(bool * ok = 0) const;
+
397
+
403 std::vector<unsigned char> toUCharArray(bool * ok = 0) const;
+
404
+
410 std::vector<short> toShortArray(bool * ok = 0) const;
+
411
+
417 std::vector<unsigned short> toUShortArray(bool * ok = 0) const;
+
418
+
424 std::vector<int> toIntArray(bool * ok = 0) const;
+
425
+
431 std::vector<unsigned int> toUIntArray(bool * ok = 0) const;
+
432
+
438 std::vector<float> toFloatArray(bool * ok = 0) const;
+
439
+
445 std::vector<double> toDoubleArray(bool * ok = 0) const;
+
446
+
450 virtual ~UVariant() {}
+
451
+
452private:
+
453 Type type_;
+
454 std::vector<unsigned char> data_;
+
455};
+
+
456
+
457#endif /* UVARIANT_H */
+
UVariant
A variant type that can hold values of different types.
Definition UVariant.h:54
+
UVariant::isUShortArray
bool isUShortArray() const
Check if the variant is an array of unsigned short.
Definition UVariant.h:296
+
UVariant::UVariant
UVariant(const char *value)
Constructor from C string.
+
UVariant::UVariant
UVariant(const std::string &value)
Constructor from std::string.
+
UVariant::toUChar
unsigned char toUChar(bool *ok=0) const
Convert the variant to unsigned char.
+
UVariant::UVariant
UVariant(const double &value)
Constructor from double.
+
UVariant::toFloat
float toFloat(bool *ok=0) const
Convert the variant to float.
+
UVariant::isBool
bool isBool() const
Check if the variant is a bool.
Definition UVariant.h:218
+
UVariant::UVariant
UVariant(const std::vector< int > &value)
Constructor from array of int.
+
UVariant::toDoubleArray
std::vector< double > toDoubleArray(bool *ok=0) const
Convert the variant to array of double.
+
UVariant::isFloat
bool isFloat() const
Check if the variant is a float.
Definition UVariant.h:260
+
UVariant::UVariant
UVariant(const unsigned int &value)
Constructor from unsigned int.
+
UVariant::isDouble
bool isDouble() const
Check if the variant is a double.
Definition UVariant.h:266
+
UVariant::Type
Type
Enumeration of supported data types.
Definition UVariant.h:60
+ +
UVariant::kFloatArray
@ kFloatArray
Definition UVariant.h:77
+ +
UVariant::kUIntArray
@ kUIntArray
Definition UVariant.h:76
+
UVariant::kDouble
@ kDouble
Definition UVariant.h:69
+
UVariant::kUShortArray
@ kUShortArray
Definition UVariant.h:74
+
UVariant::kShortArray
@ kShortArray
Definition UVariant.h:73
+ + +
UVariant::kUShort
@ kUShort
Definition UVariant.h:65
+
UVariant::kDoubleArray
@ kDoubleArray
Definition UVariant.h:78
+
UVariant::kIntArray
@ kIntArray
Definition UVariant.h:75
+
UVariant::kUCharArray
@ kUCharArray
Definition UVariant.h:72
+ + + + +
UVariant::kCharArray
@ kCharArray
Definition UVariant.h:71
+
UVariant::UVariant
UVariant(const unsigned short &value)
Constructor from unsigned short.
+
UVariant::toUShortArray
std::vector< unsigned short > toUShortArray(bool *ok=0) const
Convert the variant to array of unsigned short.
+
UVariant::isInt
bool isInt() const
Check if the variant is an int.
Definition UVariant.h:248
+
UVariant::toDouble
double toDouble(bool *ok=0) const
Convert the variant to double.
+
UVariant::type
Type type() const
Get the type of the stored value.
Definition UVariant.h:206
+
UVariant::UVariant
UVariant(const short &value)
Constructor from short.
+
UVariant::toUShort
unsigned short toUShort(bool *ok=0) const
Convert the variant to unsigned short.
+
UVariant::isShort
bool isShort() const
Check if the variant is a short.
Definition UVariant.h:236
+
UVariant::isChar
bool isChar() const
Check if the variant is a signed char.
Definition UVariant.h:224
+
UVariant::UVariant
UVariant(const std::vector< unsigned short > &value)
Constructor from array of unsigned short.
+
UVariant::isUCharArray
bool isUCharArray() const
Check if the variant is an array of unsigned char.
Definition UVariant.h:284
+
UVariant::UVariant
UVariant(const unsigned char &value)
Constructor from unsigned char.
+
UVariant::isShortArray
bool isShortArray() const
Check if the variant is an array of short.
Definition UVariant.h:290
+
UVariant::toStr
std::string toStr(bool *ok=0) const
Convert the variant to string.
+
UVariant::UVariant
UVariant(const std::vector< unsigned char > &value)
Constructor from array of unsigned char.
+
UVariant::UVariant
UVariant(const std::vector< signed char > &value)
Constructor from array of signed char.
+
UVariant::UVariant
UVariant(const std::vector< short > &value)
Constructor from array of short.
+
UVariant::isUShort
bool isUShort() const
Check if the variant is an unsigned short.
Definition UVariant.h:242
+
UVariant::UVariant
UVariant(const int &value)
Constructor from int.
+
UVariant::toIntArray
std::vector< int > toIntArray(bool *ok=0) const
Convert the variant to array of int.
+
UVariant::isFloatArray
bool isFloatArray() const
Check if the variant is an array of float.
Definition UVariant.h:314
+
UVariant::UVariant
UVariant(const bool &value)
Constructor from bool.
+
UVariant::isIntArray
bool isIntArray() const
Check if the variant is an array of int.
Definition UVariant.h:302
+
UVariant::isDoubleArray
bool isDoubleArray() const
Check if the variant is an array of double.
Definition UVariant.h:320
+
UVariant::toUInt
unsigned int toUInt(bool *ok=0) const
Convert the variant to unsigned int.
+
UVariant::toChar
signed char toChar(bool *ok=0) const
Convert the variant to signed char.
+
UVariant::isUndef
bool isUndef() const
Check if the variant is undefined.
Definition UVariant.h:212
+
UVariant::toInt
int toInt(bool *ok=0) const
Convert the variant to int.
+
UVariant::UVariant
UVariant(const float &value)
Constructor from float.
+
UVariant::isCharArray
bool isCharArray() const
Check if the variant is an array of signed char.
Definition UVariant.h:278
+
UVariant::toUCharArray
std::vector< unsigned char > toUCharArray(bool *ok=0) const
Convert the variant to array of unsigned char.
+
UVariant::toShortArray
std::vector< short > toShortArray(bool *ok=0) const
Convert the variant to array of short.
+
UVariant::UVariant
UVariant(const std::vector< float > &value)
Constructor from array of float.
+
UVariant::toShort
short toShort(bool *ok=0) const
Convert the variant to short.
+
UVariant::toFloatArray
std::vector< float > toFloatArray(bool *ok=0) const
Convert the variant to array of float.
+
UVariant::toUIntArray
std::vector< unsigned int > toUIntArray(bool *ok=0) const
Convert the variant to array of unsigned int.
+
UVariant::UVariant
UVariant(const std::vector< double > &value)
Constructor from array of double.
+
UVariant::UVariant
UVariant(const std::vector< unsigned int > &value)
Constructor from array of unsigned int.
+
UVariant::UVariant
UVariant(const signed char &value)
Constructor from signed char.
+
UVariant::toCharArray
std::vector< signed char > toCharArray(bool *ok=0) const
Convert the variant to array of signed char.
+
UVariant::isUInt
bool isUInt() const
Check if the variant is an unsigned int.
Definition UVariant.h:254
+
UVariant::~UVariant
virtual ~UVariant()
Virtual destructor.
Definition UVariant.h:450
+
UVariant::toBool
bool toBool() const
Convert the variant to bool.
+
UVariant::UVariant
UVariant()
Default constructor Creates an undefined variant.
+
UVariant::isUIntArray
bool isUIntArray() const
Check if the variant is an array of unsigned int.
Definition UVariant.h:308
+
UVariant::isStr
bool isStr() const
Check if the variant is a string.
Definition UVariant.h:272
+
UVariant::isUChar
bool isUChar() const
Check if the variant is an unsigned char.
Definition UVariant.h:230
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UWin32_8h_source.html b/preview/pr-1492/api/latest/UWin32_8h_source.html new file mode 100644 index 00000000..882339fe --- /dev/null +++ b/preview/pr-1492/api/latest/UWin32_8h_source.html @@ -0,0 +1,155 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/Win32/UWin32.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+
+ + + + + + + + + +
+
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+
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+ + +
+
+
UWin32.h
+
+
+
1
+
2// Written by Phillip Sitbon
+
3// Copyright 2003
+
4//
+
5// Win32.h
+
6// - Windows includes
+
7//
+
9#ifndef _U_Win32_
+
10#define _U_Win32_
+
11
+
12 #if !defined(_WINDOWS_)
+
13 // WIN32 Excludes
+
14 #ifdef WIN32_LEAN_AND_MEAN
+
15 # define VC_EXTRALEAN
+
16 # define WIN32_LEAN_AND_MEAN
+
17 # define _PRSHT_H_
+
18 # define NOGDICAPMASKS // CC_*, LC_*, PC_*, CP_*, TC_*, RC_
+
19 # define NOVIRTUALKEYCODES // VK_*
+
20 # define NOWINMESSAGES // WM_*, EM_*, LB_*, CB_*
+
21 # define NOWINSTYLES // WS_*, CS_*, ES_*, LBS_*, SBS_*, CBS_*
+
22 # define NOSYSMETRICS // SM_*
+
23 # define NOMENUS // MF_*
+
24 # define NOICONS // IDI_*
+
25 # define NOKEYSTATES // MK_*
+
26 # define NOSYSCOMMANDS // SC_*
+
27 # define NORASTEROPS // Binary and Tertiary raster ops
+
28 # define NOSHOWWINDOW // SW_*
+
29 # define OEMRESOURCE // OEM Resource values
+
30 # define NOATOM // Atom Manager routines
+
31 # define NOCLIPBOARD // Clipboard routines
+
32 # define NOCOLOR // Screen colors
+
33 # define NOCTLMGR // Control and Dialog routines
+
34 # define NODRAWTEXT // DrawText() and DT_*
+
35 # define NOGDI // All GDI defines and routines
+
36 # define NOKERNEL // All KERNEL defines and routines
+
37 # define NOUSER // All USER defines and routines
+
38 # define NONLS // All NLS defines and routines
+
39 # define NOMB // MB_* and MessageBox()
+
40 # define NOMEMMGR // GMEM_*, LMEM_*, GHND, LHND, associated routines
+
41 # define NOMETAFILE // typedef METAFILEPICT
+
42 # define NOMINMAX // Macros min(a,b) and max(a,b)
+
43 # define NOMSG // typedef MSG and associated routines
+
44 # define NOOPENFILE // OpenFile(), OemToAnsi, AnsiToOem, and OF_*
+
45 # define NOSCROLL // SB_* and scrolling routines
+
46 # define NOSERVICE // All Service Controller routines, SERVICE_ equates, etc.
+
47 # define NOSOUND // Sound driver routines
+
48 # define NOTEXTMETRIC // typedef TEXTMETRIC and associated routines
+
49 # define NOWH // SetWindowsHook and WH_*
+
50 # define NOWINOFFSETS // GWL_*, GCL_*, associated routines
+
51 # define NOCOMM // COMM driver routines
+
52 # define NOKANJI // Kanji support stuff.
+
53 # define NOHELP // Help engine interface.
+
54 # define NOPROFILER // Profiler interface.
+
55 # define NODEFERWINDOWPOS // DeferWindowPos routines
+
56 # define NOMCX // Modem Configuration Extensions
+
57 #endif // WIN32_LEAN_AND_MEAN
+
58 //
+
59 # include <windows.h>
+
60 #endif
+
61
+
62#endif // !_U_Win32_
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UserDataEvent_8h_source.html b/preview/pr-1492/api/latest/UserDataEvent_8h_source.html new file mode 100644 index 00000000..7f51bda0 --- /dev/null +++ b/preview/pr-1492/api/latest/UserDataEvent_8h_source.html @@ -0,0 +1,156 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/UserDataEvent.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
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+
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+
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+
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+
+
+
+
+ + +
+
+
UserDataEvent.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef USERDATAEVENT_H_
+
29#define USERDATAEVENT_H_
+
30
+
31#include <opencv2/opencv.hpp>
+
32#include <rtabmap/utilite/UEvent.h>
+
33
+
34namespace rtabmap
+
35{
+
36
+
+
40class UserDataEvent : public UEvent
+
41{
+
42public:
+
43 UserDataEvent(const cv::Mat & data) :
+
44 UEvent(0),
+
45 data_(data)
+
46 {}
+
47 ~UserDataEvent() {}
+
48 virtual std::string getClassName() const {return "UserDataEvent";}
+
49
+
50 const cv::Mat & data() const {return data_;}
+
51
+
52private:
+
53 cv::Mat data_;
+
54};
+
+
55
+
56}
+
57
+
58#endif /* USERDATAEVENT_H_ */
+
59
+ + +
rtabmap::UserDataEvent::getClassName
virtual std::string getClassName() const
Definition UserDataEvent.h:48
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/UtiLite_8h_source.html b/preview/pr-1492/api/latest/UtiLite_8h_source.html new file mode 100644 index 00000000..ffa6cd75 --- /dev/null +++ b/preview/pr-1492/api/latest/UtiLite_8h_source.html @@ -0,0 +1,139 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/UtiLite.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
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+ + +
+
+
UtiLite.h
+
+
+
1/*
+
2* utilite is a cross-platform library with
+
3* useful utilities for fast and small developing.
+
4* Copyright (C) 2010 Mathieu Labbe
+
5*
+
6* utilite is free library: you can redistribute it and/or modify
+
7* it under the terms of the GNU Lesser General Public License as published by
+
8* the Free Software Foundation, either version 3 of the License, or
+
9* (at your option) any later version.
+
10*
+
11* utilite is distributed in the hope that it will be useful,
+
12* but WITHOUT ANY WARRANTY; without even the implied warranty of
+
13* MERCHANTABILITY or FITNESS FOR A PARTICULAR PURPOSE. See the
+
14* GNU Lesser General Public License for more details.
+
15*
+
16* You should have received a copy of the GNU Lesser General Public License
+
17* along with this program. If not, see <http://www.gnu.org/licenses/>.
+
18*/
+
19
+
20#ifndef UTILITE_H
+
21#define UTILITE_H
+
22
+
237#include "rtabmap/utilite/UStl.h"
+
238#include "rtabmap/utilite/UConversion.h"
+
239#include "rtabmap/utilite/UDirectory.h"
+
240#include "rtabmap/utilite/UFile.h"
+
241#include "rtabmap/utilite/ULogger.h"
+
242#include "rtabmap/utilite/UEventsManager.h"
+
243#include "rtabmap/utilite/UEventsHandler.h"
+
244#include "rtabmap/utilite/UEvent.h"
+
245#include "rtabmap/utilite/UProcessInfo.h"
+
246#include "rtabmap/utilite/UMutex.h"
+
247#include "rtabmap/utilite/USemaphore.h"
+
248#include "rtabmap/utilite/UThreadNode.h"
+
249#include "rtabmap/utilite/UTimer.h"
+
250#include "rtabmap/utilite/UVariant.h"
+
251#include "rtabmap/utilite/UMath.h"
+
252
+
253#endif /* UTILITE_H */
+
UConversion.h
Some conversion functions.
+
ULogger.h
ULogger class and convenient macros.
+
UMath.h
Basic mathematics functions.
+
UProcessInfo.h
UProcessInfo class for getting process information.
+
UStl.h
Wrappers of STL for convenient functions.
+
UVariant.h
UVariant class for storing and converting between different data types.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/VWDictionary_8h_source.html b/preview/pr-1492/api/latest/VWDictionary_8h_source.html new file mode 100644 index 00000000..33c70a0e --- /dev/null +++ b/preview/pr-1492/api/latest/VWDictionary_8h_source.html @@ -0,0 +1,373 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/VWDictionary.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
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+
+ + +
+
+
VWDictionary.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
31
+
32#include <opencv2/highgui/highgui.hpp>
+
33#include <opencv2/core/core.hpp>
+
34#if CV_MAJOR_VERSION < 5
+
35#include <opencv2/features2d/features2d.hpp>
+
36#else
+
37#include <opencv2/features.hpp>
+
38#endif
+
39#include <list>
+
40#include <set>
+
41#include "rtabmap/core/Parameters.h"
+
42
+
43namespace rtabmap
+
44{
+
45
+
46class DBDriver;
+
47class VisualWord;
+
48class FlannIndex;
+
49
+
+
65class RTABMAP_CORE_EXPORT VWDictionary
+
66{
+
67public:
+ +
80
+
84 static const int ID_START;
+
85
+
89 static const int ID_INVALID;
+
90
+
+
96 static std::string nnStrategyName(NNStrategy strategy)
+
97 {
+
98 switch(strategy) {
+
99 case kNNFlannNaive:
+
100 return "FLANN NAIVE";
+
101 case kNNFlannKdTree:
+
102 return "FLANN KD-TREE";
+
103 case kNNFlannLSH:
+
104 return "FLANN LSH";
+
105 case kNNBruteForce:
+
106 return "BRUTE FORCE";
+
107 case kNNBruteForceGPU:
+
108 return "BRUTE FORCE GPU";
+
109 default:
+
110 return "Unknown";
+
111 }
+
112 }
+
+
113
+
114public:
+
119 VWDictionary(const ParametersMap & parameters = ParametersMap());
+
120
+
126 virtual ~VWDictionary();
+
127
+
132 virtual void parseParameters(const ParametersMap & parameters);
+
133
+
140 virtual void update();
+
141
+
156 virtual std::list<int> addNewWords(
+
157 const cv::Mat & descriptors,
+
158 int signatureId);
+
159
+
166 virtual void addWord(VisualWord * vw);
+
167
+
177 std::vector<int> findNN(const std::list<VisualWord *> & vws) const;
+
178
+
188 std::vector<int> findNN(const cv::Mat & descriptors) const;
+
189
+
199 bool addWordRef(int wordId, int signatureId);
+
200
+
209 void removeAllWordRef(int wordId, int signatureId);
+
210
+
216 const VisualWord * getWord(int id) const;
+
217
+
226 VisualWord * getUnusedWord(int id) const;
+
227
+
232 void setLastWordId(int id) {_lastWordId = id;}
+
233
+
238 const std::map<int, VisualWord *> & getVisualWords() const {return _visualWords;}
+
239
+
251 float getNndrRatio() const {return _nndrRatio;}
+
252
+
257 unsigned int getNotIndexedWordsCount() const {return (int)_notIndexedWords.size();}
+
258
+
263 int getLastIndexedWordId() const;
+
264
+
269 int getTotalActiveReferences() const {return _totalActiveReferences;}
+
270
+
275 unsigned int getIndexedWordsCount() const;
+
276
+
281 unsigned int getIndexMemoryUsed() const; // KB
+
282
+
287 unsigned long getMemoryUsed() const; //Bytes
+
288
+
296 bool setNNStrategy(NNStrategy strategy);
+
297
+
302 NNStrategy getNNStrategy() const {return _strategy;}
+
303
+
308 bool isIncremental() const {return _incrementalDictionary;}
+
309
+
314 bool isIncrementalFlann() const {return _incrementalFlann;}
+
315
+
322 void setIncrementalDictionary();
+
323
+
332 void setFixedDictionary(const std::string & dictionaryPath);
+
333
+
338 bool isModified() const;
+
339
+
344 std::vector<unsigned char> serializeIndex() const;
+
345
+
351 bool deserializeIndex(const std::vector<unsigned char> & data);
+
352
+
359 bool deserializeIndex(const unsigned char * data, size_t size);
+
360
+
368 void exportDictionary(const char * fileNameReferences, const char * fileNameDescriptors) const;
+
369
+
376 void clear(bool printWarningsIfNotEmpty = true);
+
377
+
387 std::vector<VisualWord *> getUnusedWords() const;
+
388
+
393 std::vector<int> getUnusedWordIds() const;
+
394
+
399 unsigned int getUnusedWordsSize() const {return (int)_unusedWords.size();}
+
400
+
407 void removeWords(const std::vector<VisualWord*> & words); // caller must delete the words
+
408
+
414 void deleteUnusedWords();
+
415
+
416public:
+
428 static cv::Mat convertBinTo32F(const cv::Mat & descriptorsIn, bool byteToFloat = true);
+
429
+
442 static cv::Mat convert32FToBin(const cv::Mat & descriptorsIn, bool byteToFloat = true);
+
443
+
444protected:
+
449 int getNextId();
+
450
+
451protected:
+
456 std::map<int, VisualWord *> _visualWords; //<id,VisualWord*>
+
457
+
462 int _totalActiveReferences;
+
463
+
464private:
+
468 bool _incrementalDictionary;
+
469
+
473 bool _incrementalFlann;
+
474
+
478 float _rebalancingFactor;
+
479
+
483 bool _byteToFloat;
+
484
+
491 float _nndrRatio;
+
492
+
496 std::string _dictionaryPath; // a pre-computed dictionary (.txt or .db)
+
497
+
501 std::string _newDictionaryPath; // a pre-computed dictionary (.txt or .db)
+
502
+
506 bool _newWordsComparedTogether;
+
507
+
511 bool _serializeWithChecksum;
+
512
+
516 int _lastWordId;
+
517
+
521 bool useDistanceL1_;
+
522
+
526 FlannIndex * _flannIndex;
+
527
+
531 cv::Mat _dataTree;
+
532
+
536 bool _modified;
+
537
+
541 NNStrategy _strategy;
+
542
+
546 std::map<int ,int> _mapIndexId;
+
547
+
551 std::map<int ,int> _mapIdIndex;
+
552
+
557 std::map<int, VisualWord*> _unusedWords; //<id,VisualWord*>
+
561 std::set<int> _notIndexedWords;
+
562
+
566 std::set<int> _removedIndexedWords;
+
567};
+
+
568
+
569} // namespace rtabmap
+ +
rtabmap::VWDictionary
Manages a dictionary of visual words for visual place recognition and loop closure detection.
Definition VWDictionary.h:66
+
rtabmap::VWDictionary::getNextId
int getNextId()
Get the next available visual word ID.
+
rtabmap::VWDictionary::deserializeIndex
bool deserializeIndex(const unsigned char *data, size_t size)
Deserialize the search index from raw bytes.
+
rtabmap::VWDictionary::getUnusedWordsSize
unsigned int getUnusedWordsSize() const
Get the count of unused visual words.
Definition VWDictionary.h:399
+
rtabmap::VWDictionary::exportDictionary
void exportDictionary(const char *fileNameReferences, const char *fileNameDescriptors) const
Export the dictionary to files.
+
rtabmap::VWDictionary::serializeIndex
std::vector< unsigned char > serializeIndex() const
Serialize the search index to a byte vector.
+
rtabmap::VWDictionary::getNotIndexedWordsCount
unsigned int getNotIndexedWordsCount() const
Get the count of words not yet indexed in the search tree.
Definition VWDictionary.h:257
+
rtabmap::VWDictionary::addNewWords
virtual std::list< int > addNewWords(const cv::Mat &descriptors, int signatureId)
Add new visual words from descriptors.
+
rtabmap::VWDictionary::ID_START
static const int ID_START
Starting ID for visual words (typically 1)
Definition VWDictionary.h:84
+
rtabmap::VWDictionary::deleteUnusedWords
void deleteUnusedWords()
Delete all unused visual words.
+
rtabmap::VWDictionary::deserializeIndex
bool deserializeIndex(const std::vector< unsigned char > &data)
Deserialize the search index from a byte vector.
+
rtabmap::VWDictionary::getNndrRatio
float getNndrRatio() const
Get the Nearest Neighbor Distance Ratio (NNDR) threshold.
Definition VWDictionary.h:251
+
rtabmap::VWDictionary::_totalActiveReferences
int _totalActiveReferences
Total count of active word-to-signature references.
Definition VWDictionary.h:462
+
rtabmap::VWDictionary::clear
void clear(bool printWarningsIfNotEmpty=true)
Clear all visual words and reset the dictionary.
+
rtabmap::VWDictionary::getWord
const VisualWord * getWord(int id) const
Get a visual word by ID.
+
rtabmap::VWDictionary::setFixedDictionary
void setFixedDictionary(const std::string &dictionaryPath)
Set the dictionary to fixed mode and load from file.
+
rtabmap::VWDictionary::getIndexMemoryUsed
unsigned int getIndexMemoryUsed() const
Get the memory used by the search index.
+
rtabmap::VWDictionary::getUnusedWordIds
std::vector< int > getUnusedWordIds() const
Get IDs of all unused visual words.
+
rtabmap::VWDictionary::getLastIndexedWordId
int getLastIndexedWordId() const
Get the ID of the last indexed word.
+
rtabmap::VWDictionary::getIndexedWordsCount
unsigned int getIndexedWordsCount() const
Get the count of words currently indexed in the search tree.
+
rtabmap::VWDictionary::getVisualWords
const std::map< int, VisualWord * > & getVisualWords() const
Get all visual words.
Definition VWDictionary.h:238
+
rtabmap::VWDictionary::isIncremental
bool isIncremental() const
Check if the dictionary is in incremental mode.
Definition VWDictionary.h:308
+
rtabmap::VWDictionary::nnStrategyName
static std::string nnStrategyName(NNStrategy strategy)
Get the name of a nearest neighbor strategy.
Definition VWDictionary.h:96
+
rtabmap::VWDictionary::convertBinTo32F
static cv::Mat convertBinTo32F(const cv::Mat &descriptorsIn, bool byteToFloat=true)
Convert binary descriptors to 32-bit float format.
+
rtabmap::VWDictionary::removeWords
void removeWords(const std::vector< VisualWord * > &words)
Remove words from the dictionary.
+
rtabmap::VWDictionary::ID_INVALID
static const int ID_INVALID
Invalid visual word ID (typically 0)
Definition VWDictionary.h:89
+
rtabmap::VWDictionary::update
virtual void update()
Update the search index with newly added words.
+
rtabmap::VWDictionary::parseParameters
virtual void parseParameters(const ParametersMap &parameters)
Parse and apply parameters from a parameters map.
+
rtabmap::VWDictionary::NNStrategy
NNStrategy
Nearest neighbor search strategies for descriptor matching.
Definition VWDictionary.h:72
+
rtabmap::VWDictionary::kNNBruteForce
@ kNNBruteForce
Brute force CPU search.
Definition VWDictionary.h:76
+
rtabmap::VWDictionary::kNNBruteForceGPU
@ kNNBruteForceGPU
Brute force GPU-accelerated search (requires CUDA)
Definition VWDictionary.h:77
+
rtabmap::VWDictionary::kNNFlannLSH
@ kNNFlannLSH
FLANN Locality-Sensitive Hashing (ideal for binary descriptors)
Definition VWDictionary.h:75
+
rtabmap::VWDictionary::kNNFlannKdTree
@ kNNFlannKdTree
FLANN kd-tree index (fast for high-dimensional descriptors)
Definition VWDictionary.h:74
+
rtabmap::VWDictionary::kNNFlannNaive
@ kNNFlannNaive
FLANN naive search (exhaustive)
Definition VWDictionary.h:73
+
rtabmap::VWDictionary::getTotalActiveReferences
int getTotalActiveReferences() const
Get the total number of active word-to-signature references.
Definition VWDictionary.h:269
+
rtabmap::VWDictionary::isIncrementalFlann
bool isIncrementalFlann() const
Check if FLANN index is updated incrementally.
Definition VWDictionary.h:314
+
rtabmap::VWDictionary::isModified
bool isModified() const
Check if the dictionary has been modified since last save.
+
rtabmap::VWDictionary::findNN
std::vector< int > findNN(const cv::Mat &descriptors) const
Find nearest neighbor visual word IDs for descriptors.
+
rtabmap::VWDictionary::setIncrementalDictionary
void setIncrementalDictionary()
Set the dictionary to incremental mode.
+
rtabmap::VWDictionary::getNNStrategy
NNStrategy getNNStrategy() const
Get the current nearest neighbor search strategy.
Definition VWDictionary.h:302
+
rtabmap::VWDictionary::getUnusedWords
std::vector< VisualWord * > getUnusedWords() const
Get all unused visual words.
+
rtabmap::VWDictionary::getUnusedWord
VisualWord * getUnusedWord(int id) const
Get an unused visual word by ID.
+
rtabmap::VWDictionary::findNN
std::vector< int > findNN(const std::list< VisualWord * > &vws) const
Find nearest neighbor visual word IDs for a list of visual words.
+
rtabmap::VWDictionary::removeAllWordRef
void removeAllWordRef(int wordId, int signatureId)
Remove all references from a visual word to a signature.
+
rtabmap::VWDictionary::getMemoryUsed
unsigned long getMemoryUsed() const
Get the total memory used by the dictionary.
+
rtabmap::VWDictionary::convert32FToBin
static cv::Mat convert32FToBin(const cv::Mat &descriptorsIn, bool byteToFloat=true)
Convert 32-bit float descriptors to binary format.
+
rtabmap::VWDictionary::addWord
virtual void addWord(VisualWord *vw)
Add an existing visual word to the dictionary.
+
rtabmap::VWDictionary::VWDictionary
VWDictionary(const ParametersMap &parameters=ParametersMap())
Constructor.
+
rtabmap::VWDictionary::_visualWords
std::map< int, VisualWord * > _visualWords
Map of visual word ID to VisualWord pointer.
Definition VWDictionary.h:456
+
rtabmap::VWDictionary::addWordRef
bool addWordRef(int wordId, int signatureId)
Add a reference from a visual word to a signature.
+
rtabmap::VWDictionary::setLastWordId
void setLastWordId(int id)
Set the last word ID (used when loading from database)
Definition VWDictionary.h:232
+
rtabmap::VWDictionary::setNNStrategy
bool setNNStrategy(NNStrategy strategy)
Set the nearest neighbor search strategy.
+
rtabmap::VWDictionary::~VWDictionary
virtual ~VWDictionary()
Destructor.
+
rtabmap::VisualWord
Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.
Definition VisualWord.h:50
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Version_8h_source.html b/preview/pr-1492/api/latest/Version_8h_source.html new file mode 100644 index 00000000..117dd65a --- /dev/null +++ b/preview/pr-1492/api/latest/Version_8h_source.html @@ -0,0 +1,206 @@ + + + + + + + + +RTAB-Map: build-docs/corelib/src/include/rtabmap/core/Version.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
Version.h
+
+
+
1/*
+
2Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL UNIVERTY DE SHERBROOKE BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef VERSION_H_
+
29#define VERSION_H_
+
30
+
31// This is auto-generated!
+
32#define RTABMAP_VERSION "0.23.10"
+
33
+
34#define RTABMAP_VERSION_MAJOR 0
+
35#define RTABMAP_VERSION_MINOR 23
+
36#define RTABMAP_VERSION_PATCH 10
+
37
+
38#define RTABMAP_VERSION_COMPARE(OP, MAJOR, MINOR, PATCH) (RTABMAP_VERSION_MAJOR*10000+RTABMAP_VERSION_MINOR*100+RTABMAP_VERSION_PATCH OP MAJOR*10000+MINOR*100+PATCH)
+
39
+
40//#define RTABMAP_NONFREE
+
41#define RTABMAP_TORO
+
42//#define RTABMAP_G2O
+
43//#define RTABMAP_G2O_CPP11
+
44#define RTABMAP_G2O_WITH_SBA_UTILS
+
45//#define RTABMAP_GTSAM
+
46//#define RTABMAP_CERES
+
47//#define RTABMAP_MRPT
+
48//#define RTABMAP_VERTIGO
+
49//#define RTABMAP_OPENNI
+
50#define RTABMAP_OPENNI2
+
51//#define RTABMAP_FREENECT
+
52//#define RTABMAP_FREENECT2
+
53//#define RTABMAP_K4W2
+
54//#define RTABMAP_K4A
+
55//#define RTABMAP_CVSBA
+
56//#define RTABMAP_POINTMATCHER
+
57//#define RTABMAP_CCCORELIB
+
58//#define RTABMAP_OPEN3D
+
59//#define RTABMAP_FASTCV
+
60//#define RTABMAP_OPENGV
+
61//#define RTABMAP_PDAL
+
62//#define RTABMAP_LIBLAS
+
63//#define RTABMAP_CUDASIFT
+
64//#define RTABMAP_LOAM
+
65//#define RTABMAP_FLOAM
+
66//#define RTABMAP_LIOSAM
+
67#define RTABMAP_DC1394
+
68//#define RTABMAP_FLYCAPTURE2
+
69//#define RTABMAP_ZED
+
70//#define RTABMAP_ZEDOC
+
71//#define RTABMAP_REALSENSE
+
72//#define RTABMAP_REALSENSE_SLAM
+
73//#define RTABMAP_REALSENSE2
+
74//#define RTABMAP_MYNTEYE
+
75//#define RTABMAP_DEPTHAI
+
76//#define RTABMAP_XVSDK
+
77//#define RTABMAP_ORBBEC_SDK
+
78//#define RTABMAP_OCTOMAP
+
79//#define RTABMAP_GRIDMAP
+
80//#define RTABMAP_CPUTSDF
+
81//#define RTABMAP_ALICE_VISION
+
82//#define RTABMAP_OPENCHISEL
+
83//#define RTABMAP_FOVIS
+
84//#define RTABMAP_VISO2
+
85//#define RTABMAP_DVO
+
86//#define RTABMAP_OKVIS
+
87//#define RTABMAP_MSCKF_VIO
+
88//#define RTABMAP_VINS_FUSION
+
89//#define RTABMAP_OPENVINS
+
90//#define RTABMAP_CUVSLAM
+
91//#define RTABMAP_ORB_SLAM
+
92#define RTABMAP_ORB_OCTREE
+
93//#define RTABMAP_TORCH
+
94//#define RTABMAP_PYTHON
+
95#define RTABMAP_MADGWICK
+
96//#define RTABMAP_APRILTAG
+
97//#define RTABMAP_APRILTAG_WITH_ARUCO
+
98
+
99#include <pcl/pcl_config.h>
+
100
+
101#if PCL_VERSION_COMPARE(>, 1, 11, 1)
+
102#include <pcl/types.h>
+
103#define RTABMAP_PCL_INDEX pcl::index_t
+
104#elif PCL_VERSION_COMPARE(>=, 1, 10, 0)
+
105#define RTABMAP_PCL_INDEX std::uint32_t
+
106#else
+
107#include <pcl/pcl_macros.h>
+
108#define RTABMAP_PCL_INDEX pcl::uint32_t
+
109#endif
+
110
+
111#endif /* VERSION_H_ */
+
112
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/VisualWord_8h_source.html b/preview/pr-1492/api/latest/VisualWord_8h_source.html new file mode 100644 index 00000000..a008e866 --- /dev/null +++ b/preview/pr-1492/api/latest/VisualWord_8h_source.html @@ -0,0 +1,181 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/VisualWord.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
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+
+
+ + +
+
+
VisualWord.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#pragma once
+
29
+
30#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
31
+
32#include <opencv2/core/core.hpp>
+
33#include <map>
+
34
+
35namespace rtabmap
+
36{
+
37
+
+
49class RTABMAP_CORE_EXPORT VisualWord
+
50{
+
51public:
+
58 VisualWord(int id, const cv::Mat & descriptor, int signatureId = 0);
+
59
+
63 ~VisualWord();
+
64
+
69 void addRef(int signatureId);
+
70
+
76 int removeAllRef(int signatureId);
+
77
+
82 unsigned long getMemoryUsed() const;
+
83
+
88 int getTotalReferences() const {return _totalReferences;}
+
89
+
94 int id() const {return _id;}
+
95
+
100 const cv::Mat & getDescriptor() const {return _descriptor;}
+
101
+
106 const std::map<int, int> & getReferences() const {return _references;}
+
107
+
112 bool isSaved() const {return _saved;}
+
113
+
118 void setSaved(bool saved) {_saved = saved;}
+
119
+
120private:
+
121 int _id;
+
122 cv::Mat _descriptor;
+
123 bool _saved;
+
124
+
125 int _totalReferences;
+
126 std::map<int, int> _references;
+
127};
+
+
128
+
129} // namespace rtabmap
+
rtabmap::VisualWord
Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.
Definition VisualWord.h:50
+
rtabmap::VisualWord::getDescriptor
const cv::Mat & getDescriptor() const
Returns the feature descriptor of this word.
Definition VisualWord.h:100
+
rtabmap::VisualWord::getTotalReferences
int getTotalReferences() const
Returns the total number of references (across all signatures).
Definition VisualWord.h:88
+
rtabmap::VisualWord::isSaved
bool isSaved() const
Checks if the word has been saved to the database.
Definition VisualWord.h:112
+
rtabmap::VisualWord::addRef
void addRef(int signatureId)
Adds a reference to this word for the given signature ID.
+
rtabmap::VisualWord::setSaved
void setSaved(bool saved)
Sets the saved flag for the word.
Definition VisualWord.h:118
+
rtabmap::VisualWord::removeAllRef
int removeAllRef(int signatureId)
Removes all references to this word for the given signature ID.
+
rtabmap::VisualWord::VisualWord
VisualWord(int id, const cv::Mat &descriptor, int signatureId=0)
Constructor.
+
rtabmap::VisualWord::id
int id() const
Returns the ID of this visual word.
Definition VisualWord.h:94
+
rtabmap::VisualWord::getMemoryUsed
unsigned long getMemoryUsed() const
Estimates the memory used by this visual word in bytes.
+
rtabmap::VisualWord::~VisualWord
~VisualWord()
Destructor.
+
rtabmap::VisualWord::getReferences
const std::map< int, int > & getReferences() const
Returns the references of this word.
Definition VisualWord.h:106
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/Win32_2UThreadC_8h_source.html b/preview/pr-1492/api/latest/Win32_2UThreadC_8h_source.html new file mode 100644 index 00000000..18e8402c --- /dev/null +++ b/preview/pr-1492/api/latest/Win32_2UThreadC_8h_source.html @@ -0,0 +1,480 @@ + + + + + + + + +RTAB-Map: utilite/include/rtabmap/utilite/Win32/UThreadC.h Source File + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
UThreadC.h
+
+
+
1
+
2// Written by Phillip Sitbon
+
3// Copyright 2003
+
4//
+
5// Modified by Mathieu Labbe
+
6//
+
7// Win32/Thread.h
+
8// - Windows thread
+
9//
+
10// - From CreateThread Platform SDK Documentation:
+
11//
+
12// "A thread that uses functions from the static C run-time
+
13// libraries should use the beginthread and endthread C run-time
+
14// functions for thread management rather than CreateThread and
+
15// ExitThread. Failure to do so results in small memory leaks
+
16// when ExitThread is called. Note that this is not a problem
+
17// with the C run-time in a DLL."
+
18//
+
19// With regards to this, I have decided to use the CreateThread
+
20// API, unless you define _CRT_ in which case there are two
+
21// possibilities:
+
22//
+
23// 1. Define _USE_BEGINTHREAD: Uses _beginthread/_endthread
+
24// (said to be *unreliable* in the SDK docs)
+
25//
+
26// 2. Don't - Uses _beginthreaded/_endthreadex
+
27//
+
28// A note about _endthread:
+
29//
+
30// It will call CloseHandle() on exit, and if it was already
+
31// closed then you will get an exception. To prevent this, I
+
32// removed the CloseHandle() functionality - this means that
+
33// a Join() WILL wait on a Detach()'ed thread.
+
34//
+
36#ifndef _U_Thread_Win32_
+
37#define _U_Thread_Win32_
+
38
+
39#include "rtabmap/utilite/utilite_export.h"
+
40#include "rtabmap/utilite/Win32/UWin32.h"
+
41#include "rtabmap/utilite/USemaphore.h"
+
42#include "rtabmap/utilite/UMutex.h"
+
43
+
44inline void uSleep(unsigned int ms)
+
45{
+
46 Sleep(ms);
+
47}
+
48
+
49#ifdef _CRT_
+
50# include <process.h>
+
51# ifdef _USE_BEGINTHREAD
+
52# define THREAD_CALL __cdecl
+
53# define THREAD_HANDLE uintptr_t
+
54# define THREAD_RET_T void
+
55# define CREATE_THREAD_FAILED (-1L)
+
56# define CREATE_THREAD_ERROR (errno)
+
57# define CREATE_THREAD(_S,_F,_P) ((Handle)_beginthread((void (__cdecl *)(void *))_F,_S,(void *)_P))
+
58# define EXIT_THREAD _endthread()
+
59# define CLOSE_HANDLE(x) 1
+
60# define THREAD_RETURN(x) return
+
61# else
+
62# define THREAD_CALL WINAPI
+
63# define THREAD_HANDLE HANDLE
+
64# define THREAD_RET_T UINT
+
65# define CREATE_THREAD_FAILED (0L)
+
66# define CREATE_THREAD_ERROR (errno)
+
67# define CREATE_THREAD(_S,_F,_P) ((Handle)_beginthreadex(0,_S,(UINT (WINAPI *)(void *))_F,(void *)_P,0,0))
+
68# define EXIT_THREAD _endthreadex(0)
+
69# define CLOSE_HANDLE(x) CloseHandle(x)
+
70# define THREAD_RETURN(x) return(x)
+
71# endif
+
72#else
+
73# define THREAD_CALL WINAPI
+
74# define THREAD_HANDLE HANDLE
+
75# define THREAD_RET_T DWORD
+
76# define CREATE_THREAD_FAILED (0L)
+
77# define CREATE_THREAD_ERROR GetLastError()
+
78# define CREATE_THREAD(_S,_F,_P) ((Handle)CreateThread(0,_S,(DWORD (WINAPI *)(void *))_F,(void *)_P,0,0))
+
79# define CREATE_THREAD2(_S,_F,_P,_ID) ((Handle)CreateThread(0,_S,(DWORD (WINAPI *)(void *))_F,(void *)_P,0,_ID))
+
80# define EXIT_THREAD ExitThread(0)
+
81# define CLOSE_HANDLE(x) CloseHandle(x)
+
82# define THREAD_RETURN(x) return(x)
+
83#endif
+
84
+
85#define InvalidHandle 0
+
86
+
87template
+
88<
+
89 typename Thread_T
+
90>
+
91class UTILITE_EXPORT UThreadC
+
92{
+
93 private:
+
94 struct Instance;
+
95
+
96 public:
+
97 typedef Thread_T & Thread_R;
+
98 typedef const Thread_T & Thread_C_R;
+
99
+
100 typedef THREAD_HANDLE Handle;
+
101 typedef void (* Handler)( Thread_R );
+
102
+
103 protected:
+
104 UThreadC() {}
+
105
+
106 virtual void ThreadMain( Thread_R ) = 0;
+
107
+
108 static void Exit()
+
109 { EXIT_THREAD; }
+
110
+
111 static void TestCancel()
+
112 { Sleep(0); }
+
113
+
114 static int Self()
+
115 {
+
116 Handle Hnd = InvalidHandle;
+
117 DuplicateHandle(GetCurrentProcess(),GetCurrentThread(),GetCurrentProcess(),(LPHANDLE)&Hnd,NULL,0,NULL);
+
118 return Hnd;
+
119
+
120 // only a pseudo-handle!
+
121 //return (Handle)GetCurrentThread();
+
122 }
+
123
+
124 public:
+
125
+
126 static int Create(
+
127 const Handler & Function,
+
128 Thread_C_R Param,
+
129 Handle * const & H = 0,
+
130 const bool & CreateDetached = false,
+
131 const unsigned int & StackSize = 0,
+
132 const bool & CancelEnable = false, // UNUSED
+
133 const bool & CancelAsync = false // UNUSED
+
134 )
+
135 {
+
136 M_Create().lock();
+
137
+
138 Instance I(Param,0,Function);
+
139
+
140 Handle Hnd(CREATE_THREAD(StackSize,ThreadMainHandler,&I));
+
141
+
142 if ( Hnd == CREATE_THREAD_FAILED )
+
143 {
+
144 if ( H ) *H = InvalidHandle;
+
145 M_Create().unlock();
+
146 return CREATE_THREAD_ERROR;
+
147 }
+
148
+
149 if ( H ) *H = Hnd;
+
150
+
151 S_Create().Wait();
+
152 M_Create().unlock();
+
153
+
154 if ( CreateDetached ) CLOSE_HANDLE(Hnd);
+
155 return 0;
+
156 }
+
157
+
158 int Create(
+
159 Thread_C_R Param,
+
160 Handle * const & H = 0,
+
161 const bool & CreateDetached = false,
+
162 const unsigned int & StackSize = 0,
+
163 const bool & CancelEnable = false, // UNUSED
+
164 const bool & CancelAsync = false // UNUSED
+
165 ) const
+
166 {
+
167 M_Create().lock();
+
168
+
169 Instance I(Param,const_cast<UThreadC *>(this));
+
170
+
171 Handle Hnd(CREATE_THREAD(StackSize,ThreadMainHandler,&I));
+
172
+
173 if ( Hnd == CREATE_THREAD_FAILED )
+
174 {
+
175 if ( H ) *H = InvalidHandle;
+
176 M_Create().unlock();
+
177 return CREATE_THREAD_ERROR;
+
178 }
+
179
+
180 if ( H ) *H = Hnd;
+
181
+
182 S_Create().Wait();
+
183 M_Create().unlock();
+
184
+
185 if ( CreateDetached ) CLOSE_HANDLE(Hnd);
+
186 return 0;
+
187 }
+
188
+
189 static int Join( const Handle &H )
+
190 {
+
191 DWORD R = WaitForSingleObject((HANDLE)H,INFINITE);
+
192
+
193 if ( (R == WAIT_OBJECT_0) || (R == WAIT_ABANDONED) )
+
194 {
+
195 CLOSE_HANDLE(H);
+
196 return 0;
+
197 }
+
198
+
199 if ( R == WAIT_TIMEOUT ) return EAGAIN;
+
200 return EINVAL;
+
201 }
+
202
+
203 static int Kill( const Handle &H )
+
204 { return TerminateThread((HANDLE)H,0) ? 0 : EINVAL; }
+
205
+
206 static int Detach( const Handle &H )
+
207 { return (CLOSE_HANDLE(H)?0:EINVAL); }
+
208
+
209 private:
+
210
+
211 static const UMutex &M_Create() { static UMutex M; return M; }
+
212 static const USemaphore &S_Create() { static USemaphore S; return S; }
+
213
+
214 static THREAD_RET_T THREAD_CALL ThreadMainHandler( Instance *Param )
+
215 {
+
216 Instance I(*Param);
+
217 Thread_T Data(I.Data);
+
218 S_Create().Post();
+
219
+
220 if ( I.Owner )
+
221 I.Owner->ThreadMain(Data);
+
222 else
+
223 I.pFN(Data);
+
224
+
225 Exit();
+
226 THREAD_RETURN(0);
+
227 }
+
228
+
229 struct Instance
+
230 {
+
231 Instance( Thread_C_R P, UThreadC<Thread_T> *const &O, const typename UThreadC<Thread_T>::Handler &pH = 0 )
+
232 : pFN(pH), Data(P), Owner(O) {}
+
233
+
234 typename UThreadC<Thread_T>::Handler pFN;
+
235 typename UThreadC<Thread_T>::Thread_C_R Data;
+
236 UThreadC<Thread_T> * Owner;
+
237
+
238 };
+
239};
+
240
+
242// Explicit Specialization of void
+
243//
+
244template<>
+
245class UTILITE_EXPORT UThreadC<void>
+
246{
+
247 private:
+
248 struct Instance;
+
249
+
250 public:
+
251 typedef THREAD_HANDLE Handle;
+
252 typedef void ( *Handler)();
+
253
+
254 virtual ~UThreadC<void>() {}
+
255
+
256 protected:
+
257 UThreadC<void>() {}
+
258
+
259 virtual void ThreadMain() = 0;
+
260
+
261 static void Exit()
+
262 { EXIT_THREAD; }
+
263
+
264 static void TestCancel()
+
265 { Sleep(0); }
+
266
+
267 static int Self()
+
268 {
+
269 return (int)GetCurrentThreadId();
+
270 //Handle Hnd = InvalidHandle;
+
271 //DuplicateHandle(GetCurrentProcess(),GetCurrentThread(),GetCurrentProcess(),(LPHANDLE)&Hnd,NULL,0,NULL);
+
272 //return Hnd;
+
273
+
274 // only a pseudo-handle!
+
275 //return (Handle)GetCurrentThread();
+
276 }
+
277
+
278 public:
+
279
+
280 static int Create(
+
281 const Handler & Function,
+
282 Handle * const & H = 0,
+
283 const bool & CreateDetached = false,
+
284 const unsigned int & StackSize = 0,
+
285 const bool & CancelEnable = false, // UNUSED
+
286 const bool & CancelAsync = false // UNUSED
+
287 )
+
288 {
+
289 Handle Hnd(CREATE_THREAD(StackSize,ThreadMainHandler_S,Function));
+
290
+
291 if ( Hnd == CREATE_THREAD_FAILED )
+
292 {
+
293 if ( H ) *H = InvalidHandle;
+
294 return (int)CREATE_THREAD_ERROR;
+
295 }
+
296
+
297 if ( H ) *H = Hnd;
+
298 if ( CreateDetached ) CLOSE_HANDLE(Hnd);
+
299 return 0;
+
300 }
+
301
+
302 int Create(
+
303 Handle * const & H = 0,
+
304 const bool & CreateDetached = false,
+
305 const unsigned int & StackSize = 0,
+
306 const bool & CancelEnable = false, // UNUSED
+
307 const bool & CancelAsync = false // UNUSED
+
308 ) const
+
309 {
+
310 Handle Hnd(CREATE_THREAD(StackSize,ThreadMainHandler,this));
+
311
+
312 if ( Hnd == CREATE_THREAD_FAILED )
+
313 {
+
314 if ( H ) *H = InvalidHandle;
+
315 return (int)CREATE_THREAD_ERROR;
+
316 }
+
317
+
318 if ( H ) *H = Hnd;
+
319 if ( CreateDetached ) CLOSE_HANDLE(Hnd);
+
320 Self();
+
321 return 0;
+
322 }
+
323
+
324 int Create(
+
325 unsigned long & ThreadId,
+
326 Handle * const & H = 0,
+
327 const bool & CreateDetached = false,
+
328 const unsigned int & StackSize = 0,
+
329 const bool & CancelEnable = false, // UNUSED
+
330 const bool & CancelAsync = false // UNUSED
+
331 ) const
+
332 {
+
333 *H = InvalidHandle;
+
334 int id;
+
335 *H = CREATE_THREAD2(StackSize,ThreadMainHandler,this, (LPDWORD)&id);
+
336 ThreadId = (unsigned long)id;
+
337
+
338 if ( *H == CREATE_THREAD_FAILED )
+
339 {
+
340 *H = InvalidHandle;
+
341 return (int)CREATE_THREAD_ERROR;
+
342 }
+
343
+
344 if ( CreateDetached ) CLOSE_HANDLE(*H);
+
345 return 0;
+
346 }
+
347
+
348 static int Join( const Handle &H )
+
349 {
+
350 DWORD R = WaitForSingleObject((HANDLE)H,INFINITE);
+
351
+
352 if ( (R == WAIT_OBJECT_0) || (R == WAIT_ABANDONED) )
+
353 {
+
354 CLOSE_HANDLE(H);
+
355 return 0;
+
356 }
+
357
+
358 if ( R == WAIT_TIMEOUT ) return EAGAIN;
+
359 return EINVAL;
+
360 }
+
361
+
362 static int Kill( const Handle &H )
+
363 { return TerminateThread((HANDLE)H,0) ? 0 : EINVAL; }
+
364
+
365 static int Detach( const Handle &H )
+
366 { return (CLOSE_HANDLE(H)?0:EINVAL); }
+
367
+
368 private:
+
369
+
370 static THREAD_RET_T THREAD_CALL ThreadMainHandler( UThreadC<void> *Param )
+
371 {
+
372 Param->ThreadMain();
+
373 Exit();
+
374 THREAD_RETURN(0);
+
375 }
+
376
+
377 static THREAD_RET_T THREAD_CALL ThreadMainHandler_S( Handler Param )
+
378 {
+
379 Param();
+
380 Exit();
+
381 THREAD_RETURN(0);
+
382 }
+
383};
+
384
+
385#endif // !_U_Thread_Win32_
+ + + +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/_2home_2runner_2work_2rtabmap_2rtabmap_2corelib_2include_2rtabmap_2core_2util3d_correspondences_8h-example.html b/preview/pr-1492/api/latest/_2home_2runner_2work_2rtabmap_2rtabmap_2corelib_2include_2rtabmap_2core_2util3d_correspondences_8h-example.html new file mode 100644 index 00000000..eab48813 --- /dev/null +++ b/preview/pr-1492/api/latest/_2home_2runner_2work_2rtabmap_2rtabmap_2corelib_2include_2rtabmap_2core_2util3d_correspondences_8h-example.html @@ -0,0 +1,212 @@ + + + + + + + + +RTAB-Map: /home/runner/work/rtabmap/rtabmap/corelib/include/rtabmap/core/util3d_correspondences.h + + + + + + + + + + + + +
+
+ + + + + + +
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/home/runner/work/rtabmap/rtabmap/corelib/include/rtabmap/core/util3d_correspondences.h
+
+
+

Finds 2D point correspondences between two sets of keypoints based on matching word IDs.

+

Finds 2D point correspondences between two sets of keypoints based on matching word IDs.This function compares two multimap structures containing word IDs associated with cv::KeyPoints. It extracts correspondences where the same word ID appears exactly once in each set.

+
Parameters
+ + + + +
[in]wordsAA multimap from word ID to keypoints in set A.
[in]wordsBA multimap from word ID to keypoints in set B.
[out]pairsA list of matching 2D point correspondences (Point2f) between wordsA and wordsB.
+
+
+
Note
Only unique word ID matches (count == 1 in both sets) are considered valid correspondences.
+

If wordsA = [1 2 3 4 6 6] and wordsB = [1 1 2 4 5 6 6], the output pairs will contain correspondences for IDs 2 and 4, because only those have exactly one match in both sets.

+
/*
+
Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
All rights reserved.
+
+
Redistribution and use in source and binary forms, with or without
+
modification, are permitted provided that the following conditions are met:
+
* Redistributions of source code must retain the above copyright
+
notice, this list of conditions and the following disclaimer.
+
* Redistributions in binary form must reproduce the above copyright
+
notice, this list of conditions and the following disclaimer in the
+
documentation and/or other materials provided with the distribution.
+
* Neither the name of the Universite de Sherbrooke nor the
+
names of its contributors may be used to endorse or promote products
+
derived from this software without specific prior written permission.
+
+
THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
*/
+
+
#ifndef UTIL3D_CORRESPONDENCES_H_
+
#define UTIL3D_CORRESPONDENCES_H_
+
+
#include <rtabmap/core/rtabmap_core_export.h>
+
+
#include <pcl/point_cloud.h>
+
#include <pcl/point_types.h>
+
#include <opencv2/core/version.hpp>
+
#if CV_MAJOR_VERSION < 5
+
#include <opencv2/features2d/features2d.hpp>
+
#else
+
#include <opencv2/features.hpp>
+
#endif
+
#include <set>
+
#include <map>
+
#include <list>
+
+
namespace rtabmap
+
{
+
+
namespace util3d
+
{
+
+
void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::multimap<int, pcl::PointXYZ> & words1,
+
const std::multimap<int, pcl::PointXYZ> & words2,
+
pcl::PointCloud<pcl::PointXYZ> & cloud1,
+
pcl::PointCloud<pcl::PointXYZ> & cloud2);
+
+
void RTABMAP_CORE_EXPORT extractXYZCorrespondencesRANSAC(const std::multimap<int, pcl::PointXYZ> & words1,
+
const std::multimap<int, pcl::PointXYZ> & words2,
+
pcl::PointCloud<pcl::PointXYZ> & cloud1,
+
pcl::PointCloud<pcl::PointXYZ> & cloud2);
+
+
void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
+
const cv::Mat & depthImage1,
+
const cv::Mat & depthImage2,
+
float cx, float cy,
+
float fx, float fy,
+
float maxDepth,
+
pcl::PointCloud<pcl::PointXYZ> & cloud1,
+
pcl::PointCloud<pcl::PointXYZ> & cloud2);
+
+
void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
+
const pcl::PointCloud<pcl::PointXYZ> & cloud1,
+
const pcl::PointCloud<pcl::PointXYZ> & cloud2,
+
pcl::PointCloud<pcl::PointXYZ> & inliers1,
+
pcl::PointCloud<pcl::PointXYZ> & inliers2);
+
void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
+
const pcl::PointCloud<pcl::PointXYZRGB> & cloud1,
+
const pcl::PointCloud<pcl::PointXYZRGB> & cloud2,
+
pcl::PointCloud<pcl::PointXYZ> & inliers1,
+
pcl::PointCloud<pcl::PointXYZ> & inliers2);
+
+
int RTABMAP_CORE_EXPORT countUniquePairs(const std::multimap<int, pcl::PointXYZ> & wordsA,
+
const std::multimap<int, pcl::PointXYZ> & wordsB);
+
+
void RTABMAP_CORE_EXPORT filterMaxDepth(pcl::PointCloud<pcl::PointXYZ> & inliers1,
+
pcl::PointCloud<pcl::PointXYZ> & inliers2,
+
float maxDepth,
+
char depthAxis,
+
bool removeDuplicates);
+
+
void RTABMAP_CORE_EXPORT findCorrespondences(
+
const std::multimap<int, cv::KeyPoint> & wordsA,
+
const std::multimap<int, cv::KeyPoint> & wordsB,
+
std::list<std::pair<cv::Point2f, cv::Point2f> > & pairs);
+
+
void RTABMAP_CORE_EXPORT findCorrespondences(
+
const std::multimap<int, cv::Point3f> & words1,
+
const std::multimap<int, cv::Point3f> & words2,
+
std::vector<cv::Point3f> & inliers1,
+
std::vector<cv::Point3f> & inliers2,
+
float maxDepth,
+
std::vector<int> * uniqueCorrespondences = 0);
+
+
void RTABMAP_CORE_EXPORT findCorrespondences(
+
const std::map<int, cv::Point3f> & words1,
+
const std::map<int, cv::Point3f> & words2,
+
std::vector<cv::Point3f> & inliers1,
+
std::vector<cv::Point3f> & inliers2,
+
float maxDepth,
+
std::vector<int> * correspondences = 0);
+
+
} // namespace util3d
+
} // namespace rtabmap
+
+
#endif /* UTIL3D_CORRESPONDENCES_H_ */
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/_formulas.tex b/preview/pr-1492/api/latest/_formulas.tex new file mode 100644 index 00000000..58482652 --- /dev/null +++ b/preview/pr-1492/api/latest/_formulas.tex @@ -0,0 +1,59 @@ +\documentclass{article} +\usepackage{ifthen} +\usepackage{epsfig} +\usepackage[utf8]{inputenc} +\usepackage{xcolor} +\usepackage{newunicodechar} + \makeatletter + \def\doxynewunicodechar#1#2{% + \@tempswafalse + \edef\nuc@tempa{\detokenize{#1}}% + \if\relax\nuc@tempa\relax + \nuc@emptyargerr + \else + \edef\@tempb{\expandafter\@car\nuc@tempa\@nil}% + \nuc@check + \if@tempswa + \@namedef{u8:\nuc@tempa}{#2}% + \fi + \fi + } + \makeatother + \doxynewunicodechar{⁻}{${}^{-}$}% Superscript minus + \doxynewunicodechar{²}{${}^{2}$}% Superscript two + \doxynewunicodechar{³}{${}^{3}$}% Superscript three + +\pagestyle{empty} +\begin{document} +\[ +\text{FoV}_x = 2 \cdot \tan^{-1}\left(\frac{\text{image width}}{2 \cdot f_x}\right) +\] +\pagebreak + +\[ +\text{FoV}_y = 2 \cdot \tan^{-1}\left(\frac{\text{image height}}{2 \cdot f_y}\right) +\] +\pagebreak + +\[ + \text{depth} = \frac{\text{baseline} \times f_x}{\text{disparity} + (c_{x_{right}} - c_{x_{left}})} +\] +\pagebreak + +\[ + \text{disparity} = \frac{\text{baseline} \times f_x}{\text{depth}} - (c_{x_{right}} - c_{x_{left}}) +\] +\pagebreak + +\[ + \text{disparity} = \frac{\text{baseline} \times f_x}{\text{depth (meters)}} - (c_{x_{right}} - c_{x_{left}}) +\] +\pagebreak + +\[ \text{depth} = \frac{\text{baseline} \times \text{focal length}}{\text{disparity}} \] +\pagebreak + +\[ Z = \frac{baseline \times f}{disparity + (cx1 - cx0)} \] +\pagebreak + +\end{document} diff --git a/preview/pr-1492/api/latest/_formulas_dark.tex b/preview/pr-1492/api/latest/_formulas_dark.tex new file mode 100644 index 00000000..83ee7458 --- /dev/null +++ b/preview/pr-1492/api/latest/_formulas_dark.tex @@ -0,0 +1,61 @@ +\documentclass{article} +\usepackage{ifthen} +\usepackage{epsfig} +\usepackage[utf8]{inputenc} +\usepackage{xcolor} +\color{white} +\pagecolor{black} +\usepackage{newunicodechar} + \makeatletter + \def\doxynewunicodechar#1#2{% + \@tempswafalse + \edef\nuc@tempa{\detokenize{#1}}% + \if\relax\nuc@tempa\relax + \nuc@emptyargerr + \else + \edef\@tempb{\expandafter\@car\nuc@tempa\@nil}% + \nuc@check + \if@tempswa + \@namedef{u8:\nuc@tempa}{#2}% + \fi + \fi + } + \makeatother + \doxynewunicodechar{⁻}{${}^{-}$}% Superscript minus + \doxynewunicodechar{²}{${}^{2}$}% Superscript two + \doxynewunicodechar{³}{${}^{3}$}% Superscript three + +\pagestyle{empty} +\begin{document} +\[ +\text{FoV}_x = 2 \cdot \tan^{-1}\left(\frac{\text{image width}}{2 \cdot f_x}\right) +\] +\pagebreak + +\[ +\text{FoV}_y = 2 \cdot \tan^{-1}\left(\frac{\text{image height}}{2 \cdot f_y}\right) +\] +\pagebreak + +\[ + \text{depth} = \frac{\text{baseline} \times f_x}{\text{disparity} + (c_{x_{right}} - c_{x_{left}})} +\] +\pagebreak + +\[ + \text{disparity} = \frac{\text{baseline} \times f_x}{\text{depth}} - (c_{x_{right}} - c_{x_{left}}) +\] +\pagebreak + +\[ + \text{disparity} = \frac{\text{baseline} \times f_x}{\text{depth (meters)}} - (c_{x_{right}} - c_{x_{left}}) +\] +\pagebreak + +\[ \text{depth} = \frac{\text{baseline} \times \text{focal length}}{\text{disparity}} \] +\pagebreak + +\[ Z = \frac{baseline \times f}{disparity + (cx1 - cx0)} \] +\pagebreak + +\end{document} diff --git a/preview/pr-1492/api/latest/annotated.html b/preview/pr-1492/api/latest/annotated.html new file mode 100644 index 00000000..26856ba7 --- /dev/null +++ b/preview/pr-1492/api/latest/annotated.html @@ -0,0 +1,267 @@ + + + + + + + + +RTAB-Map: Class List + + + + + + + + + + + + +
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Class List
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Here are the classes, structs, unions and interfaces with brief descriptions:
+
[detail level 123]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
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 CUTimer
 CUVariantA variant type that can hold values of different types
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+ + diff --git a/preview/pr-1492/api/latest/bc_s.png b/preview/pr-1492/api/latest/bc_s.png new file mode 100644 index 0000000000000000000000000000000000000000..224b29aa9847d5a4b3902efd602b7ddf7d33e6c2 GIT binary patch literal 676 zcmV;V0$crwP)y__>=_9%My z{n931IS})GlGUF8K#6VIbs%684A^L3@%PlP2>_sk`UWPq@f;rU*V%rPy_ekbhXT&s z(GN{DxFv}*vZp`F>S!r||M`I*nOwwKX+BC~3P5N3-)Y{65c;ywYiAh-1*hZcToLHK ztpl1xomJ+Yb}K(cfbJr2=GNOnT!UFA7Vy~fBz8?J>XHsbZoDad^8PxfSa0GDgENZS zuLCEqzb*xWX2CG*b&5IiO#NzrW*;`VC9455M`o1NBh+(k8~`XCEEoC1Ybwf;vr4K3 zg|EB<07?SOqHp9DhLpS&bzgo70I+ghB_#)K7H%AMU3v}xuyQq9&Bm~++VYhF09a+U zl7>n7Jjm$K#b*FONz~fj;I->Bf;ule1prFN9FovcDGBkpg>)O*-}eLnC{6oZHZ$o% zXKW$;0_{8hxHQ>l;_*HATI(`7t#^{$(zLe}h*mqwOc*nRY9=?Sx4OOeVIfI|0V(V2 zBrW#G7Ss9wvzr@>H*`r>zE z+e8bOBgqIgldUJlG(YUDviMB`9+DH8n-s9SXRLyJHO1!=wY^79WYZMTa(wiZ!zP66 zA~!21vmF3H2{ngD;+`6j#~6j;$*f*G_2ZD1E;9(yaw7d-QnSCpK(cR1zU3qU0000< KMNUMnLSTYoA~SLT literal 0 HcmV?d00001 diff --git a/preview/pr-1492/api/latest/bc_sd.png b/preview/pr-1492/api/latest/bc_sd.png new file mode 100644 index 0000000000000000000000000000000000000000..31ca888dc71049713b35c351933a8d0f36180bf1 GIT binary patch literal 635 zcmV->0)+jEP)Jwi0r1~gdSq#w{Bu1q z`craw(p2!hu$4C_$Oc3X(sI6e=9QSTwPt{G) z=htT&^~&c~L2~e{r5_5SYe7#Is-$ln>~Kd%$F#tC65?{LvQ}8O`A~RBB0N~`2M+waajO;5>3B&-viHGJeEK2TQOiPRa zfDKyqwMc4wfaEh4jt>H`nW_Zidwk@Bowp`}(VUaj-pSI(-1L>FJVsX}Yl9~JsqgsZ zUD9(rMwf23Gez6KPa|wwInZodP-2}9@fK0Ga_9{8SOjU&4l`pH4@qlQp83>>HT$xW zER^U>)MyV%t(Lu=`d=Y?{k1@}&r7ZGkFQ%z%N+sE9BtYjovzxyxCPxN6&@wLK{soQ zSmkj$aLI}miuE^p@~4}mg9OjDfGEkgY4~^XzLRUBB*O{+&vq<3v(E%+k_i%=`~j%{ Vj14gnt9}3g002ovPDHLkV1n!oC4m3{ literal 0 HcmV?d00001 diff --git a/preview/pr-1492/api/latest/classUDestroyer-members.html b/preview/pr-1492/api/latest/classUDestroyer-members.html new file mode 100644 index 00000000..ec8988c7 --- /dev/null +++ b/preview/pr-1492/api/latest/classUDestroyer-members.html @@ -0,0 +1,91 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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UDestroyer< T > Member List
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This is the complete list of members for UDestroyer< T >, including all inherited members.

+ + + + +
setDoomed(T *doomed)UDestroyer< T >inline
UDestroyer(T *doomed=0)UDestroyer< T >inline
~UDestroyer() (defined in UDestroyer< T >)UDestroyer< T >inline
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUDestroyer.html b/preview/pr-1492/api/latest/classUDestroyer.html new file mode 100644 index 00000000..b2cd4075 --- /dev/null +++ b/preview/pr-1492/api/latest/classUDestroyer.html @@ -0,0 +1,205 @@ + + + + + + + + +RTAB-Map: UDestroyer< T > Class Template Reference + + + + + + + + + + + + +
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UDestroyer< T > Class Template Reference
+
+
+ +

#include <UDestroyer.h>

+ + + + + + +

+Public Member Functions

 UDestroyer (T *doomed=0)
 
bool setDoomed (T *doomed)
 
+

Detailed Description

+
template<class T>
+class UDestroyer< T >

This class is used to delete a dynamically created objects. It was mainly designed to remove dynamically created Singleton. Created on the stack of a Singleton, when the application is finished, his destructor make sure that the Singleton is deleted.

+ +

Definition at line 32 of file UDestroyer.h.

+

Constructor & Destructor Documentation

+ +

◆ UDestroyer()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
UDestroyer< T >::UDestroyer (T * doomed = 0)
+ 		+inline
+
+

The constructor. Set the doomed object (take ownership of the object). The object is deleted when this object is deleted.

+ +

Definition at line 39 of file UDestroyer.h.

+ +
+
+ +

◆ ~UDestroyer()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + +
UDestroyer< T >::~UDestroyer ()
+ 		+inline
+
+ +

Definition at line 41 of file UDestroyer.h.

+ +
+
+

Member Function Documentation

+ +

◆ setDoomed()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
bool UDestroyer< T >::setDoomed (T * doomed)
+ 		+inline
+
+

Set the doomed object. If a doomed object is already set, the function returns false.

Parameters
+ + +
doomedthe doomed object
+
+
+
Returns
false if an object is already set and the new object is not null, otherwise true
+ +

Definition at line 55 of file UDestroyer.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUDirectory-members.html b/preview/pr-1492/api/latest/classUDirectory-members.html new file mode 100644 index 00000000..35209c04 --- /dev/null +++ b/preview/pr-1492/api/latest/classUDirectory-members.html @@ -0,0 +1,106 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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UDirectory Member List
+
+
+ +

This is the complete list of members for UDirectory, including all inherited members.

+ + + + + + + + + + + + + + + + + + + +
currentDir(bool trailingSeparator=false)UDirectorystatic
exists(const std::string &dirPath)UDirectorystatic
getDir(const std::string &filePath)UDirectorystatic
getFileNames() constUDirectoryinline
getNextFileName()UDirectory
getNextFilePath()UDirectory
homeDir()UDirectorystatic
isValid()UDirectory
makeDir(const std::string &dirPath)UDirectorystatic
operator=(const UDirectory &dir) (defined in UDirectory)UDirectory
removeDir(const std::string &dirPath)UDirectorystatic
rewind()UDirectory
separator()UDirectorystatic
setPath(const std::string &path, const std::string &extensions="")UDirectory
UDirectory(const std::string &path="", const std::string &extensions="")UDirectory
UDirectory(const UDirectory &dir) (defined in UDirectory)UDirectory
update()UDirectory
~UDirectory() (defined in UDirectory)UDirectory
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUDirectory.html b/preview/pr-1492/api/latest/classUDirectory.html new file mode 100644 index 00000000..1d946513 --- /dev/null +++ b/preview/pr-1492/api/latest/classUDirectory.html @@ -0,0 +1,549 @@ + + + + + + + + +RTAB-Map: UDirectory Class Reference + + + + + + + + + + + + +
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+
UDirectory Class Reference
+
+
+ +

#include <UDirectory.h>

+ + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 UDirectory (const std::string &path="", const std::string &extensions="")
 
+ UDirectory (const UDirectory &dir)
 
+UDirectory & operator= (const UDirectory &dir)
 
void setPath (const std::string &path, const std::string &extensions="")
 
void update ()
 
bool isValid ()
 
std::string getNextFileName ()
 
std::string getNextFilePath ()
 
const std::list< std::string > & getFileNames () const
 
void rewind ()
 
+ + + + + + + + + + + + + + + +

+Static Public Member Functions

static bool exists (const std::string &dirPath)
 
static std::string getDir (const std::string &filePath)
 
static std::string currentDir (bool trailingSeparator=false)
 
static bool makeDir (const std::string &dirPath)
 
static bool removeDir (const std::string &dirPath)
 
static std::string homeDir ()
 
static std::string separator ()
 
+

Detailed Description

+

Class UDirectory.

+

This class can be used to get file names in a directory.

+ +

Definition at line 34 of file UDirectory.h.

+

Constructor & Destructor Documentation

+ +

◆ UDirectory()

+ +
+
+ + + + + + + + + + + + + + + + + + +
UDirectory::UDirectory (const std::string & path = "",
const std::string & extensions = "" 
)
+
+

Create a UDirectory object with path initialized to an existing "path" and with filter "extensions".

Parameters
+ + + +
paththe path to an existing directory
extensionsfilter to get only file names with the extensions specified, format is a list of extensions separated by a space: "jpg bmp" get only file names finishing by jpg or bmp.
+
+
+ +
+
+

Member Function Documentation

+ +

◆ exists()

+ +
+
+ + + + + +
+ + + + + + + + +
static bool UDirectory::exists (const std::string & dirPath)
+ 		+static
+
+

Check if a directory exists.

Parameters
+ + +
dirPaththe directory path
+
+
+
Returns
true if the directory exists
+ +
+
+ +

◆ getDir()

+ +
+
+ + + + + +
+ + + + + + + + +
static std::string UDirectory::getDir (const std::string & filePath)
+ 		+static
+
+

Get the directory path of a file path.

Parameters
+ + +
filePaththe file path
+
+
+
Returns
the directory path of the file
+ +
+
+ +

◆ currentDir()

+ +
+
+ + + + + +
+ + + + + + + + +
static std::string UDirectory::currentDir (bool trailingSeparator = false)
+ 		+static
+
+

Get the current directory.

Parameters
+ + +
trailingSeparatorIf true, a '/' is added to the path.
+
+
+
Returns
the current directory
+ +
+
+ +

◆ makeDir()

+ +
+
+ + + + + +
+ + + + + + + + +
static bool UDirectory::makeDir (const std::string & dirPath)
+ 		+static
+
+

Make a directory.

Parameters
+ + +
dirPaththe directory path
+
+
+
Returns
true on success, false otherwise.
+ +
+
+ +

◆ removeDir()

+ +
+
+ + + + + +
+ + + + + + + + +
static bool UDirectory::removeDir (const std::string & dirPath)
+ 		+static
+
+

Remove a directory.

Parameters
+ + +
dirPaththe directory path
+
+
+
Returns
true on success, false otherwise.
+ +
+
+ +

◆ homeDir()

+ +
+
+ + + + + +
+ + + + + + + +
static std::string UDirectory::homeDir ()
+ 		+static
+
+

Return the "home" directory.

Returns
the directory path.
+ +
+
+ +

◆ separator()

+ +
+
+ + + + + +
+ + + + + + + +
static std::string UDirectory::separator ()
+ 		+static
+
+

Return \ (Win32) or / (Unix) depending of the platform.

+ +
+
+ +

◆ setPath()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void UDirectory::setPath (const std::string & path,
const std::string & extensions = "" 
)
+
+

Set path of the directory.

Parameters
+ + +
paththe new directory path.
+
+
+ +
+
+ +

◆ update()

+ +
+
+ + + + + + + +
void UDirectory::update ()
+
+

Update indexed file names (if the directory changed).

+ +
+
+ +

◆ isValid()

+ +
+
+ + + + + + + +
bool UDirectory::isValid ()
+
+

Check is the directory exists.

Returns
if directory exists.
+ +
+
+ +

◆ getNextFileName()

+ +
+
+ + + + + + + +
std::string UDirectory::getNextFileName ()
+
+

Get the next file name.

Returns
the next file name
+ +
+
+ +

◆ getNextFilePath()

+ +
+
+ + + + + + + +
std::string UDirectory::getNextFilePath ()
+
+

Get the next file path.

Returns
the next file path
+ +
+
+ +

◆ getFileNames()

+ +
+
+ + + + + +
+ + + + + + + +
const std::list< std::string > & UDirectory::getFileNames () const
+ 		+inline
+
+

Get all file names.

See also
UDirectory()
+
Returns
all the file names in directory matching the set extensions.
+ +

Definition at line 129 of file UDirectory.h.

+ +
+
+ +

◆ rewind()

+ +
+
+ + + + + + + +
void UDirectory::rewind ()
+
+

Return the pointer of file names to beginning.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUEvent-members.html b/preview/pr-1492/api/latest/classUEvent-members.html new file mode 100644 index 00000000..20032bd4 --- /dev/null +++ b/preview/pr-1492/api/latest/classUEvent-members.html @@ -0,0 +1,92 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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UEvent Member List
+
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This is the complete list of members for UEvent, including all inherited members.

+ + + + + +
getClassName() const =0UEventpure virtual
getCode() constUEventinline
UEvent(int code=0)UEventinlineprotected
~UEvent() (defined in UEvent)UEventinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUEvent.html b/preview/pr-1492/api/latest/classUEvent.html new file mode 100644 index 00000000..cced916b --- /dev/null +++ b/preview/pr-1492/api/latest/classUEvent.html @@ -0,0 +1,289 @@ + + + + + + + + +RTAB-Map: UEvent Class Reference + + + + + + + + + + + + +
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UEvent Class Referenceabstract
+
+
+ +

#include <UEvent.h>

+
+Inheritance diagram for UEvent:
+
+
Inheritance graph
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
[legend]
+ + + + + + +

+Public Member Functions

virtual std::string getClassName () const =0
 
int getCode () const
 
+ + + +

+Protected Member Functions

 UEvent (int code=0)
 
+

Detailed Description

+

This is the base class for all events used with the UEventsManager. Inherited classes must redefined the virtual method getClassName() to return their class name.

+

Example:

class MyEvent : public UEvent
+
{
+
public:
+
MyEvent() {}
+
virtual ~MyEvent() {}
+
std::string getClassName() const {return "MyEvent";}
+
};
+
+
int main(int argc, char * argv[])
+
{
+
...
+
UEventsManager::post(new MyEvent()); // UEventsManager take ownership of the event (deleted by UEventsManager).
+
...
+
}
+ +
UEventsManager::post
static void post(UEvent *event, bool async=true, const UEventsSender *sender=0)
+
See also
UEventsManager
+
+UEventsHandler
+
+getClassName()
+ +

Definition at line 57 of file UEvent.h.

+

Constructor & Destructor Documentation

+ +

◆ ~UEvent()

+ +
+
+ + + + + +
+ + + + + + + +
virtual UEvent::~UEvent ()
+ 		+inlinevirtual
+
+ +

Definition at line 59 of file UEvent.h.

+ +
+
+ +

◆ UEvent()

+ +
+
+ + + + + +
+ + + + + + + + +
UEvent::UEvent (int code = 0)
+ 		+inlineprotected
+
+
Parameters
+ + +
codethe event code. TODO : Remove the code, not required for most of all implemented events
+
+
+ +

Definition at line 81 of file UEvent.h.

+ +
+
+

Member Function Documentation

+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string UEvent::getClassName () const
+ 		+pure virtual
+
+

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns
the class name
+ +

Implemented in rtabmap::IMUEvent, rtabmap::OdometryEvent, rtabmap::OdometryResetEvent, rtabmap::ParamEvent, rtabmap::RtabmapEvent, rtabmap::RtabmapEventCmd, rtabmap::RtabmapEventInit, rtabmap::RtabmapEvent3DMap, rtabmap::RtabmapGlobalPathEvent, rtabmap::RtabmapLabelErrorEvent, rtabmap::RtabmapGoalStatusEvent, rtabmap::SensorEvent, rtabmap::UserDataEvent, ULogEvent, and UObjDeletedEvent.

+ +
+
+ +

◆ getCode()

+ +
+
+ + + + + +
+ + + + + + + +
int UEvent::getCode () const
+ 		+inline
+
+

Get event's code.

Returns
the code
+ +

Definition at line 74 of file UEvent.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • utilite/include/rtabmap/utilite/UEvent.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUEventDispatcher-members.html b/preview/pr-1492/api/latest/classUEventDispatcher-members.html new file mode 100644 index 00000000..e852199b --- /dev/null +++ b/preview/pr-1492/api/latest/classUEventDispatcher-members.html @@ -0,0 +1,131 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
currentThreadId() (defined in UThread)UThreadinlinestatic
Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
getThreadHandle() const (defined in UThread)UThreadinline
getThreadId() const (defined in UThread)UThreadinline
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
isCreating() constUThread
isIdle() constUThread
isKilled() constUThread
isRunning() constUThread
Join(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
join(bool killFirst=false)UThread
Kill(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kill()UThread
kPAboveNormal enum value (defined in UThread)UThread
kPBelowNormal enum value (defined in UThread)UThread
kPLow enum value (defined in UThread)UThread
kPNormal enum value (defined in UThread)UThread
kPRealTime enum value (defined in UThread)UThread
mainLoop()UEventDispatcherprotectedvirtual
Priority enum nameUThread
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
setAffinity(int cpu=0)UThread
setPriority(Priority priority)UThread
start()UThread
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
UEventDispatcher() (defined in UEventDispatcher)UEventDispatcherprotected
UEventsManager (defined in UEventDispatcher)UEventDispatcherfriend
UThread(Priority priority=kPNormal)UThread
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
~UEventDispatcher() (defined in UEventDispatcher)UEventDispatchervirtual
~UThread()UThreadvirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
+ +
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+ + diff --git a/preview/pr-1492/api/latest/classUEventDispatcher.html b/preview/pr-1492/api/latest/classUEventDispatcher.html new file mode 100644 index 00000000..395e053a --- /dev/null +++ b/preview/pr-1492/api/latest/classUEventDispatcher.html @@ -0,0 +1,279 @@ + + + + + + + + +RTAB-Map: UEventDispatcher Class Reference + + + + + + + + + + + + +
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+
+
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+ + + + + + + +
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+
+Collaboration diagram for UEventDispatcher:
+
+
Collaboration graph
+ + + + + + + +
[legend]
+ + + + +

+Protected Member Functions

virtual void mainLoop ()
 
+ + + +

+Friends

class UEventsManager
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from UThread
enum  Priority {
+  kPLow +, kPBelowNormal +, kPNormal +, kPAboveNormal +,
+  kPRealTime +
+ }
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
- Public Member Functions inherited from UThread
 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
void start ()
 
void kill ()
 
void join (bool killFirst=false)
 
void setPriority (Priority priority)
 
void setAffinity (int cpu=0)
 
bool isCreating () const
 
bool isRunning () const
 
bool isIdle () const
 
bool isKilled () const
 
Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
- Static Public Member Functions inherited from UThread
static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+

Detailed Description

+
+

Definition at line 34 of file UEventsManager.h.

+

Member Function Documentation

+ +

◆ mainLoop()

+ +
+
+ + + + + +
+ + + + + + + +
virtual void UEventDispatcher::mainLoop ()
+ 		+protectedvirtual
+
+

Pure virtual method mainLoop(). The inner loop of the thread. This method is called repetitively until the thread is killed. Note that if kill() is called in mainLoopBegin(), mainLoop() is not called, terminating immediately the thread.

+
See also
mainLoop()
+
+kill()
+ +

Implements UThread.

+ +
+
+

Friends And Related Symbol Documentation

+ +

◆ UEventsManager

+ +
+
+ + + + + +
+ + + + +
friend class UEventsManager
+ 		+friend
+
+ +

Definition at line 39 of file UEventsManager.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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index 00000000..6a67dd97 --- /dev/null +++ b/preview/pr-1492/api/latest/classUEventsHandler-members.html @@ -0,0 +1,97 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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UEventsHandler Member List
+
+
+ +

This is the complete list of members for UEventsHandler, including all inherited members.

+ + + + + + + + + + +
handleEvent(UEvent *event)=0UEventsHandlerprotectedpure virtual
post(UEvent *event, bool async=true) constUEventsSenderprotected
registerToEventsManager() (defined in UEventsHandler)UEventsHandler
UEventsHandler()UEventsHandlerinlineprotected
UEventsManagerUEventsHandlerfriend
UEventsSender() (defined in UEventsSender)UEventsSenderinline
unregisterFromEventsManager() (defined in UEventsHandler)UEventsHandler
~UEventsHandler()UEventsHandlerprotectedvirtual
~UEventsSender() (defined in UEventsSender)UEventsSendervirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUEventsHandler.html b/preview/pr-1492/api/latest/classUEventsHandler.html new file mode 100644 index 00000000..106bb5b7 --- /dev/null +++ b/preview/pr-1492/api/latest/classUEventsHandler.html @@ -0,0 +1,351 @@ + + + + + + + + +RTAB-Map: UEventsHandler Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Protected Member Functions | +Friends | +List of all members
+
UEventsHandler Class Referenceabstract
+
+
+ +

#include <UEventsHandler.h>

+
+Inheritance diagram for UEventsHandler:
+
+
Inheritance graph
+ + + + + + + + + +
[legend]
+
+Collaboration diagram for UEventsHandler:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + +

+Public Member Functions

+void registerToEventsManager ()
 
+void unregisterFromEventsManager ()
 
+ + + + + + + + + + +

+Protected Member Functions

virtual bool handleEvent (UEvent *event)=0
 
 UEventsHandler ()
 
virtual ~UEventsHandler ()
 
- Protected Member Functions inherited from UEventsSender
void post (UEvent *event, bool async=true) const
 
+ + + +

+Friends

class UEventsManager
 
+

Detailed Description

+

The class UEventsHandler is an abstract class for handling events.

+

Inherited classes must implement handleEvent() function, which is called by the UEventsManager when an event is dispatched. Once the handler is created, it must be added to events manager with UEventsManager::addHandler() function. Note that it is not safe to automatically add the handler to UEventsManager in the handler's constructor.

+

Note for multi-threading: the handleEvent() method is called inside the UEventsManager thread. If the inherited class also inherits from UThreadNode, handleEvent() is done as well outside the thread's main loop, so be careful to protect private data of the thread used in its main loop.

+

Example for a useful combination of an UEventsHandler and a UThreadNode, with safe data modification while not blocking the handleEvent() call on a mutex:

#include "utilite/UThreadNode.h"
+
#include "utilite/UEventsHandler.h"
+
#include "utilite/UEventsManager.h"
+
#include "utilite/UEvent.h"
+
+
// Implement a simple event
+
class ResetEvent : public UEvent {
+
public:
+
ResetEvent() {}
+
virtual ~ResetEvent() {}
+
virtual std::string getClassName() const {return "ResetEvent";} // Must be implemented
+
};
+
+
// There is the thread counting indefinitely, the count can be reseted by sending a ResetEvent.
+
class CounterThread : public UThreadNode, public UEventsHandler {
+
public:
+
CounterThread() : state_(0), count_(0) {}
+
virtual ~CounterThread() {this->join(true);}
+
+
protected:
+
virtual void mainLoop() {
+
if(state_ == 1) {
+
state_ = 0;
+
// Do a long initialization, reset memory or other special long works... here
+
// we reset the count. This could be done in the handleEvent() but
+
// with many objects, it is more safe to do it here (in the thread's loop). A safe
+
// way could be also to use a UMutex to protect this initialization in
+
// the handleEvent(), but it is not recommended to do long works in handleEvent()
+
// because this will add latency in the UEventsManager dispatching events loop.
+
count_ = 0; // Reset the count
+
printf("Reset!\n");
+
}
+
+
// Do some works...
+
printf("count=%d\n", count_++);
+
uSleep(100); // wait 100 ms
+
}
+
virtual void handleEvent(UEvent * event) {
+
if(event->getClassName().compare("ResetEvent") == 0) {
+
state_ = 1;
+
}
+
}
+
private:
+
int state_;
+
int count_;
+
};
+
+
int main(int argc, char * argv[])
+
{
+
CounterThread counter;
+
counter.start();
+
UEventsManager::addHandler(&counter);
+
+
uSleep(500); // wait 500 ms before sending a reset event
+
UEventsManager::post(new ResetEvent());
+
uSleep(500); // wait 500 ms before termination
+
+
UEventsManager::removeHandler(&counter);
+
counter.join(true); // Kill and wait to finish
+
return 0;
+
}
+ +
UEvent::getClassName
virtual std::string getClassName() const =0
+ +
UEventsManager::removeHandler
static void removeHandler(UEventsHandler *handler)
+
UEventsManager::addHandler
static void addHandler(UEventsHandler *handler)
+
UEventsManager::post
static void post(UEvent *event, bool async=true, const UEventsSender *sender=0)
+ +

The output is:

count=0
+
count=1
+
count=2
+
count=3
+
count=4
+
Reset!
+
count=0
+
count=1
+
count=2
+
count=3
+
count=4
+
See also
UEventsManager
+
+UEvent
+
+UThreadNode
+ +

Definition at line 128 of file UEventsHandler.h.

+

Constructor & Destructor Documentation

+ +

◆ UEventsHandler()

+ +
+
+ + + + + +
+ + + + + + + +
UEventsHandler::UEventsHandler ()
+ 		+inlineprotected
+
+

UEventsHandler constructor.

+

Note : You can call EventsManager::addHandler(this) at the end of the constructor of the inherited class where the virtual method handleEvent(...) is defined. If so, the UEventsHandler doesn't need to be manually added to the EventsManager where the handler is instantiated. We decided to not include UEventsManager::addHandler(this) in this abstract class constructor because an event can be handled (calling the pure virtual method) while the concrete class is constructed.

+ +

Definition at line 172 of file UEventsHandler.h.

+ +
+
+ +

◆ ~UEventsHandler()

+ +
+
+ + + + + +
+ + + + + + + +
virtual UEventsHandler::~UEventsHandler ()
+ 		+protectedvirtual
+
+

UEventsHandler destructor.

+

By default, it removes the handler reference from the UEventsManager. To be thread-safe, the inherited class must remove itself from the UEventsManager before it is deleted because an event can be handled (calling the pure virtual method handleEvent()) after the concrete class is deleted.

+ +
+
+

Member Function Documentation

+ +

◆ handleEvent()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual bool UEventsHandler::handleEvent (UEvent * event)
+ 		+protectedpure virtual
+
+

Method called by the UEventsManager to handle an event. Important : this method must do a minimum of work because the faster the dispatching loop is done; the faster the events are received. If a handling function takes too much time, the events list can grow faster than it is emptied. The event can be modified.

Returns
"true" to notify UEventsManager that this handler took ownership of the event (meaning it must delete it). The event will not be dispatched to next handlers.
+
+"false" to let event be dispatched to next handlers (default behavior). UEventsManager will take care of deleting the event.
+ +

Implemented in rtabmap::RtabmapThread, and rtabmap::OdometryThread.

+ +
+
+

Friends And Related Symbol Documentation

+ +

◆ UEventsManager

+ +
+
+ + + + + +
+ + + + +
friend class UEventsManager
+ 		+friend
+
+

Only the UEventsManager has access to the handleEvent() method.

+ +

Definition at line 140 of file UEventsHandler.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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UEventsManager Member List
+
+
+ +

This is the complete list of members for UEventsManager, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
addHandler(UEventsHandler *handler)UEventsManagerstatic
Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
createPipe(const UEventsSender *sender, const UEventsHandler *receiver, const std::string &eventName) (defined in UEventsManager)UEventsManagerstatic
currentThreadId() (defined in UThread)UThreadinlinestatic
Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
getInstance() (defined in UEventsManager)UEventsManagerprotectedstatic
getThreadHandle() const (defined in UThread)UThreadinline
getThreadId() const (defined in UThread)UThreadinline
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
isCreating() constUThread
isIdle() constUThread
isKilled() constUThread
isRunning() constUThread
join(bool killFirst=false)UThread
Join(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kill()UThread
Kill(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kPAboveNormal enum value (defined in UThread)UThread
kPBelowNormal enum value (defined in UThread)UThread
kPLow enum value (defined in UThread)UThread
kPNormal enum value (defined in UThread)UThread
kPRealTime enum value (defined in UThread)UThread
mainLoop()UEventsManagerprotectedvirtual
post(UEvent *event, bool async=true, const UEventsSender *sender=0)UEventsManagerstatic
Priority enum nameUThread
removeAllPipes(const UEventsSender *sender) (defined in UEventsManager)UEventsManagerstatic
removeHandler(UEventsHandler *handler)UEventsManagerstatic
removeNullPipes(const UEventsSender *sender) (defined in UEventsManager)UEventsManagerstatic
removePipe(const UEventsSender *sender, const UEventsHandler *receiver, const std::string &eventName) (defined in UEventsManager)UEventsManagerstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
setAffinity(int cpu=0)UThread
setPriority(Priority priority)UThread
start()UThread
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
UDestroyer< UEventsManager > (defined in UEventsManager)UEventsManagerfriend
UEventsManager() (defined in UEventsManager)UEventsManagerprotected
UThread(Priority priority=kPNormal)UThread
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
~UEventsManager() (defined in UEventsManager)UEventsManagerprotectedvirtual
~UThread()UThreadvirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classUEventsManager.html b/preview/pr-1492/api/latest/classUEventsManager.html new file mode 100644 index 00000000..2e9194e6 --- /dev/null +++ b/preview/pr-1492/api/latest/classUEventsManager.html @@ -0,0 +1,440 @@ + + + + + + + + +RTAB-Map: UEventsManager Class Reference + + + + + + + + + + + + +
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+Classes | +Static Public Member Functions | +Protected Member Functions | +Static Protected Member Functions | +Friends | +List of all members
+
UEventsManager Class Reference
+
+
+ +

#include <UEventsManager.h>

+
+Inheritance diagram for UEventsManager:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for UEventsManager:
+
+
Collaboration graph
+ + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Static Public Member Functions

static void addHandler (UEventsHandler *handler)
 
static void removeHandler (UEventsHandler *handler)
 
static void post (UEvent *event, bool async=true, const UEventsSender *sender=0)
 
+static void createPipe (const UEventsSender *sender, const UEventsHandler *receiver, const std::string &eventName)
 
+static void removePipe (const UEventsSender *sender, const UEventsHandler *receiver, const std::string &eventName)
 
+static void removeAllPipes (const UEventsSender *sender)
 
+static void removeNullPipes (const UEventsSender *sender)
 
- Static Public Member Functions inherited from UThread
static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
+ + + +

+Protected Member Functions

virtual void mainLoop ()
 
+ + + + + + + + + + + + + + + + +

+Static Protected Member Functions

+static UEventsManager * getInstance ()
 
- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+ + + +

+Friends

class UDestroyer< UEventsManager >
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from UThread
enum  Priority {
+  kPLow +, kPBelowNormal +, kPNormal +, kPAboveNormal +,
+  kPRealTime +
+ }
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
- Public Member Functions inherited from UThread
 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
void start ()
 
void kill ()
 
void join (bool killFirst=false)
 
void setPriority (Priority priority)
 
void setAffinity (int cpu=0)
 
bool isCreating () const
 
bool isRunning () const
 
bool isIdle () const
 
bool isKilled () const
 
Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
+

Detailed Description

+

This class is used to post events between threads in the application. It is Thread-Safe and the events are sent to receivers in the same order they are posted (FIFO). It works like the design pattern Mediator. It is also a Singleton, so it can be used anywhere in the application.

+

To send an event, use UEventsManager::post(). Events are automatically deleted after they are posted.

+

The EventsManager have a list of handlers to which it sends posted events. To add an handler, use UEventsManager::addHandler(). To remove, use UEventsManager::removeHandler().

+
// Anywhere in the code:
+
UEventsManager::post(new MyEvent()); // where MyEvent is an implemented UEvent
+
UEventsManager::post
static void post(UEvent *event, bool async=true, const UEventsSender *sender=0)
+
See also
UEvent
+
+UEventsHandler
+
+post()
+
+addHandler()
+
+removeHandler()
+ +

Definition at line 78 of file UEventsManager.h.

+

Member Function Documentation

+ +

◆ addHandler()

+ +
+
+ + + + + +
+ + + + + + + + +
static void UEventsManager::addHandler (UEventsHandler * handler)
+ 		+static
+
+

This method is used to add an events handler to the list of handlers.

+
Parameters
+ + +
handlerthe handler to be added.
+
+
+ +
+
+ +

◆ removeHandler()

+ +
+
+ + + + + +
+ + + + + + + + +
static void UEventsManager::removeHandler (UEventsHandler * handler)
+ 		+static
+
+

This method is used to remove an events handler from the list of handlers.

+
Parameters
+ + +
handlerthe handler to be removed.
+
+
+ +
+
+ +

◆ post()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
static void UEventsManager::post (UEvent * event,
bool async = true,
const UEventsSender * sender = 0 
)
+ 		+static
+
+

This method is used to post an event to handlers.

+

Event can be posted asynchronously or not. In the first case, the event is dispatched by the UEventsManager's thread. In the second case, the event is handled immediately by event's receivers, thus in the sender thread.

+
Parameters
+ + + +
eventthe event to be posted.
asyncif true, the event is dispatched by the UEventsManager thread, otherwise it's in the caller thread (synchronous).
+
+
+ +
+
+ +

◆ mainLoop()

+ +
+
+ + + + + +
+ + + + + + + +
virtual void UEventsManager::mainLoop ()
+ 		+protectedvirtual
+
+

The UEventsManager's main loop.

+ +

Implements UThread.

+ +
+
+

Friends And Related Symbol Documentation

+ +

◆ UDestroyer< UEventsManager >

+ +
+
+ + + + + +
+ + + + +
friend class UDestroyer< UEventsManager >
+ 		+friend
+
+ +

Definition at line 147 of file UEventsManager.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
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UEventsSender Member List
+
+
+ +

This is the complete list of members for UEventsSender, including all inherited members.

+ + + + +
post(UEvent *event, bool async=true) constUEventsSenderprotected
UEventsSender() (defined in UEventsSender)UEventsSenderinline
~UEventsSender() (defined in UEventsSender)UEventsSendervirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUEventsSender.html b/preview/pr-1492/api/latest/classUEventsSender.html new file mode 100644 index 00000000..faf1cce9 --- /dev/null +++ b/preview/pr-1492/api/latest/classUEventsSender.html @@ -0,0 +1,184 @@ + + + + + + + + +RTAB-Map: UEventsSender Class Reference + + + + + + + + + + + + +
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+Protected Member Functions | +List of all members
+
UEventsSender Class Reference
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+Inheritance diagram for UEventsSender:
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+
Inheritance graph
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[legend]
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+Protected Member Functions

void post (UEvent *event, bool async=true) const
 
+

Detailed Description

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+

Definition at line 15 of file UEventsSender.h.

+

Constructor & Destructor Documentation

+ +

◆ UEventsSender()

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UEventsSender::UEventsSender ()
+ 		+inline
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+ +

Definition at line 18 of file UEventsSender.h.

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Member Function Documentation

+ +

◆ post()

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void UEventsSender::post (UEvent * event,
bool async = true 
) const
+ 		+protected
+
+

For convenience to post an event. This is the same than calling UEventsManager::post() with the sender reference.

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The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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UException Member List
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This is the complete list of members for UException, including all inherited members.

+ + +
UException(const std::string &what) (defined in UException)UExceptioninline
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUException.html b/preview/pr-1492/api/latest/classUException.html new file mode 100644 index 00000000..c3bd4d15 --- /dev/null +++ b/preview/pr-1492/api/latest/classUException.html @@ -0,0 +1,149 @@ + + + + + + + + +RTAB-Map: UException Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
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UException Class Reference
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+Inheritance diagram for UException:
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Inheritance graph
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+Collaboration diagram for UException:
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+Public Member Functions

 UException (const std::string &what)
 
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Detailed Description

+
+

Definition at line 25 of file UException.h.

+

Constructor & Destructor Documentation

+ +

◆ UException()

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UException::UException (const std::string & what)
+ 		+inline
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Definition at line 28 of file UException.h.

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The documentation for this class was generated from the following file: +
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+Generated by doxygen 1.9.8 +
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+ + + + + + +
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+
UFile Member List
+
+
+ +

This is the complete list of members for UFile, including all inherited members.

+ + + + + + + + + + + + + + + + + +
copy(const std::string &from, const std::string &to)UFilestatic
copy(const std::string &to)UFileinline
erase(const std::string &filePath)UFilestatic
exists(const std::string &filePath)UFilestatic
exists()UFileinline
getExtension(const std::string &filePath)UFilestatic
getExtension()UFileinline
getName(const std::string &filePath)UFilestatic
getName()UFileinline
isValid()UFileinline
length(const std::string &filePath)UFilestatic
length()UFileinline
rename(const std::string &oldFilePath, const std::string &newFilePath)UFilestatic
rename(const std::string &newName)UFileinline
UFile(const std::string &path)UFileinline
~UFile() (defined in UFile)UFileinline
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUFile.html b/preview/pr-1492/api/latest/classUFile.html new file mode 100644 index 00000000..21b71243 --- /dev/null +++ b/preview/pr-1492/api/latest/classUFile.html @@ -0,0 +1,653 @@ + + + + + + + + +RTAB-Map: UFile Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +List of all members
+
UFile Class Reference
+
+
+ +

#include <UFile.h>

+ + + + + + + + + + + + + + + + + + +

+Public Member Functions

 UFile (const std::string &path)
 
bool isValid ()
 
bool exists ()
 
long length ()
 
int rename (const std::string &newName)
 
std::string getName ()
 
std::string getExtension ()
 
void copy (const std::string &to)
 
+ + + + + + + + + + + + + + + +

+Static Public Member Functions

static bool exists (const std::string &filePath)
 
static long length (const std::string &filePath)
 
static int erase (const std::string &filePath)
 
static int rename (const std::string &oldFilePath, const std::string &newFilePath)
 
static std::string getName (const std::string &filePath)
 
static std::string getExtension (const std::string &filePath)
 
static void copy (const std::string &from, const std::string &to)
 
+

Detailed Description

+

Class UFile.

+

This class can be used to modify/erase files on hard drive.

+ +

Definition at line 33 of file UFile.h.

+

Constructor & Destructor Documentation

+ +

◆ UFile()

+ +
+
+ + + + + +
+ + + + + + + + +
UFile::UFile (const std::string & path)
+ 		+inline
+
+

Create a UFile object with path initialized to an existing file .

Parameters
+ + +
paththe path to an existing file
+
+
+ +

Definition at line 91 of file UFile.h.

+ +
+
+ +

◆ ~UFile()

+ +
+
+ + + + + +
+ + + + + + + +
UFile::~UFile ()
+ 		+inline
+
+ +

Definition at line 92 of file UFile.h.

+ +
+
+

Member Function Documentation

+ +

◆ exists() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static bool UFile::exists (const std::string & filePath)
+ 		+static
+
+

Check if a file exists.

Parameters
+ + +
filePaththe file path
+
+
+
Returns
true if the file exists, otherwise false.
+ +
+
+ +

◆ length() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static long UFile::length (const std::string & filePath)
+ 		+static
+
+

Get the file length.

Parameters
+ + +
filePaththe file path
+
+
+
Returns
long the length of the file in bytes. Return -1 if the file doesn't exist.
+ +
+
+ +

◆ erase()

+ +
+
+ + + + + +
+ + + + + + + + +
static int UFile::erase (const std::string & filePath)
+ 		+static
+
+

Erase a file.

Parameters
+ + +
filePaththe file path
+
+
+
Returns
0 if success.
+ +
+
+ +

◆ rename() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
static int UFile::rename (const std::string & oldFilePath,
const std::string & newFilePath 
)
+ 		+static
+
+

Rename a file.

Parameters
+ + + +
oldFilePaththe old file path
newFilePaththe new file path
+
+
+
Returns
0 if success.
+ +
+
+ +

◆ getName() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static std::string UFile::getName (const std::string & filePath)
+ 		+static
+
+

Get the file name from a file path (with extension).

Parameters
+ + +
filePaththe file path
+
+
+
Returns
the file name.
+ +
+
+ +

◆ getExtension() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static std::string UFile::getExtension (const std::string & filePath)
+ 		+static
+
+

Get the file extension.

Returns
the file extension
+ +
+
+ +

◆ copy() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
static void UFile::copy (const std::string & from,
const std::string & to 
)
+ 		+static
+
+

Copy a file.

Parameters
+ + + +
fromthe file path
todestination file path
+
+
+ +
+
+ +

◆ isValid()

+ +
+
+ + + + + +
+ + + + + + + +
bool UFile::isValid ()
+ 		+inline
+
+

Check if the file exists. Same as exists().

Returns
true if the path exits
+ +

Definition at line 98 of file UFile.h.

+ +
+
+ +

◆ exists() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
bool UFile::exists ()
+ 		+inline
+
+

Check if the file exists.

Returns
true if the path exits
+ +

Definition at line 104 of file UFile.h.

+ +
+
+ +

◆ length() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
long UFile::length ()
+ 		+inline
+
+

Get the length of the file.

Returns
long the length of the file in bytes. Return -1 if the file doesn't exist.
+ +

Definition at line 110 of file UFile.h.

+ +
+
+ +

◆ rename() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
int UFile::rename (const std::string & newName)
+ 		+inline
+
+

Rename the file name. The path stays the same.

Parameters
+ + +
thenew name
+
+
+ +

Definition at line 116 of file UFile.h.

+ +
+
+ +

◆ getName() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
std::string UFile::getName ()
+ 		+inline
+
+

Get the file name without the path.

Returns
the file name
+ +

Definition at line 135 of file UFile.h.

+ +
+
+ +

◆ getExtension() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
std::string UFile::getExtension ()
+ 		+inline
+
+

Get the file extension.

Returns
the file extension
+ +

Definition at line 140 of file UFile.h.

+ +
+
+ +

◆ copy() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
void UFile::copy (const std::string & to)
+ 		+inline
+
+

Copy a file.

Parameters
+ + +
todestination file path
+
+
+ +

Definition at line 146 of file UFile.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • utilite/include/rtabmap/utilite/UFile.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classULogEvent-members.html b/preview/pr-1492/api/latest/classULogEvent-members.html new file mode 100644 index 00000000..0dc03253 --- /dev/null +++ b/preview/pr-1492/api/latest/classULogEvent-members.html @@ -0,0 +1,95 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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ULogEvent Member List
+
+
+ +

This is the complete list of members for ULogEvent, including all inherited members.

+ + + + + + + + +
getClassName() constULogEventinlinevirtual
getCode() constUEventinline
getMsg() constULogEventinline
UEvent(int code=0)UEventinlineprotected
ULogEvent(const std::string &msg, int level)ULogEventinline
~UEvent() (defined in UEvent)UEventinlinevirtual
~ULogEvent() (defined in ULogEvent)ULogEventinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classULogEvent.html b/preview/pr-1492/api/latest/classULogEvent.html new file mode 100644 index 00000000..2c8a8a89 --- /dev/null +++ b/preview/pr-1492/api/latest/classULogEvent.html @@ -0,0 +1,269 @@ + + + + + + + + +RTAB-Map: ULogEvent Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
+
ULogEvent Class Reference
+
+
+ +

#include <ULogger.h>

+
+Inheritance diagram for ULogEvent:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for ULogEvent:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + +

+Public Member Functions

 ULogEvent (const std::string &msg, int level)
 
const std::string & getMsg () const
 
virtual std::string getClassName () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+

This class is used by the ULogger to send logged messages like events. Messages with level over the event level set in ULogger::setEventLevel() are sent like ULogEvent with the message and its level. The default event level of ULogger is kFatal (see ULogger::Level).

+ +

Definition at line 121 of file ULogger.h.

+

Constructor & Destructor Documentation

+ +

◆ ULogEvent()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
ULogEvent::ULogEvent (const std::string & msg,
int level 
)
+ 		+inline
+
+

ULogEvent constructor. Note that to retrieve the message level, use UEvent::getCode().

Parameters
+ + + +
msgthe message already formatted to a full string.
levelthe severity of the message,
+
+
+
See also
ULogger::Level.
+ +

Definition at line 129 of file ULogger.h.

+ +
+
+ +

◆ ~ULogEvent()

+ +
+
+ + + + + +
+ + + + + + + +
virtual ULogEvent::~ULogEvent ()
+ 		+inlinevirtual
+
+ +

Definition at line 133 of file ULogger.h.

+ +
+
+

Member Function Documentation

+ +

◆ getMsg()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & ULogEvent::getMsg () const
+ 		+inline
+
+

Get the message from the event.

+ +

Definition at line 137 of file ULogger.h.

+ +
+
+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string ULogEvent::getClassName () const
+ 		+inlinevirtual
+
+
Returns
string "ULogEvent"
+ +

Implements UEvent.

+ +

Definition at line 141 of file ULogger.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • utilite/include/rtabmap/utilite/ULogger.h
    • +
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+Generated by doxygen 1.9.8 +
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ULogger Member List
+
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+ +

This is the complete list of members for ULogger, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
_flush() (defined in ULogger)ULoggerprotected
append_ (defined in ULogger)ULoggerprotectedstatic
eventLevel() (defined in ULogger)ULoggerinlinestatic
flush()ULoggerstatic
getInstance() (defined in ULogger)ULoggerprotectedstatic
getRegisteredThreads() (defined in ULogger)ULoggerstatic
getTime(std::string &timeStr)ULoggerstatic
getTreadIdFilter() (defined in ULogger)ULoggerinlinestatic
isBuffered() (defined in ULogger)ULoggerinlinestatic
isPrintColored() (defined in ULogger)ULoggerinlinestatic
isPrintEndLine() (defined in ULogger)ULoggerinlinestatic
isPrintLevel() (defined in ULogger)ULoggerinlinestatic
isPrintThreadId() (defined in ULogger)ULoggerinlinestatic
isPrintTime() (defined in ULogger)ULoggerinlinestatic
isPrintWhere() (defined in ULogger)ULoggerinlinestatic
isPrintWhereFullPath() (defined in ULogger)ULoggerinlinestatic
kDebug enum value (defined in ULogger)ULogger
kDefaultLogFileNameULoggerstatic
kError enum value (defined in ULogger)ULogger
kFatal enum value (defined in ULogger)ULogger
kInfo enum value (defined in ULogger)ULogger
kTypeConsole enum value (defined in ULogger)ULogger
kTypeFile enum value (defined in ULogger)ULogger
kTypeNoLog enum value (defined in ULogger)ULogger
kWarning enum value (defined in ULogger)ULogger
level() (defined in ULogger)ULoggerinlinestatic
Level enum nameULogger
logFileName_ (defined in ULogger)ULoggerprotectedstatic
registerCurrentThread(const std::string &name)ULoggerstatic
reset()ULoggerstatic
setBuffered(bool buffered)ULoggerstatic
setEventLevel(ULogger::Level eventSentLevel)ULoggerinlinestatic
setLevel(ULogger::Level level)ULoggerinlinestatic
setPrintColored(bool printColored)ULoggerinlinestatic
setPrintEndline(bool printEndline)ULoggerinlinestatic
setPrintLevel(bool printLevel)ULoggerinlinestatic
setPrintThreadId(bool printThreadId)ULoggerinlinestatic
setPrintTime(bool printTime)ULoggerinlinestatic
setPrintWhere(bool printWhere)ULoggerinlinestatic
setPrintWhereFullPath(bool printWhereFullPath)ULoggerinlinestatic
setTreadIdFilter(const std::set< unsigned long > &ids)ULoggerinlinestatic
setTreadIdFilter(const std::vector< std::string > &ids) (defined in ULogger)ULoggerstatic
setType(Type type, const std::string &fileName=kDefaultLogFileName, bool append=true)ULoggerstatic
Type enum nameULogger
type() (defined in ULogger)ULoggerinlinestatic
UDestroyer< ULogger > (defined in ULogger)ULoggerfriend
ULogger() (defined in ULogger)ULoggerinlineprotected
unregisterCurrentThread() (defined in ULogger)ULoggerstatic
write(ULogger::Level level, const char *file, int line, const char *function, const char *msg,...) (defined in ULogger)ULoggerstatic
~ULogger() (defined in ULogger)ULoggerprotectedvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classULogger.html b/preview/pr-1492/api/latest/classULogger.html new file mode 100644 index 00000000..602ed253 --- /dev/null +++ b/preview/pr-1492/api/latest/classULogger.html @@ -0,0 +1,1307 @@ + + + + + + + + +RTAB-Map: ULogger Class Reference + + + + + + + + + + + + +
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+Public Types | +Static Public Member Functions | +Static Public Attributes | +Protected Member Functions | +Static Protected Member Functions | +Static Protected Attributes | +Friends | +List of all members
+
ULogger Class Reference
+
+
+ +

#include <ULogger.h>

+ + + + + + +

+Public Types

enum  Type { kTypeNoLog +, kTypeConsole +, kTypeFile + }
 
enum  Level {
+  kDebug +, kInfo +, kWarning +, kError +,
+  kFatal +
+ }
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Static Public Member Functions

static void setType (Type type, const std::string &fileName=kDefaultLogFileName, bool append=true)
 
static Type type ()
 
static void setPrintTime (bool printTime)
 
static bool isPrintTime ()
 
static void setPrintLevel (bool printLevel)
 
static bool isPrintLevel ()
 
static void setPrintEndline (bool printEndline)
 
static bool isPrintEndLine ()
 
static void setPrintColored (bool printColored)
 
static bool isPrintColored ()
 
static void setPrintWhere (bool printWhere)
 
static bool isPrintWhere ()
 
static void setPrintThreadId (bool printThreadId)
 
static bool isPrintThreadId ()
 
static void setPrintWhereFullPath (bool printWhereFullPath)
 
static bool isPrintWhereFullPath ()
 
static void setBuffered (bool buffered)
 
static bool isBuffered ()
 
static void setLevel (ULogger::Level level)
 
static ULogger::Level level ()
 
static void setEventLevel (ULogger::Level eventSentLevel)
 
static ULogger::Level eventLevel ()
 
static void setTreadIdFilter (const std::set< unsigned long > &ids)
 
+static void setTreadIdFilter (const std::vector< std::string > &ids)
 
static const std::set< unsigned long > & getTreadIdFilter ()
 
static void registerCurrentThread (const std::string &name)
 
+static void unregisterCurrentThread ()
 
+static std::map< std::string, unsigned long > getRegisteredThreads ()
 
static void reset ()
 
static void flush ()
 
+static void write (ULogger::Level level, const char *file, int line, const char *function, const char *msg,...)
 
static int getTime (std::string &timeStr)
 
+ + + +

+Static Public Attributes

static const std::string kDefaultLogFileName
 
+ + + +

+Protected Member Functions

+void _flush ()
 
+ + + +

+Static Protected Member Functions

+static ULogger * getInstance ()
 
+ + + + + +

+Static Protected Attributes

static std::string logFileName_
 
static bool append_
 
+ + + +

+Friends

class UDestroyer< ULogger >
 
+

Detailed Description

+

This class is used to log messages with time on a console, in a file and/or with an event. At the start of the application, call ULogger::setType() with the type of the logger you want (see ULogger::Type, the type of the output can be changed at the run-time.). To use it, simply call the convenient macros UDEBUG(), UINFO(), UWARN(), UERROR(), UFATAL() depending of the severity of the message. You can disable some messages by setting the logger level ULogger::setLevel() to severity you want, defined by ULogger::Level. A fatal message will make the application to exit, printing the message on console (whatever the logger type) and posting a ULogEvent (synchronously... see UEventsManager::post()) before exiting.

+

The display of the logged messages can be modified:

+

When using a file logger (kTypeLogger), it can be useful in some application to buffer messages before writing them to hard drive (avoiding hard drive latencies). You can set ULogger::setBuffered() to true to do that. When the buffered messages will be written to file on appllciation exit (ULogger destructor) or when ULogger::flush() is called.

+

If you want the application to exit on a lower severity level than kFatal, you can set ULogger::setExitLevel() to any ULogger::Type you want.

+

Example:

#include <utilite/ULogger.h>
+
int main(int argc, char * argv[])
+
{
+
// Set the logger type. The choices are kTypeConsole,
+
// kTypeFile or kTypeNoLog (nothing is logged).
+
ULogger::setType(ULogger::kTypeConsole);
+
+
// Set the logger severity level (kDebug, kInfo, kWarning, kError, kFatal).
+
// All log entries under the severity level are not logged. Here,
+
// only debug messages are not logged.
+
ULogger::setLevel(ULogger::kInfo);
+
+
// Use a predefined Macro to easy logging. It can be
+
// called anywhere in the application as the logger is
+
// a Singleton.
+
UDEBUG("This message won't be logged because the "
+
"severity level of the logger is set to kInfo.");
+
+
UINFO("This message is logged.");
+
+
UWARN("A warning message...");
+
+
UERROR("An error message with code %d.", 42);
+
+
return 0;
+
}
+
ULogger.h
ULogger class and convenient macros.
+
UERROR
#define UERROR(...)
Definition ULogger.h:62
+
UINFO
#define UINFO(...)
Definition ULogger.h:60
+
UDEBUG
#define UDEBUG(...)
Definition ULogger.h:59
+
UWARN
#define UWARN(...)
Definition ULogger.h:61
+
ULogger::setType
static void setType(Type type, const std::string &fileName=kDefaultLogFileName, bool append=true)
+
ULogger::setLevel
static void setLevel(ULogger::Level level)
Definition ULogger.h:343
+

Output:

[ INFO] (2010-09-25 18:08:20) main.cpp:18::main() This message is logged.
+
[ WARN] (2010-09-25 18:08:20) main.cpp:20::main() A warning message...
+
[ERROR] (2010-09-25 18:08:20) main.cpp:22::main() An error message with code 42.
+

Another useful form of the ULogger is to use it with the UTimer class. Here an example:

#include <utilite/ULogger.h>
+
#include <utilite/UTimer.h>
+
...
+
UTimer timer; // automatically starts
+
// do some works for part A
+
UINFO("Time for part A = %f s", timer.ticks());
+
// do some works for part B
+
UINFO("Time for part B = %f s", timer.ticks());
+
// do some works for part C
+
UINFO("Time for part C = %f s", timer.ticks());
+
...
+
See also
setType()
+
+setLevel()
+
+UDEBUG(), UINFO(), UWARN(), UERROR(), UFATAL()
+ +

Definition at line 229 of file ULogger.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum ULogger::Type
+
+

Loggers available:

kTypeNoLog, kTypeConsole, kTypeFile
+
+

Definition at line 244 of file ULogger.h.

+ +
+
+ +

◆ Level

+ +
+
+ + + + +
enum ULogger::Level
+
+

Logger levels, from lowest severity to highest:

kDebug, kInfo, kWarning, kError, kFatal
+
+

Definition at line 252 of file ULogger.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ ULogger()

+ +
+
+ + + + + +
+ + + + + + + +
ULogger::ULogger ()
+ 		+inlineprotected
+
+ +

Definition at line 422 of file ULogger.h.

+ +
+
+

Member Function Documentation

+ +

◆ setType()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
static void ULogger::setType (Type type,
const std::string & fileName = kDefaultLogFileName,
bool append = true 
)
+ 		+static
+
+

Set the type of the logger. When using kTypeFile, the parameter "fileName" would be changed (default is "./ULog.txt"), and optionally "append" if we want the logger to append messages to file or to overwrite the file.

Parameters
+ + + + +
typethe ULogger::Type of the logger.
fileNamefile name used with a file logger type.
appendif true, the file isn't overwritten, otherwise it is.
+
+
+

TODO : Can it be useful to have 2 or more types at the same time ? Print in console and file at the same time.

+ +
+
+ +

◆ type()

+ +
+
+ + + + + +
+ + + + + + + +
static Type ULogger::type ()
+ 		+inlinestatic
+
+ +

Definition at line 266 of file ULogger.h.

+ +
+
+ +

◆ setPrintTime()

+ +
+
+ + + + + +
+ + + + + + + + +
static void ULogger::setPrintTime (bool printTime)
+ 		+inlinestatic
+
+

Print time: default true.

Parameters
+ + +
printTimetrue to print time, otherwise set to false.
+
+
+ +

Definition at line 273 of file ULogger.h.

+ +
+
+ +

◆ isPrintTime()

+ +
+
+ + + + + +
+ + + + + + + +
static bool ULogger::isPrintTime ()
+ 		+inlinestatic
+
+ +

Definition at line 274 of file ULogger.h.

+ +
+
+ +

◆ setPrintLevel()

+ +
+
+ + + + + +
+ + + + + + + + +
static void ULogger::setPrintLevel (bool printLevel)
+ 		+inlinestatic
+
+

Print level: default true.

Parameters
+ + +
printLeveltrue to print level, otherwise set to false.
+
+
+ +

Definition at line 280 of file ULogger.h.

+ +
+
+ +

◆ isPrintLevel()

+ +
+
+ + + + + +
+ + + + + + + +
static bool ULogger::isPrintLevel ()
+ 		+inlinestatic
+
+ +

Definition at line 281 of file ULogger.h.

+ +
+
+ +

◆ setPrintEndline()

+ +
+
+ + + + + +
+ + + + + + + + +
static void ULogger::setPrintEndline (bool printEndline)
+ 		+inlinestatic
+
+

Print end of line: default true.

Parameters
+ + +
printLeveltrue to print end of line, otherwise set to false.
+
+
+ +

Definition at line 287 of file ULogger.h.

+ +
+
+ +

◆ isPrintEndLine()

+ +
+
+ + + + + +
+ + + + + + + +
static bool ULogger::isPrintEndLine ()
+ 		+inlinestatic
+
+ +

Definition at line 288 of file ULogger.h.

+ +
+
+ +

◆ setPrintColored()

+ +
+
+ + + + + +
+ + + + + + + + +
static void ULogger::setPrintColored (bool printColored)
+ 		+inlinestatic
+
+

Print text with color: default true. Dark green for Debug, white for Info, yellow for Warning, red for Error and Fatal.

Parameters
+ + +
printColoredtrue to print text with color, otherwise set to false.
+
+
+ +

Definition at line 295 of file ULogger.h.

+ +
+
+ +

◆ isPrintColored()

+ +
+
+ + + + + +
+ + + + + + + +
static bool ULogger::isPrintColored ()
+ 		+inlinestatic
+
+ +

Definition at line 296 of file ULogger.h.

+ +
+
+ +

◆ setPrintWhere()

+ +
+
+ + + + + +
+ + + + + + + + +
static void ULogger::setPrintWhere (bool printWhere)
+ 		+inlinestatic
+
+

Print where is this message in source code: default true.

Parameters
+ + +
printWheretrue to print where, otherwise set to false.
+
+
+ +

Definition at line 302 of file ULogger.h.

+ +
+
+ +

◆ isPrintWhere()

+ +
+
+ + + + + +
+ + + + + + + +
static bool ULogger::isPrintWhere ()
+ 		+inlinestatic
+
+ +

Definition at line 303 of file ULogger.h.

+ +
+
+ +

◆ setPrintThreadId()

+ +
+
+ + + + + +
+ + + + + + + + +
static void ULogger::setPrintThreadId (bool printThreadId)
+ 		+inlinestatic
+
+

Print thread ID: default false.

Parameters
+ + +
printThreadIdtrue to print where, otherwise set to false.
+
+
+ +

Definition at line 309 of file ULogger.h.

+ +
+
+ +

◆ isPrintThreadId()

+ +
+
+ + + + + +
+ + + + + + + +
static bool ULogger::isPrintThreadId ()
+ 		+inlinestatic
+
+ +

Definition at line 310 of file ULogger.h.

+ +
+
+ +

◆ setPrintWhereFullPath()

+ +
+
+ + + + + +
+ + + + + + + + +
static void ULogger::setPrintWhereFullPath (bool printWhereFullPath)
+ 		+inlinestatic
+
+

Print the full path: default true. ULogger::setPrintWhere() must be true to have path printed.

Parameters
+ + +
printWhereFullPathtrue to print the full path, otherwise set to false.
+
+
+ +

Definition at line 316 of file ULogger.h.

+ +
+
+ +

◆ isPrintWhereFullPath()

+ +
+
+ + + + + +
+ + + + + + + +
static bool ULogger::isPrintWhereFullPath ()
+ 		+inlinestatic
+
+ +

Definition at line 317 of file ULogger.h.

+ +
+
+ +

◆ setBuffered()

+ +
+
+ + + + + +
+ + + + + + + + +
static void ULogger::setBuffered (bool buffered)
+ 		+static
+
+

Set is the logger buffers messages, default false. When true, the messages are buffered until the application is closed or ULogger::flush() is called.

+

Note that if logging to a file, flush doesn't mean that messages are written to file right away. To write everything on disk, set logger type to kTypeNoLog.

+
See also
ULogger::flush()
+
Parameters
+ + +
bufferedtrue to buffer messages, otherwise set to false.
+
+
+ +
+
+ +

◆ isBuffered()

+ +
+
+ + + + + +
+ + + + + + + +
static bool ULogger::isBuffered ()
+ 		+inlinestatic
+
+ +

Definition at line 330 of file ULogger.h.

+ +
+
+ +

◆ setLevel()

+ +
+
+ + + + + +
+ + + + + + + + +
static void ULogger::setLevel (ULogger::Level level)
+ 		+inlinestatic
+
+

Set logger level: default kInfo. All messages over the severity set are printed, other are ignored. The severity is from the lowest to highest:

    +
  • kDebug
    • +
  • kInfo
    • +
  • kWarning
    • +
  • kError
    • +
  • kFatal
    Parameters
    + + +
    levelthe minimum level of the messages printed.
    +
    +
    +
    • +
+ +

Definition at line 343 of file ULogger.h.

+ +
+
+ +

◆ level()

+ +
+
+ + + + + +
+ + + + + + + +
static ULogger::Level ULogger::level ()
+ 		+inlinestatic
+
+ +

Definition at line 344 of file ULogger.h.

+ +
+
+ +

◆ setEventLevel()

+ +
+
+ + + + + +
+ + + + + + + + +
static void ULogger::setEventLevel (ULogger::Level eventSentLevel)
+ 		+inlinestatic
+
+

An ULogEvent is sent on each message logged at the specified level. Note : On message with level >= exitLevel, the event is sent synchronously (see UEventsManager::post()).

See also
ULogEvent
+
+setExitLevel()
+ +

Definition at line 352 of file ULogger.h.

+ +
+
+ +

◆ eventLevel()

+ +
+
+ + + + + +
+ + + + + + + +
static ULogger::Level ULogger::eventLevel ()
+ 		+inlinestatic
+
+ +

Definition at line 353 of file ULogger.h.

+ +
+
+ +

◆ setTreadIdFilter()

+ +
+
+ + + + + +
+ + + + + + + + +
static void ULogger::setTreadIdFilter (const std::set< unsigned long > & ids)
+ 		+inlinestatic
+
+

If not empty, only show log messages from threads included in this list.

+ +

Definition at line 358 of file ULogger.h.

+ +
+
+ +

◆ getTreadIdFilter()

+ +
+
+ + + + + +
+ + + + + + + +
static const std::set< unsigned long > & ULogger::getTreadIdFilter ()
+ 		+inlinestatic
+
+ +

Definition at line 360 of file ULogger.h.

+ +
+
+ +

◆ registerCurrentThread()

+ +
+
+ + + + + +
+ + + + + + + + +
static void ULogger::registerCurrentThread (const std::string & name)
+ 		+static
+
+

Threads can register to this list. If name is empty, it will clear the thread in the list. Should be called from the thread itself.

+ +
+
+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + +
static void ULogger::reset ()
+ 		+static
+
+

Reset to default parameters.

+ +
+
+ +

◆ flush()

+ +
+
+ + + + + +
+ + + + + + + +
static void ULogger::flush ()
+ 		+static
+
+

Flush buffered messages.

See also
setBuffered()
+ +
+
+ +

◆ getTime()

+ +
+
+ + + + + +
+ + + + + + + + +
static int ULogger::getTime (std::string & timeStr)
+ 		+static
+
+

Get the time in the format "2008-7-13 12:23:44".

Parameters
+ + +
timeStrstring were the time will be copied.
+
+
+
Returns
the number of characters written, or 0 if an error occurred.
+ +
+
+

Friends And Related Symbol Documentation

+ +

◆ UDestroyer< ULogger >

+ +
+
+ + + + + +
+ + + + +
friend class UDestroyer< ULogger >
+ 		+friend
+
+ +

Definition at line 433 of file ULogger.h.

+ +
+
+

Member Data Documentation

+ +

◆ kDefaultLogFileName

+ +
+
+ + + + + +
+ + + + +
const std::string ULogger::kDefaultLogFileName
+ 		+static
+
+

The default log file name.

+ +

Definition at line 236 of file ULogger.h.

+ +
+
+ +

◆ logFileName_

+ +
+
+ + + + + +
+ + + + +
std::string ULogger::logFileName_
+ 		+staticprotected
+
+ +

Definition at line 447 of file ULogger.h.

+ +
+
+ +

◆ append_

+ +
+
+ + + + + +
+ + + + +
bool ULogger::append_
+ 		+staticprotected
+
+ +

Definition at line 452 of file ULogger.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • utilite/include/rtabmap/utilite/ULogger.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUMutex-members.html b/preview/pr-1492/api/latest/classUMutex-members.html new file mode 100644 index 00000000..a1326724 --- /dev/null +++ b/preview/pr-1492/api/latest/classUMutex-members.html @@ -0,0 +1,93 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+ + + + + + + + +
+
+ + +
+
+
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+ +
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+
UMutex Member List
+
+
+ +

This is the complete list of members for UMutex, including all inherited members.

+ + + + + + +
lock() constUMutexinline
lockTry() constUMutexinline
UMutex()UMutexinline
unlock() constUMutexinline
~UMutex() (defined in UMutex)UMutexinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUMutex.html b/preview/pr-1492/api/latest/classUMutex.html new file mode 100644 index 00000000..88972eaa --- /dev/null +++ b/preview/pr-1492/api/latest/classUMutex.html @@ -0,0 +1,262 @@ + + + + + + + + +RTAB-Map: UMutex Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
+ + +
+
+
+
+
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+
+ +
+
+
+Public Member Functions | +List of all members
+
UMutex Class Reference
+
+
+ +

#include <UMutex.h>

+ + + + + + + + + + +

+Public Member Functions

 UMutex ()
 
int lock () const
 
int lockTry () const
 
int unlock () const
 
+

Detailed Description

+

A mutex class.

+

On a lock() call, the calling thread is blocked if the UMutex was previously locked by another thread. It is unblocked when unlock() is called.

+

On Unix (not yet tested on Windows), UMutex is recursive: the same thread can call multiple times lock() without being blocked.

+

Example:

UMutex m; // Mutex shared with another thread(s).
+
...
+
m.lock();
+
// Data is protected here from the second thread
+
//(assuming the second one protects also with the same mutex the same data).
+
m.unlock();
+ +
UMutex::unlock
int unlock() const
Definition UMutex.h:120
+
UMutex::lock
int lock() const
Definition UMutex.h:88
+
See also
USemaphore
+ +

Definition at line 54 of file UMutex.h.

+

Constructor & Destructor Documentation

+ +

◆ UMutex()

+ +
+
+ + + + + +
+ + + + + + + +
UMutex::UMutex ()
+ 		+inline
+
+

The constructor.

+ +

Definition at line 62 of file UMutex.h.

+ +
+
+ +

◆ ~UMutex()

+ +
+
+ + + + + +
+ + + + + + + +
virtual UMutex::~UMutex ()
+ 		+inlinevirtual
+
+ +

Definition at line 75 of file UMutex.h.

+ +
+
+

Member Function Documentation

+ +

◆ lock()

+ +
+
+ + + + + +
+ + + + + + + +
int UMutex::lock () const
+ 		+inline
+
+

Lock the mutex.

Returns
0 on success, an error code otherwise.
+ +

Definition at line 88 of file UMutex.h.

+ +
+
+ +

◆ lockTry()

+ +
+
+ + + + + +
+ + + + + + + +
int UMutex::lockTry () const
+ 		+inline
+
+

Try locking the mutex.

Returns
0 if the mutex has been locked by this call, EBUSY (or another error code) otherwise.
+ +

Definition at line 110 of file UMutex.h.

+ +
+
+ +

◆ unlock()

+ +
+
+ + + + + +
+ + + + + + + +
int UMutex::unlock () const
+ 		+inline
+
+

Unlock the mutex.

Returns
0 on success, an error code otherwise.
+ +

Definition at line 120 of file UMutex.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • utilite/include/rtabmap/utilite/UMutex.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUObjDeletedEvent-members.html b/preview/pr-1492/api/latest/classUObjDeletedEvent-members.html new file mode 100644 index 00000000..52dbdef5 --- /dev/null +++ b/preview/pr-1492/api/latest/classUObjDeletedEvent-members.html @@ -0,0 +1,94 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
+
+ + + + + + +
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+ +
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+
UObjDeletedEvent Member List
+
+
+ +

This is the complete list of members for UObjDeletedEvent, including all inherited members.

+ + + + + + + +
getClassName() constUObjDeletedEventinlinevirtual
getCode() constUEventinline
UEvent(int code=0)UEventinlineprotected
UObjDeletedEvent(int objDeletionThreadId) (defined in UObjDeletedEvent)UObjDeletedEventinline
~UEvent() (defined in UEvent)UEventinlinevirtual
~UObjDeletedEvent() (defined in UObjDeletedEvent)UObjDeletedEventinlinevirtual
+ +
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+ + diff --git a/preview/pr-1492/api/latest/classUObjDeletedEvent.html b/preview/pr-1492/api/latest/classUObjDeletedEvent.html new file mode 100644 index 00000000..505fa53b --- /dev/null +++ b/preview/pr-1492/api/latest/classUObjDeletedEvent.html @@ -0,0 +1,221 @@ + + + + + + + + +RTAB-Map: UObjDeletedEvent Class Reference + + + + + + + + + + + + +
+
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+
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+Public Member Functions | +List of all members
+
UObjDeletedEvent Class Reference
+
+
+ +

#include <UObjDeletionThread.h>

+
+Inheritance diagram for UObjDeletedEvent:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for UObjDeletedEvent:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + +

+Public Member Functions

 UObjDeletedEvent (int objDeletionThreadId)
 
virtual std::string getClassName () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+

Event used by UObjDeletionThread to notify when its object is deleted. It contains the object id used for deletion (can be retrieved by UEvent::getCode()).

+ +

Definition at line 31 of file UObjDeletionThread.h.

+

Constructor & Destructor Documentation

+ +

◆ UObjDeletedEvent()

+ +
+
+ + + + + +
+ + + + + + + + +
UObjDeletedEvent::UObjDeletedEvent (int objDeletionThreadId)
+ 		+inline
+
+ +

Definition at line 34 of file UObjDeletionThread.h.

+ +
+
+ +

◆ ~UObjDeletedEvent()

+ +
+
+ + + + + +
+ + + + + + + +
virtual UObjDeletedEvent::~UObjDeletedEvent ()
+ 		+inlinevirtual
+
+ +

Definition at line 35 of file UObjDeletionThread.h.

+ +
+
+

Member Function Documentation

+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string UObjDeletedEvent::getClassName () const
+ 		+inlinevirtual
+
+
Returns
string "UObjDeletedEvent"
+ +

Implements UEvent.

+ +

Definition at line 39 of file UObjDeletionThread.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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UObjDeletionThread< T > Member List
+
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+ +

This is the complete list of members for UObjDeletionThread< T >, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
currentThreadId() (defined in UThread)UThreadinlinestatic
Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
getThreadHandle() const (defined in UThread)UThreadinline
getThreadId() const (defined in UThread)UThreadinline
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
id() constUObjDeletionThread< T >inline
isCreating() constUThread
isIdle() constUThread
isKilled() constUThread
isRunning() constUThread
Join(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
join(bool killFirst=false)UThread
Kill(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kill()UThread
kPAboveNormal enum value (defined in UThread)UThread
kPBelowNormal enum value (defined in UThread)UThread
kPLow enum value (defined in UThread)UThread
kPNormal enum value (defined in UThread)UThread
kPRealTime enum value (defined in UThread)UThread
Priority enum nameUThread
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
setAffinity(int cpu=0)UThread
setObj(T *obj)UObjDeletionThread< T >inline
setPriority(Priority priority)UThread
start()UThread
startDeletion(int waitMs=0)UObjDeletionThread< T >inline
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
UObjDeletionThread(T *obj, int id=0)UObjDeletionThread< T >inline
UThread(Priority priority=kPNormal)UThread
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
~UObjDeletionThread()UObjDeletionThread< T >inlinevirtual
~UThread()UThreadvirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classUObjDeletionThread.html b/preview/pr-1492/api/latest/classUObjDeletionThread.html new file mode 100644 index 00000000..7e1c8dc7 --- /dev/null +++ b/preview/pr-1492/api/latest/classUObjDeletionThread.html @@ -0,0 +1,415 @@ + + + + + + + + +RTAB-Map: UObjDeletionThread< T > Class Template Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
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UObjDeletionThread< T > Class Template Reference
+
+
+ +

#include <UObjDeletionThread.h>

+
+Inheritance diagram for UObjDeletionThread< T >:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for UObjDeletionThread< T >:
+
+
Collaboration graph
+ + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 UObjDeletionThread (T *obj, int id=0)
 
virtual ~UObjDeletionThread ()
 
void startDeletion (int waitMs=0)
 
int id () const
 
void setObj (T *obj)
 
- Public Member Functions inherited from UThread
 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
void start ()
 
void kill ()
 
void join (bool killFirst=false)
 
void setPriority (Priority priority)
 
void setAffinity (int cpu=0)
 
bool isCreating () const
 
bool isRunning () const
 
bool isIdle () const
 
bool isKilled () const
 
Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from UThread
enum  Priority {
+  kPLow +, kPBelowNormal +, kPNormal +, kPAboveNormal +,
+  kPRealTime +
+ }
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
- Static Public Member Functions inherited from UThread
static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+

Detailed Description

+
template<class T>
+class UObjDeletionThread< T >

This class can be used to delete a dynamically created object in another thread. Give the dynamic reference to object to it and it will notify with a UObjDeletedEvent when the object is deleted. The deletion can be delayed on startDeletion(), the thread will wait the time given before deleting the object.

+ +

Definition at line 48 of file UObjDeletionThread.h.

+

Constructor & Destructor Documentation

+ +

◆ UObjDeletionThread()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
UObjDeletionThread< T >::UObjDeletionThread (T * obj,
int id = 0 
)
+ 		+inline
+
+

The constructor.

Parameters
+ + + +
objthe object to delete
idthe custom id which will be sent in a event UObjDeletedEvent after the object is deleted
+
+
+ +

Definition at line 56 of file UObjDeletionThread.h.

+ +
+
+ +

◆ ~UObjDeletionThread()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + +
virtual UObjDeletionThread< T >::~UObjDeletionThread ()
+ 		+inlinevirtual
+
+

The destructor. If this thread is not started but with an object set, the object is deleted. If the thread has not finished to delete the object, the calling thread will wait (on a UThreadNode::join()) until the object is deleted.

Parameters
+ + + +
objthe object to delete
idthe custom id which will be sent in a event UObjDeletedEvent after the object is deleted
+
+
+ +

Definition at line 68 of file UObjDeletionThread.h.

+ +
+
+

Member Function Documentation

+ +

◆ startDeletion()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
void UObjDeletionThread< T >::startDeletion (int waitMs = 0)
+ 		+inline
+
+

Start the thread after optional delay.

Parameters
+ + +
waitMsthe delay before deletion
+
+
+ +

Definition at line 81 of file UObjDeletionThread.h.

+ +
+
+ +

◆ id()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + +
int UObjDeletionThread< T >::id () const
+ 		+inline
+
+

Get id of the deleted object.

Returns
the id
+ +

Definition at line 87 of file UObjDeletionThread.h.

+ +
+
+ +

◆ setObj()

+ +
+
+
+template<class T >
+ + + + + +
+ + + + + + + + +
void UObjDeletionThread< T >::setObj (T * obj)
+ 		+inline
+
+

Set a new object, if one was already set, the old one is deleted.

Parameters
+ + +
objthe object to delete
+
+
+ +

Definition at line 93 of file UObjDeletionThread.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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UProcessInfo Member List
+
+
+ +

This is the complete list of members for UProcessInfo, including all inherited members.

+ + + + +
getMemoryUsage()UProcessInfostatic
UProcessInfo()UProcessInfo
~UProcessInfo()UProcessInfovirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUProcessInfo.html b/preview/pr-1492/api/latest/classUProcessInfo.html new file mode 100644 index 00000000..b0efbced --- /dev/null +++ b/preview/pr-1492/api/latest/classUProcessInfo.html @@ -0,0 +1,153 @@ + + + + + + + + +RTAB-Map: UProcessInfo Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +List of all members
+
UProcessInfo Class Reference
+
+
+ +

Class for getting information about the current process. + More...

+ +

#include <UProcessInfo.h>

+ + + + + + + + +

+Public Member Functions

+ UProcessInfo ()
 Constructor.
 
+virtual ~UProcessInfo ()
 Virtual destructor.
 
+ + + + +

+Static Public Member Functions

static long int getMemoryUsage ()
 Get the memory used by the current process.
 
+

Detailed Description

+

Class for getting information about the current process.

+

This class provides static methods to retrieve information about the current process, such as memory usage. The information is retrieved from the operating system.

+

Example:

long int memory = UProcessInfo::getMemoryUsage();
+
std::cout << "Memory usage: " << memory << " bytes" << std::endl;
+
UProcessInfo::getMemoryUsage
static long int getMemoryUsage()
Get the memory used by the current process.
+
+

Definition at line 47 of file UProcessInfo.h.

+

Member Function Documentation

+ +

◆ getMemoryUsage()

+ +
+
+ + + + + +
+ + + + + + + +
static long int UProcessInfo::getMemoryUsage ()
+ 		+static
+
+ +

Get the memory used by the current process.

+

This method returns the amount of memory currently used by the process. The exact meaning of "memory used" may vary between operating systems.

+
Returns
the number of bytes used by the current process, or -1 on error
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUScopeMutex-members.html b/preview/pr-1492/api/latest/classUScopeMutex-members.html new file mode 100644 index 00000000..ee9c81da --- /dev/null +++ b/preview/pr-1492/api/latest/classUScopeMutex-members.html @@ -0,0 +1,91 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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UScopeMutex Member List
+
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+ +

This is the complete list of members for UScopeMutex, including all inherited members.

+ + + + +
UScopeMutex(const UMutex &mutex) (defined in UScopeMutex)UScopeMutexinline
UScopeMutex(UMutex *mutex) (defined in UScopeMutex)UScopeMutexinline
~UScopeMutex() (defined in UScopeMutex)UScopeMutexinline
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUScopeMutex.html b/preview/pr-1492/api/latest/classUScopeMutex.html new file mode 100644 index 00000000..1ab0f255 --- /dev/null +++ b/preview/pr-1492/api/latest/classUScopeMutex.html @@ -0,0 +1,207 @@ + + + + + + + + +RTAB-Map: UScopeMutex Class Reference + + + + + + + + + + + + +
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UScopeMutex Class Reference
+
+
+ +

#include <UMutex.h>

+ + + + + + +

+Public Member Functions

 UScopeMutex (const UMutex &mutex)
 
 UScopeMutex (UMutex *mutex)
 
+

Detailed Description

+

Automatically lock the referenced mutex on constructor and unlock mutex on destructor.

+

Example:

UMutex m; // Mutex shared with another thread(s).
+
...
+
int myMethod()
+
{
+
UScopeMutex sm(m); // automatically lock the mutex m
+
if(cond1)
+
{
+
return 1; // automatically unlock the mutex m
+
}
+
else if(cond2)
+
{
+
return 2; // automatically unlock the mutex m
+
}
+
return 0; // automatically unlock the mutex m
+
}
+ + +
See also
UMutex
+ +

Definition at line 164 of file UMutex.h.

+

Constructor & Destructor Documentation

+ +

◆ UScopeMutex() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
UScopeMutex::UScopeMutex (const UMutex & mutex)
+ 		+inline
+
+ +

Definition at line 167 of file UMutex.h.

+ +
+
+ +

◆ UScopeMutex() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
UScopeMutex::UScopeMutex (UMutex * mutex)
+ 		+inline
+
+ +

Definition at line 173 of file UMutex.h.

+ +
+
+ +

◆ ~UScopeMutex()

+ +
+
+ + + + + +
+ + + + + + + +
UScopeMutex::~UScopeMutex ()
+ 		+inline
+
+ +

Definition at line 178 of file UMutex.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • utilite/include/rtabmap/utilite/UMutex.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUSemaphore-members.html b/preview/pr-1492/api/latest/classUSemaphore-members.html new file mode 100644 index 00000000..18dbe806 --- /dev/null +++ b/preview/pr-1492/api/latest/classUSemaphore-members.html @@ -0,0 +1,94 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+ + + + + + + +
acquire(int n=1, int ms=0)USemaphoreinline
acquireTry(int n)USemaphoreinline
release(int n=1)USemaphoreinline
USemaphore(int initValue=0)USemaphoreinline
value()USemaphoreinline
~USemaphore() (defined in USemaphore)USemaphoreinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUSemaphore.html b/preview/pr-1492/api/latest/classUSemaphore.html new file mode 100644 index 00000000..139de28c --- /dev/null +++ b/preview/pr-1492/api/latest/classUSemaphore.html @@ -0,0 +1,324 @@ + + + + + + + + +RTAB-Map: USemaphore Class Reference + + + + + + + + + + + + +
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USemaphore Class Reference
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+ +

#include <USemaphore.h>

+ + + + + + + + + + + + +

+Public Member Functions

 USemaphore (int initValue=0)
 
bool acquire (int n=1, int ms=0)
 
int acquireTry (int n)
 
int release (int n=1)
 
int value ()
 
+

Detailed Description

+

A semaphore class.

+

On an acquire() call, the calling thread is blocked if the USemaphore's value is <= 0. It is unblocked when release() is called. The function acquire() decreases by 1 (default) the semaphore's value and release() increases it by 1 (default).

+

Example:

USemaphore s;
+
s.acquire(); // Will wait until s.release() is called by another thread.
+ +
USemaphore::acquire
bool acquire(int n=1, int ms=0)
Definition USemaphore.h:108
+
See also
UMutex
+ +

Definition at line 55 of file USemaphore.h.

+

Constructor & Destructor Documentation

+ +

◆ USemaphore()

+ +
+
+ + + + + +
+ + + + + + + + +
USemaphore::USemaphore (int initValue = 0)
+ 		+inline
+
+

The constructor. The semaphore waits on acquire() when its value is <= 0.

Parameters
+ + +
nnumber to initialize
+
+
+ +

Definition at line 62 of file USemaphore.h.

+ +
+
+ +

◆ ~USemaphore()

+ +
+
+ + + + + +
+ + + + + + + +
virtual USemaphore::~USemaphore ()
+ 		+inlinevirtual
+
+ +

Definition at line 76 of file USemaphore.h.

+ +
+
+

Member Function Documentation

+ +

◆ acquire()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
bool USemaphore::acquire (int n = 1,
int ms = 0 
)
+ 		+inline
+
+

Acquire the semaphore. If semaphore's value is <=0, the calling thread will wait until the count acquired is released.

See also
release()
+
Parameters
+ + + +
nnumber to acquire
ttime to wait (ms), a value <=0 means infinite
+
+
+
Returns
true on success, false on error/timeout
+ +

Definition at line 108 of file USemaphore.h.

+ +
+
+ +

◆ acquireTry()

+ +
+
+ + + + + +
+ + + + + + + + +
int USemaphore::acquireTry (int n)
+ 		+inline
+
+
Parameters
+ + +
nthe number to acquire.
+
+
+ +

Definition at line 164 of file USemaphore.h.

+ +
+
+ +

◆ release()

+ +
+
+ + + + + +
+ + + + + + + + +
int USemaphore::release (int n = 1)
+ 		+inline
+
+

Release the semaphore, increasing its value by n and signaling waiting threads (which called acquire()).

Parameters
+ + +
nthe number to release.
+
+
+
Returns
0 on success, ERANGE if the release would push the semaphore over SEM_VALUE_MAX (the count is then left unchanged). The Unix implementation cannot fail and always returns 0.
+ +

Definition at line 197 of file USemaphore.h.

+ +
+
+ +

◆ value()

+ +
+
+ + + + + +
+ + + + + + + +
int USemaphore::value ()
+ 		+inline
+
+

Get the USempahore's value.

Returns
the semaphore's value
+ +

Definition at line 221 of file USemaphore.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUThread-members.html b/preview/pr-1492/api/latest/classUThread-members.html new file mode 100644 index 00000000..a3233936 --- /dev/null +++ b/preview/pr-1492/api/latest/classUThread-members.html @@ -0,0 +1,127 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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UThread Member List
+
+
+ +

This is the complete list of members for UThread, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
currentThreadId() (defined in UThread)UThreadinlinestatic
Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
getThreadHandle() const (defined in UThread)UThreadinline
getThreadId() const (defined in UThread)UThreadinline
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
isCreating() constUThread
isIdle() constUThread
isKilled() constUThread
isRunning() constUThread
Join(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
join(bool killFirst=false)UThread
Kill(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kill()UThread
kPAboveNormal enum value (defined in UThread)UThread
kPBelowNormal enum value (defined in UThread)UThread
kPLow enum value (defined in UThread)UThread
kPNormal enum value (defined in UThread)UThread
kPRealTime enum value (defined in UThread)UThread
Priority enum nameUThread
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
setAffinity(int cpu=0)UThread
setPriority(Priority priority)UThread
start()UThread
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
UThread(Priority priority=kPNormal)UThread
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
~UThread()UThreadvirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUThread.html b/preview/pr-1492/api/latest/classUThread.html new file mode 100644 index 00000000..66ab1049 --- /dev/null +++ b/preview/pr-1492/api/latest/classUThread.html @@ -0,0 +1,615 @@ + + + + + + + + +RTAB-Map: UThread Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+
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+Public Types | +Public Member Functions | +Static Public Member Functions | +List of all members
+
UThread Class Referenceabstract
+
+
+ +

#include <UThread.h>

+
+Inheritance diagram for UThread:
+
+
Inheritance graph
+ + + + + + + + + + + + + + + + + + + + + + + + + +
[legend]
+
+Collaboration diagram for UThread:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + +

+Public Types

enum  Priority {
+  kPLow +, kPBelowNormal +, kPNormal +, kPAboveNormal +,
+  kPRealTime +
+ }
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
void start ()
 
void kill ()
 
void join (bool killFirst=false)
 
void setPriority (Priority priority)
 
void setAffinity (int cpu=0)
 
bool isCreating () const
 
bool isRunning () const
 
bool isIdle () const
 
bool isKilled () const
 
Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
+ + + + + + + + + + + + + + + + + + + + +

+Static Public Member Functions

static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
+ + + + + + + + + + + + + + +

+Additional Inherited Members

- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+

Detailed Description

+

The class UThread is an abstract class for creating thread objects. A UThread provides methods to create threads as an object-style fashion.

+

For most of inherited classes, only mainLoop() needs to be implemented, then only start() needs to be called from the outside. The main loop is called until the thread itself calls kill() or another thread calls kill() or join() (with parameter to true) on this thread. Unlike kill(), join() is a blocking call: the calling thread will wait until this thread has finished, thus join() must not be called inside the mainLoop().

+

If inside the mainLoop(), at some time, the thread needs to wait on a mutex/semaphore (like for the acquisition of a resource), the function mainLoopKill() should be implemented to release the mutex/semaphore when the thread is killed, to avoid a deadlock. The function killCleanup() is called after the thread's state is set to kSKilled. After the mutex/semaphore is released in killCleanup(), on wake up, the thread can know if it needs to stop by calling isKilled().

+

To do an initialization process (executed by the worker thread) just one time before entering the mainLoop(), mainLoopBegin() can be implemented.

+

Example:

#include "utilite/UThread.h"
+
class SimpleThread : public UThread
+
{
+
public:
+
SimpleThread() {}
+
virtual ~SimpleThread() {
+
// The calling thread will wait until this thread has finished.
+
this->join(true);
+
}
+
+
protected:
+
virtual void mainLoop() {
+
// Do some works...
+
+
// This will stop the thread, otherwise the mainLoop() is recalled.
+
this->kill();
+
}
+
};
+
+
int main(int argc, char * argv[])
+
{
+
SimpleThread t;
+
t.start();
+
t.join(); // Wait until the thread has finished.
+
return 0;
+
}
+ +
See also
start()
+
+kill()
+
+join()
+
+mainLoopBegin()
+
+mainLoopKill()
+
+mainLoop()
+ +

Definition at line 86 of file UThread.h.

+

Member Enumeration Documentation

+ +

◆ Priority

+ +
+
+ + + + +
enum UThread::Priority
+
+

Enum of priorities : kPLow, kPBelowNormal, kPNormal, kPAboveNormal, kPRealTime.

+ +

Definition at line 92 of file UThread.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ UThread()

+ +
+
+ + + + + + + + +
UThread::UThread (Priority priority = kPNormal)
+
+

The constructor.

See also
Priority
+
Parameters
+ + +
prioritythe thread priority
+
+
+ +
+
+ +

◆ ~UThread()

+ +
+
+ + + + + +
+ + + + + + + +
virtual UThread::~UThread ()
+ 		+virtual
+
+

The destructor. Inherited classes must call join(true) inside their destructor to avoid memory leaks where the underlying c-thread is still running.

+

Note: not safe to delete a thread while other threads are joining it.

+ +
+
+

Member Function Documentation

+ +

◆ currentThreadId()

+ +
+
+ + + + + +
+ + + + + + + +
static unsigned long UThread::currentThreadId ()
+ 		+inlinestatic
+
+ +

Definition at line 96 of file UThread.h.

+ +
+
+ +

◆ start()

+ +
+
+ + + + + + + +
void UThread::start ()
+
+

Start the thread. Once the thread is started, subsequent calls to start() are ignored until the thread is killed.

See also
kill()
+ +
+
+ +

◆ kill()

+ +
+
+ + + + + + + +
void UThread::kill ()
+
+

Kill the thread. This functions does nothing if the thread is not started or is killed.

+

Note : not a blocking call

+ +
+
+ +

◆ join()

+ +
+
+ + + + + + + + +
void UThread::join (bool killFirst = false)
+
+

The caller thread will wait until the thread has finished.

+

Note : blocking call

Parameters
+ + +
killFirstif you want kill() to be called before joining (default false), otherwise not.
+
+
+ +
+
+ +

◆ setPriority()

+ +
+
+ + + + + + + + +
void UThread::setPriority (Priority priority)
+
+

Set the thread priority.

Parameters
+ + +
prioritythe priority
+
+
+ +
+
+ +

◆ setAffinity()

+ +
+
+ + + + + + + + +
void UThread::setAffinity (int cpu = 0)
+
+

Set the thread affinity. This is applied during start of the thread.

+

MAC OS X : http://developer.apple.com/library/mac/#releasenotes/Performance/RN-AffinityAPI/_index.html.

Parameters
+ + +
cputhe cpu id (start at 1), 0 means no affinity (default).
+
+
+ +
+
+ +

◆ isCreating()

+ +
+
+ + + + + + + +
bool UThread::isCreating () const
+
+
Returns
if the state of the thread is kSCreating (after start() is called but before entering the mainLoop()).
+ +
+
+ +

◆ isRunning()

+ +
+
+ + + + + + + +
bool UThread::isRunning () const
+
+
Returns
if the state of the thread is kSRunning (it is executing the mainLoop()) or kSCreating.
+ +
+
+ +

◆ isIdle()

+ +
+
+ + + + + + + +
bool UThread::isIdle () const
+
+
Returns
if the state of the thread is kSIdle (before start() is called and after the thread is totally killed (or after join(true))).
+ +
+
+ +

◆ isKilled()

+ +
+
+ + + + + + + +
bool UThread::isKilled () const
+
+
Returns
if the state of the thread is kSKilled (after kill() is called and before the thread is totally killed).
+ +
+
+ +

◆ getThreadHandle()

+ +
+
+ + + + + +
+ + + + + + + +
Handle UThread::getThreadHandle () const
+ 		+inline
+
+ +

Definition at line 171 of file UThread.h.

+ +
+
+ +

◆ getThreadId()

+ +
+
+ + + + + +
+ + + + + + + +
unsigned long UThread::getThreadId () const
+ 		+inline
+
+ +

Definition at line 172 of file UThread.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • utilite/include/rtabmap/utilite/UThread.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUThreadC-members.html b/preview/pr-1492/api/latest/classUThreadC-members.html new file mode 100644 index 00000000..a737a392 --- /dev/null +++ b/preview/pr-1492/api/latest/classUThreadC-members.html @@ -0,0 +1,117 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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UThreadC< Thread_T > Member List
+
+
+ +

This is the complete list of members for UThreadC< Thread_T >, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Create(const Handler &Function, Thread_C_R Param, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlinestatic
Create(Thread_C_R Param, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inline
Create(const Handler &Function, Thread_C_R Param, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlinestatic
Create(Thread_C_R Param, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inline
Detach(Handle H) (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlinestatic
Detach(const Handle &H) (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlinestatic
Exit() (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlineprotectedstatic
Exit() (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlineprotectedstatic
Handle typedef (defined in UThreadC< Thread_T >)UThreadC< Thread_T >
Handle typedef (defined in UThreadC< Thread_T >)UThreadC< Thread_T >
Handler typedef (defined in UThreadC< Thread_T >)UThreadC< Thread_T >
Handler typedef (defined in UThreadC< Thread_T >)UThreadC< Thread_T >
Join(Handle H) (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlinestatic
Join(const Handle &H) (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlinestatic
Kill(Handle H) (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlinestatic
Kill(const Handle &H) (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlinestatic
Self() (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlineprotectedstatic
Self() (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlineprotectedstatic
TestCancel() (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlineprotectedstatic
TestCancel() (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlineprotectedstatic
Thread_C_R typedef (defined in UThreadC< Thread_T >)UThreadC< Thread_T >
Thread_C_R typedef (defined in UThreadC< Thread_T >)UThreadC< Thread_T >
Thread_R typedef (defined in UThreadC< Thread_T >)UThreadC< Thread_T >
Thread_R typedef (defined in UThreadC< Thread_T >)UThreadC< Thread_T >
ThreadMain(Thread_R)=0 (defined in UThreadC< Thread_T >)UThreadC< Thread_T >protectedpure virtual
ThreadMain(Thread_R)=0 (defined in UThreadC< Thread_T >)UThreadC< Thread_T >protectedpure virtual
UThreadC() (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlineprotected
UThreadC() (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlineprotected
~UThreadC() (defined in UThreadC< Thread_T >)UThreadC< Thread_T >inlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUThreadC.html b/preview/pr-1492/api/latest/classUThreadC.html new file mode 100644 index 00000000..ae3a9c11 --- /dev/null +++ b/preview/pr-1492/api/latest/classUThreadC.html @@ -0,0 +1,1027 @@ + + + + + + + + +RTAB-Map: UThreadC< Thread_T > Class Template Reference + + + + + + + + + + + + +
+
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+
UThreadC< Thread_T > Class Template Referenceabstract
+
+
+ + + + + + + + + + + + + + + + + + +

+Public Types

typedef Thread_T & Thread_R
 
typedef const Thread_T & Thread_C_R
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) (Thread_R)
 
typedef Thread_T & Thread_R
 
typedef const Thread_T & Thread_C_R
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) (Thread_R)
 
+ + + + + +

+Public Member Functions

int Create (Thread_C_R Param, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Thread_C_R Param, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
+ + + + + + + + + + + + + + + + + +

+Static Public Member Functions

static int Create (const Handler &Function, Thread_C_R Param, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Thread_C_R Param, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
+ + + + + +

+Protected Member Functions

+virtual void ThreadMain (Thread_R)=0
 
+virtual void ThreadMain (Thread_R)=0
 
+ + + + + + + + + + + + + +

+Static Protected Member Functions

static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+

Detailed Description

+
template<typename Thread_T>
+class UThreadC< Thread_T >
+

Definition at line 66 of file UThreadC.h.

+

Member Typedef Documentation

+ +

◆ Thread_R [1/2]

+ +
+
+
+template<typename Thread_T >
+ + + + +
typedef Thread_T& UThreadC< Thread_T >::Thread_R
+
+ +

Definition at line 72 of file UThreadC.h.

+ +
+
+ +

◆ Thread_C_R [1/2]

+ +
+
+
+template<typename Thread_T >
+ + + + +
typedef const Thread_T& UThreadC< Thread_T >::Thread_C_R
+
+ +

Definition at line 73 of file UThreadC.h.

+ +
+
+ +

◆ Handle [1/2]

+ +
+
+
+template<typename Thread_T >
+ + + + +
typedef THREAD_HANDLE UThreadC< Thread_T >::Handle
+
+ +

Definition at line 75 of file UThreadC.h.

+ +
+
+ +

◆ Handler [1/2]

+ +
+
+
+template<typename Thread_T >
+ + + + +
typedef void(* UThreadC< Thread_T >::Handler) (Thread_R)
+
+ +

Definition at line 76 of file UThreadC.h.

+ +
+
+ +

◆ Thread_R [2/2]

+ +
+
+
+template<typename Thread_T >
+ + + + +
typedef Thread_T& UThreadC< Thread_T >::Thread_R
+
+ +

Definition at line 97 of file UThreadC.h.

+ +
+
+ +

◆ Thread_C_R [2/2]

+ +
+
+
+template<typename Thread_T >
+ + + + +
typedef const Thread_T& UThreadC< Thread_T >::Thread_C_R
+
+ +

Definition at line 98 of file UThreadC.h.

+ +
+
+ +

◆ Handle [2/2]

+ +
+
+
+template<typename Thread_T >
+ + + + +
typedef THREAD_HANDLE UThreadC< Thread_T >::Handle
+
+ +

Definition at line 100 of file UThreadC.h.

+ +
+
+ +

◆ Handler [2/2]

+ +
+
+
+template<typename Thread_T >
+ + + + +
typedef void(* UThreadC< Thread_T >::Handler) (Thread_R)
+
+ +

Definition at line 101 of file UThreadC.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ ~UThreadC()

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + +
virtual UThreadC< Thread_T >::~UThreadC ()
+ 		+inlinevirtual
+
+ +

Definition at line 78 of file UThreadC.h.

+ +
+
+ +

◆ UThreadC() [1/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + +
UThreadC< Thread_T >::UThreadC ()
+ 		+inlineprotected
+
+ +

Definition at line 81 of file UThreadC.h.

+ +
+
+ +

◆ UThreadC() [2/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + +
UThreadC< Thread_T >::UThreadC ()
+ 		+inlineprotected
+
+ +

Definition at line 104 of file UThreadC.h.

+ +
+
+

Member Function Documentation

+ +

◆ Exit() [1/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + +
static void UThreadC< Thread_T >::Exit ()
+ 		+inlinestaticprotected
+
+ +

Definition at line 85 of file UThreadC.h.

+ +
+
+ +

◆ TestCancel() [1/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + +
static void UThreadC< Thread_T >::TestCancel ()
+ 		+inlinestaticprotected
+
+ +

Definition at line 88 of file UThreadC.h.

+ +
+
+ +

◆ Self() [1/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + +
static Handle UThreadC< Thread_T >::Self ()
+ 		+inlinestaticprotected
+
+ +

Definition at line 92 of file UThreadC.h.

+ +
+
+ +

◆ Create() [1/4]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
static int UThreadC< Thread_T >::Create (const Handler & Function,
Thread_C_R Param,
Handle *const & H = 0,
const bool & CreateDetached = false,
const unsigned int & StackSize = 0,
const bool & CancelEnable = false,
const bool & CancelAsync = false 
)
+ 		+inlinestatic
+
+ +

Definition at line 97 of file UThreadC.h.

+ +
+
+ +

◆ Create() [2/4]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
int UThreadC< Thread_T >::Create (Thread_C_R Param,
Handle *const & H = 0,
const bool & CreateDetached = false,
const unsigned int & StackSize = 0,
const bool & CancelEnable = false,
const bool & CancelAsync = false 
) const
+ 		+inline
+
+ +

Definition at line 131 of file UThreadC.h.

+ +
+
+ +

◆ Join() [1/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + + +
static int UThreadC< Thread_T >::Join (Handle H)
+ 		+inlinestatic
+
+ +

Definition at line 164 of file UThreadC.h.

+ +
+
+ +

◆ Kill() [1/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + + +
static int UThreadC< Thread_T >::Kill (Handle H)
+ 		+inlinestatic
+
+ +

Definition at line 168 of file UThreadC.h.

+ +
+
+ +

◆ Detach() [1/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + + +
static int UThreadC< Thread_T >::Detach (Handle H)
+ 		+inlinestatic
+
+ +

Definition at line 172 of file UThreadC.h.

+ +
+
+ +

◆ Exit() [2/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + +
static void UThreadC< Thread_T >::Exit ()
+ 		+inlinestaticprotected
+
+ +

Definition at line 108 of file UThreadC.h.

+ +
+
+ +

◆ TestCancel() [2/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + +
static void UThreadC< Thread_T >::TestCancel ()
+ 		+inlinestaticprotected
+
+ +

Definition at line 111 of file UThreadC.h.

+ +
+
+ +

◆ Self() [2/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + +
static int UThreadC< Thread_T >::Self ()
+ 		+inlinestaticprotected
+
+ +

Definition at line 114 of file UThreadC.h.

+ +
+
+ +

◆ Create() [3/4]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
static int UThreadC< Thread_T >::Create (const Handler & Function,
Thread_C_R Param,
Handle *const & H = 0,
const bool & CreateDetached = false,
const unsigned int & StackSize = 0,
const bool & CancelEnable = false,
const bool & CancelAsync = false 
)
+ 		+inlinestatic
+
+ +

Definition at line 126 of file UThreadC.h.

+ +
+
+ +

◆ Create() [4/4]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
int UThreadC< Thread_T >::Create (Thread_C_R Param,
Handle *const & H = 0,
const bool & CreateDetached = false,
const unsigned int & StackSize = 0,
const bool & CancelEnable = false,
const bool & CancelAsync = false 
) const
+ 		+inline
+
+ +

Definition at line 158 of file UThreadC.h.

+ +
+
+ +

◆ Join() [2/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + + +
static int UThreadC< Thread_T >::Join (const Handle & H)
+ 		+inlinestatic
+
+ +

Definition at line 189 of file UThreadC.h.

+ +
+
+ +

◆ Kill() [2/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + + +
static int UThreadC< Thread_T >::Kill (const Handle & H)
+ 		+inlinestatic
+
+ +

Definition at line 203 of file UThreadC.h.

+ +
+
+ +

◆ Detach() [2/2]

+ +
+
+
+template<typename Thread_T >
+ + + + + +
+ + + + + + + + +
static int UThreadC< Thread_T >::Detach (const Handle & H)
+ 		+inlinestatic
+
+ +

Definition at line 206 of file UThreadC.h.

+ +
+
+
The documentation for this class was generated from the following files:
    +
  • utilite/include/rtabmap/utilite/Posix/UThreadC.h
    • +
  • utilite/include/rtabmap/utilite/Win32/UThreadC.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUThreadC_3_01void_01_4-members.html b/preview/pr-1492/api/latest/classUThreadC_3_01void_01_4-members.html new file mode 100644 index 00000000..6a9452a9 --- /dev/null +++ b/preview/pr-1492/api/latest/classUThreadC_3_01void_01_4-members.html @@ -0,0 +1,116 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + +
+
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+
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Loading...
+
Searching...
+
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+
+
+
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+ +
+
+
UThreadC< void > Member List
+
+
+ +

This is the complete list of members for UThreadC< void >, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
Detach(Handle H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Join(Handle H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Join(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Kill(Handle H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Kill(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
ThreadMain()=0 (defined in UThreadC< void >)UThreadC< void >protectedpure virtual
ThreadMain()=0 (defined in UThreadC< void >)UThreadC< void >protectedpure virtual
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUThreadC_3_01void_01_4.html b/preview/pr-1492/api/latest/classUThreadC_3_01void_01_4.html new file mode 100644 index 00000000..c9ed10b6 --- /dev/null +++ b/preview/pr-1492/api/latest/classUThreadC_3_01void_01_4.html @@ -0,0 +1,1061 @@ + + + + + + + + +RTAB-Map: UThreadC< void > Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+
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+
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+
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+ +
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+
+Classes | +Public Types | +Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +Static Protected Member Functions | +List of all members
+
UThreadC< void > Class Referenceabstract
+
+
+
+Inheritance diagram for UThreadC< void >:
+
+
Inheritance graph
+ + + + + + + + + + + + + + + + + + + + + + + + + +
[legend]
+ + + + + + + + + + +

+Public Types

typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
+ + + + + + + + + +

+Public Member Functions

int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
+ + + + + + + + + + + + + + + + + +

+Static Public Member Functions

static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
+ + + + + +

+Protected Member Functions

+virtual void ThreadMain ()=0
 
+virtual void ThreadMain ()=0
 
+ + + + + + + + + + + + + +

+Static Protected Member Functions

static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+

Detailed Description

+
+

Definition at line 226 of file UThreadC.h.

+

Member Typedef Documentation

+ +

◆ Handle [1/2]

+ +
+
+ + + + +
typedef THREAD_HANDLE UThreadC< void >::Handle
+
+ +

Definition at line 232 of file UThreadC.h.

+ +
+
+ +

◆ Handler [1/2]

+ +
+
+ + + + +
typedef void(* UThreadC< void >::Handler) ()
+
+ +

Definition at line 233 of file UThreadC.h.

+ +
+
+ +

◆ Handle [2/2]

+ +
+
+ + + + +
typedef THREAD_HANDLE UThreadC< void >::Handle
+
+ +

Definition at line 251 of file UThreadC.h.

+ +
+
+ +

◆ Handler [2/2]

+ +
+
+ + + + +
typedef void(* UThreadC< void >::Handler) ()
+
+ +

Definition at line 252 of file UThreadC.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ ~UThreadC() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
virtual UThreadC< void >::~UThreadC ()
+ 		+inlinevirtual
+
+ +

Definition at line 235 of file UThreadC.h.

+ +
+
+ +

◆ UThreadC() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
UThreadC< void >::UThreadC ()
+ 		+inlineprotected
+
+ +

Definition at line 238 of file UThreadC.h.

+ +
+
+ +

◆ ~UThreadC() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
virtual UThreadC< void >::~UThreadC ()
+ 		+inlinevirtual
+
+ +

Definition at line 252 of file UThreadC.h.

+ +
+
+ +

◆ UThreadC() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
UThreadC< void >::UThreadC ()
+ 		+inlineprotected
+
+ +

Definition at line 252 of file UThreadC.h.

+ +
+
+

Member Function Documentation

+ +

◆ Exit() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
static void UThreadC< void >::Exit ()
+ 		+inlinestaticprotected
+
+ +

Definition at line 242 of file UThreadC.h.

+ +
+
+ +

◆ TestCancel() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
static void UThreadC< void >::TestCancel ()
+ 		+inlinestaticprotected
+
+ +

Definition at line 246 of file UThreadC.h.

+ +
+
+ +

◆ Self() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
static Handle UThreadC< void >::Self ()
+ 		+inlinestaticprotected
+
+ +

Definition at line 250 of file UThreadC.h.

+ +
+
+ +

◆ Create() [1/6]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
static int UThreadC< void >::Create (const Handler & Function,
Handle *const & H = 0,
const bool & CreateDetached = false,
const unsigned int & StackSize = 0,
const bool & CancelEnable = false,
const bool & CancelAsync = false 
)
+ 		+inlinestatic
+
+ +

Definition at line 255 of file UThreadC.h.

+ +
+
+ +

◆ Create() [2/6]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
int UThreadC< void >::Create (Handle *const & H = 0,
const bool & CreateDetached = false,
const unsigned int & StackSize = 0,
const bool & CancelEnable = false,
const bool & CancelAsync = false 
) const
+ 		+inline
+
+ +

Definition at line 288 of file UThreadC.h.

+ +
+
+ +

◆ Create() [3/6]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
int UThreadC< void >::Create (unsigned long & ThreadId,
Handle *const & H = 0,
const bool & CreateDetached = false,
const unsigned int & StackSize = 0,
const bool & CancelEnable = false,
const bool & CancelAsync = false 
) const
+ 		+inline
+
+ +

Definition at line 320 of file UThreadC.h.

+ +
+
+ +

◆ Join() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static int UThreadC< void >::Join (Handle H)
+ 		+inlinestatic
+
+ +

Definition at line 354 of file UThreadC.h.

+ +
+
+ +

◆ Kill() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static int UThreadC< void >::Kill (Handle H)
+ 		+inlinestatic
+
+ +

Definition at line 358 of file UThreadC.h.

+ +
+
+ +

◆ Detach() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static int UThreadC< void >::Detach (Handle H)
+ 		+inlinestatic
+
+ +

Definition at line 362 of file UThreadC.h.

+ +
+
+ +

◆ Exit() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
static void UThreadC< void >::Exit ()
+ 		+inlinestaticprotected
+
+ +

Definition at line 261 of file UThreadC.h.

+ +
+
+ +

◆ TestCancel() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
static void UThreadC< void >::TestCancel ()
+ 		+inlinestaticprotected
+
+ +

Definition at line 264 of file UThreadC.h.

+ +
+
+ +

◆ Self() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
static int UThreadC< void >::Self ()
+ 		+inlinestaticprotected
+
+ +

Definition at line 267 of file UThreadC.h.

+ +
+
+ +

◆ Create() [4/6]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
static int UThreadC< void >::Create (const Handler & Function,
Handle *const & H = 0,
const bool & CreateDetached = false,
const unsigned int & StackSize = 0,
const bool & CancelEnable = false,
const bool & CancelAsync = false 
)
+ 		+inlinestatic
+
+ +

Definition at line 280 of file UThreadC.h.

+ +
+
+ +

◆ Create() [5/6]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
int UThreadC< void >::Create (Handle *const & H = 0,
const bool & CreateDetached = false,
const unsigned int & StackSize = 0,
const bool & CancelEnable = false,
const bool & CancelAsync = false 
) const
+ 		+inline
+
+ +

Definition at line 302 of file UThreadC.h.

+ +
+
+ +

◆ Create() [6/6]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
int UThreadC< void >::Create (unsigned long & ThreadId,
Handle *const & H = 0,
const bool & CreateDetached = false,
const unsigned int & StackSize = 0,
const bool & CancelEnable = false,
const bool & CancelAsync = false 
) const
+ 		+inline
+
+ +

Definition at line 324 of file UThreadC.h.

+ +
+
+ +

◆ Join() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static int UThreadC< void >::Join (const Handle & H)
+ 		+inlinestatic
+
+ +

Definition at line 348 of file UThreadC.h.

+ +
+
+ +

◆ Kill() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static int UThreadC< void >::Kill (const Handle & H)
+ 		+inlinestatic
+
+ +

Definition at line 362 of file UThreadC.h.

+ +
+
+ +

◆ Detach() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static int UThreadC< void >::Detach (const Handle & H)
+ 		+inlinestatic
+
+ +

Definition at line 365 of file UThreadC.h.

+ +
+
+
The documentation for this class was generated from the following files:
    +
  • utilite/include/rtabmap/utilite/Posix/UThreadC.h
    • +
  • utilite/include/rtabmap/utilite/Win32/UThreadC.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
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zrPvDIRVnl6iRgHmSF1^K-)`-gnu@0=cXPH~_zYny#&f6u2NvCsD~7}dRT#sOp6a@~ zNqhwBDBn9Y?B|C(UQcpKHg~QR@#48zhz15~G!K788e|6e55Yx2GM!i!n-lP4D2#G{ zJCpHG$l}E$9zKta-O3sxMWc?}X)vmU2opmh#Jj!nfLQ6zhCRtze``-rkl-Kp)tl#u z<4eL>@4-IZoZ!o~wW|fWkveo|$v6xj}%|z)}S>0}jvS`oQ3}Hfx zIK01bk)dlu_H&?X_ja;(fXtc7sLsh~)`are}z895n>S!b+TJ@UQBk^LJC3<-H| zkW*yfQX|BlxRfH~6IbD6y`1p|hAv&Ftpk#q472Anylv>xBHEb#=V>Gl#pO3$Y~@_F z?_K>eHEv=h^QPqJ9~A+c%feirPL%r@i^nCAazcrHXCu5u|NrIUGy2ZV&efR}&A~rN OTx%Sh + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +

+
+
UTimer Member List
+
+
+ +

This is the complete list of members for UTimer, including all inherited members.

+ + + + + + + + + + +
elapsed()UTimerinline
getElapsedTime() (defined in UTimer)UTimer
now()UTimerstatic
restart()UTimerinline
start()UTimer
stop()UTimer
ticks() (defined in UTimer)UTimer
UTimer() (defined in UTimer)UTimer
~UTimer() (defined in UTimer)UTimer
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUTimer.html b/preview/pr-1492/api/latest/classUTimer.html new file mode 100644 index 00000000..03afab36 --- /dev/null +++ b/preview/pr-1492/api/latest/classUTimer.html @@ -0,0 +1,248 @@ + + + + + + + + +RTAB-Map: UTimer Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
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+Public Member Functions | +Static Public Member Functions | +List of all members
+
UTimer Class Reference
+
+
+ +

#include <UTimer.h>

+ + + + + + + + + + + + + + +

+Public Member Functions

void start ()
 
void stop ()
 
double elapsed ()
 
+double getElapsedTime ()
 
double restart ()
 
+double ticks ()
 
+ + + +

+Static Public Member Functions

static double now ()
 
+

Detailed Description

+

This class is used to time some codes (in seconds). On Unix, the resolution is up to microseconds (see gettimeofday()). On Windows, the performance counter is used (see QueryPerformanceCounter() and QueryPerformanceFrequency()). Example:

UTimer timer;
+
timer.start();
+
... (do some work)
+
timer.stop();
+
double seconds = timer.getInterval();
+
...
+ +
UTimer::start
void start()
+
UTimer::stop
void stop()
+
+

Definition at line 46 of file UTimer.h.

+

Member Function Documentation

+ +

◆ now()

+ +
+
+ + + + + +
+ + + + + + + +
static double UTimer::now ()
+ 		+static
+
+

This method is used to get the time of the system right now.

Returns
double the time in seconds.
+ +
+
+ +

◆ start()

+ +
+
+ + + + + + + +
void UTimer::start ()
+
+

This method starts the timer.

+ +
+
+ +

◆ stop()

+ +
+
+ + + + + + + +
void UTimer::stop ()
+
+

This method stops the timer.

+ +
+
+ +

◆ elapsed()

+ +
+
+ + + + + +
+ + + + + + + +
double UTimer::elapsed ()
+ 		+inline
+
+

This method is used to get the elapsed time between now and the start(). If timer is stopped, the interval time between stop() and the start() is returned.

Returns
double the interval in seconds.
+ +

Definition at line 75 of file UTimer.h.

+ +
+
+ +

◆ restart()

+ +
+
+ + + + + +
+ + + + + + + +
double UTimer::restart ()
+ 		+inline
+
+

This method is used to get the interval of the timer while it is running. It's automatically stop the timer, get the interval and restart the timer. It's the same of calling stop(), elapsed() and start(). Method restart() does the same thing, for convenience.

Returns
double the interval in seconds.
+ +

Definition at line 86 of file UTimer.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • utilite/include/rtabmap/utilite/UTimer.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUVariant-members.html b/preview/pr-1492/api/latest/classUVariant-members.html new file mode 100644 index 00000000..e9f32fbb --- /dev/null +++ b/preview/pr-1492/api/latest/classUVariant-members.html @@ -0,0 +1,167 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+ + + + + + +
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+
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UVariant Member List
+
+
+ +

This is the complete list of members for UVariant, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
isBool() constUVariantinline
isChar() constUVariantinline
isCharArray() constUVariantinline
isDouble() constUVariantinline
isDoubleArray() constUVariantinline
isFloat() constUVariantinline
isFloatArray() constUVariantinline
isInt() constUVariantinline
isIntArray() constUVariantinline
isShort() constUVariantinline
isShortArray() constUVariantinline
isStr() constUVariantinline
isUChar() constUVariantinline
isUCharArray() constUVariantinline
isUInt() constUVariantinline
isUIntArray() constUVariantinline
isUndef() constUVariantinline
isUShort() constUVariantinline
isUShortArray() constUVariantinline
kBool enum valueUVariant
kChar enum valueUVariant
kCharArray enum valueUVariant
kDouble enum valueUVariant
kDoubleArray enum valueUVariant
kFloat enum valueUVariant
kFloatArray enum valueUVariant
kInt enum valueUVariant
kIntArray enum valueUVariant
kShort enum valueUVariant
kShortArray enum valueUVariant
kStr enum valueUVariant
kUChar enum valueUVariant
kUCharArray enum valueUVariant
kUInt enum valueUVariant
kUIntArray enum valueUVariant
kUndef enum valueUVariant
kUShort enum valueUVariant
kUShortArray enum valueUVariant
toBool() constUVariant
toChar(bool *ok=0) constUVariant
toCharArray(bool *ok=0) constUVariant
toDouble(bool *ok=0) constUVariant
toDoubleArray(bool *ok=0) constUVariant
toFloat(bool *ok=0) constUVariant
toFloatArray(bool *ok=0) constUVariant
toInt(bool *ok=0) constUVariant
toIntArray(bool *ok=0) constUVariant
toShort(bool *ok=0) constUVariant
toShortArray(bool *ok=0) constUVariant
toStr(bool *ok=0) constUVariant
toUChar(bool *ok=0) constUVariant
toUCharArray(bool *ok=0) constUVariant
toUInt(bool *ok=0) constUVariant
toUIntArray(bool *ok=0) constUVariant
toUShort(bool *ok=0) constUVariant
toUShortArray(bool *ok=0) constUVariant
type() constUVariantinline
Type enum nameUVariant
UVariant()UVariant
UVariant(const bool &value)UVariant
UVariant(const signed char &value)UVariant
UVariant(const unsigned char &value)UVariant
UVariant(const short &value)UVariant
UVariant(const unsigned short &value)UVariant
UVariant(const int &value)UVariant
UVariant(const unsigned int &value)UVariant
UVariant(const float &value)UVariant
UVariant(const double &value)UVariant
UVariant(const char *value)UVariant
UVariant(const std::string &value)UVariant
UVariant(const std::vector< signed char > &value)UVariant
UVariant(const std::vector< unsigned char > &value)UVariant
UVariant(const std::vector< short > &value)UVariant
UVariant(const std::vector< unsigned short > &value)UVariant
UVariant(const std::vector< int > &value)UVariant
UVariant(const std::vector< unsigned int > &value)UVariant
UVariant(const std::vector< float > &value)UVariant
UVariant(const std::vector< double > &value)UVariant
~UVariant()UVariantinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classUVariant.html b/preview/pr-1492/api/latest/classUVariant.html new file mode 100644 index 00000000..cb275099 --- /dev/null +++ b/preview/pr-1492/api/latest/classUVariant.html @@ -0,0 +1,1978 @@ + + + + + + + + +RTAB-Map: UVariant Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+Public Types | +Public Member Functions | +List of all members
+
UVariant Class Reference
+
+
+ +

A variant type that can hold values of different types. + More...

+ +

#include <UVariant.h>

+ + + + + +

+Public Types

enum  Type {
+  kBool +, kChar +, kUChar +, kShort +,
+  kUShort +, kInt +, kUInt +, kFloat +,
+  kDouble +, kStr +, kCharArray +, kUCharArray +,
+  kShortArray +, kUShortArray +, kIntArray +, kUIntArray +,
+  kFloatArray +, kDoubleArray +, kUndef +
+ }
 Enumeration of supported data types. More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ UVariant ()
 Default constructor Creates an undefined variant.
 
 UVariant (const bool &value)
 Constructor from bool.
 
 UVariant (const signed char &value)
 Constructor from signed char.
 
 UVariant (const unsigned char &value)
 Constructor from unsigned char.
 
 UVariant (const short &value)
 Constructor from short.
 
 UVariant (const unsigned short &value)
 Constructor from unsigned short.
 
 UVariant (const int &value)
 Constructor from int.
 
 UVariant (const unsigned int &value)
 Constructor from unsigned int.
 
 UVariant (const float &value)
 Constructor from float.
 
 UVariant (const double &value)
 Constructor from double.
 
 UVariant (const char *value)
 Constructor from C string.
 
 UVariant (const std::string &value)
 Constructor from std::string.
 
 UVariant (const std::vector< signed char > &value)
 Constructor from array of signed char.
 
 UVariant (const std::vector< unsigned char > &value)
 Constructor from array of unsigned char.
 
 UVariant (const std::vector< short > &value)
 Constructor from array of short.
 
 UVariant (const std::vector< unsigned short > &value)
 Constructor from array of unsigned short.
 
 UVariant (const std::vector< int > &value)
 Constructor from array of int.
 
 UVariant (const std::vector< unsigned int > &value)
 Constructor from array of unsigned int.
 
 UVariant (const std::vector< float > &value)
 Constructor from array of float.
 
 UVariant (const std::vector< double > &value)
 Constructor from array of double.
 
Type type () const
 Get the type of the stored value.
 
bool isUndef () const
 Check if the variant is undefined.
 
bool isBool () const
 Check if the variant is a bool.
 
bool isChar () const
 Check if the variant is a signed char.
 
bool isUChar () const
 Check if the variant is an unsigned char.
 
bool isShort () const
 Check if the variant is a short.
 
bool isUShort () const
 Check if the variant is an unsigned short.
 
bool isInt () const
 Check if the variant is an int.
 
bool isUInt () const
 Check if the variant is an unsigned int.
 
bool isFloat () const
 Check if the variant is a float.
 
bool isDouble () const
 Check if the variant is a double.
 
bool isStr () const
 Check if the variant is a string.
 
bool isCharArray () const
 Check if the variant is an array of signed char.
 
bool isUCharArray () const
 Check if the variant is an array of unsigned char.
 
bool isShortArray () const
 Check if the variant is an array of short.
 
bool isUShortArray () const
 Check if the variant is an array of unsigned short.
 
bool isIntArray () const
 Check if the variant is an array of int.
 
bool isUIntArray () const
 Check if the variant is an array of unsigned int.
 
bool isFloatArray () const
 Check if the variant is an array of float.
 
bool isDoubleArray () const
 Check if the variant is an array of double.
 
bool toBool () const
 Convert the variant to bool.
 
signed char toChar (bool *ok=0) const
 Convert the variant to signed char.
 
unsigned char toUChar (bool *ok=0) const
 Convert the variant to unsigned char.
 
short toShort (bool *ok=0) const
 Convert the variant to short.
 
unsigned short toUShort (bool *ok=0) const
 Convert the variant to unsigned short.
 
int toInt (bool *ok=0) const
 Convert the variant to int.
 
unsigned int toUInt (bool *ok=0) const
 Convert the variant to unsigned int.
 
float toFloat (bool *ok=0) const
 Convert the variant to float.
 
double toDouble (bool *ok=0) const
 Convert the variant to double.
 
std::string toStr (bool *ok=0) const
 Convert the variant to string.
 
std::vector< signed char > toCharArray (bool *ok=0) const
 Convert the variant to array of signed char.
 
std::vector< unsigned char > toUCharArray (bool *ok=0) const
 Convert the variant to array of unsigned char.
 
std::vector< short > toShortArray (bool *ok=0) const
 Convert the variant to array of short.
 
std::vector< unsigned short > toUShortArray (bool *ok=0) const
 Convert the variant to array of unsigned short.
 
std::vector< int > toIntArray (bool *ok=0) const
 Convert the variant to array of int.
 
std::vector< unsigned int > toUIntArray (bool *ok=0) const
 Convert the variant to array of unsigned int.
 
std::vector< float > toFloatArray (bool *ok=0) const
 Convert the variant to array of float.
 
std::vector< double > toDoubleArray (bool *ok=0) const
 Convert the variant to array of double.
 
virtual ~UVariant ()
 Virtual destructor.
 
+

Detailed Description

+

A variant type that can hold values of different types.

+

UVariant is a type-safe container that can store values of various types including booleans, integers, floats, strings, and arrays. It provides methods to check the stored type and convert to other types.

+ +

Definition at line 53 of file UVariant.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum UVariant::Type
+
+ +

Enumeration of supported data types.

+ + + + + + + + + + + + + + + + + + + + +
Enumerator
kBool 

Boolean type

+
kChar 

Signed char type

+
kUChar 

Unsigned char type

+
kShort 

Short integer type

+
kUShort 

Unsigned short integer type

+
kInt 

Integer type

+
kUInt 

Unsigned integer type

+
kFloat 

Float type

+
kDouble 

Double type

+
kStr 

String type

+
kCharArray 

Array of signed char

+
kUCharArray 

Array of unsigned char

+
kShortArray 

Array of short

+
kUShortArray 

Array of unsigned short

+
kIntArray 

Array of int

+
kUIntArray 

Array of unsigned int

+
kFloatArray 

Array of float

+
kDoubleArray 

Array of double

+
kUndef 

Undefined type (default)

+
+ +

Definition at line 60 of file UVariant.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ UVariant() [1/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const bool & value)
+
+ +

Constructor from bool.

+
Parameters
+ + +
valuethe boolean value
+
+
+ +
+
+ +

◆ UVariant() [2/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const signed char & value)
+
+ +

Constructor from signed char.

+
Parameters
+ + +
valuethe signed char value
+
+
+ +
+
+ +

◆ UVariant() [3/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const unsigned char & value)
+
+ +

Constructor from unsigned char.

+
Parameters
+ + +
valuethe unsigned char value
+
+
+ +
+
+ +

◆ UVariant() [4/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const short & value)
+
+ +

Constructor from short.

+
Parameters
+ + +
valuethe short value
+
+
+ +
+
+ +

◆ UVariant() [5/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const unsigned short & value)
+
+ +

Constructor from unsigned short.

+
Parameters
+ + +
valuethe unsigned short value
+
+
+ +
+
+ +

◆ UVariant() [6/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const int & value)
+
+ +

Constructor from int.

+
Parameters
+ + +
valuethe integer value
+
+
+ +
+
+ +

◆ UVariant() [7/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const unsigned int & value)
+
+ +

Constructor from unsigned int.

+
Parameters
+ + +
valuethe unsigned integer value
+
+
+ +
+
+ +

◆ UVariant() [8/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const float & value)
+
+ +

Constructor from float.

+
Parameters
+ + +
valuethe float value
+
+
+ +
+
+ +

◆ UVariant() [9/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const double & value)
+
+ +

Constructor from double.

+
Parameters
+ + +
valuethe double value
+
+
+ +
+
+ +

◆ UVariant() [10/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const char * value)
+
+ +

Constructor from C string.

+
Parameters
+ + +
valuethe C string value
+
+
+ +
+
+ +

◆ UVariant() [11/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const std::string & value)
+
+ +

Constructor from std::string.

+
Parameters
+ + +
valuethe string value
+
+
+ +
+
+ +

◆ UVariant() [12/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const std::vector< signed char > & value)
+
+ +

Constructor from array of signed char.

+
Parameters
+ + +
valuethe array of signed char
+
+
+ +
+
+ +

◆ UVariant() [13/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const std::vector< unsigned char > & value)
+
+ +

Constructor from array of unsigned char.

+
Parameters
+ + +
valuethe array of unsigned char
+
+
+ +
+
+ +

◆ UVariant() [14/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const std::vector< short > & value)
+
+ +

Constructor from array of short.

+
Parameters
+ + +
valuethe array of short
+
+
+ +
+
+ +

◆ UVariant() [15/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const std::vector< unsigned short > & value)
+
+ +

Constructor from array of unsigned short.

+
Parameters
+ + +
valuethe array of unsigned short
+
+
+ +
+
+ +

◆ UVariant() [16/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const std::vector< int > & value)
+
+ +

Constructor from array of int.

+
Parameters
+ + +
valuethe array of int
+
+
+ +
+
+ +

◆ UVariant() [17/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const std::vector< unsigned int > & value)
+
+ +

Constructor from array of unsigned int.

+
Parameters
+ + +
valuethe array of unsigned int
+
+
+ +
+
+ +

◆ UVariant() [18/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const std::vector< float > & value)
+
+ +

Constructor from array of float.

+
Parameters
+ + +
valuethe array of float
+
+
+ +
+
+ +

◆ UVariant() [19/19]

+ +
+
+ + + + + + + + +
UVariant::UVariant (const std::vector< double > & value)
+
+ +

Constructor from array of double.

+
Parameters
+ + +
valuethe array of double
+
+
+ +
+
+ +

◆ ~UVariant()

+ +
+
+ + + + + +
+ + + + + + + +
virtual UVariant::~UVariant ()
+ 		+inlinevirtual
+
+ +

Virtual destructor.

+ +

Definition at line 450 of file UVariant.h.

+ +
+
+

Member Function Documentation

+ +

◆ type()

+ +
+
+ + + + + +
+ + + + + + + +
Type UVariant::type () const
+ 		+inline
+
+ +

Get the type of the stored value.

+
Returns
the Type enum value
+ +

Definition at line 206 of file UVariant.h.

+ +
+
+ +

◆ isUndef()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isUndef () const
+ 		+inline
+
+ +

Check if the variant is undefined.

+
Returns
true if type is kUndef
+ +

Definition at line 212 of file UVariant.h.

+ +
+
+ +

◆ isBool()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isBool () const
+ 		+inline
+
+ +

Check if the variant is a bool.

+
Returns
true if type is kBool
+ +

Definition at line 218 of file UVariant.h.

+ +
+
+ +

◆ isChar()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isChar () const
+ 		+inline
+
+ +

Check if the variant is a signed char.

+
Returns
true if type is kChar
+ +

Definition at line 224 of file UVariant.h.

+ +
+
+ +

◆ isUChar()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isUChar () const
+ 		+inline
+
+ +

Check if the variant is an unsigned char.

+
Returns
true if type is kUChar
+ +

Definition at line 230 of file UVariant.h.

+ +
+
+ +

◆ isShort()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isShort () const
+ 		+inline
+
+ +

Check if the variant is a short.

+
Returns
true if type is kShort
+ +

Definition at line 236 of file UVariant.h.

+ +
+
+ +

◆ isUShort()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isUShort () const
+ 		+inline
+
+ +

Check if the variant is an unsigned short.

+
Returns
true if type is kUShort
+ +

Definition at line 242 of file UVariant.h.

+ +
+
+ +

◆ isInt()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isInt () const
+ 		+inline
+
+ +

Check if the variant is an int.

+
Returns
true if type is kInt
+ +

Definition at line 248 of file UVariant.h.

+ +
+
+ +

◆ isUInt()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isUInt () const
+ 		+inline
+
+ +

Check if the variant is an unsigned int.

+
Returns
true if type is kUInt
+ +

Definition at line 254 of file UVariant.h.

+ +
+
+ +

◆ isFloat()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isFloat () const
+ 		+inline
+
+ +

Check if the variant is a float.

+
Returns
true if type is kFloat
+ +

Definition at line 260 of file UVariant.h.

+ +
+
+ +

◆ isDouble()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isDouble () const
+ 		+inline
+
+ +

Check if the variant is a double.

+
Returns
true if type is kDouble
+ +

Definition at line 266 of file UVariant.h.

+ +
+
+ +

◆ isStr()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isStr () const
+ 		+inline
+
+ +

Check if the variant is a string.

+
Returns
true if type is kStr
+ +

Definition at line 272 of file UVariant.h.

+ +
+
+ +

◆ isCharArray()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isCharArray () const
+ 		+inline
+
+ +

Check if the variant is an array of signed char.

+
Returns
true if type is kCharArray
+ +

Definition at line 278 of file UVariant.h.

+ +
+
+ +

◆ isUCharArray()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isUCharArray () const
+ 		+inline
+
+ +

Check if the variant is an array of unsigned char.

+
Returns
true if type is kUCharArray
+ +

Definition at line 284 of file UVariant.h.

+ +
+
+ +

◆ isShortArray()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isShortArray () const
+ 		+inline
+
+ +

Check if the variant is an array of short.

+
Returns
true if type is kShortArray
+ +

Definition at line 290 of file UVariant.h.

+ +
+
+ +

◆ isUShortArray()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isUShortArray () const
+ 		+inline
+
+ +

Check if the variant is an array of unsigned short.

+
Returns
true if type is kUShortArray
+ +

Definition at line 296 of file UVariant.h.

+ +
+
+ +

◆ isIntArray()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isIntArray () const
+ 		+inline
+
+ +

Check if the variant is an array of int.

+
Returns
true if type is kIntArray
+ +

Definition at line 302 of file UVariant.h.

+ +
+
+ +

◆ isUIntArray()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isUIntArray () const
+ 		+inline
+
+ +

Check if the variant is an array of unsigned int.

+
Returns
true if type is kUIntArray
+ +

Definition at line 308 of file UVariant.h.

+ +
+
+ +

◆ isFloatArray()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isFloatArray () const
+ 		+inline
+
+ +

Check if the variant is an array of float.

+
Returns
true if type is kFloatArray
+ +

Definition at line 314 of file UVariant.h.

+ +
+
+ +

◆ isDoubleArray()

+ +
+
+ + + + + +
+ + + + + + + +
bool UVariant::isDoubleArray () const
+ 		+inline
+
+ +

Check if the variant is an array of double.

+
Returns
true if type is kDoubleArray
+ +

Definition at line 320 of file UVariant.h.

+ +
+
+ +

◆ toBool()

+ +
+
+ + + + + + + +
bool UVariant::toBool () const
+
+ +

Convert the variant to bool.

+
Returns
the boolean value
+ +
+
+ +

◆ toChar()

+ +
+
+ + + + + + + + +
signed char UVariant::toChar (bool * ok = 0) const
+
+ +

Convert the variant to signed char.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the signed char value
+ +
+
+ +

◆ toUChar()

+ +
+
+ + + + + + + + +
unsigned char UVariant::toUChar (bool * ok = 0) const
+
+ +

Convert the variant to unsigned char.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the unsigned char value
+ +
+
+ +

◆ toShort()

+ +
+
+ + + + + + + + +
short UVariant::toShort (bool * ok = 0) const
+
+ +

Convert the variant to short.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the short value
+ +
+
+ +

◆ toUShort()

+ +
+
+ + + + + + + + +
unsigned short UVariant::toUShort (bool * ok = 0) const
+
+ +

Convert the variant to unsigned short.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the unsigned short value
+ +
+
+ +

◆ toInt()

+ +
+
+ + + + + + + + +
int UVariant::toInt (bool * ok = 0) const
+
+ +

Convert the variant to int.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the integer value
+ +
+
+ +

◆ toUInt()

+ +
+
+ + + + + + + + +
unsigned int UVariant::toUInt (bool * ok = 0) const
+
+ +

Convert the variant to unsigned int.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the unsigned integer value
+ +
+
+ +

◆ toFloat()

+ +
+
+ + + + + + + + +
float UVariant::toFloat (bool * ok = 0) const
+
+ +

Convert the variant to float.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the float value
+ +
+
+ +

◆ toDouble()

+ +
+
+ + + + + + + + +
double UVariant::toDouble (bool * ok = 0) const
+
+ +

Convert the variant to double.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the double value
+ +
+
+ +

◆ toStr()

+ +
+
+ + + + + + + + +
std::string UVariant::toStr (bool * ok = 0) const
+
+ +

Convert the variant to string.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the string value
+ +
+
+ +

◆ toCharArray()

+ +
+
+ + + + + + + + +
std::vector< signed char > UVariant::toCharArray (bool * ok = 0) const
+
+ +

Convert the variant to array of signed char.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the array of signed char
+ +
+
+ +

◆ toUCharArray()

+ +
+
+ + + + + + + + +
std::vector< unsigned char > UVariant::toUCharArray (bool * ok = 0) const
+
+ +

Convert the variant to array of unsigned char.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the array of unsigned char
+ +
+
+ +

◆ toShortArray()

+ +
+
+ + + + + + + + +
std::vector< short > UVariant::toShortArray (bool * ok = 0) const
+
+ +

Convert the variant to array of short.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the array of short
+ +
+
+ +

◆ toUShortArray()

+ +
+
+ + + + + + + + +
std::vector< unsigned short > UVariant::toUShortArray (bool * ok = 0) const
+
+ +

Convert the variant to array of unsigned short.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the array of unsigned short
+ +
+
+ +

◆ toIntArray()

+ +
+
+ + + + + + + + +
std::vector< int > UVariant::toIntArray (bool * ok = 0) const
+
+ +

Convert the variant to array of int.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the array of int
+ +
+
+ +

◆ toUIntArray()

+ +
+
+ + + + + + + + +
std::vector< unsigned int > UVariant::toUIntArray (bool * ok = 0) const
+
+ +

Convert the variant to array of unsigned int.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the array of unsigned int
+ +
+
+ +

◆ toFloatArray()

+ +
+
+ + + + + + + + +
std::vector< float > UVariant::toFloatArray (bool * ok = 0) const
+
+ +

Convert the variant to array of float.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the array of float
+ +
+
+ +

◆ toDoubleArray()

+ +
+
+ + + + + + + + +
std::vector< double > UVariant::toDoubleArray (bool * ok = 0) const
+
+ +

Convert the variant to array of double.

+
Parameters
+ + +
okpointer to bool to indicate success (optional)
+
+
+
Returns
the array of double
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel-members.html b/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel-members.html new file mode 100644 index 00000000..31ec661f --- /dev/null +++ b/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel-members.html @@ -0,0 +1,125 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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clams::DiscreteDepthDistortionModel Member List
+
+
+ +

This is the complete list of members for clams::DiscreteDepthDistortionModel, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
accumulate(const cv::Mat &ground_truth, const cv::Mat &measurement)clams::DiscreteDepthDistortionModel
addExample(int v, int u, double ground_truth, double measurement) (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModel
bin_depth_clams::DiscreteDepthDistortionModelprotected
bin_height_clams::DiscreteDepthDistortionModelprotected
bin_width_clams::DiscreteDepthDistortionModelprotected
deleteFrustums() (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelprotected
deserialize(std::istream &in, bool ascii) (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModel
DiscreteDepthDistortionModel() (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelinline
DiscreteDepthDistortionModel(int width, int height, int bin_width=8, int bin_height=6, double bin_depth=2.0, int smoothing=1, double max_depth=10.0) (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModel
DiscreteDepthDistortionModel(const DiscreteDepthDistortionModel &other) (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModel
frustum(int y, int x) (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelprotected
frustum(int y, int x) const (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelprotected
frustums_clams::DiscreteDepthDistortionModelprotected
getBinSize(const size_t &width, const size_t &height, size_t &bin_width, size_t &bin_height) (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelstatic
getClosestToRef(const std::set< size_t > &divisors, const double &ref) (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelstatic
getDivisors(const size_t &num) (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelstatic
getHeight() const (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelinline
getTrainingSamples() const (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelinline
getWidth() const (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelinline
height_clams::DiscreteDepthDistortionModelprotected
isValid() const (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelinline
load(const std::string &path) (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModel
mutex_ (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelprotected
num_bins_x_ (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelprotected
num_bins_y_ (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelprotected
operator=(const DiscreteDepthDistortionModel &other) (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModel
save(const std::string &path) const (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModel
serialize(std::ostream &out, bool ascii) const (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModel
training_samples_ (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelprotected
undistort(cv::Mat &depth) const (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModel
visualize(const std::string &path="") const (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModel
width_clams::DiscreteDepthDistortionModelprotected
~DiscreteDepthDistortionModel() (defined in clams::DiscreteDepthDistortionModel)clams::DiscreteDepthDistortionModelvirtual
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+ + diff --git a/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel.html b/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel.html new file mode 100644 index 00000000..4b8c47e4 --- /dev/null +++ b/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel.html @@ -0,0 +1,627 @@ + + + + + + + + +RTAB-Map: clams::DiscreteDepthDistortionModel Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +Protected Attributes | +List of all members
+
clams::DiscreteDepthDistortionModel Class Reference
+
+
+
+Collaboration diagram for clams::DiscreteDepthDistortionModel:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ DiscreteDepthDistortionModel (int width, int height, int bin_width=8, int bin_height=6, double bin_depth=2.0, int smoothing=1, double max_depth=10.0)
 
+ DiscreteDepthDistortionModel (const DiscreteDepthDistortionModel &other)
 
+DiscreteDepthDistortionModel & operator= (const DiscreteDepthDistortionModel &other)
 
+void undistort (cv::Mat &depth) const
 
size_t accumulate (const cv::Mat &ground_truth, const cv::Mat &measurement)
 
+void addExample (int v, int u, double ground_truth, double measurement)
 
+void save (const std::string &path) const
 
+void load (const std::string &path)
 
+void serialize (std::ostream &out, bool ascii) const
 
+void deserialize (std::istream &in, bool ascii)
 
+cv::Mat visualize (const std::string &path="") const
 
int getWidth () const
 
int getHeight () const
 
size_t getTrainingSamples () const
 
bool isValid () const
 
+ + + + + + + +

+Static Public Member Functions

+static std::set< size_t > getDivisors (const size_t &num)
 
+static size_t getClosestToRef (const std::set< size_t > &divisors, const double &ref)
 
+static void getBinSize (const size_t &width, const size_t &height, size_t &bin_width, size_t &bin_height)
 
+ + + + + + + +

+Protected Member Functions

+void deleteFrustums ()
 
+DiscreteFrustum & frustum (int y, int x)
 
+const DiscreteFrustum & frustum (int y, int x) const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Protected Attributes

int width_
 Image width.
 
int height_
 Image height.
 
int bin_width_
 Width of each bin in pixels.
 
int bin_height_
 Height of each bin in pixels.
 
double bin_depth_
 Depth of each bin in meters.
 
int num_bins_x_
 
int num_bins_y_
 
std::vector< std::vector< DiscreteFrustum * > > frustums_
 frustums_[y][x]
 
size_t training_samples_
 
UMutex mutex_
 
+

Detailed Description

+
+

Definition at line 68 of file discrete_depth_distortion_model.h.

+

Constructor & Destructor Documentation

+ +

◆ DiscreteDepthDistortionModel()

+ +
+
+ + + + + +
+ + + + + + + +
clams::DiscreteDepthDistortionModel::DiscreteDepthDistortionModel ()
+ 		+inline
+
+ +

Definition at line 81 of file discrete_depth_distortion_model.h.

+ +
+
+

Member Function Documentation

+ +

◆ accumulate()

+ +
+
+ + + + + + + + + + + + + + + + + + +
size_t clams::DiscreteDepthDistortionModel::accumulate (const cv::Mat & ground_truth,
const cv::Mat & measurement 
)
+
+

Returns the number of training examples it used from this pair. Thread-safe.

+ +
+
+ +

◆ getWidth()

+ +
+
+ + + + + +
+ + + + + + + +
int clams::DiscreteDepthDistortionModel::getWidth () const
+ 		+inline
+
+ +

Definition at line 106 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ getHeight()

+ +
+
+ + + + + +
+ + + + + + + +
int clams::DiscreteDepthDistortionModel::getHeight () const
+ 		+inline
+
+ +

Definition at line 107 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ getTrainingSamples()

+ +
+
+ + + + + +
+ + + + + + + +
size_t clams::DiscreteDepthDistortionModel::getTrainingSamples () const
+ 		+inline
+
+ +

Definition at line 108 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ isValid()

+ +
+
+ + + + + +
+ + + + + + + +
bool clams::DiscreteDepthDistortionModel::isValid () const
+ 		+inline
+
+ +

Definition at line 109 of file discrete_depth_distortion_model.h.

+ +
+
+

Member Data Documentation

+ +

◆ width_

+ +
+
+ + + + + +
+ + + + +
int clams::DiscreteDepthDistortionModel::width_
+ 		+protected
+
+ +

Image width.

+ +

Definition at line 116 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ height_

+ +
+
+ + + + + +
+ + + + +
int clams::DiscreteDepthDistortionModel::height_
+ 		+protected
+
+ +

Image height.

+ +

Definition at line 118 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ bin_width_

+ +
+
+ + + + + +
+ + + + +
int clams::DiscreteDepthDistortionModel::bin_width_
+ 		+protected
+
+ +

Width of each bin in pixels.

+ +

Definition at line 120 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ bin_height_

+ +
+
+ + + + + +
+ + + + +
int clams::DiscreteDepthDistortionModel::bin_height_
+ 		+protected
+
+ +

Height of each bin in pixels.

+ +

Definition at line 122 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ bin_depth_

+ +
+
+ + + + + +
+ + + + +
double clams::DiscreteDepthDistortionModel::bin_depth_
+ 		+protected
+
+ +

Depth of each bin in meters.

+ +

Definition at line 124 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ num_bins_x_

+ +
+
+ + + + + +
+ + + + +
int clams::DiscreteDepthDistortionModel::num_bins_x_
+ 		+protected
+
+ +

Definition at line 125 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ num_bins_y_

+ +
+
+ + + + + +
+ + + + +
int clams::DiscreteDepthDistortionModel::num_bins_y_
+ 		+protected
+
+ +

Definition at line 126 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ frustums_

+ +
+
+ + + + + +
+ + + + +
std::vector< std::vector<DiscreteFrustum*> > clams::DiscreteDepthDistortionModel::frustums_
+ 		+protected
+
+ +

frustums_[y][x]

+ +

Definition at line 128 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ training_samples_

+ +
+
+ + + + + +
+ + + + +
size_t clams::DiscreteDepthDistortionModel::training_samples_
+ 		+protected
+
+ +

Definition at line 130 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ mutex_

+ +
+
+ + + + + +
+ + + + +
UMutex clams::DiscreteDepthDistortionModel::mutex_
+ 		+protected
+
+ +

Definition at line 136 of file discrete_depth_distortion_model.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel__coll__graph.map b/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel__coll__graph.map new file mode 100644 index 00000000..b4138995 --- /dev/null +++ b/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel__coll__graph.md5 b/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel__coll__graph.md5 new file mode 100644 index 00000000..e93e4f18 --- /dev/null +++ b/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel__coll__graph.md5 @@ -0,0 +1 @@ +bb338278c28d5aefe5c96975724687f4 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel__coll__graph.png b/preview/pr-1492/api/latest/classclams_1_1DiscreteDepthDistortionModel__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..b71c6f97d0f0e1b69ddeb279f64b2093da85eccf GIT binary patch literal 6020 zcmZu#2UJsCm!&A6Qfw3jK?Om2?^Q&aKr{$aq}NbF?^S7^(joMwbfk%NLPv;zpb#LC z(5v*`1I%UqnKl2+nw6E8wUU?n?m73Iz4zH4Uuh^&T)%&vfPjEPMOgs~KG(rJoQwoq zBc~aEf)5hYmr4o*7niTkO$G4;1hnER3eVnnrms)3@$Sn zhyr43s@r$&D6KXyE-#BUK7&FB^&qI}b+t^&&(eR~&JIH(qyAqooh%(D~|S6Af-r>$UKS z9_DB%c_*ieoVDYnEUSU+7o})jC(XDj!-q05jIy$_HSme+t%G?lQ~1qD9!R)4>XkP( zGNkn_D#HUC8>I#Z2LrL@#GW%Dv^w9638|#_Zibp{ZFNvp!qBXlzB?+c8tFg7d7FQN z6$m~5ehJ&!-kwRZ$|N-2p6#^5R(+g0+wdrzbeKt%y0!2m)9*kxkxREdncqxVL&NfS zrgYQ~XUxx7W=*xBnw(mx-9-8obI5KHUInP z%dZr{Fs)+k3VWQ$hYuh0%3QKlK=$R(HV{Ww0}qaJAA?%FH$?VKXm{!NWxNq|{2yfe zPO6l-l%g2g;I)D#?N^j^U%a@gtE&r6Xl`>8lEh=+xmsGAEafG@+kzLUsHor`tg&WP z(W4@}aiar;3cEqe<2dDaDBk1Z?EFV4a%*dg1n0Uk^by4rkbdNxdB%9oxIR%)-Ld zg-!HL&I_ujoxnf>Uq8PL8JSc*6CzM4Z?v>bDs;Z-aFH`gCC9TtByI;xHhO_?D?Bz0 z6(i`{BJK(5nbIi;stkJn+*#;l=iqq!`02M2>{2j}Tj zKMwXMdvW|*EmJCGbX4c$a1(O4G4Y@`0UDL2zP-K8Wz?KL+2m6RwqyA#xvlANviHxI z=l8@MKhH&)f%YlUsrXQBi z*2c`tt*nsm;FV($?d|eOz5e)Zr8!U{6qmV=0Np&dGF+?(hnH0ZT=*9(ut73~>_pO> z7JuDS($&&RaGL#bZEkC(L(#$_F9+ZHp17+!o-L#1cTbN%^XZ0U?Wr|g=;c4nz>~WA zlr+a9-l4s96cn!9x^*j(CptXb)>YTlwW@aq930BcNluR7%a<=2y=JDS|9t%D#37iX zwzrBYe`e4TN@4qo2IR{;*Y|Z;!O!K2n}&*U+GM=UDxASdvANXkz5fL?xFQ>*|87F? 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clams::DiscreteFrustum Member List
+
+
+ +

This is the complete list of members for clams::DiscreteFrustum, including all inherited members.

+ + + + + + + + + + + + + + + + +
addExample(double ground_truth, double measurement)clams::DiscreteFrustum
bin_depth_ (defined in clams::DiscreteFrustum)clams::DiscreteFrustumprotected
counts_ (defined in clams::DiscreteFrustum)clams::DiscreteFrustumprotected
deserialize(std::istream &in, bool ascii) (defined in clams::DiscreteFrustum)clams::DiscreteFrustum
DiscreteDepthDistortionModel (defined in clams::DiscreteFrustum)clams::DiscreteFrustumfriend
DiscreteFrustum(int smoothing=1, double bin_depth=1.0, double max_dist=10.0) (defined in clams::DiscreteFrustum)clams::DiscreteFrustum
index(double z) const (defined in clams::DiscreteFrustum)clams::DiscreteFrustum
interpolatedUndistort(double *z) const (defined in clams::DiscreteFrustum)clams::DiscreteFrustum
max_dist_ (defined in clams::DiscreteFrustum)clams::DiscreteFrustumprotected
multipliers_ (defined in clams::DiscreteFrustum)clams::DiscreteFrustumprotected
num_bins_ (defined in clams::DiscreteFrustum)clams::DiscreteFrustumprotected
serialize(std::ostream &out, bool ascii) const (defined in clams::DiscreteFrustum)clams::DiscreteFrustum
total_denominators_ (defined in clams::DiscreteFrustum)clams::DiscreteFrustumprotected
total_numerators_ (defined in clams::DiscreteFrustum)clams::DiscreteFrustumprotected
undistort(double *z) const (defined in clams::DiscreteFrustum)clams::DiscreteFrustum
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+Public Member Functions | +Protected Attributes | +Friends | +List of all members
+
clams::DiscreteFrustum Class Reference
+
+
+ + + + + + + + + + + + + + + + +

+Public Member Functions

+ DiscreteFrustum (int smoothing=1, double bin_depth=1.0, double max_dist=10.0)
 
void addExample (double ground_truth, double measurement)
 
+int index (double z) const
 
+void undistort (double *z) const
 
+void interpolatedUndistort (double *z) const
 
+void serialize (std::ostream &out, bool ascii) const
 
+void deserialize (std::istream &in, bool ascii)
 
+ + + + + + + + + + + + + + + +

+Protected Attributes

double max_dist_
 
int num_bins_
 
double bin_depth_
 
Eigen::VectorXf counts_
 
Eigen::VectorXf total_numerators_
 
Eigen::VectorXf total_denominators_
 
Eigen::VectorXf multipliers_
 
+ + + +

+Friends

class DiscreteDepthDistortionModel
 
+

Detailed Description

+
+

Definition at line 43 of file discrete_depth_distortion_model.h.

+

Member Function Documentation

+ +

◆ addExample()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void clams::DiscreteFrustum::addExample (double ground_truth,
double measurement 
)
+
+

z value, not distance to origin. thread-safe.

+ +
+
+

Friends And Related Symbol Documentation

+ +

◆ DiscreteDepthDistortionModel

+ +
+
+ + + + + +
+ + + + +
friend class DiscreteDepthDistortionModel
+ 		+friend
+
+ +

Definition at line 65 of file discrete_depth_distortion_model.h.

+ +
+
+

Member Data Documentation

+ +

◆ max_dist_

+ +
+
+ + + + + +
+ + + + +
double clams::DiscreteFrustum::max_dist_
+ 		+protected
+
+ +

Definition at line 57 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ num_bins_

+ +
+
+ + + + + +
+ + + + +
int clams::DiscreteFrustum::num_bins_
+ 		+protected
+
+ +

Definition at line 58 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ bin_depth_

+ +
+
+ + + + + +
+ + + + +
double clams::DiscreteFrustum::bin_depth_
+ 		+protected
+
+ +

Definition at line 59 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ counts_

+ +
+
+ + + + + +
+ + + + +
Eigen::VectorXf clams::DiscreteFrustum::counts_
+ 		+protected
+
+ +

Definition at line 60 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ total_numerators_

+ +
+
+ + + + + +
+ + + + +
Eigen::VectorXf clams::DiscreteFrustum::total_numerators_
+ 		+protected
+
+ +

Definition at line 61 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ total_denominators_

+ +
+
+ + + + + +
+ + + + +
Eigen::VectorXf clams::DiscreteFrustum::total_denominators_
+ 		+protected
+
+ +

Definition at line 62 of file discrete_depth_distortion_model.h.

+ +
+
+ +

◆ multipliers_

+ +
+
+ + + + + +
+ + + + +
Eigen::VectorXf clams::DiscreteFrustum::multipliers_
+ 		+protected
+
+ +

Definition at line 63 of file discrete_depth_distortion_model.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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This is the complete list of members for clams::FrameProjector, including all inherited members.

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cloudToRangeIndex(const pcl::PointCloud< pcl::PointXYZ >::Ptr &pcd) const (defined in clams::FrameProjector)clams::FrameProjector
coneFit(const cv::Size &imageSize, const RangeIndex &rindex, int uc, int vc, double radius, double measurement_depth, double *mean, double *stdev) const (defined in clams::FrameProjector)clams::FrameProjectorprotected
estimateMapDepth(const pcl::PointCloud< pcl::PointXYZ >::Ptr &map, const rtabmap::Transform &transform, const cv::Mat &measurement, double coneRadius=0.02, double coneStdevThresh=0.03) constclams::FrameProjector
FrameProjector(const rtabmap::CameraModel &model) (defined in clams::FrameProjector)clams::FrameProjector
project(const ProjectivePoint &ppt) const (defined in clams::FrameProjector)clams::FrameProjector
RangeIndex typedef (defined in clams::FrameProjector)clams::FrameProjector
reproject(const pcl::PointXYZ &pt) const (defined in clams::FrameProjector)clams::FrameProjector
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clams::FrameProjector Class Reference
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#include <frame_projector.h>

+ + + + +

+Public Types

typedef std::vector< std::vector< std::vector< double > > > RangeIndex
 
+ + + + + + + + + + + +

+Public Member Functions

+ FrameProjector (const rtabmap::CameraModel &model)
 
+RangeIndex cloudToRangeIndex (const pcl::PointCloud< pcl::PointXYZ >::Ptr &pcd) const
 
cv::Mat estimateMapDepth (const pcl::PointCloud< pcl::PointXYZ >::Ptr &map, const rtabmap::Transform &transform, const cv::Mat &measurement, double coneRadius=0.02, double coneStdevThresh=0.03) const
 
+pcl::PointXYZ project (const ProjectivePoint &ppt) const
 
+ProjectivePoint reproject (const pcl::PointXYZ &pt) const
 
+ + + +

+Protected Member Functions

+bool coneFit (const cv::Size &imageSize, const RangeIndex &rindex, int uc, int vc, double radius, double measurement_depth, double *mean, double *stdev) const
 
+

Detailed Description

+

This is essentially a pinhole camera model for an RGBD sensor, with some extra functions added on for use during calibration.

+ +

Definition at line 62 of file frame_projector.h.

+

Member Typedef Documentation

+ +

◆ RangeIndex

+ +
+
+ + + + +
typedef std::vector< std::vector< std::vector<double> > > clams::FrameProjector::RangeIndex
+
+ +

Definition at line 66 of file frame_projector.h.

+ +
+
+

Member Function Documentation

+ +

◆ estimateMapDepth()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
cv::Mat clams::FrameProjector::estimateMapDepth (const pcl::PointCloud< pcl::PointXYZ >::Ptr & map,
const rtabmap::Transform & transform,
const cv::Mat & measurement,
double coneRadius = 0.02,
double coneStdevThresh = 0.03 
) const
+
+

transform is applied to the map, then projected into a depth index. The best depth estimate from the map corresponding to the measurement depth frame will be returned.

+ +
+
+
The documentation for this class was generated from the following file: +
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clams::ProjectivePoint Member List
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This is the complete list of members for clams::ProjectivePoint, including all inherited members.

+ + + + + +
ProjectivePoint() (defined in clams::ProjectivePoint)clams::ProjectivePointinline
u_ (defined in clams::ProjectivePoint)clams::ProjectivePoint
v_ (defined in clams::ProjectivePoint)clams::ProjectivePoint
z_ (defined in clams::ProjectivePoint)clams::ProjectivePoint
+ +
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clams::ProjectivePoint Class Reference
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+ +

#include <frame_projector.h>

+ + + + + + + + +

+Public Attributes

int u_
 
int v_
 
float z_
 
+

Detailed Description

+

"Projective" point comes from the OpenNI terminology, and refers to (u, v, z), i.e. pixel id and depth value. Here I've added color, too, so that this represents everything that is known about a pixel in an RBGD camera.

+ +

Definition at line 47 of file frame_projector.h.

+

Constructor & Destructor Documentation

+ +

◆ ProjectivePoint()

+ +
+
+ + + + + +
+ + + + + + + +
clams::ProjectivePoint::ProjectivePoint ()
+ 		+inline
+
+ +

Definition at line 50 of file frame_projector.h.

+ +
+
+

Member Data Documentation

+ +

◆ u_

+ +
+
+ + + + +
int clams::ProjectivePoint::u_
+
+ +

Definition at line 55 of file frame_projector.h.

+ +
+
+ +

◆ v_

+ +
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+ + + + +
int clams::ProjectivePoint::v_
+
+ +

Definition at line 56 of file frame_projector.h.

+ +
+
+ +

◆ z_

+ +
+
+ + + + +
float clams::ProjectivePoint::z_
+
+ +

Definition at line 57 of file frame_projector.h.

+ +
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The documentation for this class was generated from the following file: +
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B | C | D | E | F | G | I | K | L | M | O | P | R | S | T | U | V
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+
+
B
+
BayesFilter (rtabmap)
BRISK (rtabmap)
+
+
C
+
Camera (rtabmap)
CameraDepthAI (rtabmap)
CameraFreenect (rtabmap)
CameraFreenect2 (rtabmap)
CameraImages (rtabmap)
CameraK4A (rtabmap)
CameraK4W2 (rtabmap)
CameraModel (rtabmap)
CameraMyntEye (rtabmap)
CameraOpenni (rtabmap)
CameraOpenNI2 (rtabmap)
CameraOpenNICV (rtabmap)
CameraOrbbecSDK (rtabmap)
CameraRealSense (rtabmap)
CameraRealSense2 (rtabmap)
CameraRGBDImages (rtabmap)
CameraSeerSense (rtabmap)
CameraStereoDC1394 (rtabmap)
CameraStereoFlyCapture2 (rtabmap)
CameraStereoImages (rtabmap)
CameraStereoTara (rtabmap)
CameraStereoVideo (rtabmap)
CameraStereoZed (rtabmap)
CameraStereoZedOC (rtabmap)
CameraVideo (rtabmap)
CloudMap (rtabmap)
CompressionThread (rtabmap)
+
+
D
+
DBDriver (rtabmap)
DBDriverSqlite3 (rtabmap)
DBReader (rtabmap)
DiscreteDepthDistortionModel (clams)
DiscreteFrustum (clams)
+
+
E
+
EnvSensor (rtabmap)
EpipolarGeometry (rtabmap)
+
+
F
+
FAST (rtabmap)
FAST_BRIEF (rtabmap)
FAST_FREAK (rtabmap)
Feature2D (rtabmap)
FeatureBA (rtabmap)
FlannIndex (rtabmap)
FrameProjector (clams)
+
+
G
+
GainCompensator (rtabmap)
GeodeticCoords (rtabmap)
GFTT (rtabmap)
GFTT_BRIEF (rtabmap)
GFTT_DAISY (rtabmap)
GFTT_FREAK (rtabmap)
GFTT_ORB (rtabmap)
GlobalDescriptor (rtabmap)
GlobalDescriptorExtractor (rtabmap)
GlobalMap (rtabmap)
GPS (rtabmap)
GridMap (rtabmap)
+
+
I
+
IMU (rtabmap)
IMUEvent (rtabmap)
IMUFilter (rtabmap)
IMUThread (rtabmap)
+
+
K
+
KAZE (rtabmap)
+
+
L
+
Landmark (rtabmap)
LaserScan (rtabmap)
Lidar (rtabmap)
LidarVLP16 (rtabmap)
Link (rtabmap)
LocalGrid (rtabmap)
LocalGridCache (rtabmap)
LocalGridMaker (rtabmap)
+
+
M
+
MarkerDetector (rtabmap)
MarkerInfo (rtabmap)
MaxGraphErrors (rtabmap::graph)
Memory (rtabmap)
+
+
O
+
OccupancyGrid (rtabmap)
OctoMap (rtabmap)
Odometry (rtabmap)
OdometryCuVSLAM (rtabmap)
OdometryDVO (rtabmap)
OdometryEvent (rtabmap)
OdometryF2F (rtabmap)
OdometryF2M (rtabmap)
OdometryFLOAM (rtabmap)
OdometryFovis (rtabmap)
OdometryInfo (rtabmap)
OdometryLIOSAM (rtabmap)
OdometryLOAM (rtabmap)
OdometryMono (rtabmap)
OdometryMSCKF (rtabmap)
OdometryOkvis (rtabmap)
OdometryOpen3D (rtabmap)
OdometryOpenVINS (rtabmap)
OdometryORBSLAM2 (rtabmap)
OdometryORBSLAM3 (rtabmap)
OdometryResetEvent (rtabmap)
OdometryThread (rtabmap)
OdometryVINSFusion (rtabmap)
OdometryViso2 (rtabmap)
Optimizer (rtabmap)
OptimizerCeres (rtabmap)
OptimizerCVSBA (rtabmap)
OptimizerG2O (rtabmap)
OptimizerGTSAM (rtabmap)
OptimizerTORO (rtabmap)
ORB (rtabmap)
ORBOctree (rtabmap)
+
+
P
+
Parameters (rtabmap)
ParamEvent (rtabmap)
ParticleFilter (rtabmap)
PointXYZIRT (rtabmap)
PointXYZIT (rtabmap)
ProgressState (rtabmap)
ProjectivePoint (clams)
PythonInterface (rtabmap)
+
+
R
+
Registration (rtabmap)
RegistrationIcp (rtabmap)
RegistrationInfo (rtabmap)
RegistrationVis (rtabmap)
Rtabmap (rtabmap)
RtabmapColorOcTree (rtabmap)
RtabmapColorOcTreeNode (rtabmap)
RtabmapEvent (rtabmap)
RtabmapEvent3DMap (rtabmap)
RtabmapEventCmd (rtabmap)
RtabmapEventInit (rtabmap)
RtabmapGlobalPathEvent (rtabmap)
RtabmapGoalStatusEvent (rtabmap)
RtabmapLabelErrorEvent (rtabmap)
RtabmapThread (rtabmap)
RvlCodec (rtabmap)
+
+
S
+
SensorCapture (rtabmap)
SensorCaptureInfo (rtabmap)
SensorCaptureThread (rtabmap)
SensorData (rtabmap)
SensorEvent (rtabmap)
SIFT (rtabmap)
Signature (rtabmap)
RtabmapColorOcTree::StaticMemberInitializer (rtabmap)
Statistics (rtabmap)
Stereo (rtabmap)
StereoBM (rtabmap)
StereoCameraModel (rtabmap)
StereoDense (rtabmap)
StereoOpticalFlow (rtabmap)
StereoSGBM (rtabmap)
SuperPointRpautrat (rtabmap)
SuperPointTorch (rtabmap)
SURF (rtabmap)
SURF_DAISY (rtabmap)
SURF_FREAK (rtabmap)
+
+
T
+
Transform (rtabmap)
TransformStamped (rtabmap)
+
+
U
+
UDestroyer
UDirectory
UEvent
UEventDispatcher
UEventsHandler
UEventsManager
UEventsSender
UException
UFile
ULogEvent
ULogger
UMutex
UObjDeletedEvent
UObjDeletionThread
UProcessInfo
UScopeMutex
USemaphore
UserDataEvent (rtabmap)
UThread
UThreadC
UThreadC< void >
UTimer
UVariant
+
+
V
+
VisualWord (rtabmap)
VWDictionary (rtabmap)
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rtabmap::BRISK Member List
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BRISK(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::BRISK)rtabmap::BRISK
computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::BRISK)rtabmap::BRISKinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() constrtabmap::Feature2Dinlinevirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::BRISK)rtabmap::BRISKvirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~BRISK() (defined in rtabmap::BRISK)rtabmap::BRISKvirtual
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
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rtabmap::BRISK Class Reference
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BRISK detector and descriptor. + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::BRISK:
+
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+Collaboration diagram for rtabmap::BRISK:
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+Public Member Functions

+ BRISK (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
virtual bool isGpuAvailable () const
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

BRISK detector and descriptor.

+ +

Definition at line 598 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::BRISK::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::BRISK::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 605 of file Features2d.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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a/preview/pr-1492/api/latest/classrtabmap_1_1BayesFilter-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1BayesFilter-members.html new file mode 100644 index 00000000..7fdaa341 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1BayesFilter-members.html @@ -0,0 +1,104 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::BayesFilter Member List
+
+
+ +

This is the complete list of members for rtabmap::BayesFilter, including all inherited members.

+ + + + + + + + + + + + + +
BayesFilter(const ParametersMap &parameters=ParametersMap())rtabmap::BayesFilter
computePosterior(const Memory *memory, const std::map< int, float > &likelihood)rtabmap::BayesFilter
generatePrediction(const Memory *memory, const std::vector< int > &ids)rtabmap::BayesFilter
getMemoryUsed() constrtabmap::BayesFilter
getPosterior() constrtabmap::BayesFilterinline
getPredictionLC() constrtabmap::BayesFilter
getPredictionLCStr() constrtabmap::BayesFilter
getVirtualPlacePrior() constrtabmap::BayesFilterinline
parseParameters(const ParametersMap &parameters)rtabmap::BayesFiltervirtual
reset()rtabmap::BayesFilter
setPredictionLC(const std::string &prediction)rtabmap::BayesFilter
~BayesFilter() (defined in rtabmap::BayesFilter)rtabmap::BayesFiltervirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1BayesFilter.html b/preview/pr-1492/api/latest/classrtabmap_1_1BayesFilter.html new file mode 100644 index 00000000..e242b5f2 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1BayesFilter.html @@ -0,0 +1,448 @@ + + + + + + + + +RTAB-Map: rtabmap::BayesFilter Class Reference + + + + + + + + + + + + +
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+ + + + + + +
+
RTAB-Map 0.23.10 +
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rtabmap::BayesFilter Class Reference
+
+
+ +

Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map. + More...

+ +

#include <BayesFilter.h>

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 BayesFilter (const ParametersMap &parameters=ParametersMap())
 Constructs a Bayes filter with default or custom parameters.
 
virtual void parseParameters (const ParametersMap &parameters)
 Updates internal settings from the parameter map.
 
const std::map< int, float > & computePosterior (const Memory *memory, const std::map< int, float > &likelihood)
 Runs one Bayes filter iteration (prediction + update).
 
+void reset ()
 Clears posterior, prediction matrix and cached neighbor indices.
 
void setPredictionLC (const std::string &prediction)
 Sets the loop-closure prediction model from a space-separated string.
 
const std::map< int, float > & getPosterior () const
 Returns the current posterior probability map.
 
float getVirtualPlacePrior () const
 Returns the virtual place prior threshold.
 
const std::vector< double > & getPredictionLC () const
 Returns the loop-closure prediction model as a vector of values.
 
std::string getPredictionLCStr () const
 Returns the loop-closure prediction model as a space-separated string.
 
cv::Mat generatePrediction (const Memory *memory, const std::vector< int > &ids)
 Builds or updates the prediction (transition) matrix for the given signature ids.
 
unsigned long getMemoryUsed () const
 Estimates memory usage of this object and its internal containers.
 
+

Detailed Description

+

Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.

+

This class implements the prediction and update steps of a Bayes filter used to estimate the posterior probability over candidate locations (signatures) in working memory. It is typically called by Rtabmap after likelihood values have been computed from visual word comparisons.

+

The filter operates in two steps on each iteration:

    +
  • Prediction: builds a transition matrix from the memory graph and multiplies it with the previous posterior to obtain the prior.
    • +
  • Update: multiplies the prior by the observation likelihood and normalizes the result.
    • +
+

The prediction matrix is built from neighbor relationships in Memory, using a Gaussian-like model configured through Parameters::kBayesPredictionLC(). A virtual place (negative signature id, see Memory::kIdVirtual) represents the hypothesis that the current observation comes from a new location.

+

Related parameters (see Parameters):

    +
  • Parameters::kBayesPredictionLC() — transition probabilities per graph depth level.
    • +
  • Parameters::kBayesVirtualPlacePriorThr() — prior for the virtual place.
    • +
  • Parameters::kBayesFullPredictionUpdate() — regenerate the full prediction matrix each iteration.
    • +
+
See also
Memory::getNeighborsId()
+
+Rtabmap
+ +

Definition at line 71 of file BayesFilter.h.

+

Constructor & Destructor Documentation

+ +

◆ BayesFilter()

+ +
+
+ + + + + + + + +
rtabmap::BayesFilter::BayesFilter (const ParametersMap & parameters = ParametersMap())
+
+ +

Constructs a Bayes filter with default or custom parameters.

+
Parameters
+ + +
parametersOptional parameter map (Bayes group keys). Defaults are used for missing keys.
+
+
+ +
+
+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::BayesFilter::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Updates internal settings from the parameter map.

+
Parameters
+ + +
parametersMap containing Bayes group keys.
+
+
+ +
+
+ +

◆ computePosterior()

+ +
+
+ + + + + + + + + + + + + + + + + + +
const std::map< int, float > & rtabmap::BayesFilter::computePosterior (const Memory * memory,
const std::map< int, float > & likelihood 
)
+
+ +

Runs one Bayes filter iteration (prediction + update).

+

Given a likelihood map over signature ids, computes and stores the normalized posterior. The prediction matrix is generated or updated from Memory using the ids present in likelihood.

+
Parameters
+ + + +
memoryWorking memory instance (must not be null).
likelihoodObservation likelihood per signature id (must not be empty).
+
+
+
Returns
Reference to the internal posterior map (id → probability). On error (null memory, empty likelihood, or invalid prediction model), returns the unchanged posterior.
+ +
+
+ +

◆ setPredictionLC()

+ +
+
+ + + + + + + + +
void rtabmap::BayesFilter::setPredictionLC (const std::string & prediction)
+
+ +

Sets the loop-closure prediction model from a space-separated string.

+

Format: {Vp, Lc, l1, l2, l3, ...} where:

    +
  • Vp — virtual place probability. This is the probability to move to a new place (unvisited location).
    • +
  • Lc — loop closure (depth 0) probability. This is the probability to stay at the same location.
    • +
  • l1, l2, ... — probabilities for neighbors at increasing graph depth levels. This is the probability to move to a neighbor at the given depth level.
    • +
+

Each value must be in [0, 1]. At least two values are required. Invalid strings are rejected and the previous model is kept.

+
Parameters
+ + +
predictionSpace-separated list of probabilities (same format as Parameters::kBayesPredictionLC()).
+
+
+ +
+
+ +

◆ getPosterior()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, float > & rtabmap::BayesFilter::getPosterior () const
+ 		+inline
+
+ +

Returns the current posterior probability map.

+
Returns
Map of signature id to normalized posterior probability. This is the probability to be at the given location.
+ +

Definition at line 125 of file BayesFilter.h.

+ +
+
+ +

◆ getVirtualPlacePrior()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::BayesFilter::getVirtualPlacePrior () const
+ 		+inline
+
+ +

Returns the virtual place prior threshold.

+
Returns
Value in [0, 1] used when building the virtual place row of the prediction matrix.
+ +

Definition at line 131 of file BayesFilter.h.

+ +
+
+ +

◆ getPredictionLC()

+ +
+
+ + + + + + + +
const std::vector< double > & rtabmap::BayesFilter::getPredictionLC () const
+
+ +

Returns the loop-closure prediction model as a vector of values.

+
Returns
Vector in the format {Vp, Lc, l1, l2, l3, ...}.
+ +
+
+ +

◆ getPredictionLCStr()

+ +
+
+ + + + + + + +
std::string rtabmap::BayesFilter::getPredictionLCStr () const
+
+ +

Returns the loop-closure prediction model as a space-separated string.

+
Returns
String representation of getPredictionLC().
+ +
+
+ +

◆ generatePrediction()

+ +
+
+ + + + + + + + + + + + + + + + + + +
cv::Mat rtabmap::BayesFilter::generatePrediction (const Memory * memory,
const std::vector< int > & ids 
)
+
+ +

Builds or updates the prediction (transition) matrix for the given signature ids.

+

Rows and columns correspond to ids. Neighbor links are queried from Memory to fill transition probabilities according to getPredictionLC(). When ids match the current posterior keys, the cached matrix may be returned without recomputation.

+
Parameters
+ + + +
memoryWorking memory instance (must not be null).
idsOrdered list of signature ids (often includes Memory::kIdVirtual as first element).
+
+
+
Returns
Square CV_32FC1 matrix of size ids.size() × ids.size().
+ +
+
+ +

◆ getMemoryUsed()

+ +
+
+ + + + + + + +
unsigned long rtabmap::BayesFilter::getMemoryUsed () const
+
+ +

Estimates memory usage of this object and its internal containers.

+
Returns
Approximate memory footprint in bytes.
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Camera-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Camera-members.html new file mode 100644 index 00000000..4350aa77 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Camera-members.html @@ -0,0 +1,116 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::Camera Member List
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This is the complete list of members for rtabmap::Camera, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + +
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
captureImage(SensorCaptureInfo *info=0)=0 (defined in rtabmap::Camera)rtabmap::Cameraprotectedpure virtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() const =0rtabmap::SensorCapturepure virtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")=0rtabmap::SensorCapturepure virtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const =0 (defined in rtabmap::Camera)rtabmap::Camerapure virtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Camera.html b/preview/pr-1492/api/latest/classrtabmap_1_1Camera.html new file mode 100644 index 00000000..8a5c60ff --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Camera.html @@ -0,0 +1,427 @@ + + + + + + + + +RTAB-Map: rtabmap::Camera Class Reference + + + + + + + + + + + + +
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rtabmap::Camera Class Referenceabstract
+
+
+ +

#include <Camera.h>

+
+Inheritance diagram for rtabmap::Camera:
+
+
Inheritance graph
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
[legend]
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+Collaboration diagram for rtabmap::Camera:
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+Public Member Functions

SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
+virtual bool isCalibrated () const =0
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")=0
 Initializes the sensor.
 
virtual std::string getSerial () const =0
 Returns the sensor's serial number or unique identifier.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + + + + + + + + + + + + +

+Protected Member Functions

 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
virtual SensorData captureImage (SensorCaptureInfo *info=0)=0
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+

Class Camera

+ +

Definition at line 43 of file Camera.h.

+

Constructor & Destructor Documentation

+ +

◆ Camera()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
rtabmap::Camera::Camera (float imageRate = 0,
const Transform & localTransform = Transform::getIdentity() 
)
+ 		+protected
+
+

Constructor

+
Parameters
+ + + +
imageRatethe frame rate (Hz), 0 for fast as the camera can
localTransformthe transform from base frame to camera frame (without optical rotation)
+
+
+ +
+
+

Member Function Documentation

+ +

◆ takeImage()

+ +
+
+ + + + + +
+ + + + + + + + +
SensorData rtabmap::Camera::takeImage (SensorCaptureInfo * info = 0)
+ 		+inline
+
+ +

Definition at line 48 of file Camera.h.

+ +
+
+ +

◆ getImageRate()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Camera::getImageRate () const
+ 		+inline
+
+ +

Definition at line 49 of file Camera.h.

+ +
+
+ +

◆ setImageRate()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Camera::setImageRate (float imageRate)
+ 		+inline
+
+ +

Definition at line 50 of file Camera.h.

+ +
+
+ +

◆ isInterIMUPublishing()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Camera::isInterIMUPublishing () const
+ 		+inline
+
+ +

Definition at line 52 of file Camera.h.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::Camera::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedpure virtual
+
+ +

Implemented in rtabmap::CameraMyntEye.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/Camera.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::CameraDepthAI Member List
+
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+ +

This is the complete list of members for rtabmap::CameraDepthAI, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available() (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAIstatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraDepthAI(const std::string &mxidOrName="", int imageWidth=1280, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAI
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAIprotectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraDepthAIvirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraDepthAIvirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAIvirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setDepthProfile(int confThreshold=200, int lrcThreshold=5) (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAI
setDetectFeatures(int detectFeatures=0, const std::string &blobPath="") (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAI
setDisparityWidthAndFilter(int disparityWidth=96, int medianFilter=5) (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAI
setExtendedDisparity(bool extendedDisparity=false, bool enableCompanding=false) (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAI
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setGFTTDetector(bool useHarrisDetector=false, float minDistance=7.0f, int numTargetFeatures=1000) (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAI
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setIMU(bool imuPublished, bool publishInterIMU) (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAI
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setIrIntensity(float dotIntensity=0.0f, float floodIntensity=0.0f) (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAI
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setOutputMode(int outputMode=0) (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAI
setRectification(bool useSpecTranslation=false, float alphaScaling=0.0f, bool enabled=true) (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAI
setSubpixelMode(bool enabled=false, int fractionalBits=3) (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAI
setSuperPointDetector(float threshold=0.01f, bool nms=true, int nmsRadius=4) (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAI
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraDepthAI() (defined in rtabmap::CameraDepthAI)rtabmap::CameraDepthAIvirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+Public Member Functions

+ CameraDepthAI (const std::string &mxidOrName="", int imageWidth=1280, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
+void setOutputMode (int outputMode=0)
 
+void setDepthProfile (int confThreshold=200, int lrcThreshold=5)
 
+void setExtendedDisparity (bool extendedDisparity=false, bool enableCompanding=false)
 
+void setSubpixelMode (bool enabled=false, int fractionalBits=3)
 
+void setDisparityWidthAndFilter (int disparityWidth=96, int medianFilter=5)
 
+void setRectification (bool useSpecTranslation=false, float alphaScaling=0.0f, bool enabled=true)
 
+void setIMU (bool imuPublished, bool publishInterIMU)
 
+void setIrIntensity (float dotIntensity=0.0f, float floodIntensity=0.0f)
 
+void setDetectFeatures (int detectFeatures=0, const std::string &blobPath="")
 
+void setGFTTDetector (bool useHarrisDetector=false, float minDistance=7.0f, int numTargetFeatures=1000)
 
+void setSuperPointDetector (float threshold=0.01f, bool nms=true, int nmsRadius=4)
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 44 of file CameraDepthAI.h.

+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraDepthAI::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraDepthAI::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraDepthAI::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraDepthAI::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraDepthAI__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1CameraDepthAI__coll__graph.map new file mode 100644 index 00000000..93db103a --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraDepthAI__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraDepthAI__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1CameraDepthAI__coll__graph.md5 new file mode 100644 index 00000000..10e31ed8 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraDepthAI__coll__graph.md5 @@ -0,0 +1 @@ +eae77801d9e0a833774363652d3658ca \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraDepthAI__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1CameraDepthAI__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..efaa0d32a4f799ce4bf64cf7f93457672ffed898 GIT binary 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zmW8Fv8}U)f(dOVS&p)qvC@i0h b-C;1q$n!kSxcUX&L_x|5>hk5XX2Jgj8PyIm literal 0 HcmV?d00001 diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect-members.html new file mode 100644 index 00000000..241b325b --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect-members.html @@ -0,0 +1,122 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::CameraFreenect Member List
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+ +

This is the complete list of members for rtabmap::CameraFreenect, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available() (defined in rtabmap::CameraFreenect)rtabmap::CameraFreenectstatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraFreenect(int deviceId=0, Type type=kTypeColorDepth, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraFreenect)rtabmap::CameraFreenect
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraFreenect)rtabmap::CameraFreenectprotectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraFreenectvirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraFreenectvirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraFreenect)rtabmap::CameraFreenectvirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
kTypeColorDepth enum value (defined in rtabmap::CameraFreenect)rtabmap::CameraFreenect
kTypeIRDepth enum value (defined in rtabmap::CameraFreenect)rtabmap::CameraFreenect
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
Type enum name (defined in rtabmap::CameraFreenect)rtabmap::CameraFreenect
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraFreenect() (defined in rtabmap::CameraFreenect)rtabmap::CameraFreenectvirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect.html new file mode 100644 index 00000000..1ad01136 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect.html @@ -0,0 +1,373 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraFreenect Class Reference + + + + + + + + + + + + +
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::CameraFreenect Class Reference
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+Inheritance diagram for rtabmap::CameraFreenect:
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Inheritance graph
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+Collaboration diagram for rtabmap::CameraFreenect:
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+Public Types

enum  Type { kTypeColorDepth +, kTypeIRDepth + }
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ CameraFreenect (int deviceId=0, Type type=kTypeColorDepth, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 44 of file CameraFreenect.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::CameraFreenect::Type
+
+ +

Definition at line 49 of file CameraFreenect.h.

+ +
+
+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraFreenect::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraFreenect::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraFreenect::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraFreenect::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2-members.html new file mode 100644 index 00000000..8cfb42d5 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2-members.html @@ -0,0 +1,126 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::CameraFreenect2 Member List
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This is the complete list of members for rtabmap::CameraFreenect2, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available() (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2static
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraFreenect2(int deviceId=0, Type type=kTypeDepth2ColorSD, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity(), float minDepth=0.3f, float maxDepth=12.0f, bool bilateralFiltering=true, bool edgeAwareFiltering=true, bool noiseFiltering=true, const std::string &pipelineName="") (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2protectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraFreenect2virtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraFreenect2virtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2virtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
kTypeColor2DepthSD enum value (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2
kTypeColorIR enum value (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2
kTypeDepth2ColorHD enum value (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2
kTypeDepth2ColorHD2 enum value (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2
kTypeDepth2ColorSD enum value (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2
kTypeIRDepth enum value (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
Type enum name (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraFreenect2() (defined in rtabmap::CameraFreenect2)rtabmap::CameraFreenect2virtual
~SensorCapture()rtabmap::SensorCapturevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2.html new file mode 100644 index 00000000..bff3117e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2.html @@ -0,0 +1,380 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraFreenect2 Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+
+ + + + + + + + +
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::CameraFreenect2 Class Reference
+
+
+
+Inheritance diagram for rtabmap::CameraFreenect2:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::CameraFreenect2:
+
+
Collaboration graph
+ + + + + + + +
[legend]
+ + + + +

+Public Types

enum  Type {
+  kTypeColor2DepthSD +, kTypeDepth2ColorSD +, kTypeDepth2ColorHD +, kTypeDepth2ColorHD2 +,
+  kTypeIRDepth +, kTypeColorIR +
+ }
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ CameraFreenect2 (int deviceId=0, Type type=kTypeDepth2ColorSD, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity(), float minDepth=0.3f, float maxDepth=12.0f, bool bilateralFiltering=true, bool edgeAwareFiltering=true, bool noiseFiltering=true, const std::string &pipelineName="")
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 46 of file CameraFreenect2.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::CameraFreenect2::Type
+
+ +

Definition at line 52 of file CameraFreenect2.h.

+ +
+
+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraFreenect2::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraFreenect2::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraFreenect2::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraFreenect2::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2__coll__graph.map new file mode 100644 index 00000000..fb6c9b12 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2__coll__graph.md5 new file mode 100644 index 00000000..986a2df9 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2__coll__graph.md5 @@ -0,0 +1 @@ +8f2a2ca6f6f31485c1bc0d5d6ba98262 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1CameraFreenect2__coll__graph.png new file mode 100644 index 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rtabmap::CameraImages Member List
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This is the complete list of members for rtabmap::CameraImages, including all inherited members.

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_calibrationFolder (defined in rtabmap::CameraImages)rtabmap::CameraImagesprotected
_multiCameraCalib (defined in rtabmap::CameraImages)rtabmap::CameraImagesprotected
_multiCameraCount (defined in rtabmap::CameraImages)rtabmap::CameraImagesprotected
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraImages() (defined in rtabmap::CameraImages)rtabmap::CameraImages
CameraImages(const std::string &path, float imageRate=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraImages)rtabmap::CameraImages
cameraModel() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraImages)rtabmap::CameraImagesprotectedvirtual
filenames() const (defined in rtabmap::CameraImages)rtabmap::CameraImages
getBayerMode() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getMaxPoseTimeDiff() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPath() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraImagesvirtual
imagesCount() const (defined in rtabmap::CameraImages)rtabmap::CameraImages
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraImagesvirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesvirtual
isConfigForEachFrame() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
isImagesRectified() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
lastImageFileName() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinlineprotected
odomProvided() constrtabmap::CameraImagesinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setBayerMode(int mode) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setConfigForEachFrame(bool value) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setDepth(bool isDepth, float depthScaleFactor=1.0f) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setDepthFromScan(bool enabled, int fillHoles=1, bool fillHolesFromBorder=false) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setDirRefreshed(bool enabled) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setGroundTruthPath(const std::string &filePath, int format=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setImagesRectified(bool enabled) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setMaxFrames(int value) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinlinevirtual
setMaxPoseTimeDiff(double diff) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setMultiCameraCalibration(bool enabled) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setOdometryPath(const std::string &filePath, int format=0) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setPath(const std::string &dir) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setScanPath(const std::string &dir, int maxScanPts=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setStartIndex(int index) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinlinevirtual
setTimestamps(bool fileNamesAreStamps, const std::string &filePath="", bool syncImageRateWithStamps=true) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraImages() (defined in rtabmap::CameraImages)rtabmap::CameraImagesvirtual
~SensorCapture()rtabmap::SensorCapturevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages.html new file mode 100644 index 00000000..fc725ba8 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages.html @@ -0,0 +1,1210 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraImages Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+Public Member Functions | +Protected Member Functions | +Protected Attributes | +List of all members
+
rtabmap::CameraImages Class Reference
+
+
+
+Inheritance diagram for rtabmap::CameraImages:
+
+
Inheritance graph
+ + + + + + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::CameraImages:
+
+
Collaboration graph
+ + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ CameraImages (const std::string &path, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
std::string getPath () const
 
+unsigned int imagesCount () const
 
+std::vector< std::string > filenames () const
 
bool isImagesRectified () const
 
int getBayerMode () const
 
const CameraModel & cameraModel () const
 
void setPath (const std::string &dir)
 
virtual void setStartIndex (int index)
 
virtual void setMaxFrames (int value)
 
void setDirRefreshed (bool enabled)
 
void setImagesRectified (bool enabled)
 
void setBayerMode (int mode)
 
void setTimestamps (bool fileNamesAreStamps, const std::string &filePath="", bool syncImageRateWithStamps=true)
 
void setConfigForEachFrame (bool value)
 
bool isConfigForEachFrame () const
 
void setMultiCameraCalibration (bool enabled)
 
void setScanPath (const std::string &dir, int maxScanPts=0, const Transform &localTransform=Transform::getIdentity())
 
void setDepthFromScan (bool enabled, int fillHoles=1, bool fillHolesFromBorder=false)
 
void setOdometryPath (const std::string &filePath, int format=0)
 
void setGroundTruthPath (const std::string &filePath, int format=0, const Transform &localTransform=Transform::getIdentity())
 
void setMaxPoseTimeDiff (double diff)
 
double getMaxPoseTimeDiff () const
 
void setDepth (bool isDepth, float depthScaleFactor=1.0f)
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
const std::string & lastImageFileName () const
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+ + + + + + + +

+Protected Attributes

std::string _calibrationFolder
 
bool _multiCameraCalib
 
int _multiCameraCount
 
+

Detailed Description

+
+

Definition at line 39 of file CameraImages.h.

+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraImages::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +

Reimplemented in rtabmap::CameraRGBDImages, and rtabmap::CameraStereoImages.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraImages::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraImages::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +

Reimplemented in rtabmap::CameraStereoImages.

+ +
+
+ +

◆ odomProvided()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraImages::odomProvided () const
+ 		+inlinevirtual
+
+ +

Checks if the sensor provides odometry poses.

+

Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.

+
Returns
True if the sensor provides odometry poses, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
getPose()
+ +

Reimplemented from rtabmap::SensorCapture.

+ +

Definition at line 53 of file CameraImages.h.

+ +
+
+ +

◆ getPath()

+ +
+
+ + + + + +
+ + + + + + + +
std::string rtabmap::CameraImages::getPath () const
+ 		+inline
+
+ +

Definition at line 54 of file CameraImages.h.

+ +
+
+ +

◆ isImagesRectified()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::CameraImages::isImagesRectified () const
+ 		+inline
+
+ +

Definition at line 57 of file CameraImages.h.

+ +
+
+ +

◆ getBayerMode()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::CameraImages::getBayerMode () const
+ 		+inline
+
+ +

Definition at line 58 of file CameraImages.h.

+ +
+
+ +

◆ cameraModel()

+ +
+
+ + + + + +
+ + + + + + + +
const CameraModel & rtabmap::CameraImages::cameraModel () const
+ 		+inline
+
+ +

Definition at line 59 of file CameraImages.h.

+ +
+
+ +

◆ setPath()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraImages::setPath (const std::string & dir)
+ 		+inline
+
+ +

Definition at line 61 of file CameraImages.h.

+ +
+
+ +

◆ setStartIndex()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::CameraImages::setStartIndex (int index)
+ 		+inlinevirtual
+
+ +

Definition at line 62 of file CameraImages.h.

+ +
+
+ +

◆ setMaxFrames()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::CameraImages::setMaxFrames (int value)
+ 		+inlinevirtual
+
+ +

Definition at line 63 of file CameraImages.h.

+ +
+
+ +

◆ setDirRefreshed()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraImages::setDirRefreshed (bool enabled)
+ 		+inline
+
+ +

Definition at line 64 of file CameraImages.h.

+ +
+
+ +

◆ setImagesRectified()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraImages::setImagesRectified (bool enabled)
+ 		+inline
+
+ +

Definition at line 65 of file CameraImages.h.

+ +
+
+ +

◆ setBayerMode()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraImages::setBayerMode (int mode)
+ 		+inline
+
+ +

Definition at line 66 of file CameraImages.h.

+ +
+
+ +

◆ setTimestamps()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::CameraImages::setTimestamps (bool fileNamesAreStamps,
const std::string & filePath = "",
bool syncImageRateWithStamps = true 
)
+ 		+inline
+
+ +

Definition at line 68 of file CameraImages.h.

+ +
+
+ +

◆ setConfigForEachFrame()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraImages::setConfigForEachFrame (bool value)
+ 		+inline
+
+ +

Definition at line 75 of file CameraImages.h.

+ +
+
+ +

◆ isConfigForEachFrame()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::CameraImages::isConfigForEachFrame () const
+ 		+inline
+
+ +

Definition at line 79 of file CameraImages.h.

+ +
+
+ +

◆ setMultiCameraCalibration()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraImages::setMultiCameraCalibration (bool enabled)
+ 		+inline
+
+ +

Definition at line 97 of file CameraImages.h.

+ +
+
+ +

◆ setScanPath()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::CameraImages::setScanPath (const std::string & dir,
int maxScanPts = 0,
const Transform & localTransform = Transform::getIdentity() 
)
+ 		+inline
+
+ +

Definition at line 102 of file CameraImages.h.

+ +
+
+ +

◆ setDepthFromScan()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::CameraImages::setDepthFromScan (bool enabled,
int fillHoles = 1,
bool fillHolesFromBorder = false 
)
+ 		+inline
+
+ +

Definition at line 112 of file CameraImages.h.

+ +
+
+ +

◆ setOdometryPath()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void rtabmap::CameraImages::setOdometryPath (const std::string & filePath,
int format = 0 
)
+ 		+inline
+
+ +

Definition at line 120 of file CameraImages.h.

+ +
+
+ +

◆ setGroundTruthPath()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::CameraImages::setGroundTruthPath (const std::string & filePath,
int format = 0,
const Transform & localTransform = Transform::getIdentity() 
)
+ 		+inline
+
+ +

Definition at line 127 of file CameraImages.h.

+ +
+
+ +

◆ setMaxPoseTimeDiff()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraImages::setMaxPoseTimeDiff (double diff)
+ 		+inline
+
+ +

Definition at line 134 of file CameraImages.h.

+ +
+
+ +

◆ getMaxPoseTimeDiff()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::CameraImages::getMaxPoseTimeDiff () const
+ 		+inline
+
+ +

Definition at line 135 of file CameraImages.h.

+ +
+
+ +

◆ setDepth()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void rtabmap::CameraImages::setDepth (bool isDepth,
float depthScaleFactor = 1.0f 
)
+ 		+inline
+
+ +

Definition at line 137 of file CameraImages.h.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraImages::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ lastImageFileName()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::CameraImages::lastImageFileName () const
+ 		+inlineprotected
+
+ +

Definition at line 149 of file CameraImages.h.

+ +
+
+

Member Data Documentation

+ +

◆ _calibrationFolder

+ +
+
+ + + + + +
+ + + + +
std::string rtabmap::CameraImages::_calibrationFolder
+ 		+protected
+
+ +

Definition at line 153 of file CameraImages.h.

+ +
+
+ +

◆ _multiCameraCalib

+ +
+
+ + + + + +
+ + + + +
bool rtabmap::CameraImages::_multiCameraCalib
+ 		+protected
+
+ +

Definition at line 159 of file CameraImages.h.

+ +
+
+ +

◆ _multiCameraCount

+ +
+
+ + + + + +
+ + + + +
int rtabmap::CameraImages::_multiCameraCount
+ 		+protected
+
+ +

Definition at line 160 of file CameraImages.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages__coll__graph.map new file mode 100644 index 00000000..84eb525b --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages__coll__graph.md5 new file mode 100644 index 00000000..8e3b512e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages__coll__graph.md5 @@ -0,0 +1 @@ +f07a80c10716f715ca90d0860e710fcd \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1CameraImages__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..5117f28ba7347a0a209871a59ab65dd3aaba2134 GIT binary patch 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rtabmap::CameraK4A Member List
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This is the complete list of members for rtabmap::CameraK4A, including all inherited members.

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available() (defined in rtabmap::CameraK4A)rtabmap::CameraK4Astatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraK4A(int deviceId=0, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraK4A)rtabmap::CameraK4A
CameraK4A(const std::string &fileName, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraK4A)rtabmap::CameraK4A
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraK4A)rtabmap::CameraK4Aprotectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraK4Avirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraK4Avirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraK4A)rtabmap::CameraK4Avirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setIRDepthFormat(bool enabled) (defined in rtabmap::CameraK4A)rtabmap::CameraK4A
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setPreferences(int rgb_resolution, int framerate, int depth_resolution) (defined in rtabmap::CameraK4A)rtabmap::CameraK4A
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraK4A() (defined in rtabmap::CameraK4A)rtabmap::CameraK4Avirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4A.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4A.html new file mode 100644 index 00000000..081fc647 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4A.html @@ -0,0 +1,357 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraK4A Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::CameraK4A Class Reference
+
+
+
+Inheritance diagram for rtabmap::CameraK4A:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::CameraK4A:
+
+
Collaboration graph
+ + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ CameraK4A (int deviceId=0, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
+ CameraK4A (const std::string &fileName, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
+void setIRDepthFormat (bool enabled)
 
+void setPreferences (int rgb_resolution, int framerate, int depth_resolution)
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 43 of file CameraK4A.h.

+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraK4A::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraK4A::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraK4A::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraK4A::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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zMX|84MWv;&Ap?*nVBzAD+@2$md5T#=;P-BDb`aLY{>+o&Z98viZob2io$-g>UYjTH z*UPG45h_Irk6BsobDItMgD4CHfHk%=JcL95X_uCl$99^{vwX+^e2G|E-nH;*$JOun zQyhj}L3aC2pcQ}(BdViArH~~ADn2AfJk$svJlL6IfcQ8#IlqGD>##QT2;@k3pwI#C zn3QQuo=yTdt+AS5231e@^eNi*WCh8s%XmHvMgy9P6>W1?byJg+xcEH~>T6v+tSxid z5UxW*L-V#ZHGQRsQ}t5V<7qR9Vel8UYW9whyf_bO_?N70?8O>0MRQ7 + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::CameraK4W2 Member List
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This is the complete list of members for rtabmap::CameraK4W2, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available() (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2static
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraK4W2(int deviceId=0, Type type=kTypeDepth2ColorSD, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2protectedvirtual
cColorHeight (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2static
cColorWidth (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2static
cDepthHeight (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2static
cDepthWidth (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2static
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraK4W2virtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraK4W2virtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2virtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
kTypeColor2DepthSD enum value (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2
kTypeDepth2ColorHD enum value (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2
kTypeDepth2ColorSD enum value (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
Type enum name (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraK4W2() (defined in rtabmap::CameraK4W2)rtabmap::CameraK4W2virtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2.html new file mode 100644 index 00000000..34067f78 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraK4W2.html @@ -0,0 +1,483 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraK4W2 Class Reference + + + + + + + + + + + + +
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Static Public Attributes | +Protected Member Functions | +List of all members
+
rtabmap::CameraK4W2 Class Reference
+
+
+
+Inheritance diagram for rtabmap::CameraK4W2:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::CameraK4W2:
+
+
Collaboration graph
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[legend]
+ + + + +

+Public Types

enum  Type { kTypeColor2DepthSD +, kTypeDepth2ColorSD +, kTypeDepth2ColorHD + }
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ CameraK4W2 (int deviceId=0, Type type=kTypeDepth2ColorSD, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + +

+Static Public Attributes

static const int cDepthWidth = 512
 
static const int cDepthHeight = 424
 
static const int cColorWidth = 1920
 
static const int cColorHeight = 1080
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 44 of file CameraK4W2.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::CameraK4W2::Type
+
+ +

Definition at line 50 of file CameraK4W2.h.

+ +
+
+

Member Function Documentation

+ +

◆ init()

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virtual bool rtabmap::CameraK4W2::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

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+ + + + + + + +
virtual bool rtabmap::CameraK4W2::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

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+
+ +

◆ getSerial()

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+ + + + + + + +
virtual std::string rtabmap::CameraK4W2::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraK4W2::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+

Member Data Documentation

+ +

◆ cDepthWidth

+ +
+
+ + + + + +
+ + + + +
const int rtabmap::CameraK4W2::cDepthWidth = 512
+ 		+static
+
+ +

Definition at line 57 of file CameraK4W2.h.

+ +
+
+ +

◆ cDepthHeight

+ +
+
+ + + + + +
+ + + + +
const int rtabmap::CameraK4W2::cDepthHeight = 424
+ 		+static
+
+ +

Definition at line 58 of file CameraK4W2.h.

+ +
+
+ +

◆ cColorWidth

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+
+ + + + + +
+ + + + +
const int rtabmap::CameraK4W2::cColorWidth = 1920
+ 		+static
+
+ +

Definition at line 59 of file CameraK4W2.h.

+ +
+
+ +

◆ cColorHeight

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+
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+ + + + +
const int rtabmap::CameraK4W2::cColorHeight = 1080
+ 		+static
+
+ +

Definition at line 60 of file CameraK4W2.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::CameraModel Member List
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This is the complete list of members for rtabmap::CameraModel, including all inherited members.

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CameraModel()rtabmap::CameraModel
CameraModel(const std::string &name, const cv::Size &imageSize, const cv::Mat &K, const cv::Mat &D, const cv::Mat &R, const cv::Mat &P, const Transform &localTransform=opticalRotation())rtabmap::CameraModel
CameraModel(double fx, double fy, double cx, double cy, const Transform &localTransform=opticalRotation(), double Tx=0.0f, const cv::Size &imageSize=cv::Size(0, 0))rtabmap::CameraModel
CameraModel(const std::string &name, double fx, double fy, double cx, double cy, const Transform &localTransform=opticalRotation(), double Tx=0.0f, const cv::Size &imageSize=cv::Size(0, 0))rtabmap::CameraModel
cx() constrtabmap::CameraModelinline
cy() constrtabmap::CameraModelinline
D() constrtabmap::CameraModelinline
D_raw() constrtabmap::CameraModelinline
deserialize(const std::vector< unsigned char > &data)rtabmap::CameraModel
deserialize(const unsigned char *data, unsigned int dataSize)rtabmap::CameraModel
fovX() constrtabmap::CameraModel
fovY() constrtabmap::CameraModel
fx() constrtabmap::CameraModelinline
fy() constrtabmap::CameraModelinline
horizontalFOV() constrtabmap::CameraModel
imageHeight() const (defined in rtabmap::CameraModel)rtabmap::CameraModelinline
imageSize() const (defined in rtabmap::CameraModel)rtabmap::CameraModelinline
imageWidth() const (defined in rtabmap::CameraModel)rtabmap::CameraModelinline
inFrame(int u, int v) constrtabmap::CameraModel
initRectificationMap()rtabmap::CameraModel
isFisheye() constrtabmap::CameraModelinline
isRectificationMapInitialized() constrtabmap::CameraModelinline
isValidForProjection() constrtabmap::CameraModelinline
isValidForRectification() constrtabmap::CameraModelinline
isValidForReprojection() constrtabmap::CameraModelinline
K() constrtabmap::CameraModelinline
K_raw() constrtabmap::CameraModelinline
load(const std::string &filePath, bool initRectificationMaps=true)rtabmap::CameraModel
load(const std::string &directory, const std::string &cameraName, bool initRectificationMaps=true)rtabmap::CameraModel
localTransform() constrtabmap::CameraModelinline
name() constrtabmap::CameraModelinline
opticalRotation()rtabmap::CameraModelinlinestatic
P() constrtabmap::CameraModelinline
project(float u, float v, float depth, float &x, float &y, float &z) constrtabmap::CameraModel
R() constrtabmap::CameraModelinline
rectifyDepth(const cv::Mat &raw) constrtabmap::CameraModel
rectifyImage(const cv::Mat &raw, int interpolation=cv::INTER_LINEAR) constrtabmap::CameraModel
reproject(float x, float y, float z, float &u, float &v) constrtabmap::CameraModel
reproject(float x, float y, float z, int &u, int &v) constrtabmap::CameraModel
roi(const cv::Rect &roi) constrtabmap::CameraModel
save(const std::string &directory) constrtabmap::CameraModel
scaled(double scale) constrtabmap::CameraModel
serialize() constrtabmap::CameraModel
setImageSize(const cv::Size &size)rtabmap::CameraModel
setLocalTransform(const Transform &transform)rtabmap::CameraModelinline
setName(const std::string &name)rtabmap::CameraModelinline
Tx() constrtabmap::CameraModelinline
verticalFOV() constrtabmap::CameraModel
~CameraModel()rtabmap::CameraModelinlinevirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.html new file mode 100644 index 00000000..a3718eed --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraModel.html @@ -0,0 +1,1905 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraModel Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +List of all members
+
rtabmap::CameraModel Class Reference
+
+
+ +

Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection, rectification, and transformation. + More...

+ +

#include <CameraModel.h>

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+Public Member Functions

+ CameraModel ()
 Default constructor.
 
 CameraModel (const std::string &name, const cv::Size &imageSize, const cv::Mat &K, const cv::Mat &D, const cv::Mat &R, const cv::Mat &P, const Transform &localTransform=opticalRotation())
 Constructor using full camera parameters.
 
 CameraModel (double fx, double fy, double cx, double cy, const Transform &localTransform=opticalRotation(), double Tx=0.0f, const cv::Size &imageSize=cv::Size(0, 0))
 Minimal constructor using intrinsic parameters. This assumes the images are already rectified.
 
+ CameraModel (const std::string &name, double fx, double fy, double cx, double cy, const Transform &localTransform=opticalRotation(), double Tx=0.0f, const cv::Size &imageSize=cv::Size(0, 0))
 Minimal constructor with name for saving.
 
virtual ~CameraModel ()
 Destructor.
 
bool initRectificationMap ()
 Initializes the rectification maps used to undistort and rectify images.
 
bool isRectificationMapInitialized () const
 Checks if the rectification map has been initialized.
 
bool isValidForProjection () const
 Checks if the model is valid for 2D->3D projection.
 
bool isValidForReprojection () const
 Checks if the model is valid for 3D->2D reprojection.
 
bool isValidForRectification () const
 Checks if the model has sufficient data for image rectification.
 
void setName (const std::string &name)
 Sets the camera name, used to set a camera name when saving to a file.
 
const std::string & name () const
 Returns the camera name.
 
double fx () const
 Returns focal length in x.
 
double fy () const
 Returns focal length in y.
 
double cx () const
 Returns principal point x.
 
double cy () const
 Returns principal point y.
 
double Tx () const
 Returns the x translation (usually fx * baseline in case of stereo, otherwise would be 0).
 
cv::Mat K_raw () const
 Returns the raw intrinsic matrix (before rectification).
 
cv::Mat D_raw () const
 Returns the raw distortion coefficients (before rectification).
 
cv::Mat K () const
 Returns the rectified camera intrinsic matrix if the projection matrix P exists, otherwise returns the raw intrinsic matrix.
 
cv::Mat D () const
 Returns the rectified distortion coefficients (1x5 filled with zeros) if the projection matrix P exists, otherwise returns the raw distortion coefficients.
 
cv::Mat R () const
 Returns the rectification matrix.
 
cv::Mat P () const
 Returns the projection matrix.
 
void setLocalTransform (const Transform &transform)
 Sets the local transform of the camera (base frame to optical frame).
 
const Transform & localTransform () const
 Returns the local transform (base frame to optical frame).
 
void setImageSize (const cv::Size &size)
 Sets the image size of the camera model and updates the principal point if undefined.
 
const cv::Size & imageSize () const
 
int imageWidth () const
 
int imageHeight () const
 
double fovX () const
 Returns the horizontal field of view (FoV) in radians.
 
double fovY () const
 Returns the vertical field of view (FoV) in radians.
 
double horizontalFOV () const
 Returns the horizontal field of view in degrees.
 
double verticalFOV () const
 Returns the vertical field of view in degrees.
 
bool isFisheye () const
 Checks if the distortion model is fisheye (6 coefficients: k1,k2,0,0,k3,k4).
 
bool load (const std::string &filePath, bool initRectificationMaps=true)
 Loads the camera model parameters from a YAML calibration file.
 
bool load (const std::string &directory, const std::string &cameraName, bool initRectificationMaps=true)
 Loads the camera model by constructing a file path from a directory and camera name.
 
bool save (const std::string &directory) const
 Saves the camera model parameters to a YAML calibration file in ROS format.
 
std::vector< unsigned char > serialize () const
 Serializes the camera model to a binary format.
 
unsigned int deserialize (const std::vector< unsigned char > &data)
 Deserializes a camera model from a byte vector.
 
unsigned int deserialize (const unsigned char *data, unsigned int dataSize)
 Deserializes a camera model from a raw byte buffer.
 
CameraModel scaled (double scale) const
 Returns a new camera model with all intrinsic parameters scaled by a given factor.
 
CameraModel roi (const cv::Rect &roi) const
 Returns a new camera model adjusted for a given region of interest (ROI).
 
cv::Mat rectifyImage (const cv::Mat &raw, int interpolation=cv::INTER_LINEAR) const
 Rectifies a raw image using the precomputed rectification maps.
 
cv::Mat rectifyDepth (const cv::Mat &raw) const
 Rectifies a raw depth image using the precomputed rectification maps.
 
void project (float u, float v, float depth, float &x, float &y, float &z) const
 Projects a 2D pixel and depth value into a 3D point in the camera coordinate frame (/camera_link).
 
void reproject (float x, float y, float z, float &u, float &v) const
 Reprojects a 3D point in the camera frame (/camera_link) into 2D image coordinates (floating-point).
 
void reproject (float x, float y, float z, int &u, int &v) const
 Reprojects a 3D point in the camera frame (/camera_link) into 2D image coordinates (rounded to int).
 
bool inFrame (int u, int v) const
 Checks if a given pixel coordinate lies within the image bounds.
 
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+Static Public Member Functions

static Transform opticalRotation ()
 Returns the default optical rotation to convert image coordinates to robot coordinates.
 
+

Detailed Description

+

Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection, rectification, and transformation.

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This class encapsulates camera calibration data, including intrinsic parameters (fx, fy, cx, cy), distortion coefficients, rectification and projection matrices. It provides utility functions for image rectification, projection from 2D to 3D, and vice versa.

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This class supports the 4 to 14 parameters Radial Tangential distortion model (also called Plumb Bob or Brown-Conrady model) and 4 parameters Fish Eye model (also known as Equidistant model).

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See also
OpenCV's calib3d module for all supported camera models.
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Definition at line 52 of file CameraModel.h.

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Constructor & Destructor Documentation

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◆ CameraModel() [1/2]

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rtabmap::CameraModel::CameraModel (const std::string & name,
const cv::Size & imageSize,
const cv::Mat & K,
const cv::Mat & D,
const cv::Mat & R,
const cv::Mat & P,
const Transform & localTransform = opticalRotation() 
)
+
+ +

Constructor using full camera parameters.

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Parameters
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nameCamera name or ID.
imageSizeSize of the image (width x height).
KIntrinsic matrix (3x3).
DDistortion coefficients, 1xN matrix where N is between 4 and 14 parameters: k1,k2,p1,p2[,k3[,k4,k5,k6[,s1,s2,s3,s4[,tx,ty]]]]). To set Fish Eye / Equidistant model, it is implicitly used if we provide 6 values like this: [k1,k2,0,0,k3,k4], where you only need to fill "k" parameters.
RRectification matrix (3x3).
PProjection matrix (3x4).
localTransformLocal transform to apply to the camera frame.
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◆ CameraModel() [2/2]

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rtabmap::CameraModel::CameraModel (double fx,
double fy,
double cx,
double cy,
const Transform & localTransform = opticalRotation(),
double Tx = 0.0f,
const cv::Size & imageSize = cv::Size(0, 0) 
)
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+ +

Minimal constructor using intrinsic parameters. This assumes the images are already rectified.

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Parameters
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fxFocal length x.
fyFocal length y.
cxPrincipal point x.
cyPrincipal point y.
localTransformLocal transform to apply to the camera frame.
TxBaseline * fx (optional). Mainly used in case of stereo pair.
imageSizeImage size (optional).
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◆ ~CameraModel()

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virtual rtabmap::CameraModel::~CameraModel ()
+ 		+inlinevirtual
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Destructor.

+ +

Definition at line 128 of file CameraModel.h.

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Member Function Documentation

+ +

◆ opticalRotation()

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static Transform rtabmap::CameraModel::opticalRotation ()
+ 		+inlinestatic
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Returns the default optical rotation to convert image coordinates to robot coordinates.

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Image frame: x -> right, y -> down, z -> forward
+ Robot frame: x -> forward, y -> left, z -> up

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Returns
Transform rotation matrix.
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Definition at line 63 of file CameraModel.h.

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◆ initRectificationMap()

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bool rtabmap::CameraModel::initRectificationMap ()
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Initializes the rectification maps used to undistort and rectify images.

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This function prepares the mapX_ and mapY_ lookup tables used for image rectification. It supports both standard radial-tangential distortion and fisheye/equidistant distortion models.

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    +
  • If the distortion model is fisheye (indicated by D_.cols == 6), it uses cv::fisheye::initUndistortRectifyMap() to create the rectification maps. This requires OpenCV ≥ 2.4.10.
    • +
  • Otherwise, it uses the standard cv::initUndistortRectifyMap() for plumb bob or rational polynomial models.
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Precondition
The camera model must be valid for rectification:
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  • imageSize_ must be non-zero.
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  • D_ must be a 1-row matrix with an accepted number of columns (4, 5, 6, 8, 12, or 14).
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  • R_ must be a 3x3 rectification matrix.
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  • P_ must be a 3x4 projection matrix.
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Returns
true if the rectification maps were successfully initialized (mapX_ and mapY_ are not empty), false otherwise.
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See also
isRectificationMapInitialized(), rectifyImage(), rectifyDepth()
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Warning
Requires OpenCV 2.4.10 or newer for fisheye support. If the version is older, fisheye rectification will not work.
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◆ isRectificationMapInitialized()

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bool rtabmap::CameraModel::isRectificationMapInitialized () const
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Checks if the rectification map has been initialized.

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Returns
True if both mapX_ and mapY_ are initialized.
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Definition at line 159 of file CameraModel.h.

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◆ isValidForProjection()

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bool rtabmap::CameraModel::isValidForProjection () const
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Checks if the model is valid for 2D->3D projection.

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Definition at line 164 of file CameraModel.h.

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◆ isValidForReprojection()

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bool rtabmap::CameraModel::isValidForReprojection () const
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Checks if the model is valid for 3D->2D reprojection.

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Definition at line 168 of file CameraModel.h.

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◆ isValidForRectification()

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bool rtabmap::CameraModel::isValidForRectification () const
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Checks if the model has sufficient data for image rectification.

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Definition at line 172 of file CameraModel.h.

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◆ setName()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraModel::setName (const std::string & name)
+ 		+inline
+
+ +

Sets the camera name, used to set a camera name when saving to a file.

+ +

Definition at line 183 of file CameraModel.h.

+ +
+
+ +

◆ name()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::CameraModel::name () const
+ 		+inline
+
+ +

Returns the camera name.

+ +

Definition at line 185 of file CameraModel.h.

+ +
+
+ +

◆ fx()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::CameraModel::fx () const
+ 		+inline
+
+ +

Returns focal length in x.

+ +

Definition at line 188 of file CameraModel.h.

+ +
+
+ +

◆ fy()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::CameraModel::fy () const
+ 		+inline
+
+ +

Returns focal length in y.

+ +

Definition at line 190 of file CameraModel.h.

+ +
+
+ +

◆ cx()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::CameraModel::cx () const
+ 		+inline
+
+ +

Returns principal point x.

+ +

Definition at line 192 of file CameraModel.h.

+ +
+
+ +

◆ cy()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::CameraModel::cy () const
+ 		+inline
+
+ +

Returns principal point y.

+ +

Definition at line 194 of file CameraModel.h.

+ +
+
+ +

◆ Tx()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::CameraModel::Tx () const
+ 		+inline
+
+ +

Returns the x translation (usually fx * baseline in case of stereo, otherwise would be 0).

+ +

Definition at line 196 of file CameraModel.h.

+ +
+
+ +

◆ K_raw()

+ +
+
+ + + + + +
+ + + + + + + +
cv::Mat rtabmap::CameraModel::K_raw () const
+ 		+inline
+
+ +

Returns the raw intrinsic matrix (before rectification).

+ +

Definition at line 199 of file CameraModel.h.

+ +
+
+ +

◆ D_raw()

+ +
+
+ + + + + +
+ + + + + + + +
cv::Mat rtabmap::CameraModel::D_raw () const
+ 		+inline
+
+ +

Returns the raw distortion coefficients (before rectification).

+ +

Definition at line 201 of file CameraModel.h.

+ +
+
+ +

◆ K()

+ +
+
+ + + + + +
+ + + + + + + +
cv::Mat rtabmap::CameraModel::K () const
+ 		+inline
+
+ +

Returns the rectified camera intrinsic matrix if the projection matrix P exists, otherwise returns the raw intrinsic matrix.

+ +

Definition at line 203 of file CameraModel.h.

+ +
+
+ +

◆ D()

+ +
+
+ + + + + +
+ + + + + + + +
cv::Mat rtabmap::CameraModel::D () const
+ 		+inline
+
+ +

Returns the rectified distortion coefficients (1x5 filled with zeros) if the projection matrix P exists, otherwise returns the raw distortion coefficients.

+ +

Definition at line 205 of file CameraModel.h.

+ +
+
+ +

◆ R()

+ +
+
+ + + + + +
+ + + + + + + +
cv::Mat rtabmap::CameraModel::R () const
+ 		+inline
+
+ +

Returns the rectification matrix.

+ +

Definition at line 207 of file CameraModel.h.

+ +
+
+ +

◆ P()

+ +
+
+ + + + + +
+ + + + + + + +
cv::Mat rtabmap::CameraModel::P () const
+ 		+inline
+
+ +

Returns the projection matrix.

+ +

Definition at line 209 of file CameraModel.h.

+ +
+
+ +

◆ setLocalTransform()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraModel::setLocalTransform (const Transform & transform)
+ 		+inline
+
+ +

Sets the local transform of the camera (base frame to optical frame).

+ +

Definition at line 212 of file CameraModel.h.

+ +
+
+ +

◆ localTransform()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::CameraModel::localTransform () const
+ 		+inline
+
+ +

Returns the local transform (base frame to optical frame).

+ +

Definition at line 214 of file CameraModel.h.

+ +
+
+ +

◆ setImageSize()

+ +
+
+ + + + + + + + +
void rtabmap::CameraModel::setImageSize (const cv::Size & size)
+
+ +

Sets the image size of the camera model and updates the principal point if undefined.

+

This function updates the internal image size (imageSize_) with the provided size. If the intrinsic matrices (K_ or P_) are present and the principal point coordinates (cx, cy) are zero, they are set to the image center (width/2 - 0.5, height/2 - 0.5).

+

This ensures the camera model remains valid and useful even when the calibration file has no principal point set or the image size is updated manually.

+
Parameters
+ + +
sizeThe new image size. It must be either both dimensions zero (clearing) or both positive.
+
+
+
Precondition
size.width > 0 && size.height > 0 or size.width == 0 && size.height == 0
+
Postcondition
Updates the imageSize_, and adjusts cx and cy in K_ and P_ if they were initially zero.
+
Warning
If K_ or P_ are not initialized (empty()), no updates will be applied to them.
+
See also
imageSize(), imageWidth(), imageHeight()
+ +
+
+ +

◆ imageSize()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Size & rtabmap::CameraModel::imageSize () const
+ 		+inline
+
+ +

Definition at line 236 of file CameraModel.h.

+ +
+
+ +

◆ imageWidth()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::CameraModel::imageWidth () const
+ 		+inline
+
+ +

Definition at line 237 of file CameraModel.h.

+ +
+
+ +

◆ imageHeight()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::CameraModel::imageHeight () const
+ 		+inline
+
+ +

Definition at line 238 of file CameraModel.h.

+ +
+
+ +

◆ fovX()

+ +
+
+ + + + + + + +
double rtabmap::CameraModel::fovX () const
+
+ +

Returns the horizontal field of view (FoV) in radians.

+

The FoV is computed using the pinhole camera model as:

+\[ +\text{FoV}_x = 2 \cdot \tan^{-1}\left(\frac{\text{image width}}{2 \cdot f_x}\right) +\] +

+
Returns
Horizontal field of view in radians. Returns 0.0 if image width or focal length is invalid.
+ +
+
+ +

◆ fovY()

+ +
+
+ + + + + + + +
double rtabmap::CameraModel::fovY () const
+
+ +

Returns the vertical field of view (FoV) in radians.

+

The FoV is computed using the pinhole camera model as:

+\[ +\text{FoV}_y = 2 \cdot \tan^{-1}\left(\frac{\text{image height}}{2 \cdot f_y}\right) +\] +

+
Returns
Vertical field of view in radians. Returns 0.0 if image height or focal length is invalid.
+ +
+
+ +

◆ horizontalFOV()

+ +
+
+ + + + + + + +
double rtabmap::CameraModel::horizontalFOV () const
+
+ +

Returns the horizontal field of view in degrees.

+

Converts the result of fovX() from radians to degrees.

+
Returns
Horizontal field of view in degrees. Returns 0.0 if the result is invalid.
+ +
+
+ +

◆ verticalFOV()

+ +
+
+ + + + + + + +
double rtabmap::CameraModel::verticalFOV () const
+
+ +

Returns the vertical field of view in degrees.

+

Converts the result of fovY() from radians to degrees.

+
Returns
Vertical field of view in degrees. Returns 0.0 if the result is invalid.
+ +
+
+ +

◆ isFisheye()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::CameraModel::isFisheye () const
+ 		+inline
+
+ +

Checks if the distortion model is fisheye (6 coefficients: k1,k2,0,0,k3,k4).

+ +

Definition at line 283 of file CameraModel.h.

+ +
+
+ +

◆ load() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::CameraModel::load (const std::string & filePath,
bool initRectificationMaps = true 
)
+
+ +

Loads the camera model parameters from a YAML calibration file.

+

This method attempts to read camera intrinsic/extrinsic parameters and image size from a YAML file, typically in the ROS calibration format. If the distortion model is "fisheye" or "equidistant", we expect 4 coefficients, which are converted to a 6-coefficient format for internal representation.

+

Fields loaded (if present):
+

    +
  • camera_name
    +
    • +
  • image_width (pixels)
    • +
  • image_height (pixels)
    • +
  • camera_matrix (K, 3x3 double matrix)
    +
    • +
  • distortion_coefficients (D, 1xN double matrix)
    +
    • +
  • distortion_model (string: name of the model)
    • +
  • rectification_matrix (R, 3x3 double matrix)
    +
    • +
  • projection_matrix (P, 3x4 double matrix)
    +
    • +
  • local_transform (camera pose w.r.t robot frame)
    • +
+

On success, the internal matrices and settings of the camera model are updated. If the model is valid for rectification, the rectification map is initialized.

+
Parameters
+ + + +
filePathAbsolute or relative path to the YAML file.
initRectificationMapsSet to false to skip building the (potentially large) rectification maps when rectification won't be used (saves time and memory).
+
+
+
Returns
True if the file was successfully loaded and parsed, false otherwise.
+
Warning
Logs warnings if any fields are missing. If file does not exist or parsing fails, returns false.
+
See also
initRectificationMap()
+ +
+
+ +

◆ load() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
bool rtabmap::CameraModel::load (const std::string & directory,
const std::string & cameraName,
bool initRectificationMaps = true 
)
+
+ +

Loads the camera model by constructing a file path from a directory and camera name.

+

This is a convenience wrapper around load(filePath) that constructs the file path as: directory + "/" + cameraName + ".yaml".

+
Parameters
+ + + + +
directoryPath to the folder containing the camera YAML file.
cameraNameBase name of the camera file (without extension).
initRectificationMapsSet to false to skip building the (potentially large) rectification maps when rectification won't be used (saves time and memory).
+
+
+
Returns
True if loading from the constructed path succeeds, false otherwise.
+ +
+
+ +

◆ save()

+ +
+
+ + + + + + + + +
bool rtabmap::CameraModel::save (const std::string & directory) const
+
+ +

Saves the camera model parameters to a YAML calibration file in ROS format.

+

The file will include the following fields if they are not empty:

    +
  • camera_name
    • +
  • image_width
    • +
  • image_height
    • +
  • camera_matrix (K)
    • +
  • distortion_coefficients (D)
    • +
  • distortion_model (auto-detected based on number of distortion coefficients)
    • +
  • rectification_matrix (R)
    • +
  • projection_matrix (P)
    • +
  • local_transform (camera pose w.r.t robot frame)
    • +
+

If the distortion matrix contains 6 coefficients (used for fisheye), it is converted to a standard 4-coefficient format for ROS compatibility.

+
Parameters
+ + +
directoryPath to the folder where the YAML file will be saved.
+
+
+
Returns
True if saving was successful, false otherwise.
+
Note
If name_ is empty, "camera.yaml" is used as the default filename.
+
Warning
Returns false and logs an error if none of the matrices are set.
+ +
+
+ +

◆ serialize()

+ +
+
+ + + + + + + +
std::vector< unsigned char > rtabmap::CameraModel::serialize () const
+
+ +

Serializes the camera model to a binary format.

+

The serialization includes the camera intrinsics (K_, D_), rectification matrix (R_), projection matrix (P_), image size, and the local transform. The format is compact and suitable for file storage or transmission over a network.

+

Data layout:

    +
  • Header (11 integers):
      +
    • [0-2] RTAB-Map version (major, minor, patch)
      • +
    • [3] Camera type (0 = mono, 1=stereo)
      • +
    • [4-5] Image width, height
      • +
    • [6-9] Element counts for K, D, R, P matrices
      • +
    • [10] Size of localTransform (0 if null)
      • +
    +
    • +
  • Data section (in order): raw memory blocks for K, D, R, P (double values), followed by float values for localTransform
    • +
+
Returns
A byte vector containing the serialized data. The format is compatible with deserialize().
+
Note
This is a custom binary format, not meant to be human-readable.
+
See also
deserialize(), StereoCameraModel
+ +
+
+ +

◆ deserialize() [1/2]

+ +
+
+ + + + + + + + +
unsigned int rtabmap::CameraModel::deserialize (const std::vector< unsigned char > & data)
+
+ +

Deserializes a camera model from a byte vector.

+

This is a convenience wrapper around deserialize(const unsigned char*, unsigned int) that takes a std::vector<unsigned char> instead of a raw buffer.

+
Parameters
+ + +
dataByte vector containing data serialized by serialize().
+
+
+
Returns
The number of bytes successfully read and parsed. Returns 0 on failure.
+
See also
serialize(), deserialize(const unsigned char*, unsigned int)
+ +
+
+ +

◆ deserialize() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
unsigned int rtabmap::CameraModel::deserialize (const unsigned char * data,
unsigned int dataSize 
)
+
+ +

Deserializes a camera model from a raw byte buffer.

+

Reads the camera intrinsics, distortion, rectification, projection matrices, image size, and local transform from a serialized binary format previously created with serialize().

+
Parameters
+ + + +
dataPointer to the binary data buffer.
dataSizeSize of the data buffer in bytes.
+
+
+
Returns
The number of bytes successfully read. Returns 0 on error or if the format is invalid.
+
Warning
If the buffer format does not match the expected layout or version, an error is logged and the camera model remains in a default-initialized state.
+
Note
Assumes little-endian architecture and strict size/type matching. The serialized format must be created by CameraModel::serialize(). Non-mono camera types are not supported. See StereoCameraModel to serialize/deserialize stereo models.
+
See also
serialize()
+ +
+
+ +

◆ scaled()

+ +
+
+ + + + + + + + +
CameraModel rtabmap::CameraModel::scaled (double scale) const
+
+ +

Returns a new camera model with all intrinsic parameters scaled by a given factor.

+

This method scales the camera's intrinsic matrix (K_) and projection matrix (P_), as well as the image size, by the given scale factor. The distortion and rectification matrices are left unchanged.

+

Only valid camera models (i.e., those for which isValidForProjection() returns true) are scaled. If the model is invalid, a warning is issued and the original model is returned unchanged.

+
Parameters
+ + +
scaleScaling factor (> 0). For example, use 0.5 to downscale or 2.0 to upscale.
+
+
+
Returns
A scaled copy of the camera model with updated intrinsics and image size.
+
Warning
If the camera model is not valid for projection, the scale operation is ignored.
+ +
+
+ +

◆ roi()

+ +
+
+ + + + + + + + +
CameraModel rtabmap::CameraModel::roi (const cv::Rect & roi) const
+
+ +

Returns a new camera model adjusted for a given region of interest (ROI).

+

This method shifts the principal point (cx, cy) in the intrinsic matrix (K_) and projection matrix (P_) by subtracting the ROI’s top-left (x, y) offset. The image size is also set to the ROI size.

+

Only valid camera models (i.e., those for which isValidForProjection() returns true) can be adjusted. If the model is invalid, a warning is issued and the original model is returned unchanged.

+
Parameters
+ + +
roiRegion of interest defined as a rectangle (typically a subwindow of the full image).
+
+
+
Returns
A new camera model adapted to the ROI with adjusted intrinsics and image size.
+
Warning
If the camera model is not valid for projection, the ROI operation is ignored.
+ +
+
+ +

◆ rectifyImage()

+ +
+
+ + + + + + + + + + + + + + + + + + +
cv::Mat rtabmap::CameraModel::rectifyImage (const cv::Mat & raw,
int interpolation = cv::INTER_LINEAR 
) const
+
+ +

Rectifies a raw image using the precomputed rectification maps.

+

This function applies geometric correction (rectification) to an image using the camera model's mapX_ and mapY_ rectification maps. It is typically used to correct lens distortion in images based on the calibration parameters.

+
Parameters
+ + + +
rawInput raw image (e.g., from camera). Must be a valid cv::Mat.
interpolationInterpolation method to use. Typically cv::INTER_LINEAR or cv::INTER_NEAREST.
+
+
+
Returns
Rectified image. If the rectification maps are not initialized, the function logs an error and returns a clone of the original image.
+
Precondition
mapX_ and mapY_ must be initialized using initRectificationMap().
+
Note
Works for color and grayscale images of any valid type.
+
See also
initRectificationMap(), rectifyDepth()
+ +
+
+ +

◆ rectifyDepth()

+ +
+
+ + + + + + + + +
cv::Mat rtabmap::CameraModel::rectifyDepth (const cv::Mat & raw) const
+
+ +

Rectifies a raw depth image using the precomputed rectification maps.

+

This function applies geometric correction (rectification) to a 16-bit unsigned depth image. It performs a pixel-by-pixel bilinear interpolation, only if all neighboring pixels have valid (non-zero) depth values, and the variation among them is within 1% of their average.

+

The method is optimized to avoid introducing noise in regions of high depth variance.

+
Parameters
+ + +
rawInput raw depth image (CV_16UC1). Must contain 16-bit unsigned depth values.
+
+
+
Returns
Rectified depth image. If the rectification maps are not initialized or the input image is not of type CV_16UC1, the function logs an error and returns a clone of the input.
+
Precondition
Input image must be of type CV_16UC1. mapX_ and mapY_ must be initialized.
+
Note
Inspired by the Kinect2 CPU depth registration implementation from: https://github.com/code-iai/iai_kinect2
+
Warning
Invalid or noisy regions are skipped in interpolation to maintain depth consistency.
+
See also
initRectificationMap(), rectifyImage()
+ +
+
+ +

◆ project()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::CameraModel::project (float u,
float v,
float depth,
float & x,
float & y,
float & z 
) const
+
+ +

Projects a 2D pixel and depth value into a 3D point in the camera coordinate frame (/camera_link).

+

This function uses the camera's intrinsic parameters to compute the 3D point corresponding to the given 2D image coordinates and depth value.

+
Parameters
+ + + + + + + +
uHorizontal image coordinate (in pixels).
vVertical image coordinate (in pixels).
depthDepth value at (u, v) in meters.
[out]xOutput X coordinate in 3D space.
[out]yOutput Y coordinate in 3D space.
[out]zOutput Z coordinate in 3D space (equals depth).
+
+
+
Note
If depth <= 0, the output (x, y, z) will be set to NaN.
+
See also
reproject()
+ +
+
+ +

◆ reproject() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::CameraModel::reproject (float x,
float y,
float z,
float & u,
float & v 
) const
+
+ +

Reprojects a 3D point in the camera frame (/camera_link) into 2D image coordinates (floating-point).

+

This function computes the image plane coordinates for a given 3D point using the camera's intrinsic parameters.

+
Parameters
+ + + + + + +
xX coordinate in camera space.
yY coordinate in camera space.
zZ coordinate in camera space (must be non-zero).
[out]uOutput horizontal image coordinate (float).
[out]vOutput vertical image coordinate (float).
+
+
+
Precondition
z != 0
+
See also
project(), reproject(int&, int&)
+ +
+
+ +

◆ reproject() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::CameraModel::reproject (float x,
float y,
float z,
int & u,
int & v 
) const
+
+ +

Reprojects a 3D point in the camera frame (/camera_link) into 2D image coordinates (rounded to int).

+

This version of reproject() returns integer pixel indices, computed from the 3D position.

+
Parameters
+ + + + + + +
xX coordinate in camera space.
yY coordinate in camera space.
zZ coordinate in camera space (must be non-zero).
[out]uOutput horizontal image coordinate (integer pixel).
[out]vOutput vertical image coordinate (integer pixel).
+
+
+
Precondition
z != 0
+
See also
project(), reproject(float&, float&)
+ +
+
+ +

◆ inFrame()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::CameraModel::inFrame (int u,
int v 
) const
+
+ +

Checks if a given pixel coordinate lies within the image bounds.

+
Parameters
+ + + +
uHorizontal image coordinate (in pixels).
vVertical image coordinate (in pixels).
+
+
+
Returns
true if the pixel is within the image dimensions, false otherwise.
+
Note
Inclusive lower bound, exclusive upper bound: [0, width), [0, height)
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye-members.html new file mode 100644 index 00000000..b6227f9b --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye-members.html @@ -0,0 +1,123 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+ + + + + + +
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rtabmap::CameraMyntEye Member List
+
+
+ +

This is the complete list of members for rtabmap::CameraMyntEye, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available() (defined in rtabmap::CameraMyntEye)rtabmap::CameraMyntEyestatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraMyntEye(const std::string &device="", bool apiRectification=false, bool apiDepth=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraMyntEye)rtabmap::CameraMyntEye
captureImage(SensorCaptureInfo *info=0)rtabmap::CameraMyntEyeprotectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraMyntEyevirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraMyntEyevirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraMyntEye)rtabmap::CameraMyntEyevirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::CameraMyntEyeinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
publishInterIMU(bool enabled) (defined in rtabmap::CameraMyntEye)rtabmap::CameraMyntEye
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setAutoExposure() (defined in rtabmap::CameraMyntEye)rtabmap::CameraMyntEye
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setIrControl(int value) (defined in rtabmap::CameraMyntEye)rtabmap::CameraMyntEye
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setManualExposure(int gain=24, int brightness=120, int constrast=116) (defined in rtabmap::CameraMyntEye)rtabmap::CameraMyntEye
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraMyntEye() (defined in rtabmap::CameraMyntEye)rtabmap::CameraMyntEyevirtual
~SensorCapture()rtabmap::SensorCapturevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye.html new file mode 100644 index 00000000..eed1eab4 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye.html @@ -0,0 +1,399 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraMyntEye Class Reference + + + + + + + + + + + + +
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RTAB-Map 0.23.10 +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::CameraMyntEye Class Reference
+
+
+ +

#include <CameraMyntEye.h>

+
+Inheritance diagram for rtabmap::CameraMyntEye:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::CameraMyntEye:
+
+
Collaboration graph
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+Public Member Functions

+ CameraMyntEye (const std::string &device="", bool apiRectification=false, bool apiDepth=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
+void publishInterIMU (bool enabled)
 
+void setAutoExposure ()
 
+void setManualExposure (int gain=24, int brightness=120, int constrast=116)
 
+void setIrControl (int value)
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+

Class CameraMyntEye

+ +

Definition at line 47 of file CameraMyntEye.h.

+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraMyntEye::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraMyntEye::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraMyntEye::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ odomProvided()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraMyntEye::odomProvided () const
+ 		+inlinevirtual
+
+ +

Checks if the sensor provides odometry poses.

+

Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.

+
Returns
True if the sensor provides odometry poses, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
getPose()
+ +

Reimplemented from rtabmap::SensorCapture.

+ +

Definition at line 59 of file CameraMyntEye.h.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraMyntEye::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+

returned rgb and depth images should be already rectified if calibration was loaded

+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye__coll__graph.map new file mode 100644 index 00000000..4becbad9 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye__coll__graph.md5 new file mode 100644 index 00000000..5244fce2 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye__coll__graph.md5 @@ -0,0 +1 @@ +b7b367399ec947a71da159d485d5f145 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1CameraMyntEye__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..eaa04ceae9addc9f7cc887a790816de790d3325a GIT binary 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rtabmap::CameraOpenNI2 Member List
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This is the complete list of members for rtabmap::CameraOpenNI2, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available() (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2static
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraOpenNI2(const std::string &deviceId="", Type type=kTypeColorDepth, float imageRate=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2protectedvirtual
exposureGainAvailable() (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2static
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraOpenNI2virtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraOpenNI2virtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2virtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
kTypeColorDepth enum value (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
kTypeIR enum value (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
kTypeIRDepth enum value (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setAutoExposure(bool enabled) (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
setAutoWhiteBalance(bool enabled) (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
setDepthDecimation(int decimation) (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
setExposure(int value) (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setGain(int value) (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setIRDepthShift(int horizontal, int vertical) (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setMirroring(bool enabled) (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
setOpenNI2StampsAndIDsUsed(bool used) (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
Type enum name (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraOpenNI2() (defined in rtabmap::CameraOpenNI2)rtabmap::CameraOpenNI2virtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2.html new file mode 100644 index 00000000..0161dcc3 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNI2.html @@ -0,0 +1,401 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraOpenNI2 Class Reference + + + + + + + + + + + + +
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::CameraOpenNI2 Class Reference
+
+
+
+Inheritance diagram for rtabmap::CameraOpenNI2:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::CameraOpenNI2:
+
+
Collaboration graph
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[legend]
+ + + + +

+Public Types

enum  Type { kTypeColorDepth +, kTypeIRDepth +, kTypeIR + }
 
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+Public Member Functions

+ CameraOpenNI2 (const std::string &deviceId="", Type type=kTypeColorDepth, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
+bool setAutoWhiteBalance (bool enabled)
 
+bool setAutoExposure (bool enabled)
 
+bool setExposure (int value)
 
+bool setGain (int value)
 
+bool setMirroring (bool enabled)
 
+void setOpenNI2StampsAndIDsUsed (bool used)
 
+void setIRDepthShift (int horizontal, int vertical)
 
+void setDepthDecimation (int decimation)
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + + + +

+Static Public Member Functions

+static bool available ()
 
+static bool exposureGainAvailable ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 42 of file CameraOpenNI2.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::CameraOpenNI2::Type
+
+ +

Definition at line 49 of file CameraOpenNI2.h.

+ +
+
+

Member Function Documentation

+ +

◆ init()

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virtual bool rtabmap::CameraOpenNI2::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
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+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

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+ + + + + + + +
virtual bool rtabmap::CameraOpenNI2::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

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+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraOpenNI2::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraOpenNI2::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::CameraOpenNICV Member List
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This is the complete list of members for rtabmap::CameraOpenNICV, including all inherited members.

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available() (defined in rtabmap::CameraOpenNICV)rtabmap::CameraOpenNICVstatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraOpenNICV(bool asus=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraOpenNICV)rtabmap::CameraOpenNICV
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraOpenNICV)rtabmap::CameraOpenNICVprotectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraOpenNICVinlinevirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraOpenNICVvirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraOpenNICV)rtabmap::CameraOpenNICVvirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraOpenNICV() (defined in rtabmap::CameraOpenNICV)rtabmap::CameraOpenNICVvirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV.html new file mode 100644 index 00000000..e565944c --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOpenNICV.html @@ -0,0 +1,350 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraOpenNICV Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::CameraOpenNICV Class Reference
+
+
+
+Inheritance diagram for rtabmap::CameraOpenNICV:
+
+
Inheritance graph
+ + + + + + + +
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+
+Collaboration diagram for rtabmap::CameraOpenNICV:
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+Public Member Functions

+ CameraOpenNICV (bool asus=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 36 of file CameraOpenNICV.h.

+

Member Function Documentation

+ +

◆ init()

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virtual bool rtabmap::CameraOpenNICV::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraOpenNICV::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

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+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraOpenNICV::getSerial () const
+ 		+inlinevirtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +

Definition at line 51 of file CameraOpenNICV.h.

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+ +

◆ captureImage()

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+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraOpenNICV::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::CameraOpenni Member List
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This is the complete list of members for rtabmap::CameraOpenni, including all inherited members.

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available() (defined in rtabmap::CameraOpenni)rtabmap::CameraOpennistatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraOpenni(const std::string &deviceId="", float imageRate=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraOpenni)rtabmap::CameraOpenni
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraOpenni)rtabmap::CameraOpenniprotectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraOpennivirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraOpennivirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraOpenni)rtabmap::CameraOpennivirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraOpenni() (defined in rtabmap::CameraOpenni)rtabmap::CameraOpennivirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::CameraOpenni Class Reference
+
+
+ +

OpenNI driver for cameras like Kinect for Xbox 360. + More...

+ +

#include <CameraOpenni.h>

+
+Inheritance diagram for rtabmap::CameraOpenni:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::CameraOpenni:
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Collaboration graph
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+Public Member Functions

+ CameraOpenni (const std::string &deviceId="", float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+

OpenNI driver for cameras like Kinect for Xbox 360.

+ +

Definition at line 57 of file CameraOpenni.h.

+

Member Function Documentation

+ +

◆ init()

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virtual bool rtabmap::CameraOpenni::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraOpenni::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraOpenni::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraOpenni::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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zKuklz^hD0mvgq&aXW;`R8O(AB3Q|bkTng^Ye(X095Dt*&0qs(Tj-FC-uG}Za$3xrO zpAZod-T6&RODir^ES_GUoRZRHgRLr5Z)ph3IWDB)Wt}{?&dZlH=wyQH%QI#1^d(&_ zEw0$7yeS3m-z!NMv}W4A-~QR2?#TH4$B**i@b|}Yg*_^$OQG>LLv8I)Fs@i1Kc)vk z5xS*7HsB0Gy3pp;T zw&#~o=~v?ENLQe9^$ZN|9lC)vfIb0L4X)Nq5masPxGTOb7L=Gs1`x-bGK2vE3AAZU zp7ob()cAN`r9o3da&lq)JkU4684sQEL1#rqMxvDh$P{vvWfgi=6csz?ua6)4Pg@Vs z_p<<<1A+h~h%20T=On;`ErS}0dhIa-d0Jf?)(9dg0tE#H&?thgn1ZMm%-#yNzPl(#|X_maMU+o6^4kF_ + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::CameraOrbbecSDK Member List
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This is the complete list of members for rtabmap::CameraOrbbecSDK, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available() (defined in rtabmap::CameraOrbbecSDK)rtabmap::CameraOrbbecSDKstatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraOrbbecSDK(std::string deviceId="", unsigned int colorWidth=800, unsigned int colorHeight=600, unsigned int depthWidth=800, unsigned int depthHeight=600, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraOrbbecSDK)rtabmap::CameraOrbbecSDK
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraOrbbecSDK)rtabmap::CameraOrbbecSDKprotectedvirtual
close() (defined in rtabmap::CameraOrbbecSDK)rtabmap::CameraOrbbecSDK
enableColorRectification(bool enabled) (defined in rtabmap::CameraOrbbecSDK)rtabmap::CameraOrbbecSDK
enableDepthMM(bool enabled) (defined in rtabmap::CameraOrbbecSDK)rtabmap::CameraOrbbecSDK
enableImu(bool enabled) (defined in rtabmap::CameraOrbbecSDK)rtabmap::CameraOrbbecSDK
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraOrbbecSDKvirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraOrbbecSDKvirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraOrbbecSDK)rtabmap::CameraOrbbecSDKvirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraOrbbecSDK() (defined in rtabmap::CameraOrbbecSDK)rtabmap::CameraOrbbecSDKvirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK.html new file mode 100644 index 00000000..fea9660e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraOrbbecSDK.html @@ -0,0 +1,360 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraOrbbecSDK Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::CameraOrbbecSDK Class Reference
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+Inheritance diagram for rtabmap::CameraOrbbecSDK:
+
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Inheritance graph
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+Collaboration diagram for rtabmap::CameraOrbbecSDK:
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+Public Member Functions

+ CameraOrbbecSDK (std::string deviceId="", unsigned int colorWidth=800, unsigned int colorHeight=600, unsigned int depthWidth=800, unsigned int depthHeight=600, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
+void close ()
 
+void enableColorRectification (bool enabled)
 
+void enableImu (bool enabled)
 
+void enableDepthMM (bool enabled)
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 45 of file CameraOrbbecSDK.h.

+

Member Function Documentation

+ +

◆ init()

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virtual bool rtabmap::CameraOrbbecSDK::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

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+
+ +

◆ isCalibrated()

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virtual bool rtabmap::CameraOrbbecSDK::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

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+ +

◆ getSerial()

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virtual std::string rtabmap::CameraOrbbecSDK::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

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+
+ +

◆ captureImage()

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virtual SensorData rtabmap::CameraOrbbecSDK::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::CameraRGBDImages Member List
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This is the complete list of members for rtabmap::CameraRGBDImages, including all inherited members.

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_calibrationFolder (defined in rtabmap::CameraImages)rtabmap::CameraImagesprotected
_multiCameraCalib (defined in rtabmap::CameraImages)rtabmap::CameraImagesprotected
_multiCameraCount (defined in rtabmap::CameraImages)rtabmap::CameraImagesprotected
available() (defined in rtabmap::CameraRGBDImages)rtabmap::CameraRGBDImagesstatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraImages() (defined in rtabmap::CameraImages)rtabmap::CameraImages
CameraImages(const std::string &path, float imageRate=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraImages)rtabmap::CameraImages
cameraModel() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
CameraRGBDImages(const std::string &pathRGBImages, const std::string &pathDepthImages, float depthScaleFactor=1.0f, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraRGBDImages)rtabmap::CameraRGBDImages
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraRGBDImages)rtabmap::CameraRGBDImagesprotectedvirtual
filenames() const (defined in rtabmap::CameraImages)rtabmap::CameraImages
getBayerMode() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getMaxPoseTimeDiff() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPath() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraImagesvirtual
imagesCount() const (defined in rtabmap::CameraImages)rtabmap::CameraImages
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraRGBDImagesvirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesvirtual
isConfigForEachFrame() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
isImagesRectified() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
lastImageFileName() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinlineprotected
odomProvided() constrtabmap::CameraImagesinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setBayerMode(int mode) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setConfigForEachFrame(bool value) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setDepth(bool isDepth, float depthScaleFactor=1.0f) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setDepthFromScan(bool enabled, int fillHoles=1, bool fillHolesFromBorder=false) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setDirRefreshed(bool enabled) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setGroundTruthPath(const std::string &filePath, int format=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setImagesRectified(bool enabled) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setMaxFrames(int value) (defined in rtabmap::CameraRGBDImages)rtabmap::CameraRGBDImagesinlinevirtual
setMaxPoseTimeDiff(double diff) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setMultiCameraCalibration(bool enabled) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setOdometryPath(const std::string &filePath, int format=0) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setPath(const std::string &dir) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setScanPath(const std::string &dir, int maxScanPts=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setStartIndex(int index) (defined in rtabmap::CameraRGBDImages)rtabmap::CameraRGBDImagesinlinevirtual
setTimestamps(bool fileNamesAreStamps, const std::string &filePath="", bool syncImageRateWithStamps=true) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraImages() (defined in rtabmap::CameraImages)rtabmap::CameraImagesvirtual
~CameraRGBDImages() (defined in rtabmap::CameraRGBDImages)rtabmap::CameraRGBDImagesvirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages.html new file mode 100644 index 00000000..e2aa227f --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRGBDImages.html @@ -0,0 +1,419 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraRGBDImages Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
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rtabmap::CameraRGBDImages Class Reference
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+Inheritance diagram for rtabmap::CameraRGBDImages:
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Inheritance graph
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[legend]
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+Collaboration diagram for rtabmap::CameraRGBDImages:
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+Public Member Functions

+ CameraRGBDImages (const std::string &pathRGBImages, const std::string &pathDepthImages, float depthScaleFactor=1.0f, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual void setStartIndex (int index)
 
virtual void setMaxFrames (int value)
 
- Public Member Functions inherited from rtabmap::CameraImages
+ CameraImages (const std::string &path, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
std::string getPath () const
 
+unsigned int imagesCount () const
 
+std::vector< std::string > filenames () const
 
bool isImagesRectified () const
 
int getBayerMode () const
 
const CameraModel & cameraModel () const
 
void setPath (const std::string &dir)
 
void setDirRefreshed (bool enabled)
 
void setImagesRectified (bool enabled)
 
void setBayerMode (int mode)
 
void setTimestamps (bool fileNamesAreStamps, const std::string &filePath="", bool syncImageRateWithStamps=true)
 
void setConfigForEachFrame (bool value)
 
bool isConfigForEachFrame () const
 
void setMultiCameraCalibration (bool enabled)
 
void setScanPath (const std::string &dir, int maxScanPts=0, const Transform &localTransform=Transform::getIdentity())
 
void setDepthFromScan (bool enabled, int fillHoles=1, bool fillHolesFromBorder=false)
 
void setOdometryPath (const std::string &filePath, int format=0)
 
void setGroundTruthPath (const std::string &filePath, int format=0, const Transform &localTransform=Transform::getIdentity())
 
void setMaxPoseTimeDiff (double diff)
 
double getMaxPoseTimeDiff () const
 
void setDepth (bool isDepth, float depthScaleFactor=1.0f)
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::CameraImages
const std::string & lastImageFileName () const
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+ + + + + + + + +

+Additional Inherited Members

- Protected Attributes inherited from rtabmap::CameraImages
std::string _calibrationFolder
 
bool _multiCameraCalib
 
int _multiCameraCount
 
+

Detailed Description

+
+

Definition at line 35 of file CameraRGBDImages.h.

+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraRGBDImages::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Reimplemented from rtabmap::CameraImages.

+ +
+
+ +

◆ setStartIndex()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::CameraRGBDImages::setStartIndex (int index)
+ 		+inlinevirtual
+
+ +

Reimplemented from rtabmap::CameraImages.

+ +

Definition at line 52 of file CameraRGBDImages.h.

+ +
+
+ +

◆ setMaxFrames()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::CameraRGBDImages::setMaxFrames (int value)
+ 		+inlinevirtual
+
+ +

Reimplemented from rtabmap::CameraImages.

+ +

Definition at line 53 of file CameraRGBDImages.h.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraRGBDImages::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Reimplemented from rtabmap::CameraImages.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::CameraRealSense Member List
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This is the complete list of members for rtabmap::CameraRealSense, including all inherited members.

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available() (defined in rtabmap::CameraRealSense)rtabmap::CameraRealSensestatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraRealSense(int deviceId=0, int presetRGB=0, int presetDepth=0, bool computeOdometry=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraRealSense)rtabmap::CameraRealSense
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraRealSense)rtabmap::CameraRealSenseprotectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraRealSensevirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraRealSensevirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraRealSense)rtabmap::CameraRealSensevirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
kColor enum value (defined in rtabmap::CameraRealSense)rtabmap::CameraRealSense
kFishEye enum value (defined in rtabmap::CameraRealSense)rtabmap::CameraRealSense
kInfrared enum value (defined in rtabmap::CameraRealSense)rtabmap::CameraRealSense
odomProvided() constrtabmap::CameraRealSensevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
RGBSource enum name (defined in rtabmap::CameraRealSense)rtabmap::CameraRealSense
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setDepthScaledToRGBSize(bool enabled) (defined in rtabmap::CameraRealSense)rtabmap::CameraRealSense
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setRGBSource(RGBSource source) (defined in rtabmap::CameraRealSense)rtabmap::CameraRealSense
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraRealSense() (defined in rtabmap::CameraRealSense)rtabmap::CameraRealSensevirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
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rtabmap::CameraRealSense Class Reference
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+Inheritance diagram for rtabmap::CameraRealSense:
+
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Inheritance graph
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[legend]
+
+Collaboration diagram for rtabmap::CameraRealSense:
+
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+ + + + + + + +
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+ + + + +

+Public Types

enum  RGBSource { kColor +, kInfrared +, kFishEye + }
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ CameraRealSense (int deviceId=0, int presetRGB=0, int presetDepth=0, bool computeOdometry=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void setDepthScaledToRGBSize (bool enabled)
 
+void setRGBSource (RGBSource source)
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 49 of file CameraRealSense.h.

+

Member Enumeration Documentation

+ +

◆ RGBSource

+ +
+
+ + + + +
enum rtabmap::CameraRealSense::RGBSource
+
+ +

Definition at line 54 of file CameraRealSense.h.

+ +
+
+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraRealSense::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraRealSense::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraRealSense::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ odomProvided()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraRealSense::odomProvided () const
+ 		+virtual
+
+ +

Checks if the sensor provides odometry poses.

+

Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.

+
Returns
True if the sensor provides odometry poses, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
getPose()
+ +

Reimplemented from rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraRealSense::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2-members.html new file mode 100644 index 00000000..93d0cf31 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2-members.html @@ -0,0 +1,128 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::CameraRealSense2 Member List
+
+
+ +

This is the complete list of members for rtabmap::CameraRealSense2, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available() (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2static
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraRealSense2(const std::string &deviceId="", float imageRate=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2protectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::CameraRealSense2virtual
getSerial() constrtabmap::CameraRealSense2virtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraRealSense2virtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2virtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::CameraRealSense2virtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setDepthResolution(int width, int height, int fps=30) (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2
setDualMode(bool enabled, const Transform &extrinsics)rtabmap::CameraRealSense2
setEmitterEnabled(bool enabled) (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setGlobalTimeSync(bool enabled) (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setImagesRectified(bool enabled) (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setIRFormat(bool enabled, bool useDepthInsteadOfRightImage) (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2
setJsonConfig(const std::string &json) (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setOdomProvided(bool enabled, bool imageStreamsDisabled=false, bool onlyLeftStream=false) (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2
setResolution(int width, int height, int fps=30) (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraRealSense2() (defined in rtabmap::CameraRealSense2)rtabmap::CameraRealSense2virtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2.html new file mode 100644 index 00000000..672ef193 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraRealSense2.html @@ -0,0 +1,507 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraRealSense2 Class Reference + + + + + + + + + + + + +
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rtabmap::CameraRealSense2 Class Reference
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+Inheritance diagram for rtabmap::CameraRealSense2:
+
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Inheritance graph
+ + + + + + + +
[legend]
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+Collaboration diagram for rtabmap::CameraRealSense2:
+
+
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+ + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ CameraRealSense2 (const std::string &deviceId="", float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
+void setEmitterEnabled (bool enabled)
 
+void setIRFormat (bool enabled, bool useDepthInsteadOfRightImage)
 
+void setResolution (int width, int height, int fps=30)
 
+void setDepthResolution (int width, int height, int fps=30)
 
+void setGlobalTimeSync (bool enabled)
 
void setDualMode (bool enabled, const Transform &extrinsics)
 
+void setJsonConfig (const std::string &json)
 
+void setImagesRectified (bool enabled)
 
+void setOdomProvided (bool enabled, bool imageStreamsDisabled=false, bool onlyLeftStream=false)
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 54 of file CameraRealSense2.h.

+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraRealSense2::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraRealSense2::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraRealSense2::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ odomProvided()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraRealSense2::odomProvided () const
+ 		+virtual
+
+ +

Checks if the sensor provides odometry poses.

+

Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.

+
Returns
True if the sensor provides odometry poses, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
getPose()
+ +

Reimplemented from rtabmap::SensorCapture.

+ +
+
+ +

◆ getPose()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraRealSense2::getPose (double stamp,
Transform & pose,
cv::Mat & covariance,
double maxWaitTime = 0.06 
)
+ 		+virtual
+
+ +

Gets the sensor's pose estimate at a specific timestamp.

+

Queries the sensor for its pose estimate at the given timestamp. This is typically used for sensors that provide visual-inertial odometry or other pose estimation capabilities.

+
Parameters
+ + + + + +
stampTimestamp in seconds for which to query the pose
[out]poseOutput transform representing the sensor pose
[out]covarianceOutput covariance matrix (6x6) representing twist uncertainty
maxWaitTimeMaximum time in seconds to wait for pose data (default: 0.06)
+
+
+
Returns
True if pose was successfully retrieved, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
odomProvided()
+ +

Reimplemented from rtabmap::SensorCapture.

+ +
+
+ +

◆ setDualMode()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::CameraRealSense2::setDualMode (bool enabled,
const Transform & extrinsics 
)
+
+

Dual mode (D400+T265 or L500+T265)

Parameters
+ + + +
enabledenable dual mode
extrinsicsthe extrinsics between T265 pose frame (middle of the camera) to D400/L500 main camera (without optical rotation).
+
+
+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraRealSense2::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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zE3Ua3>1{=NmFJ6xCIxb=^OmenTh3;Oo|!pfcGlQwCaKGh6@CzweQB+rpWCbb>~9hh z7DkPHTA|QlqN6jMiF-^yw;=iO+8x&E=lo^OYj@OW0VG6|I}TN5dcmSQ@g<op2{mIz`Z9%r#pj1H3CrPG9=lY z9v=jUhBn3X>Oo922l>?X2k)i%N_6W~_{7@%_&q>I?7@@=AbVH-yQPF_g zrNY$t{}mg=;IUXin + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + + +
+
rtabmap::CameraSeerSense Member List
+
+
+ +

This is the complete list of members for rtabmap::CameraSeerSense, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available() (defined in rtabmap::CameraSeerSense)rtabmap::CameraSeerSensestatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraSeerSense(bool computeOdometry=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraSeerSense)rtabmap::CameraSeerSense
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraSeerSense)rtabmap::CameraSeerSenseprotectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.0)rtabmap::CameraSeerSensevirtual
getSerial() constrtabmap::CameraSeerSensevirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraSeerSensevirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraSeerSense)rtabmap::CameraSeerSensevirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::CameraSeerSensevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraSeerSense() (defined in rtabmap::CameraSeerSense)rtabmap::CameraSeerSensevirtual
~SensorCapture()rtabmap::SensorCapturevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense.html new file mode 100644 index 00000000..237b6298 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraSeerSense.html @@ -0,0 +1,446 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraSeerSense Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::CameraSeerSense Class Reference
+
+
+
+Inheritance diagram for rtabmap::CameraSeerSense:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::CameraSeerSense:
+
+
Collaboration graph
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+Public Member Functions

+ CameraSeerSense (bool computeOdometry=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.0)
 Gets the sensor's pose estimate at a specific timestamp.
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 14 of file CameraSeerSense.h.

+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraSeerSense::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraSeerSense::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraSeerSense::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ odomProvided()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraSeerSense::odomProvided () const
+ 		+virtual
+
+ +

Checks if the sensor provides odometry poses.

+

Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.

+
Returns
True if the sensor provides odometry poses, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
getPose()
+ +

Reimplemented from rtabmap::SensorCapture.

+ +
+
+ +

◆ getPose()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraSeerSense::getPose (double stamp,
Transform & pose,
cv::Mat & covariance,
double maxWaitTime = 0.0 
)
+ 		+virtual
+
+ +

Gets the sensor's pose estimate at a specific timestamp.

+

Queries the sensor for its pose estimate at the given timestamp. This is typically used for sensors that provide visual-inertial odometry or other pose estimation capabilities.

+
Parameters
+ + + + + +
stampTimestamp in seconds for which to query the pose
[out]poseOutput transform representing the sensor pose
[out]covarianceOutput covariance matrix (6x6) representing twist uncertainty
maxWaitTimeMaximum time in seconds to wait for pose data (default: 0.06)
+
+
+
Returns
True if pose was successfully retrieved, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
odomProvided()
+ +

Reimplemented from rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraSeerSense::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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z1xhb_YIy8WZss;N;R&n?EP#OkLZJrb@^G5lDJ>@tntaEwty?03d7?OwB>~ynivi^E z70C9M$I+}*+(zssPV`@Ek*m$}m+vQlg0c-c6N5J mDBAz^km!G(6!B}GlVoMFca$c-U5BSw2&D(=auqUWLH`3>o?_Ji literal 0 HcmV?d00001 diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394-members.html new file mode 100644 index 00000000..711ed171 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394-members.html @@ -0,0 +1,119 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::CameraStereoDC1394 Member List
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This is the complete list of members for rtabmap::CameraStereoDC1394, including all inherited members.

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available() (defined in rtabmap::CameraStereoDC1394)rtabmap::CameraStereoDC1394static
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraStereoDC1394(float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraStereoDC1394)rtabmap::CameraStereoDC1394
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraStereoDC1394)rtabmap::CameraStereoDC1394protectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraStereoDC1394virtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraStereoDC1394virtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraStereoDC1394)rtabmap::CameraStereoDC1394virtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraStereoDC1394() (defined in rtabmap::CameraStereoDC1394)rtabmap::CameraStereoDC1394virtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394.html new file mode 100644 index 00000000..a6be618e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394.html @@ -0,0 +1,348 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraStereoDC1394 Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
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rtabmap::CameraStereoDC1394 Class Reference
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+Inheritance diagram for rtabmap::CameraStereoDC1394:
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+Public Member Functions

+ CameraStereoDC1394 (float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 39 of file CameraStereoDC1394.h.

+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraStereoDC1394::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraStereoDC1394::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraStereoDC1394::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraStereoDC1394::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394__coll__graph.map new file mode 100644 index 00000000..be68736e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394__coll__graph.md5 new file mode 100644 index 00000000..85aff204 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394__coll__graph.md5 @@ -0,0 +1 @@ +d678a6552f4f26891292977ebfe6c848 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoDC1394__coll__graph.png new file mode 100644 index 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rtabmap::CameraStereoFlyCapture2 Member List
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This is the complete list of members for rtabmap::CameraStereoFlyCapture2, including all inherited members.

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available() (defined in rtabmap::CameraStereoFlyCapture2)rtabmap::CameraStereoFlyCapture2static
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraStereoFlyCapture2(float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraStereoFlyCapture2)rtabmap::CameraStereoFlyCapture2
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraStereoFlyCapture2)rtabmap::CameraStereoFlyCapture2protectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraStereoFlyCapture2virtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraStereoFlyCapture2virtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraStereoFlyCapture2)rtabmap::CameraStereoFlyCapture2virtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraStereoFlyCapture2() (defined in rtabmap::CameraStereoFlyCapture2)rtabmap::CameraStereoFlyCapture2virtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.html new file mode 100644 index 00000000..93a1a95c --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2.html @@ -0,0 +1,348 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraStereoFlyCapture2 Class Reference + + + + + + + + + + + + +
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RTAB-Map 0.23.10 +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::CameraStereoFlyCapture2 Class Reference
+
+
+
+Inheritance diagram for rtabmap::CameraStereoFlyCapture2:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::CameraStereoFlyCapture2:
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+
Collaboration graph
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ CameraStereoFlyCapture2 (float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 41 of file CameraStereoFlyCapture2.h.

+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraStereoFlyCapture2::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraStereoFlyCapture2::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraStereoFlyCapture2::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraStereoFlyCapture2::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2__coll__graph.map new file mode 100644 index 00000000..8e782036 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2__coll__graph.md5 new file mode 100644 index 00000000..030e0fec --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2__coll__graph.md5 @@ -0,0 +1 @@ +c9cf8af61497254c9957558f8ede86a1 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoFlyCapture2__coll__graph.png new file mode 100644 index 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rtabmap::CameraStereoImages Member List
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This is the complete list of members for rtabmap::CameraStereoImages, including all inherited members.

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_calibrationFolder (defined in rtabmap::CameraImages)rtabmap::CameraImagesprotected
_multiCameraCalib (defined in rtabmap::CameraImages)rtabmap::CameraImagesprotected
_multiCameraCount (defined in rtabmap::CameraImages)rtabmap::CameraImagesprotected
available() (defined in rtabmap::CameraStereoImages)rtabmap::CameraStereoImagesstatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraImages() (defined in rtabmap::CameraImages)rtabmap::CameraImages
CameraImages(const std::string &path, float imageRate=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraImages)rtabmap::CameraImages
cameraModel() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
CameraStereoImages(const std::string &pathLeftImages, const std::string &pathRightImages, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraStereoImages)rtabmap::CameraStereoImages
CameraStereoImages(const std::string &pathLeftRightImages, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraStereoImages)rtabmap::CameraStereoImages
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraStereoImages)rtabmap::CameraStereoImagesprotectedvirtual
filenames() const (defined in rtabmap::CameraImages)rtabmap::CameraImages
getBayerMode() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getMaxPoseTimeDiff() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPath() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraStereoImagesvirtual
imagesCount() const (defined in rtabmap::CameraImages)rtabmap::CameraImages
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraStereoImagesvirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraStereoImages)rtabmap::CameraStereoImagesvirtual
isConfigForEachFrame() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
isImagesRectified() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
lastImageFileName() const (defined in rtabmap::CameraImages)rtabmap::CameraImagesinlineprotected
odomProvided() constrtabmap::CameraImagesinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setBayerMode(int mode) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setConfigForEachFrame(bool value) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setDepth(bool isDepth, float depthScaleFactor=1.0f) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setDepthFromScan(bool enabled, int fillHoles=1, bool fillHolesFromBorder=false) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setDirRefreshed(bool enabled) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setGroundTruthPath(const std::string &filePath, int format=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setImagesRectified(bool enabled) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setMaxFrames(int value) (defined in rtabmap::CameraStereoImages)rtabmap::CameraStereoImagesinlinevirtual
setMaxPoseTimeDiff(double diff) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setMultiCameraCalibration(bool enabled) (defined in rtabmap::CameraStereoImages)rtabmap::CameraStereoImagesinline
setOdometryPath(const std::string &filePath, int format=0) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setPath(const std::string &dir) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setRightGrayScale(bool enabled=true) (defined in rtabmap::CameraStereoImages)rtabmap::CameraStereoImagesinline
setScanPath(const std::string &dir, int maxScanPts=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
setStartIndex(int index) (defined in rtabmap::CameraStereoImages)rtabmap::CameraStereoImagesinlinevirtual
setTimestamps(bool fileNamesAreStamps, const std::string &filePath="", bool syncImageRateWithStamps=true) (defined in rtabmap::CameraImages)rtabmap::CameraImagesinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraImages() (defined in rtabmap::CameraImages)rtabmap::CameraImagesvirtual
~CameraStereoImages() (defined in rtabmap::CameraStereoImages)rtabmap::CameraStereoImagesvirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
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rtabmap::CameraStereoImages Class Reference
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+Inheritance diagram for rtabmap::CameraStereoImages:
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Inheritance graph
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[legend]
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+Collaboration diagram for rtabmap::CameraStereoImages:
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+Public Member Functions

+ CameraStereoImages (const std::string &pathLeftImages, const std::string &pathRightImages, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
+ CameraStereoImages (const std::string &pathLeftRightImages, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
void setRightGrayScale (bool enabled=true)
 
void setMultiCameraCalibration (bool enabled)
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
virtual void setStartIndex (int index)
 
virtual void setMaxFrames (int value)
 
- Public Member Functions inherited from rtabmap::CameraImages
+ CameraImages (const std::string &path, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
std::string getPath () const
 
+unsigned int imagesCount () const
 
+std::vector< std::string > filenames () const
 
bool isImagesRectified () const
 
int getBayerMode () const
 
const CameraModel & cameraModel () const
 
void setPath (const std::string &dir)
 
void setDirRefreshed (bool enabled)
 
void setImagesRectified (bool enabled)
 
void setBayerMode (int mode)
 
void setTimestamps (bool fileNamesAreStamps, const std::string &filePath="", bool syncImageRateWithStamps=true)
 
void setConfigForEachFrame (bool value)
 
bool isConfigForEachFrame () const
 
void setMultiCameraCalibration (bool enabled)
 
void setScanPath (const std::string &dir, int maxScanPts=0, const Transform &localTransform=Transform::getIdentity())
 
void setDepthFromScan (bool enabled, int fillHoles=1, bool fillHolesFromBorder=false)
 
void setOdometryPath (const std::string &filePath, int format=0)
 
void setGroundTruthPath (const std::string &filePath, int format=0, const Transform &localTransform=Transform::getIdentity())
 
void setMaxPoseTimeDiff (double diff)
 
double getMaxPoseTimeDiff () const
 
void setDepth (bool isDepth, float depthScaleFactor=1.0f)
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::CameraImages
const std::string & lastImageFileName () const
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+ + + + + + + + +

+Additional Inherited Members

- Protected Attributes inherited from rtabmap::CameraImages
std::string _calibrationFolder
 
bool _multiCameraCalib
 
int _multiCameraCount
 
+

Detailed Description

+
+

Definition at line 39 of file CameraStereoImages.h.

+

Member Function Documentation

+ +

◆ setRightGrayScale()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraStereoImages::setRightGrayScale (bool enabled = true)
+ 		+inline
+
+ +

Definition at line 59 of file CameraStereoImages.h.

+ +
+
+ +

◆ setMultiCameraCalibration()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraStereoImages::setMultiCameraCalibration (bool enabled)
+ 		+inline
+
+ +

Definition at line 77 of file CameraStereoImages.h.

+ +
+
+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraStereoImages::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Reimplemented from rtabmap::CameraImages.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraStereoImages::isCalibrated () const
+ 		+virtual
+
+ +

Reimplemented from rtabmap::CameraImages.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraStereoImages::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Reimplemented from rtabmap::CameraImages.

+ +
+
+ +

◆ setStartIndex()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::CameraStereoImages::setStartIndex (int index)
+ 		+inlinevirtual
+
+ +

Reimplemented from rtabmap::CameraImages.

+ +

Definition at line 83 of file CameraStereoImages.h.

+ +
+
+ +

◆ setMaxFrames()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::CameraStereoImages::setMaxFrames (int value)
+ 		+inlinevirtual
+
+ +

Reimplemented from rtabmap::CameraImages.

+ +

Definition at line 84 of file CameraStereoImages.h.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraStereoImages::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Reimplemented from rtabmap::CameraImages.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::CameraStereoTara Member List
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This is the complete list of members for rtabmap::CameraStereoTara, including all inherited members.

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available() (defined in rtabmap::CameraStereoTara)rtabmap::CameraStereoTarastatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraStereoTara(int device, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraStereoTara)rtabmap::CameraStereoTara
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraStereoTara)rtabmap::CameraStereoTaraprotectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraStereoTaravirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraStereoTaravirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraStereoTara)rtabmap::CameraStereoTaravirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraStereoTara() (defined in rtabmap::CameraStereoTara)rtabmap::CameraStereoTaravirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara.html new file mode 100644 index 00000000..1ab95133 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara.html @@ -0,0 +1,348 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraStereoTara Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::CameraStereoTara Class Reference
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+Inheritance diagram for rtabmap::CameraStereoTara:
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Inheritance graph
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+Collaboration diagram for rtabmap::CameraStereoTara:
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+Public Member Functions

+ CameraStereoTara (int device, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 43 of file CameraStereoTara.h.

+

Member Function Documentation

+ +

◆ init()

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virtual bool rtabmap::CameraStereoTara::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
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+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

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virtual bool rtabmap::CameraStereoTara::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

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+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraStereoTara::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraStereoTara::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara__coll__graph.map new file mode 100644 index 00000000..4aaaa8e6 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara__coll__graph.md5 new file mode 100644 index 00000000..601b8f8c --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara__coll__graph.md5 @@ -0,0 +1 @@ +3f058003e9eba970f9eeea6a0f4e5831 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoTara__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..8d998d45fbb5449f5b69551833aed1841348c313 GIT binary patch literal 6967 zcmc&(by!qiyB$KBA*5SckW!Ea>25@%VUP|5hAu%uVL$<8P*Os=yGy!D8VTu??z{PY z_kQ=e&;9>iU}pAn4rk9k@B8lcuC>m4O?3r)94Z_L1cI-mD60)VC&8-<3j@5r4*F;T zJ}@j)6l5W{cfY9(KVl&es%<4%DP7ORojEUE-L-Sf{XN<#dD$?z$n10m3QZzvt&Fb_ zJ`Q~ZbD_;RMFhX3nxjR9@aJ-Ehp#rO1zDu+?e`2lf+wm&a3~PO&z6bNco$>^y*!iA+aHp<+M=#ZPI#g?QsM zF!}qmw21O@{@`+!CyJbrC9H3nDPjpRBl)o5n}Oo~R}?olH|*@}yzUPp1#)yS^Ru!r zl$4Y-^Ts>4LrPc^RGV{ibARvcMPm}sQPh!i&((Pl1e~?e@Bi)Pf!$o4Pd4}n+S%J9 zjP)Y?&lWNBUzTBvW~sGt7S#vs@4sGIS)s_-DHJ%ZNSXJB9*C4Sx2HoN=j

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rtabmap::CameraStereoVideo Member List
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This is the complete list of members for rtabmap::CameraStereoVideo, including all inherited members.

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available() (defined in rtabmap::CameraStereoVideo)rtabmap::CameraStereoVideostatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraStereoVideo(const std::string &pathSideBySide, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraStereoVideo)rtabmap::CameraStereoVideo
CameraStereoVideo(const std::string &pathLeft, const std::string &pathRight, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraStereoVideo)rtabmap::CameraStereoVideo
CameraStereoVideo(int device, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraStereoVideo)rtabmap::CameraStereoVideo
CameraStereoVideo(int deviceLeft, int deviceRight, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraStereoVideo)rtabmap::CameraStereoVideo
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraStereoVideo)rtabmap::CameraStereoVideoprotectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraStereoVideovirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraStereoVideovirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraStereoVideo)rtabmap::CameraStereoVideovirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFOURCC(const std::string &fourcc) (defined in rtabmap::CameraStereoVideo)rtabmap::CameraStereoVideoinline
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setResolution(int width, int height) (defined in rtabmap::CameraStereoVideo)rtabmap::CameraStereoVideoinline
setRightGrayScale(bool enabled=true) (defined in rtabmap::CameraStereoVideo)rtabmap::CameraStereoVideoinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraStereoVideo() (defined in rtabmap::CameraStereoVideo)rtabmap::CameraStereoVideovirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
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rtabmap::CameraStereoVideo Class Reference
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+Inheritance diagram for rtabmap::CameraStereoVideo:
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Inheritance graph
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+Collaboration diagram for rtabmap::CameraStereoVideo:
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+Public Member Functions

+ CameraStereoVideo (const std::string &pathSideBySide, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
+ CameraStereoVideo (const std::string &pathLeft, const std::string &pathRight, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
+ CameraStereoVideo (int device, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
+ CameraStereoVideo (int deviceLeft, int deviceRight, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
void setResolution (int width, int height)
 
void setFOURCC (const std::string &fourcc)
 
void setRightGrayScale (bool enabled=true)
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 36 of file CameraStereoVideo.h.

+

Member Function Documentation

+ +

◆ init()

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virtual bool rtabmap::CameraStereoVideo::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraStereoVideo::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraStereoVideo::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ setResolution()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void rtabmap::CameraStereoVideo::setResolution (int width,
int height 
)
+ 		+inline
+
+ +

Definition at line 71 of file CameraStereoVideo.h.

+ +
+
+ +

◆ setFOURCC()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraStereoVideo::setFOURCC (const std::string & fourcc)
+ 		+inline
+
+ +

Definition at line 72 of file CameraStereoVideo.h.

+ +
+
+ +

◆ setRightGrayScale()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraStereoVideo::setRightGrayScale (bool enabled = true)
+ 		+inline
+
+ +

Definition at line 73 of file CameraStereoVideo.h.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraStereoVideo::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo__coll__graph.map new file mode 100644 index 00000000..916ea7c9 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo__coll__graph.md5 new file mode 100644 index 00000000..59ebba66 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo__coll__graph.md5 @@ -0,0 +1 @@ +deb4cfb3c577a65a03ca9c36893b2184 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoVideo__coll__graph.png new file mode 100644 index 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z03=(d*z(q)q4JSKHy4+te=NJ6?r&NY7?i2ZK0{esTLWo%=7#o?Qc$$bHiwl0Gz|?6 zH4F^U00V|4B&=M0APLs;9B5EAb#)Z521HLplO0GIh2w47DZf3F3LHHHL#RoO$G`h9`3*>P_sJcT?Cq?n{{DUg z*7h} + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::CameraStereoZed Member List
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This is the complete list of members for rtabmap::CameraStereoZed, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available() (defined in rtabmap::CameraStereoZed)rtabmap::CameraStereoZedstatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraStereoZed(int deviceId, int resolution=-1, int quality=1, int sensingMode=0, int confidenceThr=100, bool computeOdometry=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity(), bool selfCalibration=true, bool odomForce3DoF=false, int texturenessConfidenceThr=90) (defined in rtabmap::CameraStereoZed)rtabmap::CameraStereoZed
CameraStereoZed(const std::string &svoFilePath, int quality=1, int sensingMode=0, int confidenceThr=100, bool computeOdometry=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity(), bool selfCalibration=true, bool odomForce3DoF=false, int texturenessConfidenceThr=90) (defined in rtabmap::CameraStereoZed)rtabmap::CameraStereoZed
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraStereoZed)rtabmap::CameraStereoZedprotectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNeuralModelWarning(int quality)rtabmap::CameraStereoZedstatic
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.0)rtabmap::CameraStereoZedvirtual
getSerial() constrtabmap::CameraStereoZedvirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraStereoZedvirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraStereoZed)rtabmap::CameraStereoZedvirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::CameraStereoZedvirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
postInterIMUPublic(const IMU &imu, double stamp) (defined in rtabmap::CameraStereoZed)rtabmap::CameraStereoZed
resetTimer()rtabmap::SensorCapture
sdkVersion() (defined in rtabmap::CameraStereoZed)rtabmap::CameraStereoZedstatic
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setRightGrayScale(bool enabled=true) (defined in rtabmap::CameraStereoZed)rtabmap::CameraStereoZed
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraStereoZed() (defined in rtabmap::CameraStereoZed)rtabmap::CameraStereoZedvirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed.html new file mode 100644 index 00000000..03b07436 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZed.html @@ -0,0 +1,487 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraStereoZed Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
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rtabmap::CameraStereoZed Class Reference
+
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+
+Inheritance diagram for rtabmap::CameraStereoZed:
+
+
Inheritance graph
+ + + + + + + +
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+Collaboration diagram for rtabmap::CameraStereoZed:
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+Public Member Functions

+ CameraStereoZed (int deviceId, int resolution=-1, int quality=1, int sensingMode=0, int confidenceThr=100, bool computeOdometry=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity(), bool selfCalibration=true, bool odomForce3DoF=false, int texturenessConfidenceThr=90)
 
+ CameraStereoZed (const std::string &svoFilePath, int quality=1, int sensingMode=0, int confidenceThr=100, bool computeOdometry=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity(), bool selfCalibration=true, bool odomForce3DoF=false, int texturenessConfidenceThr=90)
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.0)
 Gets the sensor's pose estimate at a specific timestamp.
 
+void postInterIMUPublic (const IMU &imu, double stamp)
 
+void setRightGrayScale (bool enabled=true)
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + + + + + +

+Static Public Member Functions

+static bool available ()
 
+static int sdkVersion ()
 
static std::string getNeuralModelWarning (int quality)
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 43 of file CameraStereoZed.h.

+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraStereoZed::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraStereoZed::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraStereoZed::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ odomProvided()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraStereoZed::odomProvided () const
+ 		+virtual
+
+ +

Checks if the sensor provides odometry poses.

+

Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.

+
Returns
True if the sensor provides odometry poses, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
getPose()
+ +

Reimplemented from rtabmap::SensorCapture.

+ +
+
+ +

◆ getPose()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraStereoZed::getPose (double stamp,
Transform & pose,
cv::Mat & covariance,
double maxWaitTime = 0.0 
)
+ 		+virtual
+
+ +

Gets the sensor's pose estimate at a specific timestamp.

+

Queries the sensor for its pose estimate at the given timestamp. This is typically used for sensors that provide visual-inertial odometry or other pose estimation capabilities.

+
Parameters
+ + + + + +
stampTimestamp in seconds for which to query the pose
[out]poseOutput transform representing the sensor pose
[out]covarianceOutput covariance matrix (6x6) representing twist uncertainty
maxWaitTimeMaximum time in seconds to wait for pose data (default: 0.06)
+
+
+
Returns
True if pose was successfully retrieved, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
odomProvided()
+ +

Reimplemented from rtabmap::SensorCapture.

+ +
+
+ +

◆ getNeuralModelWarning()

+ +
+
+ + + + + +
+ + + + + + + + +
static std::string rtabmap::CameraStereoZed::getNeuralModelWarning (int quality)
+ 		+static
+
+

If the given ZED depth mode (quality: same encoding as the constructor) is a NEURAL mode whose AI model isn't yet downloaded/optimized for the GPU, returns a human-readable warning that the first start will be slower (the ZED SDK downloads/optimizes the model during init()). Returns an empty string when the model is ready, the mode isn't neural, or the SDK/build doesn't support the check.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraStereoZed::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::CameraStereoZedOC Member List
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This is the complete list of members for rtabmap::CameraStereoZedOC, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available() (defined in rtabmap::CameraStereoZedOC)rtabmap::CameraStereoZedOCstatic
Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraStereoZedOC(int deviceId, int resolution=3, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraStereoZedOC)rtabmap::CameraStereoZedOC
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraStereoZedOC)rtabmap::CameraStereoZedOCprotectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraStereoZedOCvirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraStereoZedOCvirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraStereoZedOC)rtabmap::CameraStereoZedOCvirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setRightGrayScale(bool enabled=true) (defined in rtabmap::CameraStereoZedOC)rtabmap::CameraStereoZedOC
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraStereoZedOC() (defined in rtabmap::CameraStereoZedOC)rtabmap::CameraStereoZedOCvirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::CameraStereoZedOC Class Reference
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+Inheritance diagram for rtabmap::CameraStereoZedOC:
+
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Inheritance graph
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+Public Member Functions

+ CameraStereoZedOC (int deviceId, int resolution=3, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
+void setRightGrayScale (bool enabled=true)
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + +

+Static Public Member Functions

+static bool available ()
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 47 of file CameraStereoZedOC.h.

+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::CameraStereoZedOC::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraStereoZedOC::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraStereoZedOC::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraStereoZedOC::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC__coll__graph.map new file mode 100644 index 00000000..f79d1ba0 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC__coll__graph.md5 new file mode 100644 index 00000000..02c44178 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC__coll__graph.md5 @@ -0,0 +1 @@ +8853bacc157343998cb0e6679c32afe2 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1CameraStereoZedOC__coll__graph.png new file mode 100644 index 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rtabmap::CameraVideo Member List
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This is the complete list of members for rtabmap::CameraVideo, including all inherited members.

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Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
CameraVideo(int usbDevice=0, bool rectifyImages=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraVideo)rtabmap::CameraVideo
CameraVideo(const std::string &filePath, bool rectifyImages=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::CameraVideo)rtabmap::CameraVideo
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::CameraVideo)rtabmap::CameraVideoprotectedvirtual
getFilePath() const (defined in rtabmap::CameraVideo)rtabmap::CameraVideoinline
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() constrtabmap::CameraVideovirtual
getUsbDevice() const (defined in rtabmap::CameraVideo)rtabmap::CameraVideoinline
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::CameraVideovirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::CameraVideo)rtabmap::CameraVideovirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
kUsbDevice enum value (defined in rtabmap::CameraVideo)rtabmap::CameraVideo
kVideoFile enum value (defined in rtabmap::CameraVideo)rtabmap::CameraVideo
odomProvided() constrtabmap::SensorCaptureinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFOURCC(const std::string &fourcc) (defined in rtabmap::CameraVideo)rtabmap::CameraVideoinline
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setResolution(int width, int height)rtabmap::CameraVideoinline
Source enum name (defined in rtabmap::CameraVideo)rtabmap::CameraVideo
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~CameraVideo() (defined in rtabmap::CameraVideo)rtabmap::CameraVideovirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo.html b/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo.html new file mode 100644 index 00000000..d4f5e041 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CameraVideo.html @@ -0,0 +1,498 @@ + + + + + + + + +RTAB-Map: rtabmap::CameraVideo Class Reference + + + + + + + + + + + + +
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+Public Types | +Public Member Functions | +Protected Member Functions | +List of all members
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rtabmap::CameraVideo Class Reference
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+Inheritance diagram for rtabmap::CameraVideo:
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Inheritance graph
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+Collaboration diagram for rtabmap::CameraVideo:
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+Public Types

enum  Source { kVideoFile +, kUsbDevice + }
 
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+Public Member Functions

+ CameraVideo (int usbDevice=0, bool rectifyImages=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+ CameraVideo (const std::string &filePath, bool rectifyImages=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
int getUsbDevice () const
 
const std::string & getFilePath () const
 
void setResolution (int width, int height)
 
void setFOURCC (const std::string &fourcc)
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
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+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

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+

Definition at line 36 of file CameraVideo.h.

+

Member Enumeration Documentation

+ +

◆ Source

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+ + + + +
enum rtabmap::CameraVideo::Source
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+ +

Definition at line 40 of file CameraVideo.h.

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Member Function Documentation

+ +

◆ init()

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virtual bool rtabmap::CameraVideo::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
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calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
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Returns
True if initialization was successful, false otherwise
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Note
Must be called before calling takeData() or captureData()
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Implements rtabmap::SensorCapture.

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+
+ +

◆ isCalibrated()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::CameraVideo::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::CameraVideo::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ getUsbDevice()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::CameraVideo::getUsbDevice () const
+ 		+inline
+
+ +

Definition at line 56 of file CameraVideo.h.

+ +
+
+ +

◆ getFilePath()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::CameraVideo::getFilePath () const
+ 		+inline
+
+ +

Definition at line 57 of file CameraVideo.h.

+ +
+
+ +

◆ setResolution()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void rtabmap::CameraVideo::setResolution (int width,
int height 
)
+ 		+inline
+
+

Set wanted usb resolution, should be set before initialization. 0 means default resolution. It won't be applied if a valid camera calibration has been loaded, thus resolution from calibration is used.

+ +

Definition at line 64 of file CameraVideo.h.

+ +
+
+ +

◆ setFOURCC()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::CameraVideo::setFOURCC (const std::string & fourcc)
+ 		+inline
+
+ +

Definition at line 65 of file CameraVideo.h.

+ +
+
+ +

◆ captureImage()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::CameraVideo::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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b/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap-members.html new file mode 100644 index 00000000..6956fbf5 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CloudMap-members.html @@ -0,0 +1,125 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +

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rtabmap::CloudMap Member List
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This is the complete list of members for rtabmap::CloudMap, including all inherited members.

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addAssembledNode(int id, const Transform &pose)rtabmap::GlobalMapprotected
addedNodes() constrtabmap::GlobalMapinline
assemble(const std::list< std::pair< int, Transform > > &newPoses)rtabmap::CloudMapprotectedvirtual
assembledNodes() constrtabmap::GlobalMapinlineprotected
cache() constrtabmap::GlobalMapinlineprotected
cellSize_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
clear()rtabmap::CloudMapvirtual
CloudMap(const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::CloudMap)rtabmap::CloudMap
fullUpdateNeeded(const std::map< int, Transform > &poses) constrtabmap::GlobalMap
getCellSize() constrtabmap::GlobalMapinline
getGridMax(double &x, double &y) constrtabmap::GlobalMapinline
getGridMax(double &x, double &y, double &z) constrtabmap::GlobalMapinline
getGridMin(double &x, double &y) constrtabmap::GlobalMapinline
getGridMin(double &x, double &y, double &z) constrtabmap::GlobalMapinline
getMapEmptyCells() const (defined in rtabmap::CloudMap)rtabmap::CloudMapinline
getMapGround() const (defined in rtabmap::CloudMap)rtabmap::CloudMapinline
getMapObstacles() const (defined in rtabmap::CloudMap)rtabmap::CloudMapinline
getMemoryUsed() constrtabmap::CloudMapvirtual
getUpdateError() constrtabmap::GlobalMapinline
GlobalMap(const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())rtabmap::GlobalMapprotected
isNodeAssembled(int id)rtabmap::GlobalMapinlineprotected
logodds(double probability)rtabmap::GlobalMapinlinestatic
logOddsClampingMax_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsClampingMin_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsHit_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsMiss_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
maxValues_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
minValues_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
occupancyThr_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
probability(double logodds)rtabmap::GlobalMapinlinestatic
update(const std::map< int, Transform > &poses)rtabmap::GlobalMap
updateError_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
~GlobalMap() (defined in rtabmap::GlobalMap)rtabmap::GlobalMapvirtual
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+Public Member Functions | +Protected Member Functions | +List of all members
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rtabmap::CloudMap Class Reference
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+Inheritance diagram for rtabmap::CloudMap:
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+Collaboration diagram for rtabmap::CloudMap:
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+Public Member Functions

+ CloudMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 
virtual void clear ()
 Clears assembled nodes and grid bounds; does not clear LocalGridCache.
 
const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & getMapGround () const
 
const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & getMapObstacles () const
 
const pcl::PointCloud< pcl::PointXYZ >::Ptr & getMapEmptyCells () const
 
unsigned long getMemoryUsed () const
 Approximate memory used by assembled-node bookkeeping (bytes).
 
- Public Member Functions inherited from rtabmap::GlobalMap
bool fullUpdateNeeded (const std::map< int, Transform > &poses) const
 True if the map should be rebuilt from cache (loop closure or disjoint graph).
 
bool update (const std::map< int, Transform > &poses)
 Incrementally assemble new nodes from poses.
 
float getCellSize () const
 
float getUpdateError () const
 
const std::map< int, Transform > & addedNodes () const
 
void getGridMin (double &x, double &y) const
 2D grid minimum (x, y) in meters.
 
void getGridMax (double &x, double &y) const
 2D grid maximum (x, y) in meters.
 
void getGridMin (double &x, double &y, double &z) const
 3D grid minimum (x, y, z) in meters.
 
void getGridMax (double &x, double &y, double &z) const
 3D grid maximum (x, y, z) in meters.
 
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+Protected Member Functions

virtual void assemble (const std::list< std::pair< int, Transform > > &newPoses)
 Subclass hook: merge newPoses into the global map; call addAssembledNode().
 
- Protected Member Functions inherited from rtabmap::GlobalMap
 GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 Constructs the base map; subclasses call from their constructor.
 
const std::map< int, LocalGrid > & cache () const
 
const std::map< int, Transform > & assembledNodes () const
 
bool isNodeAssembled (int id)
 
+void addAssembledNode (int id, const Transform &pose)
 Records a successfully assembled node (ids <= 0 are ignored).
 
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+Additional Inherited Members

- Static Public Member Functions inherited from rtabmap::GlobalMap
static float logodds (double probability)
 Converts probability in (0, 1) to log-odds.
 
static double probability (double logodds)
 Converts log-odds back to probability in (0, 1).
 
- Protected Attributes inherited from rtabmap::GlobalMap
float cellSize_
 
float updateError_
 
float occupancyThr_
 
float logOddsHit_
 
float logOddsMiss_
 
float logOddsClampingMin_
 
float logOddsClampingMax_
 
double minValues_ [3]
 
double maxValues_ [3]
 
+

Detailed Description

+
+

Definition at line 40 of file CloudMap.h.

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Member Function Documentation

+ +

◆ clear()

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virtual void rtabmap::CloudMap::clear ()
+ 		+virtual
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+ +

Clears assembled nodes and grid bounds; does not clear LocalGridCache.

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Reimplemented from rtabmap::GlobalMap.

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◆ getMapGround()

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const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & rtabmap::CloudMap::getMapGround () const
+ 		+inline
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Definition at line 47 of file CloudMap.h.

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◆ getMapObstacles()

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const pcl::PointCloud< pcl::PointXYZRGB >::Ptr & rtabmap::CloudMap::getMapObstacles () const
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Definition at line 48 of file CloudMap.h.

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◆ getMapEmptyCells()

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const pcl::PointCloud< pcl::PointXYZ >::Ptr & rtabmap::CloudMap::getMapEmptyCells () const
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Definition at line 49 of file CloudMap.h.

+ +
+
+ +

◆ getMemoryUsed()

+ +
+
+ + + + + +
+ + + + + + + +
unsigned long rtabmap::CloudMap::getMemoryUsed () const
+ 		+virtual
+
+ +

Approximate memory used by assembled-node bookkeeping (bytes).

+ +

Reimplemented from rtabmap::GlobalMap.

+ +
+
+ +

◆ assemble()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::CloudMap::assemble (const std::list< std::pair< int, Transform > > & newPoses)
+ 		+protectedvirtual
+
+ +

Subclass hook: merge newPoses into the global map; call addAssembledNode().

+ +

Implements rtabmap::GlobalMap.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/global_map/CloudMap.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::CompressionThread Member List
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This is the complete list of members for rtabmap::CompressionThread, including all inherited members.

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CompressionThread(const cv::Mat &mat, const std::string &format="")rtabmap::CompressionThread
CompressionThread(const cv::Mat &bytes, bool isImage)rtabmap::CompressionThread
Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
currentThreadId() (defined in UThread)UThreadinlinestatic
Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
getCompressedData() constrtabmap::CompressionThreadinline
getThreadHandle() const (defined in UThread)UThreadinline
getThreadId() const (defined in UThread)UThreadinline
getUncompressedData()rtabmap::CompressionThreadinline
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
isCreating() constUThread
isIdle() constUThread
isKilled() constUThread
isRunning() constUThread
join(bool killFirst=false)UThread
Join(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kill()UThread
Kill(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kPAboveNormal enum value (defined in UThread)UThread
kPBelowNormal enum value (defined in UThread)UThread
kPLow enum value (defined in UThread)UThread
kPNormal enum value (defined in UThread)UThread
kPRealTime enum value (defined in UThread)UThread
mainLoop()rtabmap::CompressionThreadprotectedvirtual
Priority enum nameUThread
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
setAffinity(int cpu=0)UThread
setPriority(Priority priority)UThread
start()UThread
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
UThread(Priority priority=kPNormal)UThread
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
~UThread()UThreadvirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
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rtabmap::CompressionThread Class Reference
+
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+ +

Background thread to compress or uncompress images and generic matrices. + More...

+ +

#include <Compression.h>

+
+Inheritance diagram for rtabmap::CompressionThread:
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Inheritance graph
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+Collaboration diagram for rtabmap::CompressionThread:
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+Public Member Functions

 CompressionThread (const cv::Mat &mat, const std::string &format="")
 Constructs a thread in compress mode.
 
 CompressionThread (const cv::Mat &bytes, bool isImage)
 Constructs a thread in uncompress mode.
 
const cv::Mat & getCompressedData () const
 
cv::Mat & getUncompressedData ()
 
- Public Member Functions inherited from UThread
 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
void start ()
 
void kill ()
 
void join (bool killFirst=false)
 
void setPriority (Priority priority)
 
void setAffinity (int cpu=0)
 
bool isCreating () const
 
bool isRunning () const
 
bool isIdle () const
 
bool isKilled () const
 
Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
+ + + +

+Protected Member Functions

virtual void mainLoop ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from UThread
enum  Priority {
+  kPLow +, kPBelowNormal +, kPNormal +, kPAboveNormal +,
+  kPRealTime +
+ }
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
- Static Public Member Functions inherited from UThread
static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+

Detailed Description

+

Background thread to compress or uncompress images and generic matrices.

+

In compress mode, pass a source matrix to the constructor with an optional image format (".png", ".jpg", ".rvl", or empty for zlib data). In uncompress mode, pass compressed bytes and set isImage accordingly. Call UThread::start() then UThread::join() to obtain the result from getCompressedData() or getUncompressedData().

+

Example compression:

cv::Mat image;
+
CompressionThread ct(image, ".png");
+
ct.start();
+
ct.join();
+
cv::Mat bytes = ct.getCompressedData();
+
rtabmap::CompressionThread
Background thread to compress or uncompress images and generic matrices.
Definition Compression.h:68
+

Example uncompression:

cv::Mat bytes;
+
CompressionThread ct(bytes, true);
+
ct.start();
+
ct.join();
+
cv::Mat image = ct.getUncompressedData();
+
+

Definition at line 67 of file Compression.h.

+

Constructor & Destructor Documentation

+ +

◆ CompressionThread() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
rtabmap::CompressionThread::CompressionThread (const cv::Mat & mat,
const std::string & format = "" 
)
+
+ +

Constructs a thread in compress mode.

+
Parameters
+ + + +
matSource image or data matrix to compress.
formatImage format: ".png", ".jpg", ".rvl", or empty for zlib (compressData2).
+
+
+ +
+
+ +

◆ CompressionThread() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
rtabmap::CompressionThread::CompressionThread (const cv::Mat & bytes,
bool isImage 
)
+
+ +

Constructs a thread in uncompress mode.

+
Parameters
+ + + +
bytesCompressed bytes (CV_8UC1).
isImageIf true, decode as image; otherwise decode as zlib data.
+
+
+ +
+
+

Member Function Documentation

+ +

◆ getCompressedData()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::CompressionThread::getCompressedData () const
+ 		+inline
+
+
Returns
Compressed output (CV_8UC1), valid after compress mode completes.
+ +

Definition at line 83 of file Compression.h.

+ +
+
+ +

◆ getUncompressedData()

+ +
+
+ + + + + +
+ + + + + + + +
cv::Mat & rtabmap::CompressionThread::getUncompressedData ()
+ 		+inline
+
+
Returns
Uncompressed output, valid after uncompress mode completes.
+ +

Definition at line 85 of file Compression.h.

+ +
+
+ +

◆ mainLoop()

+ +
+
+ + + + + +
+ + + + + + + +
virtual void rtabmap::CompressionThread::mainLoop ()
+ 		+protectedvirtual
+
+

Pure virtual method mainLoop(). The inner loop of the thread. This method is called repetitively until the thread is killed. Note that if kill() is called in mainLoopBegin(), mainLoop() is not called, terminating immediately the thread.

+
See also
mainLoop()
+
+kill()
+ +

Implements UThread.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread__coll__graph.map new file mode 100644 index 00000000..a757e90d --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread__coll__graph.md5 new file mode 100644 index 00000000..bee2881b --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread__coll__graph.md5 @@ -0,0 +1 @@ +8deb0a19b9b4501c87822e452a7b8b09 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1CompressionThread__coll__graph.png new file mode 100644 index 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rtabmap::DBDriver Member List
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This is the complete list of members for rtabmap::DBDriver, including all inherited members.

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addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap &parameters) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
addLink(const Link &link)rtabmap::DBDriver
addLinkQuery(const Link &link) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
addStatistics(const Statistics &statistics, bool saveWmState) constrtabmap::DBDriver
addStatisticsQuery(const Statistics &statistics, bool saveWmState) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
asyncSave(Signature *s)rtabmap::DBDriver
asyncSave(VisualWord *vw)rtabmap::DBDriver
closeConnection(bool save=true, const std::string &outputUrl="")rtabmap::DBDriver
connectDatabaseQuery(const std::string &url, bool overwritten=false, bool readOnly=false)=0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
create(const ParametersMap &parameters=ParametersMap())rtabmap::DBDriverstatic
currentThreadId() (defined in UThread)UThreadinlinestatic
DBDriver(const ParametersMap &parameters=ParametersMap())rtabmap::DBDriverprotected
Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
disconnectDatabaseQuery(bool save=true, const std::string &outputUrl="")=0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
emptyTrashes(bool async=false)rtabmap::DBDriver
executeNoResult(const std::string &sql) constrtabmap::DBDriver
executeNoResultQuery(const std::string &sql) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
generateGraph(const std::string &fileName, const std::set< int > &ids=std::set< int >(), const std::map< int, Signature * > &otherSignatures=std::map< int, Signature * >())rtabmap::DBDriver
getAllLabels(std::map< int, std::string > &labels) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getAllLabelsQuery(std::map< int, std::string > &labels) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getAllLinks(std::multimap< int, Link > &links, bool ignoreNullLinks=true, bool withLandmarks=false) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getAllLinksQuery(std::multimap< int, Link > &links, bool ignoreNullLinks, bool withLandmarks) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getAllNodeIds(std::set< int > &ids, bool ignoreChildren=false, bool ignoreBadSignatures=false, bool ignoreIntermediateNodes=false) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getAllNodeIdsQuery(std::set< int > &ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getAllOdomPoses(std::map< int, Transform > &poses, bool ignoreChildren=false, bool ignoreIntermediateNodes=false) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getAllOdomPosesQuery(std::map< int, Transform > &poses, bool ignoreChildren, bool ignoreIntermediateNodes) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getAllStatistics() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getAllStatisticsQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getAllStatisticsWmStates() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getAllStatisticsWmStatesQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getCalibration(int signatureId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getCalibrationQuery(int signatureId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getCalibrationsMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getCalibrationsMemoryUsedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getDatabaseVersion() constrtabmap::DBDriver
getDatabaseVersionQuery(std::string &version) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getDepthImagesMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getDepthImagesMemoryUsedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getEmptyTrashesTime() const (defined in rtabmap::DBDriver)rtabmap::DBDriverinline
getFeaturesMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getFeaturesMemoryUsedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getGridsMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getGridsMemoryUsedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getImagesMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getImagesMemoryUsedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getInvertedIndexNi(int signatureId, int &ni) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getInvertedIndexNiQuery(int signatureId, int &ni) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getLaserScanInfo(int signatureId, LaserScan &info) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLaserScanInfoQuery(int signatureId, LaserScan &info) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getLaserScansMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLaserScansMemoryUsedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getLastDictionarySize() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLastDictionarySizeQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getLastIdQuery(const std::string &tableName, int &id, const std::string &fieldName="id") const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getLastMapId(int &mapId) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLastNodeId(int &id) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLastNodeIds(std::set< int > &ids) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLastNodeIdsQuery(std::set< int > &ids) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getLastNodesSize() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLastNodesSizeQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getLastParameters() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLastParametersQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getLastWordId(int &id) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLinksMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLinksMemoryUsedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getLocalFeatures(int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLocalFeaturesQuery(int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getMemoryUsedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getNodeData(int signatureId, SensorData &data, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getNodeIdByLabel(const std::string &label, int &id) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getNodeIdByLabelQuery(const std::string &label, int &id) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getNodeInfo(int signatureId, Transform &pose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruthPose, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getNodeInfoQuery(int signatureId, Transform &pose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruthPose, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getNodesMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getNodesMemoryUsedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getNodesObservingLandmark(int landmarkId, std::map< int, Link > &nodes) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getNodesObservingLandmarkQuery(int landmarkId, std::map< int, Link > &nodes) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getStatistics(int nodeId, double &stamp, std::vector< int > *wmState=0) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getStatisticsMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getStatisticsMemoryUsedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getStatisticsQuery(int nodeId, double &stamp, std::vector< int > *wmState) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getTargetVersion() constrtabmap::DBDriverinline
getThreadHandle() const (defined in UThread)UThreadinline
getThreadId() const (defined in UThread)UThreadinline
getTotalDictionarySize() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getTotalDictionarySizeQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getTotalNodesSize() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getTotalNodesSizeQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getUrl() constrtabmap::DBDriverinline
getUserDataMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getUserDataMemoryUsedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getWeight(int signatureId, int &weight) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getWeightQuery(int signatureId, int &weight) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
getWordsMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getWordsMemoryUsedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
isConnected() constrtabmap::DBDriver
isConnectedQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
isCreating() constUThread
isIdle() constUThread
isInMemory() constrtabmap::DBDriverinlinevirtual
isKilled() constUThread
isRunning() constUThread
Join(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
join(bool killFirst=false)UThread
kill()UThread
Kill(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kPAboveNormal enum value (defined in UThread)UThread
kPBelowNormal enum value (defined in UThread)UThread
kPLow enum value (defined in UThread)UThread
kPNormal enum value (defined in UThread)UThread
kPRealTime enum value (defined in UThread)UThread
load(VWDictionary &dictionary, bool lastStateOnly=true, bool idsOnly=false) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
load2DMap(float &xMin, float &yMin, float &cellSize) constrtabmap::DBDriver
load2DMapQuery(float &xMin, float &yMin, float &cellSize) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
loadLastNodes(std::list< Signature * > &signatures, bool loadWordIdsOnly=false) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
loadLastNodesQuery(std::list< Signature * > &signatures, bool loadWordIdsOnly) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
loadLinks(int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) constrtabmap::DBDriver
loadLinksQuery(int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
loadNodeData(Signature &signature, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
loadNodeData(std::list< Signature * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
loadNodeDataQuery(std::list< Signature * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
loadOptimizedMesh(std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons=0, std::vector< std::vector< Eigen::Vector2f > > *texCoords=0, cv::Mat *textures=0) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
loadOptimizedMeshQuery(std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons, std::vector< std::vector< Eigen::Vector2f > > *texCoords, cv::Mat *textures) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
loadOptimizedPoses(Transform *lastlocalizationPose=0) constrtabmap::DBDriver
loadOptimizedPosesQuery(Transform *lastlocalizationPose=0) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
loadPreviewImage() constrtabmap::DBDriver
loadPreviewImageQuery() const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
loadQuery(VWDictionary &dictionary, bool lastStateOnly=true, bool idsOnly=false) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
loadSignature(int id, bool *loadedFromTrash=0)rtabmap::DBDriver
loadSignatures(const std::list< int > &ids, std::list< Signature * > &signatures, std::set< int > *loadedFromTrash=0, bool loadWordIdsOnly=false) (defined in rtabmap::DBDriver)rtabmap::DBDriver
loadSignaturesQuery(const std::list< int > &ids, std::list< Signature * > &signatures, bool loadWordIdsOnly) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
loadWords(const std::set< int > &wordIds, std::list< VisualWord * > &vws) (defined in rtabmap::DBDriver)rtabmap::DBDriver
loadWordsQuery(const std::set< int > &wordIds, std::list< VisualWord * > &vws) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
openConnection(const std::string &url, bool overwritten=false, bool readOnly=false)rtabmap::DBDriver
parseParameters(const ParametersMap &parameters)rtabmap::DBDrivervirtual
Priority enum nameUThread
removeLink(int from, int to)rtabmap::DBDriver
save2DMap(const cv::Mat &map, float xMin, float yMin, float cellSize) constrtabmap::DBDriver
save2DMapQuery(const cv::Mat &map, float xMin, float yMin, float cellSize) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
saveFlannIndex(const std::vector< unsigned char > &indexData) constrtabmap::DBDriver
saveFlannIndexQuery(const std::vector< unsigned char > &indexData) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
saveOptimizedMesh(const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) constrtabmap::DBDriver
saveOptimizedMeshQuery(const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons, const std::vector< std::vector< Eigen::Vector2f > > &texCoords, const cv::Mat &textures) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
saveOptimizedPoses(const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) constrtabmap::DBDriver
saveOptimizedPosesQuery(const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
savePreviewImage(const cv::Mat &image) constrtabmap::DBDriver
savePreviewImageQuery(const cv::Mat &image) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
saveQuery(const std::list< Signature * > &signatures)=0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
saveQuery(const std::list< VisualWord * > &words) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
setAffinity(int cpu=0)UThread
setPriority(Priority priority)UThread
setTimestampUpdateEnabled(bool enabled) (defined in rtabmap::DBDriver)rtabmap::DBDriverinline
start()UThread
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
updateCalibration(int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels)rtabmap::DBDriver
updateCalibrationQuery(int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
updateDepthImage(int nodeId, const cv::Mat &image, const std::string &format)rtabmap::DBDriver
updateDepthImageQuery(int nodeId, const cv::Mat &image, const std::string &format) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
updateLaserScan(int nodeId, const LaserScan &scan)rtabmap::DBDriver
updateLaserScanQuery(int nodeId, const LaserScan &scan) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
updateLink(const Link &link)rtabmap::DBDriver
updateLinkQuery(const Link &link) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
updateOccupancyGrid(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint)rtabmap::DBDriver
updateOccupancyGridQuery(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
updateQuery(const std::list< Signature * > &signatures, bool updateTimestamp) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
updateQuery(const std::list< VisualWord * > &words, bool updateTimestamp) const =0 (defined in rtabmap::DBDriver)rtabmap::DBDriverprotectedpure virtual
UThread(Priority priority=kPNormal)UThread
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
~DBDriver() (defined in rtabmap::DBDriver)rtabmap::DBDrivervirtual
~UThread()UThreadvirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriver.html b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriver.html new file mode 100644 index 00000000..44e40e93 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriver.html @@ -0,0 +1,1321 @@ + + + + + + + + +RTAB-Map: rtabmap::DBDriver Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::DBDriver Class Referenceabstract
+
+
+ +

Abstract database driver for RTAB-Map maps (signatures, links, words, statistics). + More...

+ +

#include <DBDriver.h>

+
+Inheritance diagram for rtabmap::DBDriver:
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+Collaboration diagram for rtabmap::DBDriver:
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+Public Member Functions

virtual void parseParameters (const ParametersMap &parameters)
 Parse driver parameters from the map (e.g. target schema version).
 
virtual bool isInMemory () const
 True when no database file URL was set at open time.
 
const std::string & getUrl () const
 
const std::string & getTargetVersion () const
 
+void asyncSave (Signature *s)
 Queue a signature for deferred save; ownership is transferred.
 
+void asyncSave (VisualWord *vw)
 Queue a visual word for deferred save; ownership is transferred.
 
void emptyTrashes (bool async=false)
 Flush queued signatures and visual words to the database.
 
double getEmptyTrashesTime () const
 
void setTimestampUpdateEnabled (bool enabled)
 
void generateGraph (const std::string &fileName, const std::set< int > &ids=std::set< int >(), const std::map< int, Signature * > &otherSignatures=std::map< int, Signature * >())
 Export the pose graph to a Graphviz DOT file for visualization.
 
void executeNoResult (const std::string &sql) const
 Run a SQL statement that does not return result rows.
 
Direct database updates

Write node or link data immediately (not via the async trash).

+
+void addLink (const Link &link)
 Insert or replace a link in the database.
 
+void removeLink (int from, int to)
 Remove a link between two nodes.
 
+void updateLink (const Link &link)
 Update an existing link in the database.
 
void updateOccupancyGrid (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint)
 Update occupancy grid cells for a node.
 
+void updateCalibration (int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels)
 Update camera calibration stored for a node.
 
void updateDepthImage (int nodeId, const cv::Mat &image, const std::string &format)
 Update the depth image stored for a node.
 
void updateLaserScan (int nodeId, const LaserScan &scan)
 Update the laser scan stored for a node.
 
Session exports and map artifacts

Statistics, preview image, optimized poses, 2D map, mesh and FLANN index.

+
+void addInfoAfterRun (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap &parameters) const
 
void addStatistics (const Statistics &statistics, bool saveWmState) const
 Append a Statistics record for a processed node.
 
void savePreviewImage (const cv::Mat &image) const
 Save the map preview thumbnail in the Admin table.
 
+cv::Mat loadPreviewImage () const
 Load and uncompress the map preview thumbnail from the Admin table.
 
+void saveOptimizedPoses (const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const
 Persist graph-optimized poses and last localization pose.
 
+std::map< int, Transform > loadOptimizedPoses (Transform *lastlocalizationPose=0) const
 Load optimized poses; optional last localization pose output.
 
+void save2DMap (const cv::Mat &map, float xMin, float yMin, float cellSize) const
 Save the assembled 2D occupancy grid and its origin metadata.
 
+cv::Mat load2DMap (float &xMin, float &yMin, float &cellSize) const
 Load the 2D map and fill origin/cell size outputs.
 
void saveOptimizedMesh (const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) const
 Persist the global optimized 3D mesh to the database.
 
+cv::Mat loadOptimizedMesh (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons=0, std::vector< std::vector< Eigen::Vector2f > > *texCoords=0, cv::Mat *textures=0) const
 
void saveFlannIndex (const std::vector< unsigned char > &indexData) const
 Persist the visual word dictionary FLANN index (serialized blob).
 
Connection and database introspection

Mutex-protected wrappers around protected *Query() methods.

+
+bool openConnection (const std::string &url, bool overwritten=false, bool readOnly=false)
 Open or create the database at url (empty url uses an in-memory database).
 
+void closeConnection (bool save=true, const std::string &outputUrl="")
 Close the connection; optionally flush trashes and save in-memory DB to outputUrl.
 
bool isConnected () const
 
+unsigned long getMemoryUsed () const
 
std::string getDatabaseVersion () const
 
+long getNodesMemoryUsed () const
 
+long getLinksMemoryUsed () const
 
+long getImagesMemoryUsed () const
 
+long getDepthImagesMemoryUsed () const
 
+long getCalibrationsMemoryUsed () const
 
+long getGridsMemoryUsed () const
 
+long getLaserScansMemoryUsed () const
 
+long getUserDataMemoryUsed () const
 
+long getWordsMemoryUsed () const
 
+long getFeaturesMemoryUsed () const
 
+long getStatisticsMemoryUsed () const
 
+int getLastNodesSize () const
 
+int getLastDictionarySize () const
 
+int getTotalNodesSize () const
 
+int getTotalDictionarySize () const
 
+ParametersMap getLastParameters () const
 
+std::map< std::string, float > getStatistics (int nodeId, double &stamp, std::vector< int > *wmState=0) const
 
+std::map< int, std::pair< std::map< std::string, float >, double > > getAllStatistics () const
 
+std::map< int, std::vector< int > > getAllStatisticsWmStates () const
 
Load and query

Load signatures, words, links and node metadata from the database.

+
+void load (VWDictionary &dictionary, bool lastStateOnly=true, bool idsOnly=false) const
 
+void loadLastNodes (std::list< Signature * > &signatures, bool loadWordIdsOnly=false) const
 
+Signature * loadSignature (int id, bool *loadedFromTrash=0)
 Load one signature by id; caller must delete the returned pointer.
 
+void loadSignatures (const std::list< int > &ids, std::list< Signature * > &signatures, std::set< int > *loadedFromTrash=0, bool loadWordIdsOnly=false)
 
+void loadWords (const std::set< int > &wordIds, std::list< VisualWord * > &vws)
 
+void loadNodeData (Signature &signature, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const
 
+void loadNodeData (std::list< Signature * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const
 
+void getNodeData (int signatureId, SensorData &data, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const
 
+bool getCalibration (int signatureId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const
 
+bool getLaserScanInfo (int signatureId, LaserScan &info) const
 
+bool getNodeInfo (int signatureId, Transform &pose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruthPose, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors) const
 
+void getLocalFeatures (int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const
 
+void loadLinks (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const
 Load outgoing links from signatureId, optionally filtered by type.
 
+void getWeight (int signatureId, int &weight) const
 
+void getLastNodeIds (std::set< int > &ids) const
 
+void getAllNodeIds (std::set< int > &ids, bool ignoreChildren=false, bool ignoreBadSignatures=false, bool ignoreIntermediateNodes=false) const
 
+void getAllOdomPoses (std::map< int, Transform > &poses, bool ignoreChildren=false, bool ignoreIntermediateNodes=false) const
 
+void getAllLinks (std::multimap< int, Link > &links, bool ignoreNullLinks=true, bool withLandmarks=false) const
 
+void getLastNodeId (int &id) const
 
+void getLastMapId (int &mapId) const
 
+void getLastWordId (int &id) const
 
+void getInvertedIndexNi (int signatureId, int &ni) const
 
+void getNodesObservingLandmark (int landmarkId, std::map< int, Link > &nodes) const
 
+void getNodeIdByLabel (const std::string &label, int &id) const
 
+void getAllLabels (std::map< int, std::string > &labels) const
 
- Public Member Functions inherited from UThread
 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
void start ()
 
void kill ()
 
void join (bool killFirst=false)
 
void setPriority (Priority priority)
 
void setAffinity (int cpu=0)
 
bool isCreating () const
 
bool isRunning () const
 
bool isIdle () const
 
bool isKilled () const
 
Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
+ + + + + + + + + + + + + + + + + + + + + + + + +

+Static Public Member Functions

static DBDriver * create (const ParametersMap &parameters=ParametersMap())
 Factory: returns a SQLite database driver (DBDriverSqlite3).
 
- Static Public Member Functions inherited from UThread
static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Protected Member Functions

+ DBDriver (const ParametersMap &parameters=ParametersMap())
 Protected constructor for subclasses.
 
Backend implementation (subclass responsibility)

Pure virtual SQL/backend hooks invoked by public wrappers above.

+
+virtual bool connectDatabaseQuery (const std::string &url, bool overwritten=false, bool readOnly=false)=0
 
+virtual void disconnectDatabaseQuery (bool save=true, const std::string &outputUrl="")=0
 
+virtual bool isConnectedQuery () const =0
 
+virtual unsigned long getMemoryUsedQuery () const =0
 
+virtual bool getDatabaseVersionQuery (std::string &version) const =0
 
+virtual long getNodesMemoryUsedQuery () const =0
 
+virtual long getLinksMemoryUsedQuery () const =0
 
+virtual long getImagesMemoryUsedQuery () const =0
 
+virtual long getDepthImagesMemoryUsedQuery () const =0
 
+virtual long getCalibrationsMemoryUsedQuery () const =0
 
+virtual long getGridsMemoryUsedQuery () const =0
 
+virtual long getLaserScansMemoryUsedQuery () const =0
 
+virtual long getUserDataMemoryUsedQuery () const =0
 
+virtual long getWordsMemoryUsedQuery () const =0
 
+virtual long getFeaturesMemoryUsedQuery () const =0
 
+virtual long getStatisticsMemoryUsedQuery () const =0
 
+virtual int getLastNodesSizeQuery () const =0
 
+virtual int getLastDictionarySizeQuery () const =0
 
+virtual int getTotalNodesSizeQuery () const =0
 
+virtual int getTotalDictionarySizeQuery () const =0
 
+virtual ParametersMap getLastParametersQuery () const =0
 
+virtual std::map< std::string, float > getStatisticsQuery (int nodeId, double &stamp, std::vector< int > *wmState) const =0
 
+virtual std::map< int, std::pair< std::map< std::string, float >, double > > getAllStatisticsQuery () const =0
 
+virtual std::map< int, std::vector< int > > getAllStatisticsWmStatesQuery () const =0
 
+virtual void executeNoResultQuery (const std::string &sql) const =0
 
+virtual void getWeightQuery (int signatureId, int &weight) const =0
 
+virtual void saveQuery (const std::list< Signature * > &signatures)=0
 
+virtual void saveQuery (const std::list< VisualWord * > &words) const =0
 
+virtual void updateQuery (const std::list< Signature * > &signatures, bool updateTimestamp) const =0
 
+virtual void updateQuery (const std::list< VisualWord * > &words, bool updateTimestamp) const =0
 
+virtual void addLinkQuery (const Link &link) const =0
 
+virtual void updateLinkQuery (const Link &link) const =0
 
+virtual void updateOccupancyGridQuery (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint) const =0
 
+virtual void updateCalibrationQuery (int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels) const =0
 
+virtual void updateDepthImageQuery (int nodeId, const cv::Mat &image, const std::string &format) const =0
 
+virtual void updateLaserScanQuery (int nodeId, const LaserScan &scan) const =0
 
+virtual void addStatisticsQuery (const Statistics &statistics, bool saveWmState) const =0
 
+virtual void savePreviewImageQuery (const cv::Mat &image) const =0
 
+virtual cv::Mat loadPreviewImageQuery () const =0
 
+virtual void saveOptimizedPosesQuery (const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const =0
 
+virtual std::map< int, Transform > loadOptimizedPosesQuery (Transform *lastlocalizationPose=0) const =0
 
+virtual void save2DMapQuery (const cv::Mat &map, float xMin, float yMin, float cellSize) const =0
 
+virtual cv::Mat load2DMapQuery (float &xMin, float &yMin, float &cellSize) const =0
 
+virtual void saveOptimizedMeshQuery (const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons, const std::vector< std::vector< Eigen::Vector2f > > &texCoords, const cv::Mat &textures) const =0
 
+virtual cv::Mat loadOptimizedMeshQuery (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons, std::vector< std::vector< Eigen::Vector2f > > *texCoords, cv::Mat *textures) const =0
 
+virtual void saveFlannIndexQuery (const std::vector< unsigned char > &indexData) const =0
 
+virtual void loadQuery (VWDictionary &dictionary, bool lastStateOnly=true, bool idsOnly=false) const =0
 
+virtual void loadLastNodesQuery (std::list< Signature * > &signatures, bool loadWordIdsOnly) const =0
 
+virtual void loadSignaturesQuery (const std::list< int > &ids, std::list< Signature * > &signatures, bool loadWordIdsOnly) const =0
 
+virtual void loadWordsQuery (const std::set< int > &wordIds, std::list< VisualWord * > &vws) const =0
 
+virtual void loadLinksQuery (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const =0
 
+virtual void loadNodeDataQuery (std::list< Signature * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const =0
 
+virtual bool getCalibrationQuery (int signatureId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const =0
 
+virtual bool getLaserScanInfoQuery (int signatureId, LaserScan &info) const =0
 
+virtual bool getNodeInfoQuery (int signatureId, Transform &pose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruthPose, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors) const =0
 
+virtual void getLocalFeaturesQuery (int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const =0
 
+virtual void getLastNodeIdsQuery (std::set< int > &ids) const =0
 
+virtual void getAllNodeIdsQuery (std::set< int > &ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const =0
 
+virtual void getAllOdomPosesQuery (std::map< int, Transform > &poses, bool ignoreChildren, bool ignoreIntermediateNodes) const =0
 
+virtual void getAllLinksQuery (std::multimap< int, Link > &links, bool ignoreNullLinks, bool withLandmarks) const =0
 
+virtual void getLastIdQuery (const std::string &tableName, int &id, const std::string &fieldName="id") const =0
 
+virtual void getInvertedIndexNiQuery (int signatureId, int &ni) const =0
 
+virtual void getNodesObservingLandmarkQuery (int landmarkId, std::map< int, Link > &nodes) const =0
 
+virtual void getNodeIdByLabelQuery (const std::string &label, int &id) const =0
 
+virtual void getAllLabelsQuery (std::map< int, std::string > &labels) const =0
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from UThread
enum  Priority {
+  kPLow +, kPBelowNormal +, kPNormal +, kPAboveNormal +,
+  kPRealTime +
+ }
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+

Detailed Description

+

Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).

+

DBDriver is the persistence layer used by Memory, DBReader and tools that read or write .db files. The default implementation is DBDriverSqlite3, created by create().

+

The driver extends UThreadNode: pending Signature and VisualWord objects are queued with asyncSave() and flushed to the database by emptyTrashes() (also called from the background thread on closeConnection()).

+

Public methods are thread-safe where noted (mutex-protected wrappers). Subclasses implement SQL-specific logic in protected *Query() virtual methods.

+
See also
DBDriverSqlite3
+
+Memory
+ +

Definition at line 71 of file DBDriver.h.

+

Member Function Documentation

+ +

◆ create()

+ +
+
+ + + + + +
+ + + + + + + + +
static DBDriver * rtabmap::DBDriver::create (const ParametersMap & parameters = ParametersMap())
+ 		+static
+
+ +

Factory: returns a SQLite database driver (DBDriverSqlite3).

+
Parameters
+ + +
parametersOptional driver parameters (e.g. Parameters::kDbTargetVersion()).
+
+
+
Returns
New driver instance; caller owns the pointer.
+ +
+
+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::DBDriver::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Parse driver parameters from the map (e.g. target schema version).

+ +

Reimplemented in rtabmap::DBDriverSqlite3.

+ +
+
+ +

◆ isInMemory()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::DBDriver::isInMemory () const
+ 		+inlinevirtual
+
+ +

True when no database file URL was set at open time.

+
Note
DBDriverSqlite3 overrides this when Parameters::kDbSqlite3InMemory() is enabled.
+ +

Reimplemented in rtabmap::DBDriverSqlite3.

+ +

Definition at line 90 of file DBDriver.h.

+ +
+
+ +

◆ getUrl()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::DBDriver::getUrl () const
+ 		+inline
+
+
Returns
Database file path last passed to openConnection().
+ +

Definition at line 92 of file DBDriver.h.

+ +
+
+ +

◆ getTargetVersion()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::DBDriver::getTargetVersion () const
+ 		+inline
+
+
Returns
Target schema version for new databases (from parameters).
+ +

Definition at line 94 of file DBDriver.h.

+ +
+
+ +

◆ emptyTrashes()

+ +
+
+ + + + + + + + +
void rtabmap::DBDriver::emptyTrashes (bool async = false)
+
+ +

Flush queued signatures and visual words to the database.

+
Parameters
+ + +
asyncIf true, signal the background thread instead of flushing synchronously.
+
+
+ +
+
+ +

◆ getEmptyTrashesTime()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::DBDriver::getEmptyTrashesTime () const
+ 		+inline
+
+ +

Definition at line 105 of file DBDriver.h.

+ +
+
+ +

◆ setTimestampUpdateEnabled()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::DBDriver::setTimestampUpdateEnabled (bool enabled)
+ 		+inline
+
+ +

Definition at line 106 of file DBDriver.h.

+ +
+
+ +

◆ generateGraph()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::DBDriver::generateGraph (const std::string & fileName,
const std::set< int > & ids = std::set< int >(),
const std::map< int, Signature * > & otherSignatures = std::map< int, Signature * >() 
)
+
+ +

Export the pose graph to a Graphviz DOT file for visualization.

+

Reads nodes and links from the database (and optionally from otherSignatures not yet persisted) and writes fileName. Does not modify the database. If ids is empty, all node ids are included.

+ +
+
+ +

◆ updateOccupancyGrid()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::DBDriver::updateOccupancyGrid (int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,
const cv::Mat & empty,
float cellSize,
const cv::Point3f & viewpoint 
)
+
+ +

Update occupancy grid cells for a node.

+
Parameters
+ + + + +
groundGround cells (raw CV_32FC2/CV_32FC3, or compressed CV_8UC1 1×N).
obstaclesObstacle cells (same formats as ground).
emptyEmpty cells (same formats as ground; ignored on DB schema < 0.16.0). Raw mats are compressed internally via SensorData::setOccupancyGrid() before writing.
+
+
+ +
+
+ +

◆ updateDepthImage()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::DBDriver::updateDepthImage (int nodeId,
const cv::Mat & image,
const std::string & format 
)
+
+ +

Update the depth image stored for a node.

+
Parameters
+ + + +
imageRaw depth image, or pre-compressed blob (CV_8UC1, single row).
formatCompression format when image is raw (e.g. ".png"); ignored if already compressed. Uncompressed images are compressed with Compression::compressImage2() before writing.
+
+
+ +
+
+ +

◆ updateLaserScan()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::DBDriver::updateLaserScan (int nodeId,
const LaserScan & scan 
)
+
+ +

Update the laser scan stored for a node.

+
Parameters
+ + +
scanUncompressed scan, or already compressed (LaserScan::isCompressed()). Uncompressed data is compressed with Compression::compressData2() before writing.
+
+
+ +
+
+ +

◆ addStatistics()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::DBDriver::addStatistics (const Statistics & statistics,
bool saveWmState 
) const
+
+ +

Append a Statistics record for a processed node.

+
Parameters
+ + + +
statisticsMetrics for Statistics::refImageId() (insert skipped if id ≤ 0 or data empty).
saveWmStateIf true and schema ≥ 0.16.2, also store compressed working-memory state.
+
+
+ +
+
+ +

◆ savePreviewImage()

+ +
+
+ + + + + + + + +
void rtabmap::DBDriver::savePreviewImage (const cv::Mat & image) const
+
+ +

Save the map preview thumbnail in the Admin table.

+
Parameters
+ + +
imageRaw image or JPEG-compressed blob (CV_8UC1, single row); empty clears it.
+
+
+
Note
Requires database schema ≥ 0.12.0.
+ +
+
+ +

◆ saveOptimizedMesh()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::DBDriver::saveOptimizedMesh (const cv::Mat & cloud,
const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > & polygons = std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(),
const std::vector< std::vector< Eigen::Vector2f > > & texCoords = std::vector< std::vector< Eigen::Vector2f > >(),
const cv::Mat & textures = cv::Mat() 
) const
+
+ +

Persist the global optimized 3D mesh to the database.

+
Parameters
+ + + + + +
cloudPoint cloud (CV_32FC1 or CV_32FC3).
polygonsOptional per-texture polygon index lists (texture → polygon → vertex indices).
texCoordsOptional UV coordinates per texture (one per polygon vertex).
texturesOptional concatenated square texture images (same size per texture).
+
+
+ +
+
+ +

◆ saveFlannIndex()

+ +
+
+ + + + + + + + +
void rtabmap::DBDriver::saveFlannIndex (const std::vector< unsigned char > & indexData) const
+
+ +

Persist the visual word dictionary FLANN index (serialized blob).

+
Parameters
+ + +
indexDataSerialized index from VWDictionary::serializeIndex(); pass empty to clear.
+
+
+
Note
Requires database schema ≥ 0.23.0. Used when Parameters::kKpFlannIndexSaved() is enabled.
+ +
+
+ +

◆ isConnected()

+ +
+
+ + + + + + + +
bool rtabmap::DBDriver::isConnected () const
+
+
Returns
True if a database connection is active.
+ +
+
+ +

◆ getDatabaseVersion()

+ +
+
+ + + + + + + +
std::string rtabmap::DBDriver::getDatabaseVersion () const
+
+
Returns
Schema version string stored in the database (e.g. "0.21.0").
+ +
+
+ +

◆ executeNoResult()

+ +
+
+ + + + + + + + +
void rtabmap::DBDriver::executeNoResult (const std::string & sql) const
+
+ +

Run a SQL statement that does not return result rows.

+

Executes sql on the open database (e.g. INSERT, UPDATE, DELETE, CREATE, PRAGMA). Thread-safe wrapper around executeNoResultQuery().

+

For reads, use the dedicated loadSignature(), loadLinks() and related query methods instead of raw SQL.

+
Parameters
+ + +
sqlComplete SQL statement (SQLite syntax for DBDriverSqlite3).
+
+
+
Note
The connection must be open (isConnected()). On failure the driver aborts with an assertion (SQLite backend).
+
Warning
sql is passed verbatim; sanitize any user-controlled values before calling.
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3-members.html new file mode 100644 index 00000000..5d4d0bf3 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3-members.html @@ -0,0 +1,286 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + +
+
+ + +
+
+
+
+
+
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+
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+
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+
+
+
+
+ + +
+
+
rtabmap::DBDriverSqlite3 Member List
+
+
+ +

This is the complete list of members for rtabmap::DBDriverSqlite3, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
_ppDbrtabmap::DBDriverSqlite3protected
_versionrtabmap::DBDriverSqlite3protected
addInfoAfterRun(int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap &parameters) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
addLink(const Link &link)rtabmap::DBDriver
addLinkQuery(const Link &link) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
addStatistics(const Statistics &statistics, bool saveWmState) constrtabmap::DBDriver
addStatisticsQuery(const Statistics &statistics, bool saveWmState) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
asyncSave(Signature *s)rtabmap::DBDriver
asyncSave(VisualWord *vw)rtabmap::DBDriver
closeConnection(bool save=true, const std::string &outputUrl="")rtabmap::DBDriver
connectDatabaseQuery(const std::string &url, bool overwritten=false, bool readOnly=false) (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::DBDriverstatic
Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
currentThreadId() (defined in UThread)UThreadinlinestatic
DBDriver(const ParametersMap &parameters=ParametersMap())rtabmap::DBDriverprotected
DBDriverSqlite3(const ParametersMap &parameters=ParametersMap())rtabmap::DBDriverSqlite3
Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
disconnectDatabaseQuery(bool save=true, const std::string &outputUrl="") (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
emptyTrashes(bool async=false)rtabmap::DBDriver
executeNoResult(const std::string &sql) constrtabmap::DBDriver
executeNoResultQuery(const std::string &sql) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
generateGraph(const std::string &fileName, const std::set< int > &ids=std::set< int >(), const std::map< int, Signature * > &otherSignatures=std::map< int, Signature * >())rtabmap::DBDriver
getAllLabels(std::map< int, std::string > &labels) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getAllLabelsQuery(std::map< int, std::string > &labels) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getAllLinks(std::multimap< int, Link > &links, bool ignoreNullLinks=true, bool withLandmarks=false) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getAllLinksQuery(std::multimap< int, Link > &links, bool ignoreNullLinks, bool withLandmarks) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getAllNodeIds(std::set< int > &ids, bool ignoreChildren=false, bool ignoreBadSignatures=false, bool ignoreIntermediateNodes=false) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getAllNodeIdsQuery(std::set< int > &ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getAllOdomPoses(std::map< int, Transform > &poses, bool ignoreChildren=false, bool ignoreIntermediateNodes=false) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getAllOdomPosesQuery(std::map< int, Transform > &poses, bool ignoreChildren, bool ignoreIntermediateNodes) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getAllStatistics() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getAllStatisticsQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getAllStatisticsWmStates() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getAllStatisticsWmStatesQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getCalibration(int signatureId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getCalibrationQuery(int signatureId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getCalibrationsMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getCalibrationsMemoryUsedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getDatabaseVersion() constrtabmap::DBDriver
getDatabaseVersionQuery(std::string &version) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getDepthImagesMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getDepthImagesMemoryUsedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getEmptyTrashesTime() const (defined in rtabmap::DBDriver)rtabmap::DBDriverinline
getFeaturesMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getFeaturesMemoryUsedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getGridsMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getGridsMemoryUsedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getImagesMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getImagesMemoryUsedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getInvertedIndexNi(int signatureId, int &ni) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getInvertedIndexNiQuery(int signatureId, int &ni) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getLaserScanInfo(int signatureId, LaserScan &info) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLaserScanInfoQuery(int signatureId, LaserScan &info) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getLaserScansMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLaserScansMemoryUsedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getLastDictionarySize() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLastDictionarySizeQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getLastIdQuery(const std::string &tableName, int &id, const std::string &fieldName="id") const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getLastMapId(int &mapId) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLastNodeId(int &id) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLastNodeIds(std::set< int > &ids) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLastNodeIdsQuery(std::set< int > &ids) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getLastNodesSize() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLastNodesSizeQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getLastParameters() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLastParametersQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getLastWordId(int &id) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLinksMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLinksMemoryUsedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getLocalFeatures(int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getLocalFeaturesQuery(int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getMemoryUsedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getNodeData(int signatureId, SensorData &data, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getNodeIdByLabel(const std::string &label, int &id) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getNodeIdByLabelQuery(const std::string &label, int &id) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getNodeInfo(int signatureId, Transform &pose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruthPose, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getNodeInfoQuery(int signatureId, Transform &pose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruthPose, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getNodesMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getNodesMemoryUsedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getNodesObservingLandmark(int landmarkId, std::map< int, Link > &nodes) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getNodesObservingLandmarkQuery(int landmarkId, std::map< int, Link > &nodes) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getStatistics(int nodeId, double &stamp, std::vector< int > *wmState=0) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getStatisticsMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getStatisticsMemoryUsedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getStatisticsQuery(int nodeId, double &stamp, std::vector< int > *wmState) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getTargetVersion() constrtabmap::DBDriverinline
getThreadHandle() const (defined in UThread)UThreadinline
getThreadId() const (defined in UThread)UThreadinline
getTotalDictionarySize() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getTotalDictionarySizeQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getTotalNodesSize() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getTotalNodesSizeQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getUrl() constrtabmap::DBDriverinline
getUserDataMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getUserDataMemoryUsedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getWeight(int signatureId, int &weight) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getWeightQuery(int signatureId, int &weight) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
getWordsMemoryUsed() const (defined in rtabmap::DBDriver)rtabmap::DBDriver
getWordsMemoryUsedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
isConnected() constrtabmap::DBDriver
isConnectedQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
isCreating() constUThread
isIdle() constUThread
isInMemory() constrtabmap::DBDriverSqlite3inlinevirtual
isKilled() constUThread
isRunning() constUThread
join(bool killFirst=false)UThread
Join(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kill()UThread
Kill(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kPAboveNormal enum value (defined in UThread)UThread
kPBelowNormal enum value (defined in UThread)UThread
kPLow enum value (defined in UThread)UThread
kPNormal enum value (defined in UThread)UThread
kPRealTime enum value (defined in UThread)UThread
load(VWDictionary &dictionary, bool lastStateOnly=true, bool idsOnly=false) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
load2DMap(float &xMin, float &yMin, float &cellSize) constrtabmap::DBDriver
load2DMapQuery(float &xMin, float &yMin, float &cellSize) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
loadLastNodes(std::list< Signature * > &signatures, bool loadWordIdsOnly=false) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
loadLastNodesQuery(std::list< Signature * > &signatures, bool loadWordIdsOnly) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
loadLinks(int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) constrtabmap::DBDriver
loadLinksQuery(int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
loadNodeData(Signature &signature, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
loadNodeData(std::list< Signature * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
loadNodeDataQuery(std::list< Signature * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
loadOptimizedMesh(std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons=0, std::vector< std::vector< Eigen::Vector2f > > *texCoords=0, cv::Mat *textures=0) const (defined in rtabmap::DBDriver)rtabmap::DBDriver
loadOptimizedMeshQuery(std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons, std::vector< std::vector< Eigen::Vector2f > > *texCoords, cv::Mat *textures) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
loadOptimizedPoses(Transform *lastlocalizationPose=0) constrtabmap::DBDriver
loadOptimizedPosesQuery(Transform *lastlocalizationPose=0) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
loadPreviewImage() constrtabmap::DBDriver
loadPreviewImageQuery() const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
loadQuery(VWDictionary &dictionary, bool lastStateOnly=true, bool idsOnly=false) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
loadSignature(int id, bool *loadedFromTrash=0)rtabmap::DBDriver
loadSignatures(const std::list< int > &ids, std::list< Signature * > &signatures, std::set< int > *loadedFromTrash=0, bool loadWordIdsOnly=false) (defined in rtabmap::DBDriver)rtabmap::DBDriver
loadSignaturesQuery(const std::list< int > &ids, std::list< Signature * > &signatures, bool loadWordIdsOnly) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
loadWords(const std::set< int > &wordIds, std::list< VisualWord * > &vws) (defined in rtabmap::DBDriver)rtabmap::DBDriver
loadWordsQuery(const std::set< int > &wordIds, std::list< VisualWord * > &vws) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
openConnection(const std::string &url, bool overwritten=false, bool readOnly=false)rtabmap::DBDriver
parseParameters(const ParametersMap &parameters)rtabmap::DBDriverSqlite3virtual
Priority enum nameUThread
removeLink(int from, int to)rtabmap::DBDriver
save2DMap(const cv::Mat &map, float xMin, float yMin, float cellSize) constrtabmap::DBDriver
save2DMapQuery(const cv::Mat &map, float xMin, float yMin, float cellSize) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
saveFlannIndex(const std::vector< unsigned char > &indexData) constrtabmap::DBDriver
saveFlannIndexQuery(const std::vector< unsigned char > &indexData) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
saveOptimizedMesh(const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) constrtabmap::DBDriver
saveOptimizedMeshQuery(const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons, const std::vector< std::vector< Eigen::Vector2f > > &texCoords, const cv::Mat &textures) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
saveOptimizedPoses(const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) constrtabmap::DBDriver
saveOptimizedPosesQuery(const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
savePreviewImage(const cv::Mat &image) constrtabmap::DBDriver
savePreviewImageQuery(const cv::Mat &image) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
saveQuery(const std::list< Signature * > &signatures) (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
saveQuery(const std::list< VisualWord * > &words) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
setAffinity(int cpu=0)UThread
setCacheSize(unsigned int cacheSize)rtabmap::DBDriverSqlite3
setDbInMemory(bool dbInMemory)rtabmap::DBDriverSqlite3
setJournalMode(int journalMode)rtabmap::DBDriverSqlite3
setPriority(Priority priority)UThread
setSynchronous(int synchronous)rtabmap::DBDriverSqlite3
setTempStore(int tempStore)rtabmap::DBDriverSqlite3
setTimestampUpdateEnabled(bool enabled) (defined in rtabmap::DBDriver)rtabmap::DBDriverinline
start()UThread
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
updateCalibration(int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels)rtabmap::DBDriver
updateCalibrationQuery(int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
updateDepthImage(int nodeId, const cv::Mat &image, const std::string &format)rtabmap::DBDriver
updateDepthImageQuery(int nodeId, const cv::Mat &image, const std::string &format) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
updateLaserScan(int nodeId, const LaserScan &scan)rtabmap::DBDriver
updateLaserScanQuery(int nodeId, const LaserScan &scan) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
updateLink(const Link &link)rtabmap::DBDriver
updateLinkQuery(const Link &link) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
updateOccupancyGrid(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint)rtabmap::DBDriver
updateOccupancyGridQuery(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
updateQuery(const std::list< Signature * > &signatures, bool updateTimestamp) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
updateQuery(const std::list< VisualWord * > &words, bool updateTimestamp) const (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3protectedvirtual
UThread(Priority priority=kPNormal)UThread
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
~DBDriver() (defined in rtabmap::DBDriver)rtabmap::DBDrivervirtual
~DBDriverSqlite3() (defined in rtabmap::DBDriverSqlite3)rtabmap::DBDriverSqlite3virtual
~UThread()UThreadvirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3.html b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3.html new file mode 100644 index 00000000..3017dae7 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3.html @@ -0,0 +1,3278 @@ + + + + + + + + +RTAB-Map: rtabmap::DBDriverSqlite3 Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Protected Member Functions | +Protected Attributes | +List of all members
+
rtabmap::DBDriverSqlite3 Class Reference
+
+
+ +

SQLite3 implementation of DBDriver for RTAB-Map map databases. + More...

+ +

#include <DBDriverSqlite3.h>

+
+Inheritance diagram for rtabmap::DBDriverSqlite3:
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+Collaboration diagram for rtabmap::DBDriverSqlite3:
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+Public Member Functions

 DBDriverSqlite3 (const ParametersMap &parameters=ParametersMap())
 Construct driver with optional SQLite-specific parameters.
 
virtual void parseParameters (const ParametersMap &parameters)
 Apply SQLite parameters from the map; forwards to DBDriver::parseParameters().
 
virtual bool isInMemory () const
 True when the database runs in RAM instead of on disk.
 
+void setDbInMemory (bool dbInMemory)
 Enable or disable in-memory mode. If connected, the connection is closed and reopened with the new mode.
 
void setJournalMode (int journalMode)
 Set SQLite rollback journal mode (PRAGMA journal_mode).
 
void setCacheSize (unsigned int cacheSize)
 Set the number of database pages kept in SQLite's page cache (PRAGMA cache_size).
 
void setSynchronous (int synchronous)
 Set how aggressively SQLite syncs the database file to disk (PRAGMA synchronous).
 
void setTempStore (int tempStore)
 Set where SQLite stores temporary tables and indices (PRAGMA temp_store).
 
- Public Member Functions inherited from rtabmap::DBDriver
const std::string & getUrl () const
 
const std::string & getTargetVersion () const
 
+void asyncSave (Signature *s)
 Queue a signature for deferred save; ownership is transferred.
 
+void asyncSave (VisualWord *vw)
 Queue a visual word for deferred save; ownership is transferred.
 
void emptyTrashes (bool async=false)
 Flush queued signatures and visual words to the database.
 
double getEmptyTrashesTime () const
 
void setTimestampUpdateEnabled (bool enabled)
 
void generateGraph (const std::string &fileName, const std::set< int > &ids=std::set< int >(), const std::map< int, Signature * > &otherSignatures=std::map< int, Signature * >())
 Export the pose graph to a Graphviz DOT file for visualization.
 
void executeNoResult (const std::string &sql) const
 Run a SQL statement that does not return result rows.
 
+void addLink (const Link &link)
 Insert or replace a link in the database.
 
+void removeLink (int from, int to)
 Remove a link between two nodes.
 
+void updateLink (const Link &link)
 Update an existing link in the database.
 
void updateOccupancyGrid (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint)
 Update occupancy grid cells for a node.
 
+void updateCalibration (int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels)
 Update camera calibration stored for a node.
 
void updateDepthImage (int nodeId, const cv::Mat &image, const std::string &format)
 Update the depth image stored for a node.
 
void updateLaserScan (int nodeId, const LaserScan &scan)
 Update the laser scan stored for a node.
 
+void addInfoAfterRun (int stMemSize, int lastSignAdded, int processMemUsed, int databaseMemUsed, int dictionarySize, const ParametersMap &parameters) const
 
void addStatistics (const Statistics &statistics, bool saveWmState) const
 Append a Statistics record for a processed node.
 
void savePreviewImage (const cv::Mat &image) const
 Save the map preview thumbnail in the Admin table.
 
+cv::Mat loadPreviewImage () const
 Load and uncompress the map preview thumbnail from the Admin table.
 
+void saveOptimizedPoses (const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const
 Persist graph-optimized poses and last localization pose.
 
+std::map< int, Transform > loadOptimizedPoses (Transform *lastlocalizationPose=0) const
 Load optimized poses; optional last localization pose output.
 
+void save2DMap (const cv::Mat &map, float xMin, float yMin, float cellSize) const
 Save the assembled 2D occupancy grid and its origin metadata.
 
+cv::Mat load2DMap (float &xMin, float &yMin, float &cellSize) const
 Load the 2D map and fill origin/cell size outputs.
 
void saveOptimizedMesh (const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) const
 Persist the global optimized 3D mesh to the database.
 
+cv::Mat loadOptimizedMesh (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons=0, std::vector< std::vector< Eigen::Vector2f > > *texCoords=0, cv::Mat *textures=0) const
 
void saveFlannIndex (const std::vector< unsigned char > &indexData) const
 Persist the visual word dictionary FLANN index (serialized blob).
 
+bool openConnection (const std::string &url, bool overwritten=false, bool readOnly=false)
 Open or create the database at url (empty url uses an in-memory database).
 
+void closeConnection (bool save=true, const std::string &outputUrl="")
 Close the connection; optionally flush trashes and save in-memory DB to outputUrl.
 
bool isConnected () const
 
+unsigned long getMemoryUsed () const
 
std::string getDatabaseVersion () const
 
+long getNodesMemoryUsed () const
 
+long getLinksMemoryUsed () const
 
+long getImagesMemoryUsed () const
 
+long getDepthImagesMemoryUsed () const
 
+long getCalibrationsMemoryUsed () const
 
+long getGridsMemoryUsed () const
 
+long getLaserScansMemoryUsed () const
 
+long getUserDataMemoryUsed () const
 
+long getWordsMemoryUsed () const
 
+long getFeaturesMemoryUsed () const
 
+long getStatisticsMemoryUsed () const
 
+int getLastNodesSize () const
 
+int getLastDictionarySize () const
 
+int getTotalNodesSize () const
 
+int getTotalDictionarySize () const
 
+ParametersMap getLastParameters () const
 
+std::map< std::string, float > getStatistics (int nodeId, double &stamp, std::vector< int > *wmState=0) const
 
+std::map< int, std::pair< std::map< std::string, float >, double > > getAllStatistics () const
 
+std::map< int, std::vector< int > > getAllStatisticsWmStates () const
 
+void load (VWDictionary &dictionary, bool lastStateOnly=true, bool idsOnly=false) const
 
+void loadLastNodes (std::list< Signature * > &signatures, bool loadWordIdsOnly=false) const
 
+Signature * loadSignature (int id, bool *loadedFromTrash=0)
 Load one signature by id; caller must delete the returned pointer.
 
+void loadSignatures (const std::list< int > &ids, std::list< Signature * > &signatures, std::set< int > *loadedFromTrash=0, bool loadWordIdsOnly=false)
 
+void loadWords (const std::set< int > &wordIds, std::list< VisualWord * > &vws)
 
+void loadNodeData (Signature &signature, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const
 
+void loadNodeData (std::list< Signature * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const
 
+void getNodeData (int signatureId, SensorData &data, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const
 
+bool getCalibration (int signatureId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const
 
+bool getLaserScanInfo (int signatureId, LaserScan &info) const
 
+bool getNodeInfo (int signatureId, Transform &pose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruthPose, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors) const
 
+void getLocalFeatures (int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const
 
+void loadLinks (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const
 Load outgoing links from signatureId, optionally filtered by type.
 
+void getWeight (int signatureId, int &weight) const
 
+void getLastNodeIds (std::set< int > &ids) const
 
+void getAllNodeIds (std::set< int > &ids, bool ignoreChildren=false, bool ignoreBadSignatures=false, bool ignoreIntermediateNodes=false) const
 
+void getAllOdomPoses (std::map< int, Transform > &poses, bool ignoreChildren=false, bool ignoreIntermediateNodes=false) const
 
+void getAllLinks (std::multimap< int, Link > &links, bool ignoreNullLinks=true, bool withLandmarks=false) const
 
+void getLastNodeId (int &id) const
 
+void getLastMapId (int &mapId) const
 
+void getLastWordId (int &id) const
 
+void getInvertedIndexNi (int signatureId, int &ni) const
 
+void getNodesObservingLandmark (int landmarkId, std::map< int, Link > &nodes) const
 
+void getNodeIdByLabel (const std::string &label, int &id) const
 
+void getAllLabels (std::map< int, std::string > &labels) const
 
- Public Member Functions inherited from UThread
 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
void start ()
 
void kill ()
 
void join (bool killFirst=false)
 
void setPriority (Priority priority)
 
void setAffinity (int cpu=0)
 
bool isCreating () const
 
bool isRunning () const
 
bool isIdle () const
 
bool isKilled () const
 
Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
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+Protected Member Functions

virtual bool connectDatabaseQuery (const std::string &url, bool overwritten=false, bool readOnly=false)
 
virtual void disconnectDatabaseQuery (bool save=true, const std::string &outputUrl="")
 
virtual bool isConnectedQuery () const
 
virtual unsigned long getMemoryUsedQuery () const
 
virtual bool getDatabaseVersionQuery (std::string &version) const
 
virtual long getNodesMemoryUsedQuery () const
 
virtual long getLinksMemoryUsedQuery () const
 
virtual long getImagesMemoryUsedQuery () const
 
virtual long getDepthImagesMemoryUsedQuery () const
 
virtual long getCalibrationsMemoryUsedQuery () const
 
virtual long getGridsMemoryUsedQuery () const
 
virtual long getLaserScansMemoryUsedQuery () const
 
virtual long getUserDataMemoryUsedQuery () const
 
virtual long getWordsMemoryUsedQuery () const
 
virtual long getFeaturesMemoryUsedQuery () const
 
virtual long getStatisticsMemoryUsedQuery () const
 
virtual int getLastNodesSizeQuery () const
 
virtual int getLastDictionarySizeQuery () const
 
virtual int getTotalNodesSizeQuery () const
 
virtual int getTotalDictionarySizeQuery () const
 
virtual ParametersMap getLastParametersQuery () const
 
virtual std::map< std::string, float > getStatisticsQuery (int nodeId, double &stamp, std::vector< int > *wmState) const
 
virtual std::map< int, std::pair< std::map< std::string, float >, double > > getAllStatisticsQuery () const
 
virtual std::map< int, std::vector< int > > getAllStatisticsWmStatesQuery () const
 
virtual void executeNoResultQuery (const std::string &sql) const
 
virtual void getWeightQuery (int signatureId, int &weight) const
 
virtual void saveQuery (const std::list< Signature * > &signatures)
 
virtual void saveQuery (const std::list< VisualWord * > &words) const
 
virtual void updateQuery (const std::list< Signature * > &signatures, bool updateTimestamp) const
 
virtual void updateQuery (const std::list< VisualWord * > &words, bool updateTimestamp) const
 
virtual void addLinkQuery (const Link &link) const
 
virtual void updateLinkQuery (const Link &link) const
 
virtual void updateOccupancyGridQuery (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewpoint) const
 
virtual void updateCalibrationQuery (int nodeId, const std::vector< CameraModel > &models, const std::vector< StereoCameraModel > &stereoModels) const
 
virtual void updateDepthImageQuery (int nodeId, const cv::Mat &image, const std::string &format) const
 
void updateLaserScanQuery (int nodeId, const LaserScan &scan) const
 
virtual void addStatisticsQuery (const Statistics &statistics, bool saveWmState) const
 
virtual void savePreviewImageQuery (const cv::Mat &image) const
 
virtual cv::Mat loadPreviewImageQuery () const
 
virtual void saveOptimizedPosesQuery (const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const
 
virtual std::map< int, Transform > loadOptimizedPosesQuery (Transform *lastlocalizationPose=0) const
 
virtual void save2DMapQuery (const cv::Mat &map, float xMin, float yMin, float cellSize) const
 
virtual cv::Mat load2DMapQuery (float &xMin, float &yMin, float &cellSize) const
 
virtual void saveOptimizedMeshQuery (const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons, const std::vector< std::vector< Eigen::Vector2f > > &texCoords, const cv::Mat &textures) const
 
virtual cv::Mat loadOptimizedMeshQuery (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons, std::vector< std::vector< Eigen::Vector2f > > *texCoords, cv::Mat *textures) const
 
virtual void saveFlannIndexQuery (const std::vector< unsigned char > &indexData) const
 
virtual void loadQuery (VWDictionary &dictionary, bool lastStateOnly=true, bool idsOnly=false) const
 
virtual void loadLastNodesQuery (std::list< Signature * > &signatures, bool loadWordIdsOnly) const
 
virtual void loadSignaturesQuery (const std::list< int > &ids, std::list< Signature * > &signatures, bool loadWordIdsOnly) const
 
virtual void loadWordsQuery (const std::set< int > &wordIds, std::list< VisualWord * > &vws) const
 
virtual void loadLinksQuery (int signatureId, std::multimap< int, Link > &links, Link::Type type=Link::kUndef) const
 
virtual void loadNodeDataQuery (std::list< Signature * > &signatures, bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true) const
 
virtual bool getCalibrationQuery (int signatureId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const
 
virtual bool getLaserScanInfoQuery (int signatureId, LaserScan &info) const
 
virtual bool getNodeInfoQuery (int signatureId, Transform &pose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruthPose, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors) const
 
virtual void getLocalFeaturesQuery (int signatureId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &points, cv::Mat &descriptors) const
 
virtual void getLastNodeIdsQuery (std::set< int > &ids) const
 
virtual void getAllNodeIdsQuery (std::set< int > &ids, bool ignoreChildren, bool ignoreBadSignatures, bool ignoreIntermediateNodes) const
 
virtual void getAllOdomPosesQuery (std::map< int, Transform > &poses, bool ignoreChildren, bool ignoreIntermediateNodes) const
 
virtual void getAllLinksQuery (std::multimap< int, Link > &links, bool ignoreNullLinks, bool withLandmarks) const
 
virtual void getLastIdQuery (const std::string &tableName, int &id, const std::string &fieldName="id") const
 
virtual void getInvertedIndexNiQuery (int signatureId, int &ni) const
 
virtual void getNodesObservingLandmarkQuery (int landmarkId, std::map< int, Link > &nodes) const
 
virtual void getNodeIdByLabelQuery (const std::string &label, int &id) const
 
virtual void getAllLabelsQuery (std::map< int, std::string > &labels) const
 
- Protected Member Functions inherited from rtabmap::DBDriver
+ DBDriver (const ParametersMap &parameters=ParametersMap())
 Protected constructor for subclasses.
 
+ + + + + + + +

+Protected Attributes

sqlite3 * _ppDb
 Open SQLite connection (null when disconnected)
 
std::string _version
 Schema version read from the database.
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from UThread
enum  Priority {
+  kPLow +, kPBelowNormal +, kPNormal +, kPAboveNormal +,
+  kPRealTime +
+ }
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
- Static Public Member Functions inherited from rtabmap::DBDriver
static DBDriver * create (const ParametersMap &parameters=ParametersMap())
 Factory: returns a SQLite database driver (DBDriverSqlite3).
 
- Static Public Member Functions inherited from UThread
static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+

Detailed Description

+

SQLite3 implementation of DBDriver for RTAB-Map map databases.

+

This is the default driver returned by DBDriver::create(). It stores signatures, links, visual words, statistics and sensor payloads in a single .db file using the SQLite C API.

+

Storage modes

    +
  • File-backed (default): the database is read/written directly on disk at getUrl().
    • +
  • In-memory: when isInMemory() is true, SQLite uses :memory: and the file at getUrl() (if any) is loaded at open and optionally saved on closeConnection().
    • +
+

SQLite PRAGMA tuning (applied on connect and when setters are called while connected):

+

Configure via Parameters::kDbSqlite3InMemory(), Parameters::kDbSqlite3CacheSize(), Parameters::kDbSqlite3JournalMode(), Parameters::kDbSqlite3Synchronous() and Parameters::kDbSqlite3TempStore(), or call the setters directly.

+
See also
DBDriver
+
+DBDriver::create()
+ +

Definition at line 70 of file DBDriverSqlite3.h.

+

Constructor & Destructor Documentation

+ +

◆ DBDriverSqlite3()

+ +
+
+ + + + + + + + +
rtabmap::DBDriverSqlite3::DBDriverSqlite3 (const ParametersMap & parameters = ParametersMap())
+
+ +

Construct driver with optional SQLite-specific parameters.

+
Parameters
+ + +
parametersMap of parameters (see class description).
+
+
+ +
+
+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Apply SQLite parameters from the map; forwards to DBDriver::parseParameters().

+ +

Reimplemented from rtabmap::DBDriver.

+ +
+
+ +

◆ isInMemory()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::DBDriverSqlite3::isInMemory () const
+ 		+inlinevirtual
+
+ +

True when the database runs in RAM instead of on disk.

+
Returns
True if getUrl() is empty or setDbInMemory(true) was used.
+ +

Reimplemented from rtabmap::DBDriver.

+ +

Definition at line 85 of file DBDriverSqlite3.h.

+ +
+
+ +

◆ setJournalMode()

+ +
+
+ + + + + + + + +
void rtabmap::DBDriverSqlite3::setJournalMode (int journalMode)
+
+ +

Set SQLite rollback journal mode (PRAGMA journal_mode).

+

Controls how SQLite stores the transaction journal used for atomic commit and rollback. See https://www.sqlite.org/pragma.html#pragma_journal_mode

+
Parameters
+ + +
journalModeAccepted values (invalid values are ignored). RTAB-Map default: Parameters::defaultDbSqlite3JournalMode() = 3 (MEMORY) (Parameters::kDbSqlite3JournalMode()).
    +
  • 0 — DELETE (SQLite default): the journal file is deleted at the end of each transaction. Good general-purpose balance of safety and speed.
    • +
  • 1 — TRUNCATE: the journal is truncated to zero length instead of being unlinked; can be faster on some filesystems than DELETE.
    • +
  • 2 — PERSIST: the journal file is not deleted; only its header is zeroed after commit, reducing create/delete overhead at the cost of always keeping a journal file on disk.
    • +
  • 3 — MEMORY (RTAB-Map default): the journal is held in RAM only (not written to disk). Faster, but the database cannot be rolled back after a crash and may corrupt if the process dies mid-write.
    • +
  • 4 — OFF: no rollback journal. Fastest, but a crash or power loss during a write can leave the database inconsistent; transactions cannot be rolled back atomically.
    • +
+
+
+
+ +
+
+ +

◆ setCacheSize()

+ +
+
+ + + + + + + + +
void rtabmap::DBDriverSqlite3::setCacheSize (unsigned int cacheSize)
+
+ +

Set the number of database pages kept in SQLite's page cache (PRAGMA cache_size).

+

A larger cache reduces disk I/O when the working set fits in memory. The effective memory is approximately cacheSize * page_size bytes (page size is usually 4096 bytes unless changed with PRAGMA page_size). Only positive values are used (page count); see https://www.sqlite.org/pragma.html#pragma_cache_size

+
Parameters
+ + +
cacheSizeNumber of pages to cache. RTAB-Map default: Parameters::defaultDbSqlite3CacheSize() = 10000 (Parameters::kDbSqlite3CacheSize()).
+
+
+ +
+
+ +

◆ setSynchronous()

+ +
+
+ + + + + + + + +
void rtabmap::DBDriverSqlite3::setSynchronous (int synchronous)
+
+ +

Set how aggressively SQLite syncs the database file to disk (PRAGMA synchronous).

+

Trade-off between durability after a crash or power loss and write performance. See https://www.sqlite.org/pragma.html#pragma_synchronous

+
Parameters
+ + +
synchronousAccepted values (invalid values are ignored). RTAB-Map default: Parameters::defaultDbSqlite3Synchronous() = 0 (OFF) (Parameters::kDbSqlite3Synchronous()).
    +
  • 0 — OFF (RTAB-Map default): SQLite does not wait for data to reach persistent storage. Fastest; a system crash or power loss during a transaction may corrupt the database.
    • +
  • 1 — NORMAL: syncs at the most critical moments (SQLite default in many builds). A crash may lose the last transaction but the database file structure usually stays valid.
    • +
  • 2 — FULL: syncs after every transaction commit. Slowest; strongest guarantee that a committed transaction survives a power loss (when the OS honors fsync).
    • +
+
+
+
+ +
+
+ +

◆ setTempStore()

+ +
+
+ + + + + + + + +
void rtabmap::DBDriverSqlite3::setTempStore (int tempStore)
+
+ +

Set where SQLite stores temporary tables and indices (PRAGMA temp_store).

+

Affects internal temp storage used for some queries and operations, not RTAB-Map map data. See https://www.sqlite.org/pragma.html#pragma_temp_store

+
Parameters
+ + +
tempStoreAccepted values (invalid values are ignored). RTAB-Map default: Parameters::defaultDbSqlite3TempStore() = 2 (MEMORY) (Parameters::kDbSqlite3TempStore()).
    +
  • 0 — DEFAULT: use SQLite's compile-time default (often FILE, i.e. on-disk temp files).
    • +
  • 1 — FILE: store temporary tables and indices in temporary files in the directory given by PRAGMA temp_store_directory or the system temp folder.
    • +
  • 2 — MEMORY (RTAB-Map default): store temporary tables and indices in RAM. Can speed up heavy queries but increases memory use; large temp structures may still spill to disk depending on build.
    • +
+
+
+
+ +
+
+ +

◆ connectDatabaseQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::DBDriverSqlite3::connectDatabaseQuery (const std::string & url,
bool overwritten = false,
bool readOnly = false 
)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ disconnectDatabaseQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::disconnectDatabaseQuery (bool save = true,
const std::string & outputUrl = "" 
)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ isConnectedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::DBDriverSqlite3::isConnectedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getMemoryUsedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual unsigned long rtabmap::DBDriverSqlite3::getMemoryUsedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getDatabaseVersionQuery()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual bool rtabmap::DBDriverSqlite3::getDatabaseVersionQuery (std::string & version) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getNodesMemoryUsedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual long rtabmap::DBDriverSqlite3::getNodesMemoryUsedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getLinksMemoryUsedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual long rtabmap::DBDriverSqlite3::getLinksMemoryUsedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getImagesMemoryUsedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual long rtabmap::DBDriverSqlite3::getImagesMemoryUsedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getDepthImagesMemoryUsedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual long rtabmap::DBDriverSqlite3::getDepthImagesMemoryUsedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getCalibrationsMemoryUsedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual long rtabmap::DBDriverSqlite3::getCalibrationsMemoryUsedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getGridsMemoryUsedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual long rtabmap::DBDriverSqlite3::getGridsMemoryUsedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getLaserScansMemoryUsedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual long rtabmap::DBDriverSqlite3::getLaserScansMemoryUsedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getUserDataMemoryUsedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual long rtabmap::DBDriverSqlite3::getUserDataMemoryUsedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getWordsMemoryUsedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual long rtabmap::DBDriverSqlite3::getWordsMemoryUsedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getFeaturesMemoryUsedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual long rtabmap::DBDriverSqlite3::getFeaturesMemoryUsedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getStatisticsMemoryUsedQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual long rtabmap::DBDriverSqlite3::getStatisticsMemoryUsedQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getLastNodesSizeQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual int rtabmap::DBDriverSqlite3::getLastNodesSizeQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getLastDictionarySizeQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual int rtabmap::DBDriverSqlite3::getLastDictionarySizeQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getTotalNodesSizeQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual int rtabmap::DBDriverSqlite3::getTotalNodesSizeQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getTotalDictionarySizeQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual int rtabmap::DBDriverSqlite3::getTotalDictionarySizeQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getLastParametersQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual ParametersMap rtabmap::DBDriverSqlite3::getLastParametersQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getStatisticsQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual std::map< std::string, float > rtabmap::DBDriverSqlite3::getStatisticsQuery (int nodeId,
double & stamp,
std::vector< int > * wmState 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getAllStatisticsQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::map< int, std::pair< std::map< std::string, float >, double > > rtabmap::DBDriverSqlite3::getAllStatisticsQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getAllStatisticsWmStatesQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::map< int, std::vector< int > > rtabmap::DBDriverSqlite3::getAllStatisticsWmStatesQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ executeNoResultQuery()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::executeNoResultQuery (const std::string & sql) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getWeightQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::getWeightQuery (int signatureId,
int & weight 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ saveQuery() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::saveQuery (const std::list< Signature * > & signatures)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ saveQuery() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::saveQuery (const std::list< VisualWord * > & words) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ updateQuery() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::updateQuery (const std::list< Signature * > & signatures,
bool updateTimestamp 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ updateQuery() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::updateQuery (const std::list< VisualWord * > & words,
bool updateTimestamp 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ addLinkQuery()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::addLinkQuery (const Link & link) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ updateLinkQuery()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::updateLinkQuery (const Link & link) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ updateOccupancyGridQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::updateOccupancyGridQuery (int nodeId,
const cv::Mat & ground,
const cv::Mat & obstacles,
const cv::Mat & empty,
float cellSize,
const cv::Point3f & viewpoint 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ updateCalibrationQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::updateCalibrationQuery (int nodeId,
const std::vector< CameraModel > & models,
const std::vector< StereoCameraModel > & stereoModels 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ updateDepthImageQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::updateDepthImageQuery (int nodeId,
const cv::Mat & image,
const std::string & format 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ updateLaserScanQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void rtabmap::DBDriverSqlite3::updateLaserScanQuery (int nodeId,
const LaserScan & scan 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ addStatisticsQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::addStatisticsQuery (const Statistics & statistics,
bool saveWmState 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ savePreviewImageQuery()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::savePreviewImageQuery (const cv::Mat & image) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ loadPreviewImageQuery()

+ +
+
+ + + + + +
+ + + + + + + +
virtual cv::Mat rtabmap::DBDriverSqlite3::loadPreviewImageQuery () const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ saveOptimizedPosesQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::saveOptimizedPosesQuery (const std::map< int, Transform > & optimizedPoses,
const Transform & lastlocalizationPose 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ loadOptimizedPosesQuery()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual std::map< int, Transform > rtabmap::DBDriverSqlite3::loadOptimizedPosesQuery (Transform * lastlocalizationPose = 0) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ save2DMapQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::save2DMapQuery (const cv::Mat & map,
float xMin,
float yMin,
float cellSize 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ load2DMapQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual cv::Mat rtabmap::DBDriverSqlite3::load2DMapQuery (float & xMin,
float & yMin,
float & cellSize 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ saveOptimizedMeshQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::saveOptimizedMeshQuery (const cv::Mat & cloud,
const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > & polygons,
const std::vector< std::vector< Eigen::Vector2f > > & texCoords,
const cv::Mat & textures 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ loadOptimizedMeshQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual cv::Mat rtabmap::DBDriverSqlite3::loadOptimizedMeshQuery (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > * polygons,
std::vector< std::vector< Eigen::Vector2f > > * texCoords,
cv::Mat * textures 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ saveFlannIndexQuery()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::saveFlannIndexQuery (const std::vector< unsigned char > & indexData) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ loadQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::loadQuery (VWDictionary & dictionary,
bool lastStateOnly = true,
bool idsOnly = false 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ loadLastNodesQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::loadLastNodesQuery (std::list< Signature * > & signatures,
bool loadWordIdsOnly 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ loadSignaturesQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::loadSignaturesQuery (const std::list< int > & ids,
std::list< Signature * > & signatures,
bool loadWordIdsOnly 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ loadWordsQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::loadWordsQuery (const std::set< int > & wordIds,
std::list< VisualWord * > & vws 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ loadLinksQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::loadLinksQuery (int signatureId,
std::multimap< int, Link > & links,
Link::Type type = Link::kUndef 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ loadNodeDataQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::loadNodeDataQuery (std::list< Signature * > & signatures,
bool images = true,
bool scan = true,
bool userData = true,
bool occupancyGrid = true 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getCalibrationQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::DBDriverSqlite3::getCalibrationQuery (int signatureId,
std::vector< CameraModel > & models,
std::vector< StereoCameraModel > & stereoModels 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getLaserScanInfoQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::DBDriverSqlite3::getLaserScanInfoQuery (int signatureId,
LaserScan & info 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getNodeInfoQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::DBDriverSqlite3::getNodeInfoQuery (int signatureId,
Transform & pose,
int & mapId,
int & weight,
std::string & label,
double & stamp,
Transform & groundTruthPose,
std::vector< float > & velocity,
GPS & gps,
EnvSensors & sensors 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getLocalFeaturesQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::getLocalFeaturesQuery (int signatureId,
std::multimap< int, int > & words,
std::vector< cv::KeyPoint > & keypoints,
std::vector< cv::Point3f > & points,
cv::Mat & descriptors 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getLastNodeIdsQuery()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::getLastNodeIdsQuery (std::set< int > & ids) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getAllNodeIdsQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::getAllNodeIdsQuery (std::set< int > & ids,
bool ignoreChildren,
bool ignoreBadSignatures,
bool ignoreIntermediateNodes 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getAllOdomPosesQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::getAllOdomPosesQuery (std::map< int, Transform > & poses,
bool ignoreChildren,
bool ignoreIntermediateNodes 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getAllLinksQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::getAllLinksQuery (std::multimap< int, Link > & links,
bool ignoreNullLinks,
bool withLandmarks 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getLastIdQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::getLastIdQuery (const std::string & tableName,
int & id,
const std::string & fieldName = "id" 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getInvertedIndexNiQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::getInvertedIndexNiQuery (int signatureId,
int & ni 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getNodesObservingLandmarkQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::getNodesObservingLandmarkQuery (int landmarkId,
std::map< int, Link > & nodes 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getNodeIdByLabelQuery()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::getNodeIdByLabelQuery (const std::string & label,
int & id 
) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+ +

◆ getAllLabelsQuery()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::DBDriverSqlite3::getAllLabelsQuery (std::map< int, std::string > & labels) const
+ 		+protectedvirtual
+
+ +

Implements rtabmap::DBDriver.

+ +
+
+

Member Data Documentation

+ +

◆ _ppDb

+ +
+
+ + + + + +
+ + + + +
sqlite3* rtabmap::DBDriverSqlite3::_ppDb
+ 		+protected
+
+ +

Open SQLite connection (null when disconnected)

+ +

Definition at line 307 of file DBDriverSqlite3.h.

+ +
+
+ +

◆ _version

+ +
+
+ + + + + +
+ + + + +
std::string rtabmap::DBDriverSqlite3::_version
+ 		+protected
+
+ +

Schema version read from the database.

+ +

Definition at line 308 of file DBDriverSqlite3.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3__coll__graph.map new file mode 100644 index 00000000..3f6f38f0 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3__coll__graph.map @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3__coll__graph.md5 new file mode 100644 index 00000000..5e9a6bda --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3__coll__graph.md5 @@ -0,0 +1 @@ +bdd0bdfe5df4b340d3db97667ffa2ad9 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1DBDriverSqlite3__coll__graph.png new file mode 100644 index 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zNrkJ@eGWwe8Woa+SZ5t8UvF;<09xSV>7)MuZ;f}QI&eF-2mogDUWaIsNouZ=k8;0-eC@@>s9bZi-ogug&_M?eh4U*mX;p5 zx(;{?zb)Oczki?QpTSHBI-8Ip|GT~Y==8`FZFIo?g8@%RNB5?>x z^19zraP-^oxXdjp*QG)BfV6McwGJbybGQwHv;Si}R_aexRysw|IrgqlM?Q*+x~TPj qLbdH@^95OWWeNS>($d#+yx{SNTnWWxxbQj^a$8wbsq%(J$iD%B1@j;P literal 0 HcmV?d00001 diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBReader-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1DBReader-members.html new file mode 100644 index 00000000..1b5b49c9 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBReader-members.html @@ -0,0 +1,120 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::DBReader Member List
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This is the complete list of members for rtabmap::DBReader, including all inherited members.

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Camera(float imageRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Cameraprotected
captureImage(SensorCaptureInfo *info=0) (defined in rtabmap::DBReader)rtabmap::DBReaderprotectedvirtual
DBReader(const std::string &databasePath, float frameRate=0.0f, bool odometryIgnored=false, bool ignoreGoalDelay=false, bool goalsIgnored=false, int startId=0, const std::vector< unsigned int > &cameraIndices=std::vector< unsigned int >(), int stopId=0, bool intermediateNodesIgnored=false, bool landmarksIgnored=false, bool featuresIgnored=false, int startMapId=0, int stopMapId=-1, bool priorsIgnored=false, bool imuIgnored=false, bool intermediateNodesAreNormalNodes=false, const std::vector< Transform > &cameraLocalTransformOverrides=std::vector< Transform >()) (defined in rtabmap::DBReader)rtabmap::DBReader
DBReader(const std::list< std::string > &databasePaths, float frameRate=0.0f, bool odometryIgnored=false, bool ignoreGoalDelay=false, bool goalsIgnored=false, int startId=0, const std::vector< unsigned int > &cameraIndices=std::vector< unsigned int >(), int stopId=0, bool intermediateNodesIgnored=false, bool landmarksIgnored=false, bool featuresIgnored=false, int startMapId=0, int stopMapId=-1, bool priorsIgnored=false, bool imuIgnored=false, bool intermediateNodesAreNormalNodes=false, const std::vector< Transform > &cameraLocalTransformOverrides=std::vector< Transform >()) (defined in rtabmap::DBReader)rtabmap::DBReader
driver() const (defined in rtabmap::DBReader)rtabmap::DBReaderinline
getFrameRate() constrtabmap::SensorCaptureinline
getImageRate() const (defined in rtabmap::Camera)rtabmap::Camerainline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::DBReadervirtual
getSerial() constrtabmap::DBReadervirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")rtabmap::DBReadervirtual
initFromFile(const std::string &calibrationPath) (defined in rtabmap::Camera)rtabmap::Camera
isCalibrated() const (defined in rtabmap::DBReader)rtabmap::DBReadervirtual
isInterIMUPublishing() const (defined in rtabmap::Camera)rtabmap::Camerainline
odomProvided() constrtabmap::DBReaderinlinevirtual
postInterIMU(const IMU &imu, double stamp) (defined in rtabmap::Camera)rtabmap::Cameraprotected
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setImageRate(float imageRate) (defined in rtabmap::Camera)rtabmap::Camerainline
setInterIMUPublishing(bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false) (defined in rtabmap::Camera)rtabmap::Camera
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeImage(SensorCaptureInfo *info=0) (defined in rtabmap::Camera)rtabmap::Camerainline
~Camera() (defined in rtabmap::Camera)rtabmap::Cameravirtual
~DBReader() (defined in rtabmap::DBReader)rtabmap::DBReadervirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1DBReader.html b/preview/pr-1492/api/latest/classrtabmap_1_1DBReader.html new file mode 100644 index 00000000..d9155cf1 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1DBReader.html @@ -0,0 +1,473 @@ + + + + + + + + +RTAB-Map: rtabmap::DBReader Class Reference + + + + + + + + + + + + +
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rtabmap::DBReader Class Reference
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+Inheritance diagram for rtabmap::DBReader:
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+Public Member Functions

+ DBReader (const std::string &databasePath, float frameRate=0.0f, bool odometryIgnored=false, bool ignoreGoalDelay=false, bool goalsIgnored=false, int startId=0, const std::vector< unsigned int > &cameraIndices=std::vector< unsigned int >(), int stopId=0, bool intermediateNodesIgnored=false, bool landmarksIgnored=false, bool featuresIgnored=false, int startMapId=0, int stopMapId=-1, bool priorsIgnored=false, bool imuIgnored=false, bool intermediateNodesAreNormalNodes=false, const std::vector< Transform > &cameraLocalTransformOverrides=std::vector< Transform >())
 
+ DBReader (const std::list< std::string > &databasePaths, float frameRate=0.0f, bool odometryIgnored=false, bool ignoreGoalDelay=false, bool goalsIgnored=false, int startId=0, const std::vector< unsigned int > &cameraIndices=std::vector< unsigned int >(), int stopId=0, bool intermediateNodesIgnored=false, bool landmarksIgnored=false, bool featuresIgnored=false, int startMapId=0, int stopMapId=-1, bool priorsIgnored=false, bool imuIgnored=false, bool intermediateNodesAreNormalNodes=false, const std::vector< Transform > &cameraLocalTransformOverrides=std::vector< Transform >())
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 Initializes the sensor.
 
virtual bool isCalibrated () const
 
virtual std::string getSerial () const
 Returns the sensor's serial number or unique identifier.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
const DBDriver * driver () const
 
- Public Member Functions inherited from rtabmap::Camera
SensorData takeImage (SensorCaptureInfo *info=0)
 
float getImageRate () const
 
void setImageRate (float imageRate)
 
+void setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
 
bool isInterIMUPublishing () const
 
+bool initFromFile (const std::string &calibrationPath)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
+void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 46 of file DBReader.h.

+

Member Function Documentation

+ +

◆ init()

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+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::DBReader::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ isCalibrated()

+ +
+
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+ + + + + + + +
virtual bool rtabmap::DBReader::isCalibrated () const
+ 		+virtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::DBReader::getSerial () const
+ 		+virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ odomProvided()

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+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::DBReader::odomProvided () const
+ 		+inlinevirtual
+
+ +

Checks if the sensor provides odometry poses.

+

Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.

+
Returns
True if the sensor provides odometry poses, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
getPose()
+ +

Reimplemented from rtabmap::SensorCapture.

+ +

Definition at line 90 of file DBReader.h.

+ +
+
+ +

◆ getPose()

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virtual bool rtabmap::DBReader::getPose (double stamp,
Transform & pose,
cv::Mat & covariance,
double maxWaitTime = 0.06 
)
+ 		+virtual
+
+ +

Gets the sensor's pose estimate at a specific timestamp.

+

Queries the sensor for its pose estimate at the given timestamp. This is typically used for sensors that provide visual-inertial odometry or other pose estimation capabilities.

+
Parameters
+ + + + + +
stampTimestamp in seconds for which to query the pose
[out]poseOutput transform representing the sensor pose
[out]covarianceOutput covariance matrix (6x6) representing twist uncertainty
maxWaitTimeMaximum time in seconds to wait for pose data (default: 0.06)
+
+
+
Returns
True if pose was successfully retrieved, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
odomProvided()
+ +

Reimplemented from rtabmap::SensorCapture.

+ +
+
+ +

◆ driver()

+ +
+
+ + + + + +
+ + + + + + + +
const DBDriver * rtabmap::DBReader::driver () const
+ 		+inline
+
+ +

Definition at line 93 of file DBReader.h.

+ +
+
+ +

◆ captureImage()

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virtual SensorData rtabmap::DBReader::captureImage (SensorCaptureInfo * info = 0)
+ 		+protectedvirtual
+
+ +

Implements rtabmap::Camera.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::EnvSensor Member List
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This is the complete list of members for rtabmap::EnvSensor, including all inherited members.

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EnvSensor()rtabmap::EnvSensorinline
EnvSensor(const Type &type, const double &value, const double &stamp=0)rtabmap::EnvSensorinline
kAmbientAirPressure enum valuertabmap::EnvSensor
kAmbientLight enum valuertabmap::EnvSensor
kAmbientRelativeHumidity enum valuertabmap::EnvSensor
kAmbientTemperature enum valuertabmap::EnvSensor
kCustomSensor1 enum valuertabmap::EnvSensor
kCustomSensor2 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
kCustomSensor3 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
kCustomSensor4 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
kCustomSensor5 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
kCustomSensor6 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
kCustomSensor7 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
kCustomSensor8 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
kCustomSensor9 enum value (defined in rtabmap::EnvSensor)rtabmap::EnvSensor
kUndefined enum valuertabmap::EnvSensor
kWifiSignalStrength enum valuertabmap::EnvSensor
stamp() constrtabmap::EnvSensorinline
type() constrtabmap::EnvSensorinline
Type enum namertabmap::EnvSensor
value() constrtabmap::EnvSensorinline
~EnvSensor() (defined in rtabmap::EnvSensor)rtabmap::EnvSensorinlinevirtual
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+Public Types | +Public Member Functions | +List of all members
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rtabmap::EnvSensor Class Reference
+
+
+ +

Single environmental measurement (type, value, timestamp). + More...

+ +

#include <EnvSensor.h>

+ + + + + +

+Public Types

enum  Type {
+  kUndefined = 0 +, kWifiSignalStrength +, kAmbientTemperature +, kAmbientAirPressure +,
+  kAmbientLight +, kAmbientRelativeHumidity +, kCustomSensor1 = 100 +, kCustomSensor2 +,
+  kCustomSensor3 +, kCustomSensor4 +, kCustomSensor5 +, kCustomSensor6 +,
+  kCustomSensor7 +, kCustomSensor8 +, kCustomSensor9 +
+ }
 Environmental sensor channel identifier. More...
 
+ + + + + + + + + + + + + +

+Public Member Functions

 EnvSensor ()
 Default constructor: kUndefined type, zero value and stamp.
 
 EnvSensor (const Type &type, const double &value, const double &stamp=0)
 Constructs a reading with the given type, value, and optional stamp.
 
const Type & type () const
 
const double & value () const
 
const double & stamp () const
 
+

Detailed Description

+

Single environmental measurement (type, value, timestamp).

+

Built-in Type values cover common phone/robot sensors; kCustomSensor1 through kCustomSensor9 are reserved for application-specific channels. Units depend on the type (see Type).

+

Samples are stored per node in SensorData via EnvSensors (one entry per type). Persisted in the database with node records (DBDriver).

+
See also
SensorData::setEnvSensors()
+
+SensorData::addEnvSensor()
+
+SensorData::envSensors()
+ +

Definition at line 50 of file EnvSensor.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::EnvSensor::Type
+
+ +

Environmental sensor channel identifier.

+

Built-in types use fixed units; custom types (≥ kCustomSensor1) have application-defined meaning and units.

+ + + + + + + + +
Enumerator
kUndefined 

Uninitialized / unknown channel.

+
kWifiSignalStrength 

Wi‑Fi signal strength (dBm).

+
kAmbientTemperature 

Ambient temperature (°C).

+
kAmbientAirPressure 

Ambient air pressure (hPa).

+
kAmbientLight 

Ambient illuminance (lx).

+
kAmbientRelativeHumidity 

Relative humidity (%).

+
kCustomSensor1 

User-defined sensor slot 1.

+
+ +

Definition at line 59 of file EnvSensor.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ EnvSensor() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::EnvSensor::EnvSensor ()
+ 		+inline
+
+ +

Default constructor: kUndefined type, zero value and stamp.

+ +

Definition at line 80 of file EnvSensor.h.

+ +
+
+ +

◆ EnvSensor() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::EnvSensor::EnvSensor (const Type & type,
const double & value,
const double & stamp = 0 
)
+ 		+inline
+
+ +

Constructs a reading with the given type, value, and optional stamp.

+
Parameters
+ + + + +
typeSensor channel (Type).
valueMeasurement in the units for type.
stampTimestamp in seconds (0 if unknown).
+
+
+ +

Definition at line 92 of file EnvSensor.h.

+ +
+
+ +

◆ ~EnvSensor()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::EnvSensor::~EnvSensor ()
+ 		+inlinevirtual
+
+ +

Definition at line 98 of file EnvSensor.h.

+ +
+
+

Member Function Documentation

+ +

◆ type()

+ +
+
+ + + + + +
+ + + + + + + +
const Type & rtabmap::EnvSensor::type () const
+ 		+inline
+
+
Returns
Sensor channel.
+ +

Definition at line 101 of file EnvSensor.h.

+ +
+
+ +

◆ value()

+ +
+
+ + + + + +
+ + + + + + + +
const double & rtabmap::EnvSensor::value () const
+ 		+inline
+
+
Returns
Measurement value (units depend on type()).
+ +

Definition at line 103 of file EnvSensor.h.

+ +
+
+ +

◆ stamp()

+ +
+
+ + + + + +
+ + + + + + + +
const double & rtabmap::EnvSensor::stamp () const
+ 		+inline
+
+
Returns
Timestamp in seconds.
+ +

Definition at line 105 of file EnvSensor.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1EpipolarGeometry-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1EpipolarGeometry-members.html new file mode 100644 index 00000000..e82ccaee --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1EpipolarGeometry-members.html @@ -0,0 +1,114 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::EpipolarGeometry Member List
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+ +

This is the complete list of members for rtabmap::EpipolarGeometry, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + +
check(const Signature *ssA, const Signature *ssB) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometry
EpipolarGeometry(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometry
findEpipolesFromF(const cv::Mat &fundamentalMatrix, cv::Vec3d &e1, cv::Vec3d &e2) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometrystatic
findFFromCalibratedStereoCameras(double fx, double fy, double cx, double cy, double Tx, double Ty) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometrystatic
findFFromWords(const std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs, std::vector< uchar > &status, double ransacReprojThreshold=3.0, double ransacConfidence=0.99) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometrystatic
findPairs(const std::map< int, T > &wordsA, const std::map< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)rtabmap::EpipolarGeometryinlinestatic
findPairs(const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)rtabmap::EpipolarGeometryinlinestatic
findPairsAll(const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)rtabmap::EpipolarGeometryinlinestatic
findPairsUnique(const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)rtabmap::EpipolarGeometryinlinestatic
findPFromE(const cv::Mat &E, const cv::Mat &x, const cv::Mat &xp) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometrystatic
findRTFromP(const cv::Mat &p, cv::Mat &r, cv::Mat &t) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometrystatic
getMatchCountMinAccepted() const (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometryinline
getRansacParam1() const (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometryinline
getRansacParam2() const (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometryinline
iterativeLinearLSTriangulation(cv::Point3d u, const cv::Matx34d &P, cv::Point3d u1, const cv::Matx34d &P1) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometrystatic
linearLSTriangulation(cv::Point3d u, cv::Matx34d P, cv::Point3d u1, cv::Matx34d P1) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometrystatic
parseParameters(const ParametersMap &parameters) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometry
setMatchCountMinAccepted(int matchCountMinAccepted) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometryinline
setRansacParam1(double ransacParam1) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometryinline
setRansacParam2(double ransacParam2) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometryinline
triangulatePoints(const cv::Mat &pt_set1, const cv::Mat &pt_set2, const cv::Mat &P, const cv::Mat &P1, pcl::PointCloud< pcl::PointXYZ >::Ptr &pointcloud, std::vector< double > &reproj_errors) (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometrystatic
~EpipolarGeometry() (defined in rtabmap::EpipolarGeometry)rtabmap::EpipolarGeometryvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1EpipolarGeometry.html b/preview/pr-1492/api/latest/classrtabmap_1_1EpipolarGeometry.html new file mode 100644 index 00000000..774f9a40 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1EpipolarGeometry.html @@ -0,0 +1,541 @@ + + + + + + + + +RTAB-Map: rtabmap::EpipolarGeometry Class Reference + + + + + + + + + + + + +
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rtabmap::EpipolarGeometry Class Reference
+
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+ + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ EpipolarGeometry (const ParametersMap &parameters=ParametersMap())
 
+bool check (const Signature *ssA, const Signature *ssB)
 
+void parseParameters (const ParametersMap &parameters)
 
int getMatchCountMinAccepted () const
 
double getRansacParam1 () const
 
double getRansacParam2 () const
 
void setMatchCountMinAccepted (int matchCountMinAccepted)
 
void setRansacParam1 (double ransacParam1)
 
void setRansacParam2 (double ransacParam2)
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Static Public Member Functions

+static void findEpipolesFromF (const cv::Mat &fundamentalMatrix, cv::Vec3d &e1, cv::Vec3d &e2)
 
+static cv::Mat findPFromE (const cv::Mat &E, const cv::Mat &x, const cv::Mat &xp)
 
+static cv::Mat findFFromWords (const std::list< std::pair< int, std::pair< cv::KeyPoint, cv::KeyPoint > > > &pairs, std::vector< uchar > &status, double ransacReprojThreshold=3.0, double ransacConfidence=0.99)
 
+static void findRTFromP (const cv::Mat &p, cv::Mat &r, cv::Mat &t)
 
+static cv::Mat findFFromCalibratedStereoCameras (double fx, double fy, double cx, double cy, double Tx, double Ty)
 
template<typename T >
static int findPairs (const std::map< int, T > &wordsA, const std::map< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
 
template<typename T >
static int findPairs (const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
 
template<typename T >
static int findPairsUnique (const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
 
template<typename T >
static int findPairsAll (const std::multimap< int, T > &wordsA, const std::multimap< int, T > &wordsB, std::list< std::pair< int, std::pair< T, T > > > &pairs, bool ignoreNegativeIds=true)
 
+static cv::Mat linearLSTriangulation (cv::Point3d u, cv::Matx34d P, cv::Point3d u1, cv::Matx34d P1)
 
+static cv::Mat iterativeLinearLSTriangulation (cv::Point3d u, const cv::Matx34d &P, cv::Point3d u1, const cv::Matx34d &P1)
 
+static double triangulatePoints (const cv::Mat &pt_set1, const cv::Mat &pt_set2, const cv::Mat &P, const cv::Mat &P1, pcl::PointCloud< pcl::PointXYZ >::Ptr &pointcloud, std::vector< double > &reproj_errors)
 
+

Detailed Description

+
+

Definition at line 49 of file EpipolarGeometry.h.

+

Member Function Documentation

+ +

◆ getMatchCountMinAccepted()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::EpipolarGeometry::getMatchCountMinAccepted () const
+ 		+inline
+
+ +

Definition at line 57 of file EpipolarGeometry.h.

+ +
+
+ +

◆ getRansacParam1()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::EpipolarGeometry::getRansacParam1 () const
+ 		+inline
+
+ +

Definition at line 58 of file EpipolarGeometry.h.

+ +
+
+ +

◆ getRansacParam2()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::EpipolarGeometry::getRansacParam2 () const
+ 		+inline
+
+ +

Definition at line 59 of file EpipolarGeometry.h.

+ +
+
+ +

◆ setMatchCountMinAccepted()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::EpipolarGeometry::setMatchCountMinAccepted (int matchCountMinAccepted)
+ 		+inline
+
+ +

Definition at line 61 of file EpipolarGeometry.h.

+ +
+
+ +

◆ setRansacParam1()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::EpipolarGeometry::setRansacParam1 (double ransacParam1)
+ 		+inline
+
+ +

Definition at line 62 of file EpipolarGeometry.h.

+ +
+
+ +

◆ setRansacParam2()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::EpipolarGeometry::setRansacParam2 (double ransacParam2)
+ 		+inline
+
+ +

Definition at line 63 of file EpipolarGeometry.h.

+ +
+
+ +

◆ findPairs() [1/2]

+ +
+
+
+template<typename T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
static int rtabmap::EpipolarGeometry::findPairs (const std::map< int, T > & wordsA,
const std::map< int, T > & wordsB,
std::list< std::pair< int, std::pair< T, T > > > & pairs,
bool ignoreNegativeIds = true 
)
+ 		+inlinestatic
+
+

if a=[1 2 3 4 6], b=[1 2 4 5 6], results= [(1,1) (2,2) (4,4) (6,6)] realPairsCount = 4

+ +

Definition at line 100 of file EpipolarGeometry.h.

+ +
+
+ +

◆ findPairs() [2/2]

+ +
+
+
+template<typename T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
static int rtabmap::EpipolarGeometry::findPairs (const std::multimap< int, T > & wordsA,
const std::multimap< int, T > & wordsB,
std::list< std::pair< int, std::pair< T, T > > > & pairs,
bool ignoreNegativeIds = true 
)
+ 		+inlinestatic
+
+

if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (2,2) (4,4) (6a,6a) (6b,6b)] realPairsCount = 5

+ +

Definition at line 128 of file EpipolarGeometry.h.

+ +
+
+ +

◆ findPairsUnique()

+ +
+
+
+template<typename T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
static int rtabmap::EpipolarGeometry::findPairsUnique (const std::multimap< int, T > & wordsA,
const std::multimap< int, T > & wordsB,
std::list< std::pair< int, std::pair< T, T > > > & pairs,
bool ignoreNegativeIds = true 
)
+ 		+inlinestatic
+
+

if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(2,2) (4,4)] realPairsCount = 5

+ +

Definition at line 162 of file EpipolarGeometry.h.

+ +
+
+ +

◆ findPairsAll()

+ +
+
+
+template<typename T >
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
static int rtabmap::EpipolarGeometry::findPairsAll (const std::multimap< int, T > & wordsA,
const std::multimap< int, T > & wordsB,
std::list< std::pair< int, std::pair< T, T > > > & pairs,
bool ignoreNegativeIds = true 
)
+ 		+inlinestatic
+
+

if a=[1 2 3 4 6 6], b=[1 1 2 4 5 6 6], results= [(1,1a) (1,1b) (2,2) (4,4) (6a,6a) (6a,6b) (6b,6a) (6b,6b)] realPairsCount = 5

+ +

Definition at line 197 of file EpipolarGeometry.h.

+ +
+
+
The documentation for this class was generated from the following file: +
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FAST-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1FAST-members.html new file mode 100644 index 00000000..09e2419c --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FAST-members.html @@ -0,0 +1,145 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
FAST(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::FAST)rtabmap::FAST
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::FAST)rtabmap::FASTinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::FASTvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::FAST)rtabmap::FASTvirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~FAST() (defined in rtabmap::FAST)rtabmap::FASTvirtual
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FAST.html b/preview/pr-1492/api/latest/classrtabmap_1_1FAST.html new file mode 100644 index 00000000..f9520fdd --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FAST.html @@ -0,0 +1,347 @@ + + + + + + + + +RTAB-Map: rtabmap::FAST Class Reference + + + + + + + + + + + + +
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rtabmap::FAST Class Reference
+
+
+ +

FAST corner detector only (no descriptor). + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::FAST:
+
+
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+ + + + + + + + + +
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+
+Collaboration diagram for rtabmap::FAST:
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+Public Member Functions

+ FAST (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

FAST corner detector only (no descriptor).

+ +

Definition at line 415 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::FAST::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::FAST::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 422 of file Features2d.h.

+ +
+
+ +

◆ isGpuAvailable()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::FAST::isGpuAvailable () const
+ 		+overridevirtual
+
+ +

Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.

+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF-members.html new file mode 100644 index 00000000..96a83cfc --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF-members.html @@ -0,0 +1,147 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::FAST_BRIEF Member List
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This is the complete list of members for rtabmap::FAST_BRIEF, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
FAST(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::FAST)rtabmap::FAST
FAST_BRIEF(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::FAST_BRIEF)rtabmap::FAST_BRIEF
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::FAST_BRIEF)rtabmap::FAST_BRIEFinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::FASTvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::FAST_BRIEF)rtabmap::FAST_BRIEFvirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~FAST() (defined in rtabmap::FAST)rtabmap::FASTvirtual
~FAST_BRIEF() (defined in rtabmap::FAST_BRIEF)rtabmap::FAST_BRIEFvirtual
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF.html b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF.html new file mode 100644 index 00000000..7380652b --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF.html @@ -0,0 +1,322 @@ + + + + + + + + +RTAB-Map: rtabmap::FAST_BRIEF Class Reference + + + + + + + + + + + + +
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+ + + + + + +
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rtabmap::FAST_BRIEF Class Reference
+
+
+ +

FAST corners + BRIEF descriptors. + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::FAST_BRIEF:
+
+
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+ + + + + + + +
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+
+Collaboration diagram for rtabmap::FAST_BRIEF:
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ FAST_BRIEF (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
- Public Member Functions inherited from rtabmap::FAST
+ FAST (const ParametersMap &parameters=ParametersMap())
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

FAST corners + BRIEF descriptors.

+ +

Definition at line 452 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::FAST_BRIEF::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::FAST.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::FAST_BRIEF::getType () const
+ 		+inlineoverridevirtual
+
+ +

Reimplemented from rtabmap::FAST.

+ +

Definition at line 459 of file Features2d.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF__coll__graph.map new file mode 100644 index 00000000..2fd82ee3 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF__coll__graph.md5 new file mode 100644 index 00000000..50e4ef3a --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF__coll__graph.md5 @@ -0,0 +1 @@ +c13468118d510cc6c0a2f605f7461e30 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__BRIEF__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..a585498c6feb82a521eb7adabd532ad3de766894 GIT binary patch literal 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rtabmap::FAST_FREAK Member List
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This is the complete list of members for rtabmap::FAST_FREAK, including all inherited members.

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computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
FAST(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::FAST)rtabmap::FAST
FAST_FREAK(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::FAST_FREAK)rtabmap::FAST_FREAK
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::FAST_FREAK)rtabmap::FAST_FREAKinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::FASTvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::FAST_FREAK)rtabmap::FAST_FREAKvirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~FAST() (defined in rtabmap::FAST)rtabmap::FASTvirtual
~FAST_FREAK() (defined in rtabmap::FAST_FREAK)rtabmap::FAST_FREAKvirtual
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FAST__FREAK.html b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__FREAK.html new file mode 100644 index 00000000..36f50a77 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__FREAK.html @@ -0,0 +1,322 @@ + + + + + + + + +RTAB-Map: rtabmap::FAST_FREAK Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+Public Member Functions | +List of all members
+
rtabmap::FAST_FREAK Class Reference
+
+
+ +

FAST corners + FREAK descriptors. + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::FAST_FREAK:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::FAST_FREAK:
+
+
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ FAST_FREAK (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
- Public Member Functions inherited from rtabmap::FAST
+ FAST (const ParametersMap &parameters=ParametersMap())
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

FAST corners + FREAK descriptors.

+ +

Definition at line 471 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::FAST_FREAK::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::FAST.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::FAST_FREAK::getType () const
+ 		+inlineoverridevirtual
+
+ +

Reimplemented from rtabmap::FAST.

+ +

Definition at line 478 of file Features2d.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FAST__FREAK__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__FREAK__coll__graph.map new file mode 100644 index 00000000..6d2ef73f --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__FREAK__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FAST__FREAK__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__FREAK__coll__graph.md5 new file mode 100644 index 00000000..d0c03a23 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__FREAK__coll__graph.md5 @@ -0,0 +1 @@ +f56eb4d063f1b2de25fb3e5e5ce0f291 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1FAST__FREAK__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1FAST__FREAK__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..0baa07f5baaccc510a786d65592bf61338d1afc4 GIT binary patch literal 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rtabmap::Feature2D Member List
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This is the complete list of members for rtabmap::Feature2D, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const =0 (defined in rtabmap::Feature2D)rtabmap::Feature2Dpure virtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() constrtabmap::Feature2Dinlinevirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Feature2D.html b/preview/pr-1492/api/latest/classrtabmap_1_1Feature2D.html new file mode 100644 index 00000000..3a123476 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Feature2D.html @@ -0,0 +1,558 @@ + + + + + + + + +RTAB-Map: rtabmap::Feature2D Class Reference + + + + + + + + + + + + +
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::Feature2D Class Referenceabstract
+
+
+ +

Abstract 2D feature detector and descriptor extractor for visual SLAM. + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::Feature2D:
+
+
Inheritance graph
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
[legend]
+ + + + + +

+Public Types

enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
+virtual void parseParameters (const ParametersMap &parameters)
 
virtual const ParametersMap & getParameters () const
 
+virtual Feature2D::Type getType () const =0
 
virtual bool isGpuAvailable () const
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Static Public Member Functions

static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
+ + + +

+Protected Member Functions

+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

Abstract 2D feature detector and descriptor extractor for visual SLAM.

+

Factory create() builds a concrete detector from Type or from Kp/DetectorStrategy in a ParametersMap. Common tuning keys include Kp/MaxFeatures, Kp/GridRows, Kp/GridCols, Kp/SSC, depth filters (Kp/MinDepth, Kp/MaxDepth), ROI (Kp/RoiRatios), and sub-pixel refinement.

+

Pipeline: generateKeypoints() (grid + ROI + optional mask) then generateDescriptors(). Static helpers filter or cap keypoints before/after matching. generateKeypoints3D() projects features using stereo or depth when available in SensorData.

+
See also
Memory
+
+RegistrationVis
+ +

Definition at line 145 of file Features2d.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::Feature2D::Type
+
+ +

Built-in detector/descriptor strategy (Kp/DetectorStrategy).

+ +

Definition at line 148 of file Features2d.h.

+ +
+
+

Member Function Documentation

+ +

◆ typeName()

+ +
+
+ + + + + +
+ + + + + + + + +
static std::string rtabmap::Feature2D::typeName (Type type)
+ 		+inlinestatic
+
+
Returns
Human-readable name for type (e.g. "ORB", "GFTT+BRIEF").
+ +

Definition at line 169 of file Features2d.h.

+ +
+
+ +

◆ getMaxFeatures()

+ +
+
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+ + + + + + + +
int rtabmap::Feature2D::getMaxFeatures () const
+ 		+inline
+
+ +

Definition at line 260 of file Features2d.h.

+ +
+
+ +

◆ getSSC()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Feature2D::getSSC () const
+ 		+inline
+
+ +

Definition at line 261 of file Features2d.h.

+ +
+
+ +

◆ getMinDepth()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Feature2D::getMinDepth () const
+ 		+inline
+
+ +

Definition at line 262 of file Features2d.h.

+ +
+
+ +

◆ getMaxDepth()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Feature2D::getMaxDepth () const
+ 		+inline
+
+ +

Definition at line 263 of file Features2d.h.

+ +
+
+ +

◆ getGridRows()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Feature2D::getGridRows () const
+ 		+inline
+
+ +

Definition at line 264 of file Features2d.h.

+ +
+
+ +

◆ getGridCols()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Feature2D::getGridCols () const
+ 		+inline
+
+ +

Definition at line 265 of file Features2d.h.

+ +
+
+ +

◆ getParameters()

+ +
+
+ + + + + +
+ + + + + + + +
virtual const ParametersMap & rtabmap::Feature2D::getParameters () const
+ 		+inlinevirtual
+
+ +

Definition at line 284 of file Features2d.h.

+ +
+
+ +

◆ isGpuAvailable()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::Feature2D::isGpuAvailable () const
+ 		+inlinevirtual
+
+ +

Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.

+ +

Reimplemented in rtabmap::SURF, rtabmap::SIFT, rtabmap::ORB, rtabmap::FAST, rtabmap::GFTT, rtabmap::SuperPointTorch, and rtabmap::SuperPointRpautrat.

+ +

Definition at line 294 of file Features2d.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::FeatureBA Member List
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This is the complete list of members for rtabmap::FeatureBA, including all inherited members.

+ + + + + + +
cameraIndexrtabmap::FeatureBA
depthrtabmap::FeatureBA
descriptorrtabmap::FeatureBA
FeatureBA(const cv::KeyPoint &kptIn, const float &depthIn=0.0f, const cv::Mat &descriptorIn=cv::Mat(), int cameraIndexIn=0) (defined in rtabmap::FeatureBA)rtabmap::FeatureBAinline
kptrtabmap::FeatureBA
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rtabmap::FeatureBA Class Reference
+
+
+ +

A single bundle adjustment feature observation: one keypoint seen in one frame. + More...

+ +

#include <Optimizer.h>

+ + + + +

+Public Member Functions

 FeatureBA (const cv::KeyPoint &kptIn, const float &depthIn=0.0f, const cv::Mat &descriptorIn=cv::Mat(), int cameraIndexIn=0)
 
+ + + + + + + + + + + + + +

+Public Attributes

cv::KeyPoint kpt
 2D image keypoint.
 
float depth
 Depth at kpt in meters, or 0 if unknown (monocular).
 
cv::Mat descriptor
 Optional descriptor for the keypoint (used when re-matching is enabled).
 
int cameraIndex
 Index into the frame's camera model list for multi-camera rigs.
 
+

Detailed Description

+

A single bundle adjustment feature observation: one keypoint seen in one frame.

+

Used as the per-frame value in the wordReferences map (<wordId, <frameId, FeatureBA>>) passed to Optimizer::optimizeBA(). depth is in meters when available (RGB-D / stereo with disparity) or 0 if unknown (monocular). descriptor and cameraIndex are optional; cameraIndex selects which CameraModel of a multi-camera rig the keypoint belongs to.

+ +

Definition at line 50 of file Optimizer.h.

+

Constructor & Destructor Documentation

+ +

◆ FeatureBA()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::FeatureBA::FeatureBA (const cv::KeyPoint & kptIn,
const float & depthIn = 0.0f,
const cv::Mat & descriptorIn = cv::Mat(),
int cameraIndexIn = 0 
)
+ 		+inline
+
+ +

Definition at line 53 of file Optimizer.h.

+ +
+
+

Member Data Documentation

+ +

◆ kpt

+ +
+
+ + + + +
cv::KeyPoint rtabmap::FeatureBA::kpt
+
+ +

2D image keypoint.

+ +

Definition at line 61 of file Optimizer.h.

+ +
+
+ +

◆ depth

+ +
+
+ + + + +
float rtabmap::FeatureBA::depth
+
+ +

Depth at kpt in meters, or 0 if unknown (monocular).

+ +

Definition at line 62 of file Optimizer.h.

+ +
+
+ +

◆ descriptor

+ +
+
+ + + + +
cv::Mat rtabmap::FeatureBA::descriptor
+
+ +

Optional descriptor for the keypoint (used when re-matching is enabled).

+ +

Definition at line 63 of file Optimizer.h.

+ +
+
+ +

◆ cameraIndex

+ +
+
+ + + + +
int rtabmap::FeatureBA::cameraIndex
+
+ +

Index into the frame's camera model list for multi-camera rigs.

+ +

Definition at line 64 of file Optimizer.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::FlannIndex Member List
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This is the complete list of members for rtabmap::FlannIndex, including all inherited members.

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addPoints(const cv::Mat &features) (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
buildIndex(flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f) (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
featuresDim() const (defined in rtabmap::FlannIndex)rtabmap::FlannIndexinline
featuresType() const (defined in rtabmap::FlannIndex)rtabmap::FlannIndexinline
flann_algorithm_t enum name (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
FLANN_INDEX_KDTREE enum value (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
FLANN_INDEX_KDTREE_SINGLE enum value (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
FLANN_INDEX_LINEAR enum value (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
FLANN_INDEX_LSH enum value (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
FlannIndex() (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
indexedFeatures() const (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
isBuilt() (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
knnSearch(const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) const (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
loadIndex(const std::vector< unsigned char > &indexData, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL) (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
loadIndex(const unsigned char *indexData, size_t indexDataSize, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL) (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
memoryUsed() const (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
radiusSearch(const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true) const (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
release() (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
removePoint(unsigned int index) (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
serializeIndex(bool computeChecksum=true) const (defined in rtabmap::FlannIndex)rtabmap::FlannIndex
~FlannIndex() (defined in rtabmap::FlannIndex)rtabmap::FlannIndexvirtual
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rtabmap::FlannIndex Class Reference
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+Public Types

enum  flann_algorithm_t { FLANN_INDEX_LINEAR = 0 +, FLANN_INDEX_KDTREE = 1 +, FLANN_INDEX_KDTREE_SINGLE = 4 +, FLANN_INDEX_LSH = 6 + }
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+void release ()
 
+std::vector< unsigned char > serializeIndex (bool computeChecksum=true) const
 
+size_t indexedFeatures () const
 
+size_t memoryUsed () const
 
+void buildIndex (flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f)
 
+bool loadIndex (const std::vector< unsigned char > &indexData, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)
 
+bool loadIndex (const unsigned char *indexData, size_t indexDataSize, flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f, std::string *errorMsg=NULL)
 
+bool isBuilt ()
 
int featuresType () const
 
int featuresDim () const
 
+std::vector< unsigned int > addPoints (const cv::Mat &features)
 
+void removePoint (unsigned int index)
 
+void knnSearch (const cv::Mat &query, cv::Mat &indices, cv::Mat &dists, int knn, int checks=32, float eps=0.0, bool sorted=true) const
 
+void radiusSearch (const cv::Mat &query, std::vector< std::vector< size_t > > &indices, std::vector< std::vector< float > > &dists, float radius, int maxNeighbors=0, int checks=32, float eps=0.0, bool sorted=true) const
 
+

Detailed Description

+
+

Definition at line 37 of file FlannIndex.h.

+

Member Enumeration Documentation

+ +

◆ flann_algorithm_t

+ +
+
+ + + + +
enum rtabmap::FlannIndex::flann_algorithm_t
+
+ +

Definition at line 41 of file FlannIndex.h.

+ +
+
+

Member Function Documentation

+ +

◆ featuresType()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::FlannIndex::featuresType () const
+ 		+inline
+
+ +

Definition at line 85 of file FlannIndex.h.

+ +
+
+ +

◆ featuresDim()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::FlannIndex::featuresDim () const
+ 		+inline
+
+ +

Definition at line 86 of file FlannIndex.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const =0 (defined in rtabmap::Feature2D)rtabmap::Feature2Dpure virtual
GFTT(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GFTT)rtabmap::GFTT
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::GFTTvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::GFTT)rtabmap::GFTTvirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~GFTT() (defined in rtabmap::GFTT)rtabmap::GFTTvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GFTT.html b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT.html new file mode 100644 index 00000000..290effbc --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT.html @@ -0,0 +1,323 @@ + + + + + + + + +RTAB-Map: rtabmap::GFTT Class Reference + + + + + + + + + + + + +
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rtabmap::GFTT Class Reference
+
+
+ +

Good-features-to-track detector (Shi–Tomasi / Harris). + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::GFTT:
+
+
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+Public Member Functions

+ GFTT (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
+virtual Feature2D::Type getType () const =0
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

Good-features-to-track detector (Shi–Tomasi / Harris).

+ +

Definition at line 493 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::GFTT::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+ +

◆ isGpuAvailable()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::GFTT::isGpuAvailable () const
+ 		+overridevirtual
+
+ +

Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.

+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__BRIEF-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__BRIEF-members.html new file mode 100644 index 00000000..10c473db --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__BRIEF-members.html @@ -0,0 +1,147 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::GFTT_BRIEF Member List
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This is the complete list of members for rtabmap::GFTT_BRIEF, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::GFTT_BRIEF)rtabmap::GFTT_BRIEFinlinevirtual
GFTT(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GFTT)rtabmap::GFTT
GFTT_BRIEF(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GFTT_BRIEF)rtabmap::GFTT_BRIEF
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::GFTTvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::GFTT_BRIEF)rtabmap::GFTT_BRIEFvirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~GFTT() (defined in rtabmap::GFTT)rtabmap::GFTTvirtual
~GFTT_BRIEF() (defined in rtabmap::GFTT_BRIEF)rtabmap::GFTT_BRIEFvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__BRIEF.html b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__BRIEF.html new file mode 100644 index 00000000..e17bcdc6 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__BRIEF.html @@ -0,0 +1,322 @@ + + + + + + + + +RTAB-Map: rtabmap::GFTT_BRIEF Class Reference + + + + + + + + + + + + +
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rtabmap::GFTT_BRIEF Class Reference
+
+
+ +

GFTT corners + BRIEF descriptors. + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::GFTT_BRIEF:
+
+
Inheritance graph
+ + + + + + + +
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+
+Collaboration diagram for rtabmap::GFTT_BRIEF:
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ GFTT_BRIEF (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
- Public Member Functions inherited from rtabmap::GFTT
+ GFTT (const ParametersMap &parameters=ParametersMap())
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

GFTT corners + BRIEF descriptors.

+ +

Definition at line 518 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::GFTT_BRIEF::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::GFTT.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::GFTT_BRIEF::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 525 of file Features2d.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
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rtabmap::GFTT_DAISY Member List
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This is the complete list of members for rtabmap::GFTT_DAISY, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::GFTT_DAISY)rtabmap::GFTT_DAISYinlinevirtual
GFTT(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GFTT)rtabmap::GFTT
GFTT_DAISY(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GFTT_DAISY)rtabmap::GFTT_DAISY
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::GFTTvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::GFTT_DAISY)rtabmap::GFTT_DAISYvirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~GFTT() (defined in rtabmap::GFTT)rtabmap::GFTTvirtual
~GFTT_DAISY() (defined in rtabmap::GFTT_DAISY)rtabmap::GFTT_DAISYvirtual
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rtabmap::GFTT_DAISY Class Reference
+
+
+ +

GFTT corners + DAISY descriptors (OpenCV 3+ xfeatures2d). + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::GFTT_DAISY:
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Inheritance graph
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+Collaboration diagram for rtabmap::GFTT_DAISY:
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+Public Member Functions

+ GFTT_DAISY (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
- Public Member Functions inherited from rtabmap::GFTT
+ GFTT (const ParametersMap &parameters=ParametersMap())
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

GFTT corners + DAISY descriptors (OpenCV 3+ xfeatures2d).

+ +

Definition at line 723 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

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+ + + + + + + + +
virtual void rtabmap::GFTT_DAISY::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::GFTT.

+ +
+
+ +

◆ getType()

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virtual Feature2D::Type rtabmap::GFTT_DAISY::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 730 of file Features2d.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::GFTT_FREAK Member List
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This is the complete list of members for rtabmap::GFTT_FREAK, including all inherited members.

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computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::GFTT_FREAK)rtabmap::GFTT_FREAKinlinevirtual
GFTT(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GFTT)rtabmap::GFTT
GFTT_FREAK(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GFTT_FREAK)rtabmap::GFTT_FREAK
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::GFTTvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::GFTT_FREAK)rtabmap::GFTT_FREAKvirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~GFTT() (defined in rtabmap::GFTT)rtabmap::GFTTvirtual
~GFTT_FREAK() (defined in rtabmap::GFTT_FREAK)rtabmap::GFTT_FREAKvirtual
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rtabmap::GFTT_FREAK Class Reference
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GFTT corners + FREAK descriptors. + More...

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#include <Features2d.h>

+
+Inheritance diagram for rtabmap::GFTT_FREAK:
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Inheritance graph
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+Collaboration diagram for rtabmap::GFTT_FREAK:
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+Public Member Functions

+ GFTT_FREAK (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
- Public Member Functions inherited from rtabmap::GFTT
+ GFTT (const ParametersMap &parameters=ParametersMap())
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

GFTT corners + FREAK descriptors.

+ +

Definition at line 537 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::GFTT_FREAK::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::GFTT.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::GFTT_FREAK::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 544 of file Features2d.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__FREAK__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__FREAK__coll__graph.map new file mode 100644 index 00000000..ecd8d35c --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__FREAK__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__FREAK__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__FREAK__coll__graph.md5 new file mode 100644 index 00000000..f8b1d99c --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__FREAK__coll__graph.md5 @@ -0,0 +1 @@ +64e5f6b35c54d56433ee54729aa7a08c \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__FREAK__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1GFTT__FREAK__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..22b24f4a0e7bfd0d9f42d0ad20def3d671406096 GIT binary patch literal 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rtabmap::GFTT_ORB Member List
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This is the complete list of members for rtabmap::GFTT_ORB, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::GFTT_ORB)rtabmap::GFTT_ORBinlinevirtual
GFTT(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GFTT)rtabmap::GFTT
GFTT_ORB(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GFTT_ORB)rtabmap::GFTT_ORB
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::GFTTvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::GFTT_ORB)rtabmap::GFTT_ORBvirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~GFTT() (defined in rtabmap::GFTT)rtabmap::GFTTvirtual
~GFTT_ORB() (defined in rtabmap::GFTT_ORB)rtabmap::GFTT_ORBvirtual
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rtabmap::GFTT_ORB Class Reference
+
+
+ +

GFTT corners + ORB descriptors (common default when SURF is unavailable). + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::GFTT_ORB:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::GFTT_ORB:
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+Public Member Functions

+ GFTT_ORB (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
- Public Member Functions inherited from rtabmap::GFTT
+ GFTT (const ParametersMap &parameters=ParametersMap())
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

GFTT corners + ORB descriptors (common default when SURF is unavailable).

+ +

Definition at line 581 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::GFTT_ORB::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::GFTT.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::GFTT_ORB::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 588 of file Features2d.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::GPS Member List
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This is the complete list of members for rtabmap::GPS, including all inherited members.

+ + + + + + + + + + +
altitude() constrtabmap::GPSinline
bearing() constrtabmap::GPSinline
error() constrtabmap::GPSinline
GPS()rtabmap::GPSinline
GPS(const double &stamp, const double &longitude, const double &latitude, const double &altitude, const double &error, const double &bearing)rtabmap::GPSinline
latitude() constrtabmap::GPSinline
longitude() constrtabmap::GPSinline
stamp() constrtabmap::GPSinline
toGeodeticCoords() constrtabmap::GPSinline
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+Public Member Functions | +List of all members
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rtabmap::GPS Class Reference
+
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+ +

WGS84 GPS fix attached to a sensor sample or graph node. + More...

+ +

#include <GPS.h>

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+Public Member Functions

 GPS ()
 Default-constructs a fix at the origin with zero stamp and error.
 
 GPS (const double &stamp, const double &longitude, const double &latitude, const double &altitude, const double &error, const double &bearing)
 Constructs a GPS fix.
 
const double & stamp () const
 
const double & longitude () const
 
const double & latitude () const
 
const double & altitude () const
 
const double & error () const
 
const double & bearing () const
 
GeodeticCoords toGeodeticCoords () const
 
+

Detailed Description

+

WGS84 GPS fix attached to a sensor sample or graph node.

+

Stores a timestamped geographic position with horizontal accuracy and bearing. Values are persisted in the database as six doubles in the order stamp, longitude, latitude, altitude, error, bearing.

+
See also
SensorData::gps()
+
+GeodeticCoords
+ +

Definition at line 46 of file GPS.h.

+

Constructor & Destructor Documentation

+ +

◆ GPS() [1/2]

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rtabmap::GPS::GPS ()
+ 		+inline
+
+ +

Default-constructs a fix at the origin with zero stamp and error.

+ +

Definition at line 50 of file GPS.h.

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+ +

◆ GPS() [2/2]

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rtabmap::GPS::GPS (const double & stamp,
const double & longitude,
const double & latitude,
const double & altitude,
const double & error,
const double & bearing 
)
+ 		+inline
+
+ +

Constructs a GPS fix.

+
Parameters
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stampTimestamp in seconds.
longitudeLongitude in decimal degrees (DD, east positive).
latitudeLatitude in decimal degrees (DD, north positive).
altitudeAltitude in meters above the WGS84 ellipsoid.
errorHorizontal position error radius in meters.
bearingHeading in degrees, 0 = north, increasing clockwise.
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Definition at line 67 of file GPS.h.

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+

Member Function Documentation

+ +

◆ stamp()

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const double & rtabmap::GPS::stamp () const
+ 		+inline
+
+
Returns
Timestamp in seconds.
+ +

Definition at line 81 of file GPS.h.

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◆ longitude()

+ +
+
+ + + + + +
+ + + + + + + +
const double & rtabmap::GPS::longitude () const
+ 		+inline
+
+
Returns
Longitude in decimal degrees (DD).
+ +

Definition at line 83 of file GPS.h.

+ +
+
+ +

◆ latitude()

+ +
+
+ + + + + +
+ + + + + + + +
const double & rtabmap::GPS::latitude () const
+ 		+inline
+
+
Returns
Latitude in decimal degrees (DD).
+ +

Definition at line 85 of file GPS.h.

+ +
+
+ +

◆ altitude()

+ +
+
+ + + + + +
+ + + + + + + +
const double & rtabmap::GPS::altitude () const
+ 		+inline
+
+
Returns
Altitude in meters.
+ +

Definition at line 87 of file GPS.h.

+ +
+
+ +

◆ error()

+ +
+
+ + + + + +
+ + + + + + + +
const double & rtabmap::GPS::error () const
+ 		+inline
+
+
Returns
Horizontal position error in meters.
+ +

Definition at line 89 of file GPS.h.

+ +
+
+ +

◆ bearing()

+ +
+
+ + + + + +
+ + + + + + + +
const double & rtabmap::GPS::bearing () const
+ 		+inline
+
+
Returns
Bearing in degrees (north = 0, clockwise).
+ +

Definition at line 91 of file GPS.h.

+ +
+
+ +

◆ toGeodeticCoords()

+ +
+
+ + + + + +
+ + + + + + + +
GeodeticCoords rtabmap::GPS::toGeodeticCoords () const
+ 		+inline
+
+
Returns
GeodeticCoords built from latitude(), longitude() and altitude().
+ +

Definition at line 96 of file GPS.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/GPS.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GainCompensator-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1GainCompensator-members.html new file mode 100644 index 00000000..eec869d4 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GainCompensator-members.html @@ -0,0 +1,106 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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This is the complete list of members for rtabmap::GainCompensator, including all inherited members.

+ + + + + + + + + + + + + + + +
apply(int id, pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, bool rgb=true) const (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
apply(int id, pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool rgb=true) const (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
apply(int id, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool rgb=true) const (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
apply(int id, cv::Mat &image, bool rgb=true) const (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
feed(const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloudA, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloudB, const Transform &transformB) (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
feed(const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloudA, const pcl::IndicesPtr &indicesA, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloudB, const pcl::IndicesPtr &indicesB, const Transform &transformB) (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
feed(const std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &clouds, const std::multimap< int, Link > &links) (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
feed(const std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &clouds, const std::map< int, pcl::IndicesPtr > &indices, const std::multimap< int, Link > &links) (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
feed(const std::map< int, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr > &clouds, const std::map< int, pcl::IndicesPtr > &indices, const std::multimap< int, Link > &links) (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
feed(const std::map< int, std::pair< pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr, pcl::IndicesPtr > > &clouds, const std::multimap< int, Link > &links) (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
GainCompensator(double maxCorrespondenceDistance=0.02, double minOverlap=0.0, double alpha=0.01, double beta=10) (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
getGain(int id, double *r=0, double *g=0, double *b=0) const (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
getIndex(int id) const (defined in rtabmap::GainCompensator)rtabmap::GainCompensator
~GainCompensator() (defined in rtabmap::GainCompensator)rtabmap::GainCompensatorvirtual
+ +
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#include <GainCompensator.h>

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ GainCompensator (double maxCorrespondenceDistance=0.02, double minOverlap=0.0, double alpha=0.01, double beta=10)
 
+void feed (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloudA, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloudB, const Transform &transformB)
 
+void feed (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloudA, const pcl::IndicesPtr &indicesA, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloudB, const pcl::IndicesPtr &indicesB, const Transform &transformB)
 
+void feed (const std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &clouds, const std::multimap< int, Link > &links)
 
+void feed (const std::map< int, pcl::PointCloud< pcl::PointXYZRGB >::Ptr > &clouds, const std::map< int, pcl::IndicesPtr > &indices, const std::multimap< int, Link > &links)
 
+void feed (const std::map< int, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr > &clouds, const std::map< int, pcl::IndicesPtr > &indices, const std::multimap< int, Link > &links)
 
+void feed (const std::map< int, std::pair< pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr, pcl::IndicesPtr > > &clouds, const std::multimap< int, Link > &links)
 
+void apply (int id, pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, bool rgb=true) const
 
+void apply (int id, pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool rgb=true) const
 
+void apply (int id, pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool rgb=true) const
 
+void apply (int id, cv::Mat &image, bool rgb=true) const
 
+double getGain (int id, double *r=0, double *g=0, double *b=0) const
 
+int getIndex (int id) const
 
+

Detailed Description

+

Works like cv::GainCompensator but with point clouds

+ +

Definition at line 44 of file GainCompensator.h.

+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GeodeticCoords-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1GeodeticCoords-members.html new file mode 100644 index 00000000..995e2d73 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GeodeticCoords-members.html @@ -0,0 +1,106 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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This is the complete list of members for rtabmap::GeodeticCoords, including all inherited members.

+ + + + + + + + + + + + + + + +
altitude() constrtabmap::GeodeticCoordsinline
ENU_WGS84ToGeocentric_WGS84(const cv::Point3d &enu, const GeodeticCoords &origin)rtabmap::GeodeticCoordsstatic
fromENU_WGS84(const cv::Point3d &enu, const GeodeticCoords &origin)rtabmap::GeodeticCoords
fromGeocentric_WGS84(const cv::Point3d &geocentric)rtabmap::GeodeticCoords
Geocentric_WGS84ToENU_WGS84(const cv::Point3d &geocentric_WGS84, const cv::Point3d &origin_geocentric_WGS84, const GeodeticCoords &origin)rtabmap::GeodeticCoordsstatic
GeodeticCoords()rtabmap::GeodeticCoords
GeodeticCoords(double latitude, double longitude, double altitude)rtabmap::GeodeticCoords
latitude() constrtabmap::GeodeticCoordsinline
longitude() constrtabmap::GeodeticCoordsinline
setAltitude(const double &value)rtabmap::GeodeticCoordsinline
setLatitude(const double &value)rtabmap::GeodeticCoordsinline
setLongitude(const double &value)rtabmap::GeodeticCoordsinline
toENU_WGS84(const GeodeticCoords &origin) constrtabmap::GeodeticCoords
toGeocentric_WGS84() constrtabmap::GeodeticCoords
+ +
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GeodeticCoords.html b/preview/pr-1492/api/latest/classrtabmap_1_1GeodeticCoords.html new file mode 100644 index 00000000..fd972bfd --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GeodeticCoords.html @@ -0,0 +1,495 @@ + + + + + + + + +RTAB-Map: rtabmap::GeodeticCoords Class Reference + + + + + + + + + + + + +
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rtabmap::GeodeticCoords Class Reference
+
+
+ +

WGS84 geodetic latitude, longitude and altitude with coordinate conversions. + More...

+ +

#include <GeodeticCoords.h>

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ GeodeticCoords ()
 Default-constructs coordinates at (0°, 0°, 0 m).
 
 GeodeticCoords (double latitude, double longitude, double altitude)
 Constructs geodetic coordinates.
 
const double & latitude () const
 
const double & longitude () const
 
const double & altitude () const
 
void setLatitude (const double &value)
 Sets latitude in decimal degrees.
 
void setLongitude (const double &value)
 Sets longitude in decimal degrees.
 
void setAltitude (const double &value)
 Sets altitude in meters.
 
cv::Point3d toGeocentric_WGS84 () const
 
cv::Point3d toENU_WGS84 (const GeodeticCoords &origin) const
 
+void fromGeocentric_WGS84 (const cv::Point3d &geocentric)
 Sets this point from ECEF geocentric geocentric coordinates.
 
+void fromENU_WGS84 (const cv::Point3d &enu, const GeodeticCoords &origin)
 Sets this point from an ENU offset relative to origin.
 
+ + + + + +

+Static Public Member Functions

static cv::Point3d ENU_WGS84ToGeocentric_WGS84 (const cv::Point3d &enu, const GeodeticCoords &origin)
 
static cv::Point3d Geocentric_WGS84ToENU_WGS84 (const cv::Point3d &geocentric_WGS84, const cv::Point3d &origin_geocentric_WGS84, const GeodeticCoords &origin)
 
+

Detailed Description

+

WGS84 geodetic latitude, longitude and altitude with coordinate conversions.

+

Conversions follow the WGS84 reference ellipsoid (MRPT-derived implementation). ENU frames use east = X, north = Y, up = Z relative to a local origin.

+
See also
GPS::toGeodeticCoords()
+ +

Definition at line 61 of file GeodeticCoords.h.

+

Constructor & Destructor Documentation

+ +

◆ GeodeticCoords()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::GeodeticCoords::GeodeticCoords (double latitude,
double longitude,
double altitude 
)
+
+ +

Constructs geodetic coordinates.

+
Parameters
+ + + + +
latitudeLatitude in decimal degrees (DD, north positive).
longitudeLongitude in decimal degrees (DD, east positive).
altitudeAltitude in meters above the WGS84 ellipsoid.
+
+
+ +
+
+

Member Function Documentation

+ +

◆ latitude()

+ +
+
+ + + + + +
+ + + + + + + +
const double & rtabmap::GeodeticCoords::latitude () const
+ 		+inline
+
+
Returns
Latitude in decimal degrees.
+ +

Definition at line 75 of file GeodeticCoords.h.

+ +
+
+ +

◆ longitude()

+ +
+
+ + + + + +
+ + + + + + + +
const double & rtabmap::GeodeticCoords::longitude () const
+ 		+inline
+
+
Returns
Longitude in decimal degrees.
+ +

Definition at line 77 of file GeodeticCoords.h.

+ +
+
+ +

◆ altitude()

+ +
+
+ + + + + +
+ + + + + + + +
const double & rtabmap::GeodeticCoords::altitude () const
+ 		+inline
+
+
Returns
Altitude in meters.
+ +

Definition at line 79 of file GeodeticCoords.h.

+ +
+
+ +

◆ setLatitude()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::GeodeticCoords::setLatitude (const double & value)
+ 		+inline
+
+ +

Sets latitude in decimal degrees.

+ +

Definition at line 82 of file GeodeticCoords.h.

+ +
+
+ +

◆ setLongitude()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::GeodeticCoords::setLongitude (const double & value)
+ 		+inline
+
+ +

Sets longitude in decimal degrees.

+ +

Definition at line 84 of file GeodeticCoords.h.

+ +
+
+ +

◆ setAltitude()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::GeodeticCoords::setAltitude (const double & value)
+ 		+inline
+
+ +

Sets altitude in meters.

+ +

Definition at line 86 of file GeodeticCoords.h.

+ +
+
+ +

◆ toGeocentric_WGS84()

+ +
+
+ + + + + + + +
cv::Point3d rtabmap::GeodeticCoords::toGeocentric_WGS84 () const
+
+
Returns
ECEF geocentric coordinates (meters) in the WGS84 frame.
+ +
+
+ +

◆ toENU_WGS84()

+ +
+
+ + + + + + + + +
cv::Point3d rtabmap::GeodeticCoords::toENU_WGS84 (const GeodeticCoords & origin) const
+
+
Returns
ENU offset (meters) from origin to this point. East = X, north = Y, up = Z.
+ +
+
+ +

◆ ENU_WGS84ToGeocentric_WGS84()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
static cv::Point3d rtabmap::GeodeticCoords::ENU_WGS84ToGeocentric_WGS84 (const cv::Point3d & enu,
const GeodeticCoords & origin 
)
+ 		+static
+
+
Returns
ECEF geocentric coordinates of ENU point enu relative to origin.
+ +
+
+ +

◆ Geocentric_WGS84ToENU_WGS84()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
static cv::Point3d rtabmap::GeodeticCoords::Geocentric_WGS84ToENU_WGS84 (const cv::Point3d & geocentric_WGS84,
const cv::Point3d & origin_geocentric_WGS84,
const GeodeticCoords & origin 
)
+ 		+static
+
+
Returns
ENU offset from geocentric origin_geocentric_WGS84 to geocentric_WGS84.
+
Parameters
+ + +
originGeodetic origin used to define the local ENU basis.
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GlobalDescriptor-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1GlobalDescriptor-members.html new file mode 100644 index 00000000..6062717b --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GlobalDescriptor-members.html @@ -0,0 +1,98 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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data() const (defined in rtabmap::GlobalDescriptor)rtabmap::GlobalDescriptorinline
GlobalDescriptor(int type, const cv::Mat &data, const cv::Mat &info=cv::Mat()) (defined in rtabmap::GlobalDescriptor)rtabmap::GlobalDescriptorinline
GlobalDescriptor() (defined in rtabmap::GlobalDescriptor)rtabmap::GlobalDescriptorinline
info() const (defined in rtabmap::GlobalDescriptor)rtabmap::GlobalDescriptorinline
type() const (defined in rtabmap::GlobalDescriptor)rtabmap::GlobalDescriptorinline
~GlobalDescriptor() (defined in rtabmap::GlobalDescriptor)rtabmap::GlobalDescriptorinlinevirtual
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+Public Member Functions

 GlobalDescriptor (int type, const cv::Mat &data, const cv::Mat &info=cv::Mat())
 
int type () const
 
const cv::Mat info () const
 
const cv::Mat data () const
 
+

Detailed Description

+
+

Definition at line 35 of file GlobalDescriptor.h.

+

Constructor & Destructor Documentation

+ +

◆ GlobalDescriptor() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::GlobalDescriptor::GlobalDescriptor (int type,
const cv::Mat & data,
const cv::Mat & info = cv::Mat() 
)
+ 		+inline
+
+ +

Definition at line 39 of file GlobalDescriptor.h.

+ +
+
+ +

◆ GlobalDescriptor() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::GlobalDescriptor::GlobalDescriptor ()
+ 		+inline
+
+ +

Definition at line 44 of file GlobalDescriptor.h.

+ +
+
+ +

◆ ~GlobalDescriptor()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::GlobalDescriptor::~GlobalDescriptor ()
+ 		+inlinevirtual
+
+ +

Definition at line 47 of file GlobalDescriptor.h.

+ +
+
+

Member Function Documentation

+ +

◆ type()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::GlobalDescriptor::type () const
+ 		+inline
+
+ +

Definition at line 49 of file GlobalDescriptor.h.

+ +
+
+ +

◆ info()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat rtabmap::GlobalDescriptor::info () const
+ 		+inline
+
+ +

Definition at line 50 of file GlobalDescriptor.h.

+ +
+
+ +

◆ data()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat rtabmap::GlobalDescriptor::data () const
+ 		+inline
+
+ +

Definition at line 51 of file GlobalDescriptor.h.

+ +
+
+
The documentation for this class was generated from the following file: +
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+ + + + + + + + + + + + +
create(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GlobalDescriptorExtractor)rtabmap::GlobalDescriptorExtractorstatic
create(GlobalDescriptorExtractor::Type type, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GlobalDescriptorExtractor)rtabmap::GlobalDescriptorExtractorstatic
extract(const SensorData &data) const =0 (defined in rtabmap::GlobalDescriptorExtractor)rtabmap::GlobalDescriptorExtractorpure virtual
getType() const =0 (defined in rtabmap::GlobalDescriptorExtractor)rtabmap::GlobalDescriptorExtractorpure virtual
GlobalDescriptorExtractor(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GlobalDescriptorExtractor)rtabmap::GlobalDescriptorExtractorprotected
kPyDescriptor enum value (defined in rtabmap::GlobalDescriptorExtractor)rtabmap::GlobalDescriptorExtractor
kUndef enum value (defined in rtabmap::GlobalDescriptorExtractor)rtabmap::GlobalDescriptorExtractor
parseParameters(const ParametersMap &parameters) (defined in rtabmap::GlobalDescriptorExtractor)rtabmap::GlobalDescriptorExtractorinlinevirtual
Type enum name (defined in rtabmap::GlobalDescriptorExtractor)rtabmap::GlobalDescriptorExtractor
typeName(Type type) (defined in rtabmap::GlobalDescriptorExtractor)rtabmap::GlobalDescriptorExtractorinlinestatic
~GlobalDescriptorExtractor() (defined in rtabmap::GlobalDescriptorExtractor)rtabmap::GlobalDescriptorExtractorvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GlobalDescriptorExtractor.html b/preview/pr-1492/api/latest/classrtabmap_1_1GlobalDescriptorExtractor.html new file mode 100644 index 00000000..e486f11d --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GlobalDescriptorExtractor.html @@ -0,0 +1,211 @@ + + + + + + + + +RTAB-Map: rtabmap::GlobalDescriptorExtractor Class Reference + + + + + + + + + + + + +
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RTAB-Map 0.23.10 +
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
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rtabmap::GlobalDescriptorExtractor Class Referenceabstract
+
+
+ + + + +

+Public Types

enum  Type { kUndef =0 +, kPyDescriptor =1 + }
 
+ + + + + + + +

+Public Member Functions

+virtual GlobalDescriptor extract (const SensorData &data) const =0
 
virtual void parseParameters (const ParametersMap &parameters)
 
+virtual GlobalDescriptorExtractor::Type getType () const =0
 
+ + + + + + + +

+Static Public Member Functions

static std::string typeName (Type type)
 
+static GlobalDescriptorExtractor * create (const ParametersMap &parameters=ParametersMap())
 
+static GlobalDescriptorExtractor * create (GlobalDescriptorExtractor::Type type, const ParametersMap &parameters=ParametersMap())
 
+ + + +

+Protected Member Functions

+ GlobalDescriptorExtractor (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+
+

Definition at line 40 of file GlobalDescriptorExtractor.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::GlobalDescriptorExtractor::Type
+
+ +

Definition at line 42 of file GlobalDescriptorExtractor.h.

+ +
+
+

Member Function Documentation

+ +

◆ typeName()

+ +
+
+ + + + + +
+ + + + + + + + +
static std::string rtabmap::GlobalDescriptorExtractor::typeName (Type type)
+ 		+inlinestatic
+
+ +

Definition at line 46 of file GlobalDescriptorExtractor.h.

+ +
+
+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::GlobalDescriptorExtractor::parseParameters (const ParametersMap & parameters)
+ 		+inlinevirtual
+
+ +

Definition at line 64 of file GlobalDescriptorExtractor.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GlobalMap-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1GlobalMap-members.html new file mode 100644 index 00000000..cffccd86 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GlobalMap-members.html @@ -0,0 +1,121 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::GlobalMap Member List
+
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+ +

This is the complete list of members for rtabmap::GlobalMap, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
addAssembledNode(int id, const Transform &pose)rtabmap::GlobalMapprotected
addedNodes() constrtabmap::GlobalMapinline
assemble(const std::list< std::pair< int, Transform > > &newPoses)=0rtabmap::GlobalMapprotectedpure virtual
assembledNodes() constrtabmap::GlobalMapinlineprotected
cache() constrtabmap::GlobalMapinlineprotected
cellSize_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
clear()rtabmap::GlobalMapvirtual
fullUpdateNeeded(const std::map< int, Transform > &poses) constrtabmap::GlobalMap
getCellSize() constrtabmap::GlobalMapinline
getGridMax(double &x, double &y) constrtabmap::GlobalMapinline
getGridMax(double &x, double &y, double &z) constrtabmap::GlobalMapinline
getGridMin(double &x, double &y) constrtabmap::GlobalMapinline
getGridMin(double &x, double &y, double &z) constrtabmap::GlobalMapinline
getMemoryUsed() constrtabmap::GlobalMapvirtual
getUpdateError() constrtabmap::GlobalMapinline
GlobalMap(const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())rtabmap::GlobalMapprotected
isNodeAssembled(int id)rtabmap::GlobalMapinlineprotected
logodds(double probability)rtabmap::GlobalMapinlinestatic
logOddsClampingMax_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsClampingMin_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsHit_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsMiss_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
maxValues_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
minValues_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
occupancyThr_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
probability(double logodds)rtabmap::GlobalMapinlinestatic
update(const std::map< int, Transform > &poses)rtabmap::GlobalMap
updateError_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
~GlobalMap() (defined in rtabmap::GlobalMap)rtabmap::GlobalMapvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GlobalMap.html b/preview/pr-1492/api/latest/classrtabmap_1_1GlobalMap.html new file mode 100644 index 00000000..37ad2a16 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GlobalMap.html @@ -0,0 +1,1016 @@ + + + + + + + + +RTAB-Map: rtabmap::GlobalMap Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+
rtabmap::GlobalMap Class Referenceabstract
+
+
+ +

Abstract base for assembling per-node LocalGrid data into a global map. + More...

+ +

#include <GlobalMap.h>

+
+Inheritance diagram for rtabmap::GlobalMap:
+
+
Inheritance graph
+ + + + + + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

bool fullUpdateNeeded (const std::map< int, Transform > &poses) const
 True if the map should be rebuilt from cache (loop closure or disjoint graph).
 
bool update (const std::map< int, Transform > &poses)
 Incrementally assemble new nodes from poses.
 
virtual void clear ()
 Clears assembled nodes and grid bounds; does not clear LocalGridCache.
 
float getCellSize () const
 
float getUpdateError () const
 
const std::map< int, Transform > & addedNodes () const
 
void getGridMin (double &x, double &y) const
 2D grid minimum (x, y) in meters.
 
void getGridMax (double &x, double &y) const
 2D grid maximum (x, y) in meters.
 
void getGridMin (double &x, double &y, double &z) const
 3D grid minimum (x, y, z) in meters.
 
void getGridMax (double &x, double &y, double &z) const
 3D grid maximum (x, y, z) in meters.
 
virtual unsigned long getMemoryUsed () const
 Approximate memory used by assembled-node bookkeeping (bytes).
 
+ + + + + + + +

+Static Public Member Functions

static float logodds (double probability)
 Converts probability in (0, 1) to log-odds.
 
static double probability (double logodds)
 Converts log-odds back to probability in (0, 1).
 
+ + + + + + + + + + + + + + + + +

+Protected Member Functions

 GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 Constructs the base map; subclasses call from their constructor.
 
virtual void assemble (const std::list< std::pair< int, Transform > > &newPoses)=0
 Subclass hook: merge newPoses into the global map; call addAssembledNode().
 
const std::map< int, LocalGrid > & cache () const
 
const std::map< int, Transform > & assembledNodes () const
 
bool isNodeAssembled (int id)
 
+void addAssembledNode (int id, const Transform &pose)
 Records a successfully assembled node (ids <= 0 are ignored).
 
+ + + + + + + + + + + + + + + + + + + +

+Protected Attributes

float cellSize_
 
float updateError_
 
float occupancyThr_
 
float logOddsHit_
 
float logOddsMiss_
 
float logOddsClampingMin_
 
float logOddsClampingMax_
 
double minValues_ [3]
 
double maxValues_ [3]
 
+

Detailed Description

+

Abstract base for assembling per-node LocalGrid data into a global map.

+

Subclasses (OccupancyGrid, OctoMap, GridMap, CloudMap) implement assemble() to merge new node poses from LocalGridCache into their representation.

+

update() decides which poses need assembly (not yet in addedNodes(), present in cache, id > 0) and may call clear() when fullUpdateNeeded() detects graph optimization or a disjoint pose set (see kGridGlobalUpdateError).

+

Log-odds helpers logodds() and probability() convert between occupancy probability and the internal log-odds representation used for global hit/miss/clamping parameters (GridGlobal/Prob*).

+ +

Definition at line 55 of file GlobalMap.h.

+

Constructor & Destructor Documentation

+ +

◆ GlobalMap()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
rtabmap::GlobalMap::GlobalMap (const LocalGridCache * cache,
const ParametersMap & parameters = ParametersMap() 
)
+ 		+protected
+
+ +

Constructs the base map; subclasses call from their constructor.

+
Parameters
+ + + +
cacheNon-null cache of per-node local grids.
parametersOptional Grid/ and GridGlobal/ parameter overrides.
+
+
+ +
+
+

Member Function Documentation

+ +

◆ logodds()

+ +
+
+ + + + + +
+ + + + + + + + +
static float rtabmap::GlobalMap::logodds (double probability)
+ 		+inlinestatic
+
+ +

Converts probability in (0, 1) to log-odds.

+ +

Definition at line 59 of file GlobalMap.h.

+ +
+
+ +

◆ probability()

+ +
+
+ + + + + +
+ + + + + + + + +
static double rtabmap::GlobalMap::probability (double logodds)
+ 		+inlinestatic
+
+ +

Converts log-odds back to probability in (0, 1).

+ +

Definition at line 65 of file GlobalMap.h.

+ +
+
+ +

◆ fullUpdateNeeded()

+ +
+
+ + + + + + + + +
bool rtabmap::GlobalMap::fullUpdateNeeded (const std::map< int, Transform > & poses) const
+
+ +

True if the map should be rebuilt from cache (loop closure or disjoint graph).

+

Compares poses to addedNodes() using getUpdateError(), which is set from Grid/GlobalUpdateError (Parameters::kGridGlobalUpdateError()): if any assembled node's pose moved farther than that threshold (meters), or if none of the assembled nodes appear in poses, returns true and update() will call clear() first.

+
Parameters
+ + +
posesCurrent graph poses (node id → transform).
+
+
+ +
+
+ +

◆ update()

+ +
+
+ + + + + + + + +
bool rtabmap::GlobalMap::update (const std::map< int, Transform > & poses)
+
+ +

Incrementally assemble new nodes from poses.

+
Parameters
+ + +
posesGraph poses; ids > 0 with a cached LocalGrid are candidates.
+
+
+
Returns
True if assemble() was called (at least one new pose processed).
+ +
+
+ +

◆ clear()

+ +
+
+ + + + + +
+ + + + + + + +
virtual void rtabmap::GlobalMap::clear ()
+ 		+virtual
+
+ +

Clears assembled nodes and grid bounds; does not clear LocalGridCache.

+ +

Reimplemented in rtabmap::CloudMap, rtabmap::GridMap, rtabmap::OccupancyGrid, and rtabmap::OctoMap.

+ +
+
+ +

◆ getCellSize()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::GlobalMap::getCellSize () const
+ 		+inline
+
+
Returns
Grid cell size in meters (Grid/CellSize).
+ +

Definition at line 96 of file GlobalMap.h.

+ +
+
+ +

◆ getUpdateError()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::GlobalMap::getUpdateError () const
+ 		+inline
+
+
Returns
Pose change threshold for full rebuild (Grid/GlobalUpdateError).
+ +

Definition at line 98 of file GlobalMap.h.

+ +
+
+ +

◆ addedNodes()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, Transform > & rtabmap::GlobalMap::addedNodes () const
+ 		+inline
+
+
Returns
Poses of nodes already assembled into the global map.
+ +

Definition at line 100 of file GlobalMap.h.

+ +
+
+ +

◆ getGridMin() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void rtabmap::GlobalMap::getGridMin (double & x,
double & y 
) const
+ 		+inline
+
+ +

2D grid minimum (x, y) in meters.

+ +

Definition at line 103 of file GlobalMap.h.

+ +
+
+ +

◆ getGridMax() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void rtabmap::GlobalMap::getGridMax (double & x,
double & y 
) const
+ 		+inline
+
+ +

2D grid maximum (x, y) in meters.

+ +

Definition at line 105 of file GlobalMap.h.

+ +
+
+ +

◆ getGridMin() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::GlobalMap::getGridMin (double & x,
double & y,
double & z 
) const
+ 		+inline
+
+ +

3D grid minimum (x, y, z) in meters.

+ +

Definition at line 107 of file GlobalMap.h.

+ +
+
+ +

◆ getGridMax() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::GlobalMap::getGridMax (double & x,
double & y,
double & z 
) const
+ 		+inline
+
+ +

3D grid maximum (x, y, z) in meters.

+ +

Definition at line 109 of file GlobalMap.h.

+ +
+
+ +

◆ getMemoryUsed()

+ +
+
+ + + + + +
+ + + + + + + +
virtual unsigned long rtabmap::GlobalMap::getMemoryUsed () const
+ 		+virtual
+
+ +

Approximate memory used by assembled-node bookkeeping (bytes).

+ +

Reimplemented in rtabmap::CloudMap, rtabmap::OccupancyGrid, and rtabmap::OctoMap.

+ +
+
+ +

◆ assemble()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::GlobalMap::assemble (const std::list< std::pair< int, Transform > > & newPoses)
+ 		+protectedpure virtual
+
+ +

Subclass hook: merge newPoses into the global map; call addAssembledNode().

+ +

Implemented in rtabmap::CloudMap, rtabmap::GridMap, rtabmap::OccupancyGrid, and rtabmap::OctoMap.

+ +
+
+ +

◆ cache()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, LocalGrid > & rtabmap::GlobalMap::cache () const
+ 		+inlineprotected
+
+
Returns
Cached local grids keyed by node id.
+ +

Definition at line 126 of file GlobalMap.h.

+ +
+
+ +

◆ assembledNodes()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, Transform > & rtabmap::GlobalMap::assembledNodes () const
+ 		+inlineprotected
+
+
Returns
Poses of nodes already assembled (same as addedNodes()).
+ +

Definition at line 129 of file GlobalMap.h.

+ +
+
+ +

◆ isNodeAssembled()

+ +
+
+ + + + + +
+ + + + + + + + +
bool rtabmap::GlobalMap::isNodeAssembled (int id)
+ 		+inlineprotected
+
+
Returns
True if id is already in the assembled set.
+ +

Definition at line 131 of file GlobalMap.h.

+ +
+
+

Member Data Documentation

+ +

◆ cellSize_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::GlobalMap::cellSize_
+ 		+protected
+
+ +

Definition at line 136 of file GlobalMap.h.

+ +
+
+ +

◆ updateError_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::GlobalMap::updateError_
+ 		+protected
+
+ +

Definition at line 137 of file GlobalMap.h.

+ +
+
+ +

◆ occupancyThr_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::GlobalMap::occupancyThr_
+ 		+protected
+
+ +

Definition at line 139 of file GlobalMap.h.

+ +
+
+ +

◆ logOddsHit_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::GlobalMap::logOddsHit_
+ 		+protected
+
+ +

Definition at line 140 of file GlobalMap.h.

+ +
+
+ +

◆ logOddsMiss_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::GlobalMap::logOddsMiss_
+ 		+protected
+
+ +

Definition at line 141 of file GlobalMap.h.

+ +
+
+ +

◆ logOddsClampingMin_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::GlobalMap::logOddsClampingMin_
+ 		+protected
+
+ +

Definition at line 142 of file GlobalMap.h.

+ +
+
+ +

◆ logOddsClampingMax_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::GlobalMap::logOddsClampingMax_
+ 		+protected
+
+ +

Definition at line 143 of file GlobalMap.h.

+ +
+
+ +

◆ minValues_

+ +
+
+ + + + + +
+ + + + +
double rtabmap::GlobalMap::minValues_[3]
+ 		+protected
+
+ +

Definition at line 145 of file GlobalMap.h.

+ +
+
+ +

◆ maxValues_

+ +
+
+ + + + + +
+ + + + +
double rtabmap::GlobalMap::maxValues_[3]
+ 		+protected
+
+ +

Definition at line 146 of file GlobalMap.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::GridMap Member List
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This is the complete list of members for rtabmap::GridMap, including all inherited members.

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addAssembledNode(int id, const Transform &pose)rtabmap::GlobalMapprotected
addedNodes() constrtabmap::GlobalMapinline
assemble(const std::list< std::pair< int, Transform > > &newPoses)rtabmap::GridMapprotectedvirtual
assembledNodes() constrtabmap::GlobalMapinlineprotected
cache() constrtabmap::GlobalMapinlineprotected
cellSize_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
clear()rtabmap::GridMapvirtual
createColorMap(float &xMin, float &yMin, float &cellSize) const (defined in rtabmap::GridMap)rtabmap::GridMap
createHeightMap(float &xMin, float &yMin, float &cellSize) const (defined in rtabmap::GridMap)rtabmap::GridMap
createTerrainCloud() const (defined in rtabmap::GridMap)rtabmap::GridMap
createTerrainMesh() const (defined in rtabmap::GridMap)rtabmap::GridMap
fullUpdateNeeded(const std::map< int, Transform > &poses) constrtabmap::GlobalMap
getCellSize() constrtabmap::GlobalMapinline
getGridMax(double &x, double &y) constrtabmap::GlobalMapinline
getGridMax(double &x, double &y, double &z) constrtabmap::GlobalMapinline
getGridMin(double &x, double &y) constrtabmap::GlobalMapinline
getGridMin(double &x, double &y, double &z) constrtabmap::GlobalMapinline
getMemoryUsed() constrtabmap::GlobalMapvirtual
getUpdateError() constrtabmap::GlobalMapinline
GlobalMap(const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())rtabmap::GlobalMapprotected
gridMap() const (defined in rtabmap::GridMap)rtabmap::GridMapinline
GridMap(const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::GridMap)rtabmap::GridMap
isNodeAssembled(int id)rtabmap::GlobalMapinlineprotected
logodds(double probability)rtabmap::GlobalMapinlinestatic
logOddsClampingMax_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsClampingMin_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsHit_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsMiss_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
maxValues_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
minValues_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
occupancyThr_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
probability(double logodds)rtabmap::GlobalMapinlinestatic
update(const std::map< int, Transform > &poses)rtabmap::GlobalMap
updateError_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
~GlobalMap() (defined in rtabmap::GlobalMap)rtabmap::GlobalMapvirtual
~GridMap() (defined in rtabmap::GridMap)rtabmap::GridMapvirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1GridMap.html b/preview/pr-1492/api/latest/classrtabmap_1_1GridMap.html new file mode 100644 index 00000000..f54ce9f8 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1GridMap.html @@ -0,0 +1,307 @@ + + + + + + + + +RTAB-Map: rtabmap::GridMap Class Reference + + + + + + + + + + + + +
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RTAB-Map 0.23.10 +
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+Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::GridMap Class Reference
+
+
+
+Inheritance diagram for rtabmap::GridMap:
+
+
Inheritance graph
+ + + + + +
[legend]
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+Collaboration diagram for rtabmap::GridMap:
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Collaboration graph
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+Public Member Functions

+ GridMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 
virtual void clear ()
 Clears assembled nodes and grid bounds; does not clear LocalGridCache.
 
const grid_map::GridMap * gridMap () const
 
+cv::Mat createHeightMap (float &xMin, float &yMin, float &cellSize) const
 
+cv::Mat createColorMap (float &xMin, float &yMin, float &cellSize) const
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr createTerrainCloud () const
 
+pcl::PolygonMesh::Ptr createTerrainMesh () const
 
- Public Member Functions inherited from rtabmap::GlobalMap
bool fullUpdateNeeded (const std::map< int, Transform > &poses) const
 True if the map should be rebuilt from cache (loop closure or disjoint graph).
 
bool update (const std::map< int, Transform > &poses)
 Incrementally assemble new nodes from poses.
 
float getCellSize () const
 
float getUpdateError () const
 
const std::map< int, Transform > & addedNodes () const
 
void getGridMin (double &x, double &y) const
 2D grid minimum (x, y) in meters.
 
void getGridMax (double &x, double &y) const
 2D grid maximum (x, y) in meters.
 
void getGridMin (double &x, double &y, double &z) const
 3D grid minimum (x, y, z) in meters.
 
void getGridMax (double &x, double &y, double &z) const
 3D grid maximum (x, y, z) in meters.
 
virtual unsigned long getMemoryUsed () const
 Approximate memory used by assembled-node bookkeeping (bytes).
 
+ + + + + + + + + + + + + + + + + +

+Protected Member Functions

virtual void assemble (const std::list< std::pair< int, Transform > > &newPoses)
 Subclass hook: merge newPoses into the global map; call addAssembledNode().
 
- Protected Member Functions inherited from rtabmap::GlobalMap
 GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 Constructs the base map; subclasses call from their constructor.
 
const std::map< int, LocalGrid > & cache () const
 
const std::map< int, Transform > & assembledNodes () const
 
bool isNodeAssembled (int id)
 
+void addAssembledNode (int id, const Transform &pose)
 Records a successfully assembled node (ids <= 0 are ignored).
 
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+Additional Inherited Members

- Static Public Member Functions inherited from rtabmap::GlobalMap
static float logodds (double probability)
 Converts probability in (0, 1) to log-odds.
 
static double probability (double logodds)
 Converts log-odds back to probability in (0, 1).
 
- Protected Attributes inherited from rtabmap::GlobalMap
float cellSize_
 
float updateError_
 
float occupancyThr_
 
float logOddsHit_
 
float logOddsMiss_
 
float logOddsClampingMin_
 
float logOddsClampingMax_
 
double minValues_ [3]
 
double maxValues_ [3]
 
+

Detailed Description

+
+

Definition at line 44 of file GridMap.h.

+

Member Function Documentation

+ +

◆ clear()

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virtual void rtabmap::GridMap::clear ()
+ 		+virtual
+
+ +

Clears assembled nodes and grid bounds; does not clear LocalGridCache.

+ +

Reimplemented from rtabmap::GlobalMap.

+ +
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+ +

◆ gridMap()

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const grid_map::GridMap * rtabmap::GridMap::gridMap () const
+ 		+inline
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+ +

Definition at line 52 of file GridMap.h.

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◆ assemble()

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virtual void rtabmap::GridMap::assemble (const std::list< std::pair< int, Transform > > & newPoses)
+ 		+protectedvirtual
+
+ +

Subclass hook: merge newPoses into the global map; call addAssembledNode().

+ +

Implements rtabmap::GlobalMap.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/global_map/GridMap.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::IMU Member List
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This is the complete list of members for rtabmap::IMU, including all inherited members.

+ + + + + + + + + + + + + +
angularVelocity() constrtabmap::IMUinline
angularVelocityCovariance() constrtabmap::IMUinline
convertToBaseFrame()rtabmap::IMU
empty() constrtabmap::IMUinline
IMU()rtabmap::IMUinline
IMU(const cv::Vec4d &orientation, const cv::Mat &orientationCovariance, const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())rtabmap::IMUinline
IMU(const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())rtabmap::IMUinline
linearAcceleration() constrtabmap::IMUinline
linearAccelerationCovariance() constrtabmap::IMUinline
localTransform() constrtabmap::IMUinline
orientation() constrtabmap::IMUinline
orientationCovariance() constrtabmap::IMUinline
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+Public Member Functions | +List of all members
+
rtabmap::IMU Class Reference
+
+
+ +

Inertial measurement sample (ROS sensor_msgs/Imu-like fields). + More...

+ +

#include <IMU.h>

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 IMU ()
 Default-constructs an empty sample (null localTransform()).
 
 IMU (const cv::Vec4d &orientation, const cv::Mat &orientationCovariance, const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())
 Constructs a sample with orientation and motion data.
 
 IMU (const cv::Vec3d &angularVelocity, const cv::Mat &angularVelocityCovariance, const cv::Vec3d &linearAcceleration, const cv::Mat &linearAccelerationCovariance, const Transform &localTransform=Transform::getIdentity())
 Constructs a sample without orientation (e.g. no magnetometer / no attitude).
 
const cv::Vec4d & orientation () const
 
const cv::Mat & orientationCovariance () const
 
const cv::Vec3d & angularVelocity () const
 
const cv::Mat & angularVelocityCovariance () const
 
const cv::Vec3d & linearAcceleration () const
 
const cv::Mat & linearAccelerationCovariance () const
 
const Transform & localTransform () const
 
void convertToBaseFrame ()
 Rotate motion (and optionally orientation) into the base frame.
 
bool empty () const
 True when localTransform() is null (placeholder / unset sample).
 
+

Detailed Description

+

Inertial measurement sample (ROS sensor_msgs/Imu-like fields).

+

Holds orientation (quaternion), angular velocity, linear acceleration, optional 3×3 row-major covariance matrices (double), and an optional Transform expressing the IMU frame relative to the robot base.

+

empty() is true when localTransform() is null (default constructor). A sample constructed with Transform::getIdentity() is not empty.

+

convertToBaseFrame() rotates linear/angular velocity (and orientation when quaternion x/y/z are non-zero) into the base frame, then clears rotation in localTransform() while keeping translation.

+
See also
SensorData::imu()
+
+IMUEvent
+ +

Definition at line 56 of file IMU.h.

+

Constructor & Destructor Documentation

+ +

◆ IMU() [1/3]

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rtabmap::IMU::IMU ()
+ 		+inline
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+ +

Default-constructs an empty sample (null localTransform()).

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Definition at line 60 of file IMU.h.

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+ +

◆ IMU() [2/3]

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rtabmap::IMU::IMU (const cv::Vec4d & orientation,
const cv::Mat & orientationCovariance,
const cv::Vec3d & angularVelocity,
const cv::Mat & angularVelocityCovariance,
const cv::Vec3d & linearAcceleration,
const cv::Mat & linearAccelerationCovariance,
const Transform & localTransform = Transform::getIdentity() 
)
+ 		+inline
+
+ +

Constructs a sample with orientation and motion data.

+
Parameters
+ + + + + + + + +
orientationUnit quaternion (qx, qy, qz, qw).
orientationCovariance3×3 row-major covariance about x, y, z (empty if unused).
angularVelocityRad/s about x, y, z.
angularVelocityCovariance3×3 row-major covariance (empty if unused).
linearAccelerationm/s² about x, y, z.
linearAccelerationCovariance3×3 row-major covariance (empty if unused).
localTransformIMU frame in base coordinates (default identity).
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+ +

Definition at line 72 of file IMU.h.

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+
+ +

◆ IMU() [3/3]

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rtabmap::IMU::IMU (const cv::Vec3d & angularVelocity,
const cv::Mat & angularVelocityCovariance,
const cv::Vec3d & linearAcceleration,
const cv::Mat & linearAccelerationCovariance,
const Transform & localTransform = Transform::getIdentity() 
)
+ 		+inline
+
+ +

Constructs a sample without orientation (e.g. no magnetometer / no attitude).

+
Parameters
+ + + + + + +
angularVelocityRad/s about x, y, z.
angularVelocityCovariance3×3 row-major covariance (empty if unused).
linearAccelerationm/s² about x, y, z.
linearAccelerationCovariance3×3 row-major covariance (empty if unused).
localTransformIMU frame in base coordinates (default identity).
+
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+ +

Definition at line 97 of file IMU.h.

+ +
+
+

Member Function Documentation

+ +

◆ orientation()

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const cv::Vec4d & rtabmap::IMU::orientation () const
+ 		+inline
+
+
Returns
Orientation quaternion (qx, qy, qz, qw).
+ +

Definition at line 111 of file IMU.h.

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+ +

◆ orientationCovariance()

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+ + + + + +
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const cv::Mat & rtabmap::IMU::orientationCovariance () const
+ 		+inline
+
+
Returns
3×3 orientation covariance (row-major, empty if orientation unset).
+ +

Definition at line 113 of file IMU.h.

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◆ angularVelocity()

+ +
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const cv::Vec3d & rtabmap::IMU::angularVelocity () const
+ 		+inline
+
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Returns
Angular velocity (rad/s).
+ +

Definition at line 116 of file IMU.h.

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◆ angularVelocityCovariance()

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const cv::Mat & rtabmap::IMU::angularVelocityCovariance () const
+ 		+inline
+
+
Returns
3×3 angular velocity covariance (row-major, empty if unused).
+ +

Definition at line 118 of file IMU.h.

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◆ linearAcceleration()

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const cv::Vec3d & rtabmap::IMU::linearAcceleration () const
+ 		+inline
+
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Returns
Linear acceleration (m/s²).
+ +

Definition at line 121 of file IMU.h.

+ +
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◆ linearAccelerationCovariance()

+ +
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const cv::Mat & rtabmap::IMU::linearAccelerationCovariance () const
+ 		+inline
+
+
Returns
3×3 linear acceleration covariance (row-major, empty if unused).
+ +

Definition at line 123 of file IMU.h.

+ +
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◆ localTransform()

+ +
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const Transform & rtabmap::IMU::localTransform () const
+ 		+inline
+
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Returns
Transform from IMU frame to base frame.
+ +

Definition at line 126 of file IMU.h.

+ +
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+ +

◆ convertToBaseFrame()

+ +
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+ + + + + + + +
void rtabmap::IMU::convertToBaseFrame ()
+
+ +

Rotate motion (and optionally orientation) into the base frame.

+

Applies localTransform() rotation to vectors and covariances, then sets rotational part of localTransform() to identity (translation unchanged). No-op if localTransform() is null or rotation is identity. Orientation is updated only when quaternion qx, qy, qz, qw are not all zero.

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◆ empty()

+ +
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bool rtabmap::IMU::empty () const
+ 		+inline
+
+ +

True when localTransform() is null (placeholder / unset sample).

+ +

Definition at line 141 of file IMU.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/IMU.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent-members.html new file mode 100644 index 00000000..7b85f6aa --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent-members.html @@ -0,0 +1,100 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+
RTAB-Map 0.23.10 +
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+ + +
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+
rtabmap::IMUEvent Member List
+
+
+ +

This is the complete list of members for rtabmap::IMUEvent, including all inherited members.

+ + + + + + + + + +
getClassName() constrtabmap::IMUEventinlinevirtual
getCode() constUEventinline
getData() constrtabmap::IMUEventinline
getStamp() constrtabmap::IMUEventinline
IMUEvent()rtabmap::IMUEventinline
IMUEvent(const IMU &data, double stamp)rtabmap::IMUEventinline
UEvent(int code=0)UEventinlineprotected
~UEvent() (defined in UEvent)UEventinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent.html b/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent.html new file mode 100644 index 00000000..9ffc2de3 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUEvent.html @@ -0,0 +1,313 @@ + + + + + + + + +RTAB-Map: rtabmap::IMUEvent Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
+
rtabmap::IMUEvent Class Reference
+
+
+ +

UEvent carrying an IMU sample and timestamp. + More...

+ +

#include <IMU.h>

+
+Inheritance diagram for rtabmap::IMUEvent:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::IMUEvent:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + + + + +

+Public Member Functions

 IMUEvent ()
 Default-constructs an event with zero stamp.
 
 IMUEvent (const IMU &data, double stamp)
 Constructs an event with IMU data and stamp.
 
virtual std::string getClassName () const
 
const IMU & getData () const
 
double getStamp () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+

UEvent carrying an IMU sample and timestamp.

+ +

Definition at line 163 of file IMU.h.

+

Constructor & Destructor Documentation

+ +

◆ IMUEvent() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::IMUEvent::IMUEvent ()
+ 		+inline
+
+ +

Default-constructs an event with zero stamp.

+ +

Definition at line 167 of file IMU.h.

+ +
+
+ +

◆ IMUEvent() [2/2]

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rtabmap::IMUEvent::IMUEvent (const IMU & data,
double stamp 
)
+ 		+inline
+
+ +

Constructs an event with IMU data and stamp.

+
Parameters
+ + + +
dataIMU sample.
stampTimestamp in seconds.
+
+
+ +

Definition at line 175 of file IMU.h.

+ +
+
+

Member Function Documentation

+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::IMUEvent::getClassName () const
+ 		+inlinevirtual
+
+
Returns
Event type name for the utilite event system.
+ +

Implements UEvent.

+ +

Definition at line 181 of file IMU.h.

+ +
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+ +

◆ getData()

+ +
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+ + + + + + + +
const IMU & rtabmap::IMUEvent::getData () const
+ 		+inline
+
+
Returns
IMU payload.
+ +

Definition at line 183 of file IMU.h.

+ +
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+ +

◆ getStamp()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::IMUEvent::getStamp () const
+ 		+inline
+
+
Returns
Timestamp in seconds.
+ +

Definition at line 185 of file IMU.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/IMU.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::IMUFilter Member List
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+ +

This is the complete list of members for rtabmap::IMUFilter, including all inherited members.

+ + + + + + + + + + + + + +
create(const ParametersMap &parameters=ParametersMap())rtabmap::IMUFilterstatic
create(IMUFilter::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::IMUFilterstatic
getOrientation(double &qx, double &qy, double &qz, double &qw) const =0rtabmap::IMUFilterpure virtual
IMUFilter(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::IMUFilter)rtabmap::IMUFilterinlineprotected
kComplementaryFilter enum value (defined in rtabmap::IMUFilter)rtabmap::IMUFilter
kMadgwick enum valuertabmap::IMUFilter
parseParameters(const ParametersMap &parameters)rtabmap::IMUFilterinlinevirtual
reset(double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)=0rtabmap::IMUFilterpure virtual
Type enum namertabmap::IMUFilter
type() const =0rtabmap::IMUFilterpure virtual
update(double gx, double gy, double gz, double ax, double ay, double az, double stamp)rtabmap::IMUFilter
~IMUFilter() (defined in rtabmap::IMUFilter)rtabmap::IMUFilterinlinevirtual
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::IMUFilter Class Referenceabstract
+
+
+ +

Fuses gyroscope and accelerometer samples into an orientation quaternion. + More...

+ +

#include <IMUFilter.h>

+ + + + + +

+Public Types

enum  Type { kMadgwick = 0 +, kComplementaryFilter = 1 + }
 Orientation fusion algorithm. More...
 
+ + + + + + + + + + + + + + + +

+Public Member Functions

virtual void parseParameters (const ParametersMap &parameters)
 Re-reads filter parameters from parameters.
 
void update (double gx, double gy, double gz, double ax, double ay, double az, double stamp)
 Integrates one IMU sample and updates the internal orientation estimate.
 
virtual IMUFilter::Type type () const =0
 
virtual void getOrientation (double &qx, double &qy, double &qz, double &qw) const =0
 Current orientation estimate.
 
virtual void reset (double qx=0.0, double qy=0.0, double qz=0.0, double qw=1.0)=0
 Resets internal state to the given orientation.
 
+ + + + + + + +

+Static Public Member Functions

static IMUFilter * create (const ParametersMap &parameters=ParametersMap())
 Creates a filter using type parsed from parameters.
 
static IMUFilter * create (IMUFilter::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a filter of the given type.
 
+ + + +

+Protected Member Functions

 IMUFilter (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

Fuses gyroscope and accelerometer samples into an orientation quaternion.

+

Implementations integrate angular rates and correct drift using the measured gravity vector. The public update() API takes timestamps and computes the time step between consecutive calls.

+

Factory methods create() return heap-allocated instances; the caller owns the pointer (e.g. SensorCaptureThread, IMUThread, Camera).

+

Output orientation from getOrientation() is a unit quaternion (qx, qy, qz, qw) in the same convention as IMU (body frame).

+

Filter tuning parameters are read from ParametersMap (ImuFilter/... keys); see ComplementaryFilter and MadgwickFilter (when RTAB-Map is built with Madgwick support).

+
See also
IMU
+
+SensorCaptureThread::enableIMUFiltering()
+ +

Definition at line 58 of file IMUFilter.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::IMUFilter::Type
+
+ +

Orientation fusion algorithm.

+ + +
Enumerator
kMadgwick 

Madgwick AHRS (attitude and heading reference system). RTAB-Map must be built with Madgwick support.

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+ +

Definition at line 64 of file IMUFilter.h.

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+
+

Constructor & Destructor Documentation

+ +

◆ ~IMUFilter()

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virtual rtabmap::IMUFilter::~IMUFilter ()
+ 		+inlinevirtual
+
+ +

Definition at line 84 of file IMUFilter.h.

+ +
+
+ +

◆ IMUFilter()

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rtabmap::IMUFilter::IMUFilter (const ParametersMap & parameters = ParametersMap())
+ 		+inlineprotected
+
+ +

Definition at line 129 of file IMUFilter.h.

+ +
+
+

Member Function Documentation

+ +

◆ create() [1/2]

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+
+ + + + + +
+ + + + + + + + +
static IMUFilter * rtabmap::IMUFilter::create (const ParametersMap & parameters = ParametersMap())
+ 		+static
+
+ +

Creates a filter using type parsed from parameters.

+
Parameters
+ + +
parametersOptional ImuFilter/... tuning parameters.
+
+
+
Returns
New filter instance (caller owns the pointer).
+ +
+
+ +

◆ create() [2/2]

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static IMUFilter * rtabmap::IMUFilter::create (IMUFilter::Type type,
const ParametersMap & parameters = ParametersMap() 
)
+ 		+static
+
+ +

Creates a filter of the given type.

+
Parameters
+ + + +
typeFusion algorithm; falls back to kComplementaryFilter if kMadgwick is requested but not compiled in.
parametersOptional ImuFilter/... tuning parameters.
+
+
+
Returns
New filter instance (caller owns the pointer).
+ +
+
+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::IMUFilter::parseParameters (const ParametersMap & parameters)
+ 		+inlinevirtual
+
+ +

Re-reads filter parameters from parameters.

+
Parameters
+ + +
parametersImuFilter/... keys (implementation-specific).
+
+
+ +

Definition at line 90 of file IMUFilter.h.

+ +
+
+ +

◆ update()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::IMUFilter::update (double gx,
double gy,
double gz,
double ax,
double ay,
double az,
double stamp 
)
+
+ +

Integrates one IMU sample and updates the internal orientation estimate.

+
Parameters
+ + + + + + + + +
gxGyroscope x angular rate (rad/s).
gyGyroscope y angular rate (rad/s).
gzGyroscope z angular rate (rad/s).
axAccelerometer x (m/s²; magnitude ~9.81 when stationary).
ayAccelerometer y (m/s²).
azAccelerometer z (m/s²).
stampSample time (seconds); used with the previous stamp to compute dt.
+
+
+ +
+
+ +

◆ type()

+ +
+
+ + + + + +
+ + + + + + + +
virtual IMUFilter::Type rtabmap::IMUFilter::type () const
+ 		+pure virtual
+
+
Returns
Active fusion algorithm type.
+ +
+
+ +

◆ getOrientation()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::IMUFilter::getOrientation (double & qx,
double & qy,
double & qz,
double & qw 
) const
+ 		+pure virtual
+
+ +

Current orientation estimate.

+
Parameters
+ + + + + +
qxQuaternion x
qyQuaternion y
qzQuaternion z
qwQuaternion w (scalar)
+
+
+ +
+
+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual void rtabmap::IMUFilter::reset (double qx = 0.0,
double qy = 0.0,
double qz = 0.0,
double qw = 1.0 
)
+ 		+pure virtual
+
+ +

Resets internal state to the given orientation.

+
Parameters
+ + + + + +
qxQuaternion x (default 0)
qyQuaternion y (default 0)
qzQuaternion z (default 0)
qwQuaternion w (default 1, identity)
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread-members.html new file mode 100644 index 00000000..648b6b1a --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread-members.html @@ -0,0 +1,140 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::IMUThread Member List
+
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+ +

This is the complete list of members for rtabmap::IMUThread, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
currentThreadId() (defined in UThread)UThreadinlinestatic
Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
disableIMUFiltering()rtabmap::IMUThread
enableIMUFiltering(int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)rtabmap::IMUThread
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
getThreadHandle() const (defined in UThread)UThreadinline
getThreadId() const (defined in UThread)UThreadinline
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
IMUThread(int rate, const Transform &localTransform)rtabmap::IMUThread
init(const std::string &path)rtabmap::IMUThread
isCreating() constUThread
isIdle() constUThread
isKilled() constUThread
isRunning() constUThread
Join(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
join(bool killFirst=false)UThread
Kill(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kill()UThread
kPAboveNormal enum value (defined in UThread)UThread
kPBelowNormal enum value (defined in UThread)UThread
kPLow enum value (defined in UThread)UThread
kPNormal enum value (defined in UThread)UThread
kPRealTime enum value (defined in UThread)UThread
post(UEvent *event, bool async=true) constUEventsSenderprotected
Priority enum nameUThread
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
setAffinity(int cpu=0)UThread
setPriority(Priority priority)UThread
setRate(int rate)rtabmap::IMUThread
start()UThread
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
UEventsSender() (defined in UEventsSender)UEventsSenderinline
UThread(Priority priority=kPNormal)UThread
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
~IMUThread() (defined in rtabmap::IMUThread)rtabmap::IMUThreadvirtual
~UEventsSender() (defined in UEventsSender)UEventsSendervirtual
~UThread()UThreadvirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread.html b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread.html new file mode 100644 index 00000000..0daa3979 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread.html @@ -0,0 +1,369 @@ + + + + + + + + +RTAB-Map: rtabmap::IMUThread Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
+
rtabmap::IMUThread Class Reference
+
+
+ +

Background thread that replays IMU measurements from a CSV file. + More...

+ +

#include <IMUThread.h>

+
+Inheritance diagram for rtabmap::IMUThread:
+
+
Inheritance graph
+ + + + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::IMUThread:
+
+
Collaboration graph
+ + + + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 IMUThread (int rate, const Transform &localTransform)
 Constructs the replay thread.
 
bool init (const std::string &path)
 Opens and validates an IMU CSV file.
 
+void setRate (int rate)
 Sets the target playback rate in Hz.
 
void enableIMUFiltering (int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
 Enables orientation fusion on replayed samples.
 
+void disableIMUFiltering ()
 Disables fusion and deletes the internal IMUFilter.
 
- Public Member Functions inherited from UThread
 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
void start ()
 
void kill ()
 
void join (bool killFirst=false)
 
void setPriority (Priority priority)
 
void setAffinity (int cpu=0)
 
bool isCreating () const
 
bool isRunning () const
 
bool isIdle () const
 
bool isKilled () const
 
Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from UThread
enum  Priority {
+  kPLow +, kPBelowNormal +, kPNormal +, kPAboveNormal +,
+  kPRealTime +
+ }
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
- Static Public Member Functions inherited from UThread
static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
- Protected Member Functions inherited from UEventsSender
void post (UEvent *event, bool async=true) const
 
- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+

Detailed Description

+

Background thread that replays IMU measurements from a CSV file.

+

Reads gyroscope and accelerometer samples from a comma-separated file (EuRoC-style or epoch timestamps), optionally fuses them with IMUFilter, and posts IMUEvent on each step.

+

CSV format:

    +
  • First line: header (skipped).
    • +
  • Following lines: stamp,gx,gy,gz,ax,ay,az (stamp in seconds with a decimal point, or EuRoC nanoseconds without one).
    • +
+

Playback rate is limited by setRate() when rate > 0; otherwise samples are read as fast as possible (or spaced using inter-sample timestamps after the first pair). When the file ends, the thread posts an empty IMUEvent and stops.

+
See also
IMUEvent
+
+IMUFilter
+
+SensorCaptureThread::enableIMUFiltering()
+ +

Definition at line 65 of file IMUThread.h.

+

Constructor & Destructor Documentation

+ +

◆ IMUThread()

+ +
+
+ + + + + + + + + + + + + + + + + + +
rtabmap::IMUThread::IMUThread (int rate,
const Transform & localTransform 
)
+
+ +

Constructs the replay thread.

+
Parameters
+ + + +
rateTarget playback rate in Hz (0 = no rate cap until timestamps apply).
localTransformIMU frame relative to the robot base (stored in each IMU).
+
+
+ +
+
+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + + + + +
bool rtabmap::IMUThread::init (const std::string & path)
+
+ +

Opens and validates an IMU CSV file.

+
Parameters
+ + +
pathPath to the CSV file.
+
+
+
Returns
False if the file is missing or contains no data rows.
+ +
+
+ +

◆ enableIMUFiltering()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::IMUThread::enableIMUFiltering (int filteringStrategy = 1,
const ParametersMap & parameters = ParametersMap(),
bool baseFrameConversion = false 
)
+
+ +

Enables orientation fusion on replayed samples.

+
Parameters
+ + + + +
filteringStrategyIMUFilter::Type index (0 = Madgwick, 1 = complementary).
parametersOptional ImuFilter/... tuning parameters.
baseFrameConversionIf true, rotate IMU vectors into the base frame before filtering.
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread__coll__graph.map new file mode 100644 index 00000000..02926b5b --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread__coll__graph.map @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread__coll__graph.md5 new file mode 100644 index 00000000..485e9d3e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread__coll__graph.md5 @@ -0,0 +1 @@ +a45442278ea3ee1f1cc0193684240d5c \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1IMUThread__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..5eed9e65cbbface8a4640dd75ed9a9365251f37c GIT binary patch literal 8912 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rtabmap::KAZE Member List
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This is the complete list of members for rtabmap::KAZE, including all inherited members.

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computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::KAZE)rtabmap::KAZEinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() constrtabmap::Feature2Dinlinevirtual
KAZE(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::KAZE)rtabmap::KAZE
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::KAZE)rtabmap::KAZEvirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~KAZE() (defined in rtabmap::KAZE)rtabmap::KAZEvirtual
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rtabmap::KAZE Class Reference
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+ +

KAZE detector and descriptor (OpenCV 3+). + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::KAZE:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::KAZE:
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Collaboration graph
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[legend]
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+Public Member Functions

+ KAZE (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
virtual bool isGpuAvailable () const
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

KAZE detector and descriptor (OpenCV 3+).

+ +

Definition at line 620 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::KAZE::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::KAZE::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 627 of file Features2d.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1KAZE__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1KAZE__coll__graph.map new file mode 100644 index 00000000..13cb9e34 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1KAZE__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1KAZE__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1KAZE__coll__graph.md5 new file mode 100644 index 00000000..a56dee3e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1KAZE__coll__graph.md5 @@ -0,0 +1 @@ +3897632e8065b53e0d3828894a9dbde9 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1KAZE__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1KAZE__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..13a3f8cb53e4fd1ca2429aa520980f052f2911dc GIT binary patch literal 4329 zcmchbc{o(>`^P8yPL{HZeC#x1&sO#&C6Z*z82i43?2M3IeXWC-DbmQ2EkedvlAS1o zVak$yX>8&5`2Mcn_50)d|M!}ibFMk(I?p-xbHDHR{d&%`yLa>%>A2}25D258fsPs2 zW5Cagh6-#4(nfT^j>_Sdz7FK<{8QXo_5uQ7DKga2G!H3Qp9wR*7koy&weME))L%R& zi9It3O@nwbN#lPpe}y77=?!6*;B@b%q8w4?&ZNl0!p`OA|5%q&J^r$Q_BJU%p}3S}2C>ERN7BkWZg+`~iC-`~IZt{7o$ zEhR3FLinG5V$el)@f(x+NoWFr0I9J|`TW_S!lsE;Mn=X0i+6@giHmFM=)}Eic1eBz zUN%ujsAYFh)fknKkZ}KqzZ{|LF(D-^Dtc8xfy2F?n~RIw~Z`)%Wk;`x3huDJUoi#Pl2S2Eq>Ac{ido zP7jF8|H{tp7#d>sZ{ltAnd?41Io<|ip9do@E^Zu!OwG&Aj@M1TRPyRo=UQ%0xE$*7N3NrFdIT-WWRjbI^#L+q0`_SbBP-78I`RNwU*6TwADIwts*~^lA(7%y>y{oHhFP@RdHDI!KssJW0A2{q~F2QkLMP}v0 z6BF@AN1=&b4j8YFj*i^9Cu;m!+S;b3rntJ>D8~xfu zuGytT9Fyk%e0wAiSdg842@;LL5UV|?Dme92Rf(0MgPoyu_4R_XvaB8x6`Fc_R6vy5 zeb+waw%p!lG8=l2LRo)0A=x%`W5fZXy^08jY-Oqo2 zL87hR#am#zNbA!zA=?gdPoJJw*-yWwrY2+MN}HzGg$0M?Q=@^J?td5F+xysDuVa~g zQ7DuJhr@|UNN9O_N;%4Mp)nXgP~D(0;HK1ngW)pJ-*3!&NOp`Ys{g07`mO|Yk39wpl*rXsWc1>ow1bkP_HR@9UUF} zsX8|n8VZqgltzR~ED|Z0Wd!q?RRiNuUu)eP&2X>o&ec|rnfGr}ezGGxSa2Qrj7?NX zN{V52cJ@tq`GuUm`Zo=2JuDDlKwBUSSLNl|@0A*BA`ryt-^*)jIt~s(yu7?yzj7XF ziM-Ghc>zEDd#HC(p!S4SHje?M7}WN8THe>zW@cq6EZ0>3tM~Y3XlSUcuIUZ6K50jz z*Q{)!cRCNYiK$Z_9v-H)wu~T<{(|dl?PJ$dEU>!1zEBlaRa0y0zKYeAp59*CtgNhD zc{f%yb@gMurFne92R|a!Vt*dq^WMXUv@$u#(b14nuVR?CwswtE-z6#A=C5nH!JD(X zwzhm7c>I7&PF9xY6&B9aZ#h=)^t83f$;ioX%dj$=TSxV5;gHn8%D49S6OxnZf&M^Z z;4UuTHUmZ;@c~)uRn@73Vh_kGuc%;e=RC< z93kd1HdMoK;t@57sufqHt~1{2$V{d0;{rTChjJcM|WcDUezFQB9H5tQv;OyB%! zat!(P2sO-Fk z{5a+36ECE0LvE5|Uz}J8x zHR3o*x>}I6Tk!jqq;#>k6eZ)a2DaIa4ta*6=#T=(q2C2BL^m}eREG^LAEyN=)TVJ# z&=OgO+ub2l0jpx|gP9%AFUq(XUxA0~`MfNd!Qocf?MeAUw~>mzHB&!S9PEWthL)eH zKevYp03M>0acXaAJWc06IHMLc&VXuM&F_}Di;PV9vQCzrZlH;vp(V;$zSKX4B*s&| zTp5!;^*TWa0NX7Gp~V(@|87;i^;(-e?DwU0I1ZrZ-aHW(-l|Z)rI_ z3~JO*=P#+OWCHpITqLp%EZo=E*M3S>MWuMe^@vYfC^LF!NgFd#jKSa?TdS(BQIN%C zkzAK8dAbojX}}DCFZ6yOKCE41^WG ze{{hoK}juiD$2^m;5k(anbHMr=tV@RgI)zpiLkVk5VpTj(%Q<$u8YIt$%~4LoR7y= z0s%ormz9YELpSc8-#vU&Rh583@x*BfLW*l@E`nh|#6dx4yxF+!wVARen6;JF767Bg zW{-TK5V-Sz%)XeU zBp&!_P57aIXJ=~z$Vd$d35oOmM+ylF47A^zZKa{5#dSQTPdHpl z;kAgn2+2pG0Kw(4tWDMT{q$0S!7>k9u~>SL0bOwQ!oor>skvF@^DloI3bG$<5j>B= zw<%*|V+lkeIblVzf3Q#$?&FhAe_4jm`Hao-V~{i&jRw(Y6c(mpA5;k`Do#isLPJ70 zTj@x)RM9&-{s3Zx0D;Rn_d~FDUH!w<)ruIGGj^5~94ezJ3AnLezvR0S{IP6p(2A{7s=uK*hc8i1?>Z1*N1? 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zCL1>WhdzLIF}xD!y#Mf>g*JAa3<5L>6y`nK@+^T_AisdXcO#N_U|;~ihtw`#P$#cMMbGYTZ{4neg~=m+y@@OXUy0>_Moqz zfVZ=!2Z`l}N@uL?#C2o0e7{QUd{QBl#5kdXGlK_*H{%3QT4 zvKzCl$$$TbrwH7bUG@X4u(7eRwY!T4nA%R<-ujKLVk)PKxd~l^Nvp?Phz3CCIaNms zKpJ_c3=hO_XW)RhjQrvU^1}Sb8>QW_4bZ8m*@h9WNK%Z z_T`I_^7ZS25)yPE;~|H?a`GYc933SCPYGr--*&=Pp5>WNzvOEJVJ&<6D|Gbq^FM#a z<>zx#P*TE2Um5E4q@cx?|D5A*3|b8MWMEJb(0ATnAmH|~F*cB))YMdw)z+34<4Sc> zS#2#FfN?Q#@k#hLo2MXZ#zr#B=-rHhHBcf& zKEf$@;Y;#Wf<9R3n + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::Landmark Member List
+
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+ +

This is the complete list of members for rtabmap::Landmark, including all inherited members.

+ + + + + + + + + +
covariance() constrtabmap::Landmarkinline
id() constrtabmap::Landmarkinline
Landmark()rtabmap::Landmarkinline
Landmark(const int &id, const float &size, const Transform &pose, const cv::Mat &covariance)rtabmap::Landmarkinline
Landmark(const int &id, const Transform &pose, const cv::Mat &covariance)rtabmap::Landmarkinline
pose() constrtabmap::Landmarkinline
size() constrtabmap::Landmarkinline
~Landmark() (defined in rtabmap::Landmark)rtabmap::Landmarkinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
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+Public Member Functions | +List of all members
+
rtabmap::Landmark Class Reference
+
+
+ +

Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map. + More...

+ +

#include <Landmark.h>

+ + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 Landmark ()
 Default-constructs an invalid landmark (id == 0).
 
 Landmark (const int &id, const float &size, const Transform &pose, const cv::Mat &covariance)
 Constructs a landmark with size, pose, and covariance.
 
RTABMAP_DEPRECATED Landmark (const int &id, const Transform &pose, const cv::Mat &covariance)
 Deprecated; use the constructor with explicit size (0 if unknown).
 
const int & id () const
 
const float & size () const
 
const Transform & pose () const
 
const cv::Mat & covariance () const
 
+

Detailed Description

+

Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map.

+

Stores a positive landmark id(), optional physical size() (m), world pose(), and a 6×6 pose covariance matrix (x, y, z, roll, pitch, yaw).

+

Used in Landmarks maps on SensorData and in memory during SLAM. Graph constraints to landmarks use Link::kLandmark with a negative landmark id on the link (to is typically -id()).

+

Covariance diagonal entries must be finite and strictly positive. Use a large value (e.g. 9999) on angular axes when orientation uncertainty is unknown.

+
See also
SensorData::setLandmarks()
+
+Signature::addLandmark()
+ +

Definition at line 56 of file Landmark.h.

+

Constructor & Destructor Documentation

+ +

◆ Landmark() [1/3]

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::Landmark::Landmark ()
+ 		+inline
+
+ +

Default-constructs an invalid landmark (id == 0).

+ +

Definition at line 60 of file Landmark.h.

+ +
+
+ +

◆ Landmark() [2/3]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::Landmark::Landmark (const int & id,
const float & size,
const Transform & pose,
const cv::Mat & covariance 
)
+ 		+inline
+
+ +

Constructs a landmark with size, pose, and covariance.

+
Parameters
+ + + + + +
idPositive landmark identifier.
sizePhysical size of the marker (m); 0 if unknown.
poseLandmark pose in the base frame (typically the robot frame).
covariance6×6 CV_64FC1 covariance (diagonal entries must be > 0).
+
+
+ +

Definition at line 72 of file Landmark.h.

+ +
+
+ +

◆ Landmark() [3/3]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::Landmark::Landmark (const int & id,
const Transform & pose,
const cv::Mat & covariance 
)
+ 		+inline
+
+ +

Deprecated; use the constructor with explicit size (0 if unknown).

+ +

Definition at line 115 of file Landmark.h.

+ +
+
+ +

◆ ~Landmark()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::Landmark::~Landmark ()
+ 		+inlinevirtual
+
+ +

Definition at line 94 of file Landmark.h.

+ +
+
+

Member Function Documentation

+ +

◆ id()

+ +
+
+ + + + + +
+ + + + + + + +
const int & rtabmap::Landmark::id () const
+ 		+inline
+
+
Returns
Positive landmark id (map key in Landmarks).
+ +

Definition at line 97 of file Landmark.h.

+ +
+
+ +

◆ size()

+ +
+
+ + + + + +
+ + + + + + + +
const float & rtabmap::Landmark::size () const
+ 		+inline
+
+
Returns
Marker size in metres (0 if unknown).
+ +

Definition at line 99 of file Landmark.h.

+ +
+
+ +

◆ pose()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::Landmark::pose () const
+ 		+inline
+
+
Returns
Landmark pose in the map frame.
+ +

Definition at line 101 of file Landmark.h.

+ +
+
+ +

◆ covariance()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::Landmark::covariance () const
+ 		+inline
+
+
Returns
6×6 pose covariance (CV_64FC1).
+ +

Definition at line 103 of file Landmark.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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This is the complete list of members for rtabmap::LaserScan, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
angleIncrement() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
angleMax() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
angleMin() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
backwardCompatibility(const cv::Mat &oldScanFormat, int maxPoints=0, int maxRange=0, const Transform &localTransform=Transform::getIdentity())rtabmap::LaserScanstatic
backwardCompatibility(const cv::Mat &oldScanFormat, float minRange, float maxRange, float angleMin, float angleMax, float angleInc, const Transform &localTransform=Transform::getIdentity())rtabmap::LaserScanstatic
channels(const Format &format) (defined in rtabmap::LaserScan)rtabmap::LaserScanstatic
channels() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
clear()rtabmap::LaserScaninline
clone() const (defined in rtabmap::LaserScan)rtabmap::LaserScan
data() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
dataType() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
densify() const (defined in rtabmap::LaserScan)rtabmap::LaserScan
empty() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
field(unsigned int pointIndex, unsigned int channelOffset)rtabmap::LaserScan
format() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
Format enum namertabmap::LaserScan
formatName(const Format &format) (defined in rtabmap::LaserScan)rtabmap::LaserScanstatic
formatName() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
getIntensityOffset() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
getNormalsOffset() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
getRGBOffset() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
getRingOffset() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
getTimeOffset() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
hasIntensity() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
hasNormals() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
hasRGB() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
hasRing() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
hasTime() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
is2d() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
isCompressed() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
isEmpty() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
isOrganized() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
isScan2d(const Format &format) (defined in rtabmap::LaserScan)rtabmap::LaserScanstatic
isScanHasIntensity(const Format &format) (defined in rtabmap::LaserScan)rtabmap::LaserScanstatic
isScanHasNormals(const Format &format) (defined in rtabmap::LaserScan)rtabmap::LaserScanstatic
isScanHasRGB(const Format &format) (defined in rtabmap::LaserScan)rtabmap::LaserScanstatic
isScanHasRing(const Format &format) (defined in rtabmap::LaserScan)rtabmap::LaserScanstatic
isScanHasTime(const Format &format) (defined in rtabmap::LaserScan)rtabmap::LaserScanstatic
kUnknown enum valuertabmap::LaserScan
kXY enum valuertabmap::LaserScan
kXYI enum valuertabmap::LaserScan
kXYINormal enum valuertabmap::LaserScan
kXYNormal enum valuertabmap::LaserScan
kXYZ enum valuertabmap::LaserScan
kXYZI enum valuertabmap::LaserScan
kXYZINormal enum valuertabmap::LaserScan
kXYZIRT enum valuertabmap::LaserScan
kXYZIT enum valuertabmap::LaserScan
kXYZNormal enum valuertabmap::LaserScan
kXYZRGB enum valuertabmap::LaserScan
kXYZRGBNormal enum valuertabmap::LaserScan
LaserScan() (defined in rtabmap::LaserScan)rtabmap::LaserScan
LaserScan(const LaserScan &data, int maxPoints, float maxRange, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::LaserScan)rtabmap::LaserScan
LaserScan(const LaserScan &data, int maxPoints, float maxRange, Format format, const Transform &localTransform=Transform::getIdentity())rtabmap::LaserScan
LaserScan(const cv::Mat &data, int maxPoints, float maxRange, Format format, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::LaserScan)rtabmap::LaserScan
LaserScan(const LaserScan &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())rtabmap::LaserScan
LaserScan(const LaserScan &data, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::LaserScan)rtabmap::LaserScan
LaserScan(const cv::Mat &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity()) (defined in rtabmap::LaserScan)rtabmap::LaserScan
localTransform() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
maxPoints() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
operator+(const LaserScan &)rtabmap::LaserScan
operator+=(const LaserScan &)rtabmap::LaserScan
packRGB(unsigned char r, unsigned char g, unsigned char b) (defined in rtabmap::LaserScan)rtabmap::LaserScanstatic
rangeMax() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
rangeMin() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
setLocalTransform(const Transform &t) (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
size() const (defined in rtabmap::LaserScan)rtabmap::LaserScaninline
unpackRGB(float rgb, unsigned char &r, unsigned char &g, unsigned char &b) (defined in rtabmap::LaserScan)rtabmap::LaserScanstatic
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan.html b/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan.html new file mode 100644 index 00000000..53fa04e3 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LaserScan.html @@ -0,0 +1,1287 @@ + + + + + + + + +RTAB-Map: rtabmap::LaserScan Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
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+Public Types | +List of all members
+
rtabmap::LaserScan Class Reference
+
+
+ +

Represents 2D or 3D laser scan data with support for multiple point data formats. + More...

+ +

#include <LaserScan.h>

+ + + + + +

+Public Types

enum  Format {
+  kUnknown =0 +, kXY =1 +, kXYI =2 +, kXYNormal =3 +,
+  kXYINormal =4 +, kXYZ =5 +, kXYZI =6 +, kXYZRGB =7 +,
+  kXYZNormal =8 +, kXYZINormal =9 +, kXYZRGBNormal =10 +, kXYZIT =11 +,
+  kXYZIRT =12 +
+ }
 Enumeration of possible formats for laser scan data. More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

Constructors
+ LaserScan (const LaserScan &data, int maxPoints, float maxRange, const Transform &localTransform=Transform::getIdentity())
 
RTABMAP_DEPRECATED LaserScan (const LaserScan &data, int maxPoints, float maxRange, Format format, const Transform &localTransform=Transform::getIdentity())
 
+ LaserScan (const cv::Mat &data, int maxPoints, float maxRange, Format format, const Transform &localTransform=Transform::getIdentity())
 
RTABMAP_DEPRECATED LaserScan (const LaserScan &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())
 
+ LaserScan (const LaserScan &data, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())
 
+ LaserScan (const cv::Mat &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())
 
Accessors
const cv::Mat & data () const
 
Format format () const
 
std::string formatName () const
 
int channels () const
 
int maxPoints () const
 
float rangeMin () const
 
float rangeMax () const
 
float angleMin () const
 
float angleMax () const
 
float angleIncrement () const
 
void setLocalTransform (const Transform &t)
 
Transform localTransform () const
 
Status and Format Checks
bool empty () const
 
bool isEmpty () const
 
int size () const
 
int dataType () const
 
bool is2d () const
 
bool hasNormals () const
 
bool hasRGB () const
 
bool hasIntensity () const
 
bool hasTime () const
 
bool hasRing () const
 
bool isCompressed () const
 
bool isOrganized () const
 
+LaserScan clone () const
 
+LaserScan densify () const
 
Operations
int getIntensityOffset () const
 
int getRGBOffset () const
 
int getNormalsOffset () const
 
int getRingOffset () const
 
int getTimeOffset () const
 
float & field (unsigned int pointIndex, unsigned int channelOffset)
 Access a specific field value of a point.
 
void clear ()
 Clear the scan data.
 
+LaserScan & operator+= (const LaserScan &)
 Concatenate scan's data (localTransform is ignored).
 
+LaserScan operator+ (const LaserScan &)
 Concatenate scan's data (localTransform is ignored).
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Static Public Member Functions

Static Utility Functions
+static std::string formatName (const Format &format)
 
+static int channels (const Format &format)
 
+static bool isScan2d (const Format &format)
 
+static bool isScanHasNormals (const Format &format)
 
+static bool isScanHasRGB (const Format &format)
 
+static bool isScanHasIntensity (const Format &format)
 
+static bool isScanHasTime (const Format &format)
 
+static bool isScanHasRing (const Format &format)
 
+static float packRGB (unsigned char r, unsigned char g, unsigned char b)
 
+static void unpackRGB (float rgb, unsigned char &r, unsigned char &g, unsigned char &b)
 
+static LaserScan backwardCompatibility (const cv::Mat &oldScanFormat, int maxPoints=0, int maxRange=0, const Transform &localTransform=Transform::getIdentity())
 Converts legacy scan format to a LaserScan object.
 
+static LaserScan backwardCompatibility (const cv::Mat &oldScanFormat, float minRange, float maxRange, float angleMin, float angleMax, float angleInc, const Transform &localTransform=Transform::getIdentity())
 Converts legacy scan format with additional metadata to a LaserScan.
 
+

Detailed Description

+

Represents 2D or 3D laser scan data with support for multiple point data formats.

+

The LaserScan class stores structured laser scan data used in SLAM, mapping, and perception. It supports various formats including point coordinates, intensity, normals, RGB colors, and timestamps. Utility methods are provided for format checking, cloning, and combining scans.

+ +

Definition at line 45 of file LaserScan.h.

+

Member Enumeration Documentation

+ +

◆ Format

+ +
+
+ + + + +
enum rtabmap::LaserScan::Format
+
+ +

Enumeration of possible formats for laser scan data.

+

These values represent different combinations of point attributes that can be stored in a laser scan. The format determines how each point in the scan is structured.

+ + + + + + + + + + + + + + +
Enumerator
kUnknown 

Unknown format.

+
kXY 

2D points with X and Y coordinates.

+
kXYI 

2D points with X, Y and intensity.

+
kXYNormal 

2D points with X, Y and normal vectors.

+
kXYINormal 

2D points with X, Y, intensity and normal vectors.

+
kXYZ 

3D points with X, Y and Z coordinates.

+
kXYZI 

3D points with X, Y, Z and intensity.

+
kXYZRGB 

3D points with X, Y, Z and RGB color.

+
kXYZNormal 

3D points with X, Y, Z and normal vectors.

+
kXYZINormal 

3D points with X, Y, Z, intensity and normal vectors.

+
kXYZRGBNormal 

3D points with X, Y, Z, RGB color and normal vectors.

+
kXYZIT 

3D points with X, Y, Z, intensity and time.

+
kXYZIRT 

3D points with X, Y, Z, intensity, ring and time.

+
+ +

Definition at line 55 of file LaserScan.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ LaserScan() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
RTABMAP_DEPRECATED rtabmap::LaserScan::LaserScan (const LaserScan & data,
int maxPoints,
float maxRange,
Format format,
const Transform & localTransform = Transform::getIdentity() 
)
+
+
Deprecated:
Use constructor without format argument.
+ +
+
+ +

◆ LaserScan() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
RTABMAP_DEPRECATED rtabmap::LaserScan::LaserScan (const LaserScan & data,
Format format,
float minRange,
float maxRange,
float angleMin,
float angleMax,
float angleIncrement,
const Transform & localTransform = Transform::getIdentity() 
)
+
+
Deprecated:
Use constructor without format argument.
+ +
+
+

Member Function Documentation

+ +

◆ data()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::LaserScan::data () const
+ 		+inline
+
+ +

Definition at line 156 of file LaserScan.h.

+ +
+
+ +

◆ format()

+ +
+
+ + + + + +
+ + + + + + + +
Format rtabmap::LaserScan::format () const
+ 		+inline
+
+ +

Definition at line 157 of file LaserScan.h.

+ +
+
+ +

◆ formatName()

+ +
+
+ + + + + +
+ + + + + + + +
std::string rtabmap::LaserScan::formatName () const
+ 		+inline
+
+ +

Definition at line 158 of file LaserScan.h.

+ +
+
+ +

◆ channels()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::LaserScan::channels () const
+ 		+inline
+
+ +

Definition at line 159 of file LaserScan.h.

+ +
+
+ +

◆ maxPoints()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::LaserScan::maxPoints () const
+ 		+inline
+
+ +

Definition at line 160 of file LaserScan.h.

+ +
+
+ +

◆ rangeMin()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::LaserScan::rangeMin () const
+ 		+inline
+
+ +

Definition at line 161 of file LaserScan.h.

+ +
+
+ +

◆ rangeMax()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::LaserScan::rangeMax () const
+ 		+inline
+
+ +

Definition at line 162 of file LaserScan.h.

+ +
+
+ +

◆ angleMin()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::LaserScan::angleMin () const
+ 		+inline
+
+ +

Definition at line 163 of file LaserScan.h.

+ +
+
+ +

◆ angleMax()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::LaserScan::angleMax () const
+ 		+inline
+
+ +

Definition at line 164 of file LaserScan.h.

+ +
+
+ +

◆ angleIncrement()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::LaserScan::angleIncrement () const
+ 		+inline
+
+ +

Definition at line 165 of file LaserScan.h.

+ +
+
+ +

◆ setLocalTransform()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::LaserScan::setLocalTransform (const Transform & t)
+ 		+inline
+
+ +

Definition at line 166 of file LaserScan.h.

+ +
+
+ +

◆ localTransform()

+ +
+
+ + + + + +
+ + + + + + + +
Transform rtabmap::LaserScan::localTransform () const
+ 		+inline
+
+ +

Definition at line 167 of file LaserScan.h.

+ +
+
+ +

◆ empty()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LaserScan::empty () const
+ 		+inline
+
+ +

Definition at line 172 of file LaserScan.h.

+ +
+
+ +

◆ isEmpty()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LaserScan::isEmpty () const
+ 		+inline
+
+ +

Definition at line 173 of file LaserScan.h.

+ +
+
+ +

◆ size()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::LaserScan::size () const
+ 		+inline
+
+ +

Definition at line 174 of file LaserScan.h.

+ +
+
+ +

◆ dataType()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::LaserScan::dataType () const
+ 		+inline
+
+ +

Definition at line 175 of file LaserScan.h.

+ +
+
+ +

◆ is2d()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LaserScan::is2d () const
+ 		+inline
+
+ +

Definition at line 176 of file LaserScan.h.

+ +
+
+ +

◆ hasNormals()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LaserScan::hasNormals () const
+ 		+inline
+
+ +

Definition at line 177 of file LaserScan.h.

+ +
+
+ +

◆ hasRGB()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LaserScan::hasRGB () const
+ 		+inline
+
+ +

Definition at line 178 of file LaserScan.h.

+ +
+
+ +

◆ hasIntensity()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LaserScan::hasIntensity () const
+ 		+inline
+
+ +

Definition at line 179 of file LaserScan.h.

+ +
+
+ +

◆ hasTime()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LaserScan::hasTime () const
+ 		+inline
+
+ +

Definition at line 180 of file LaserScan.h.

+ +
+
+ +

◆ hasRing()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LaserScan::hasRing () const
+ 		+inline
+
+ +

Definition at line 181 of file LaserScan.h.

+ +
+
+ +

◆ isCompressed()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LaserScan::isCompressed () const
+ 		+inline
+
+ +

Definition at line 182 of file LaserScan.h.

+ +
+
+ +

◆ isOrganized()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LaserScan::isOrganized () const
+ 		+inline
+
+ +

Definition at line 183 of file LaserScan.h.

+ +
+
+ +

◆ getIntensityOffset()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::LaserScan::getIntensityOffset () const
+ 		+inline
+
+ +

Definition at line 190 of file LaserScan.h.

+ +
+
+ +

◆ getRGBOffset()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::LaserScan::getRGBOffset () const
+ 		+inline
+
+ +

Definition at line 191 of file LaserScan.h.

+ +
+
+ +

◆ getNormalsOffset()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::LaserScan::getNormalsOffset () const
+ 		+inline
+
+ +

Definition at line 192 of file LaserScan.h.

+ +
+
+ +

◆ getRingOffset()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::LaserScan::getRingOffset () const
+ 		+inline
+
+ +

Definition at line 193 of file LaserScan.h.

+ +
+
+ +

◆ getTimeOffset()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::LaserScan::getTimeOffset () const
+ 		+inline
+
+ +

Definition at line 194 of file LaserScan.h.

+ +
+
+ +

◆ field()

+ +
+
+ + + + + + + + + + + + + + + + + + +
float & rtabmap::LaserScan::field (unsigned int pointIndex,
unsigned int channelOffset 
)
+
+ +

Access a specific field value of a point.

+
Parameters
+ + + +
pointIndexIndex of the point.
channelOffsetChannel offset to access (e.g., 0=X, 1=Y, 2=Z if 2D, for other fields, use corresponding getter functions).
+
+
+
Returns
Reference to the field value.
+
See also
getIntensityOffset() getRGBOffset() getNormalsOffset() getTimeOffset()
+ +
+
+ +

◆ clear()

+ +
+
+ + + + + +
+ + + + + + + +
void rtabmap::LaserScan::clear ()
+ 		+inline
+
+ +

Clear the scan data.

+ +

Definition at line 208 of file LaserScan.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Lidar-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Lidar-members.html new file mode 100644 index 00000000..a6588011 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Lidar-members.html @@ -0,0 +1,108 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
+
+ + + + + + +
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rtabmap::Lidar Member List
+
+
+ +

This is the complete list of members for rtabmap::Lidar, including all inherited members.

+ + + + + + + + + + + + + + + + + +
captureData(SensorCaptureInfo *info=0)=0rtabmap::SensorCaptureprotectedpure virtual
getFrameRate() constrtabmap::SensorCaptureinline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() const =0rtabmap::SensorCapturepure virtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")=0rtabmap::SensorCapturepure virtual
Lidar(float lidarRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Lidarinlineprotected
odomProvided() constrtabmap::SensorCaptureinlinevirtual
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
~Lidar() (defined in rtabmap::Lidar)rtabmap::Lidarinlinevirtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+Generated by doxygen 1.9.8 +
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rtabmap::Lidar Class Reference
+
+
+ +

#include <Lidar.h>

+
+Inheritance diagram for rtabmap::Lidar:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::Lidar:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + +

+Protected Member Functions

 Lidar (float lidarRate=0, const Transform &localTransform=Transform::getIdentity())
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
virtual SensorData captureData (SensorCaptureInfo *info=0)=0
 Pure virtual method to capture sensor data.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")=0
 Initializes the sensor.
 
virtual std::string getSerial () const =0
 Returns the sensor's serial number or unique identifier.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+

Detailed Description

+

Class Lidar

+ +

Definition at line 40 of file Lidar.h.

+

Constructor & Destructor Documentation

+ +

◆ ~Lidar()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::Lidar::~Lidar ()
+ 		+inlinevirtual
+
+ +

Definition at line 43 of file Lidar.h.

+ +
+
+ +

◆ Lidar()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
rtabmap::Lidar::Lidar (float lidarRate = 0,
const Transform & localTransform = Transform::getIdentity() 
)
+ 		+inlineprotected
+
+

Constructor

+
Parameters
+ + + +
lidarRatethe frame rate (Hz), 0 for fast as the lidar can
localTransformthe transform from base frame to lidar frame
+
+
+ +

Definition at line 52 of file Lidar.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/Lidar.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16-members.html new file mode 100644 index 00000000..bf7d1d38 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16-members.html @@ -0,0 +1,113 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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This is the complete list of members for rtabmap::LidarVLP16, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + +
captureData(SensorCaptureInfo *info=0) overridertabmap::LidarVLP16protectedvirtual
getFrameRate() constrtabmap::SensorCaptureinline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() const overridertabmap::LidarVLP16inlinevirtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="") overridertabmap::LidarVLP16virtual
Lidar(float lidarRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::Lidarinlineprotected
LidarVLP16(const std::string &pcapFile, bool organized=false, bool stampLast=true, float frameRate=0.0f, Transform localTransform=Transform::getIdentity()) (defined in rtabmap::LidarVLP16)rtabmap::LidarVLP16
LidarVLP16(const boost::asio::ip::address &ipAddress, const std::uint16_t port=2368, bool organized=false, bool useHostTime=true, bool stampLast=true, float frameRate=0.0f, Transform localTransform=Transform::getIdentity()) (defined in rtabmap::LidarVLP16)rtabmap::LidarVLP16
odomProvided() constrtabmap::SensorCaptureinlinevirtual
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
setOrganized(bool enable) (defined in rtabmap::LidarVLP16)rtabmap::LidarVLP16
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
takeScan(SensorCaptureInfo *info=0) (defined in rtabmap::LidarVLP16)rtabmap::LidarVLP16inline
~Lidar() (defined in rtabmap::Lidar)rtabmap::Lidarinlinevirtual
~LidarVLP16() (defined in rtabmap::LidarVLP16)rtabmap::LidarVLP16virtual
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16.html b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16.html new file mode 100644 index 00000000..6b4a009f --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16.html @@ -0,0 +1,356 @@ + + + + + + + + +RTAB-Map: rtabmap::LidarVLP16 Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Protected Member Functions | +List of all members
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rtabmap::LidarVLP16 Class Reference
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+
+Inheritance diagram for rtabmap::LidarVLP16:
+
+
Inheritance graph
+ + + + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::LidarVLP16:
+
+
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+ + + + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ LidarVLP16 (const std::string &pcapFile, bool organized=false, bool stampLast=true, float frameRate=0.0f, Transform localTransform=Transform::getIdentity())
 
+ LidarVLP16 (const boost::asio::ip::address &ipAddress, const std::uint16_t port=2368, bool organized=false, bool useHostTime=true, bool stampLast=true, float frameRate=0.0f, Transform localTransform=Transform::getIdentity())
 
SensorData takeScan (SensorCaptureInfo *info=0)
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="") override
 Initializes the sensor.
 
virtual std::string getSerial () const override
 Returns the sensor's serial number or unique identifier.
 
+void setOrganized (bool enable)
 
- Public Member Functions inherited from rtabmap::SensorCapture
+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + + + + + + + + + + + + +

+Protected Member Functions

virtual SensorData captureData (SensorCaptureInfo *info=0) override
 Pure virtual method to capture sensor data.
 
- Protected Member Functions inherited from rtabmap::Lidar
 Lidar (float lidarRate=0, const Transform &localTransform=Transform::getIdentity())
 
- Protected Member Functions inherited from rtabmap::SensorCapture
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+
+

Definition at line 61 of file LidarVLP16.h.

+

Member Function Documentation

+ +

◆ takeScan()

+ +
+
+ + + + + +
+ + + + + + + + +
SensorData rtabmap::LidarVLP16::takeScan (SensorCaptureInfo * info = 0)
+ 		+inline
+
+ +

Definition at line 79 of file LidarVLP16.h.

+ +
+
+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::LidarVLP16::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+overridevirtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::LidarVLP16::getSerial () const
+ 		+inlineoverridevirtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implements rtabmap::SensorCapture.

+ +

Definition at line 82 of file LidarVLP16.h.

+ +
+
+ +

◆ captureData()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::LidarVLP16::captureData (SensorCaptureInfo * info = 0)
+ 		+overrideprotectedvirtual
+
+ +

Pure virtual method to capture sensor data.

+

This method must be implemented by derived classes to perform the actual sensor data capture. It is called by takeData() after frame rate throttling.

+

The returned SensorData should:

    +
  • Have rectified images if calibration was loaded during init()
    • +
  • Include proper timestamps
    • +
  • Contain valid sensor data (images, depth, laser scans, etc.)
    • +
+
Parameters
+ + +
infoOptional pointer to SensorCaptureInfo to fill with capture metadata. The base class will fill ID, timestamp, and capture time, but derived classes can add additional information.
+
+
+
Returns
SensorData containing the captured sensor data
+
Note
If capture fails, return an empty SensorData (id=0, stamp=0.0).
+
+RGB and depth images should be already rectified if calibration was loaded.
+
See also
takeData()
+ +

Implements rtabmap::SensorCapture.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16__coll__graph.map new file mode 100644 index 00000000..d20f2010 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16__coll__graph.map @@ -0,0 +1,9 @@ + + + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16__coll__graph.md5 new file mode 100644 index 00000000..cd93a94d --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16__coll__graph.md5 @@ -0,0 +1 @@ +c42e24aff3ee311da9e5dd31941e1c1f \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1LidarVLP16__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..1174d7fd21170832a3e4d86b11f66cac40d265b7 GIT binary patch literal 10242 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rtabmap::Link Member List
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+ +

This is the complete list of members for rtabmap::Link, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
from() const (defined in rtabmap::Link)rtabmap::Linkinline
infMatrix() const (defined in rtabmap::Link)rtabmap::Linkinline
inverse() constrtabmap::Link
isValid() constrtabmap::Linkinline
kAllWithLandmarks enum valuertabmap::Link
kAllWithoutLandmarks enum valuertabmap::Link
kEnd enum value (defined in rtabmap::Link)rtabmap::Link
kGlobalClosure enum valuertabmap::Link
kGravity enum valuertabmap::Link
kLandmark enum valuertabmap::Link
kLocalSpaceClosure enum valuertabmap::Link
kLocalTimeClosure enum valuertabmap::Link
kNeighbor enum valuertabmap::Link
kNeighborMerged enum valuertabmap::Link
kPosePrior enum valuertabmap::Link
kSelfRefLink enum valuertabmap::Link
kUndef enum value (defined in rtabmap::Link)rtabmap::Link
kUserClosure enum valuertabmap::Link
kVirtualClosure enum valuertabmap::Link
Link()rtabmap::Link
Link(int from, int to, Type type, const Transform &transform, const cv::Mat &infMatrix=cv::Mat::eye(6, 6, CV_64FC1), const cv::Mat &userData=cv::Mat())rtabmap::Link
merge(const Link &link, Type outputType) constrtabmap::Link
rotVariance(bool minimum=true) constrtabmap::Link
setFrom(int from) (defined in rtabmap::Link)rtabmap::Linkinline
setInfMatrix(const cv::Mat &infMatrix)rtabmap::Link
setTo(int to) (defined in rtabmap::Link)rtabmap::Linkinline
setTransform(const Transform &transform) (defined in rtabmap::Link)rtabmap::Linkinline
setType(Type type) (defined in rtabmap::Link)rtabmap::Linkinline
to() const (defined in rtabmap::Link)rtabmap::Linkinline
transform() const (defined in rtabmap::Link)rtabmap::Linkinline
transVariance(bool minimum=true) constrtabmap::Link
type() const (defined in rtabmap::Link)rtabmap::Linkinline
Type enum namertabmap::Link
typeName(Type type)rtabmap::Linkstatic
typeName() const (defined in rtabmap::Link)rtabmap::Linkinline
uncompressUserData()rtabmap::Link
uncompressUserDataConst() constrtabmap::Link
userDataCompressed() const (defined in rtabmap::Link)rtabmap::Linkinline
userDataRaw() const (defined in rtabmap::Link)rtabmap::Linkinline
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Link.html b/preview/pr-1492/api/latest/classrtabmap_1_1Link.html new file mode 100644 index 00000000..3074d0af --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Link.html @@ -0,0 +1,828 @@ + + + + + + + + +RTAB-Map: rtabmap::Link Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
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+Public Types | +Public Member Functions | +Static Public Member Functions | +List of all members
+
rtabmap::Link Class Reference
+
+
+ +

Directed constraint between two nodes in RTAB-Map's pose graph. + More...

+ +

#include <Link.h>

+ + + + + +

+Public Types

enum  Type {
+  kNeighbor +, kGlobalClosure +, kLocalSpaceClosure +, kLocalTimeClosure +,
+  kUserClosure +, kVirtualClosure +, kNeighborMerged +, kPosePrior +,
+  kLandmark +, kGravity +, kEnd +, kSelfRefLink = 97 +,
+  kAllWithLandmarks = 98 +, kAllWithoutLandmarks = 99 +, kUndef = 99 +
+ }
 Link category and filter sentinels. More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ Link ()
 Default constructor; creates an invalid link (kUndef).
 
 Link (int from, int to, Type type, const Transform &transform, const cv::Mat &infMatrix=cv::Mat::eye(6, 6, CV_64FC1), const cv::Mat &userData=cv::Mat())
 Constructs a link between two nodes.
 
bool isValid () const
 
int from () const
 
int to () const
 
const Transform & transform () const
 
Type type () const
 
std::string typeName () const
 
const cv::Mat & infMatrix () const
 
double rotVariance (bool minimum=true) const
 Rotation variance derived from the information matrix diagonal (roll, pitch, yaw).
 
double transVariance (bool minimum=true) const
 Translation variance derived from the information matrix diagonal (x, y, z).
 
void setFrom (int from)
 
void setTo (int to)
 
void setTransform (const Transform &transform)
 
void setType (Type type)
 
+void setInfMatrix (const cv::Mat &infMatrix)
 Sets the 6x6 information matrix (CV_64FC1); diagonal entries must be positive and finite.
 
const cv::Mat & userDataRaw () const
 
const cv::Mat & userDataCompressed () const
 
+void uncompressUserData ()
 Decompresses user data into userDataRaw() if compressed data is stored.
 
cv::Mat uncompressUserDataConst () const
 
Link merge (const Link &link, Type outputType) const
 Chains this link (from → to) with link (to → link.to).
 
Link inverse () const
 
+ + + +

+Static Public Member Functions

static std::string typeName (Type type)
 
+

Detailed Description

+

Directed constraint between two nodes in RTAB-Map's pose graph.

+

A link connects signature from() to signature to() with a relative Transform and an information matrix (inverse covariance) used by graph optimization. Links are stored on Signature objects and persisted in the database; they define odometry chains, loop closures, landmarks, and priors.

+

The transform is expressed from the from node frame to the to node frame (i.e. pose of to relative to from), unless type() indicates a special semantics (e.g. kPosePrior, kLandmark).

+
See also
Signature
+
+Memory::addLink()
+ +

Definition at line 54 of file Link.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::Link::Type
+
+ +

Link category and filter sentinels.

+

Values kSelfRefLink, kAllWithLandmarks, kAllWithoutLandmarks and kUndef are also used as query filters when retrieving links from memory or the database (they are not stored as link types on signatures).

+ + + + + + + + + + + + + + +
Enumerator
kNeighbor 

Sequential odometry link between consecutive nodes.

+
kGlobalClosure 

Global loop closure added by global loop closure detection (i.e., using bags-of-words to find loop closures with other nodes in WM without using current estimated pose).

+
kLocalSpaceClosure 

Local loop closure added by proximity detection by space (i.e. using current estimated pose to find loop closures with nearby nodes in WM).

+
kLocalTimeClosure 

Local loop closure added by proximity detection by time (i.e. between nodes in STM).

+
kUserClosure 

User-defined loop closure constraint.

+
kVirtualClosure 

Virtual link added to keep the path linked to local map.

+
kNeighborMerged 

Merged neighbor link after graph reduction.

+
kPosePrior 

Absolute pose prior in the world frame (from == to).

+
kLandmark 

Observation of a landmark: from is the observer node, to is a negative landmark id.

+
kGravity 

Gravity direction constraint on the base frame (from == to).

+
kSelfRefLink 

Filter: links where from == to (e.g. kPosePrior, kGravity).

+
kAllWithLandmarks 

Filter: all link types including kLandmark.

+
kAllWithoutLandmarks 

Filter: all link types except kLandmark.

+
+ +

Definition at line 64 of file Link.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ Link()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::Link::Link (int from,
int to,
Type type,
const Transform & transform,
const cv::Mat & infMatrix = cv::Mat::eye(6, 6, CV_64FC1),
const cv::Mat & userData = cv::Mat() 
)
+
+ +

Constructs a link between two nodes.

+
Parameters
+ + + + + + + +
fromSource signature id.
toTarget signature id (negative for landmarks when type is kLandmark).
typeLink category.
transformRelative transform from from to to.
infMatrix6x6 information matrix (inverse covariance)
userDataOptional payload; compressed automatically if not already CV_8UC1.
+
+
+ +
+
+

Member Function Documentation

+ +

◆ typeName() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static std::string rtabmap::Link::typeName (Type type)
+ 		+static
+
+
Returns
Human-readable name for type (e.g. "Neighbor", "GlobalClosure").
+ +
+
+ +

◆ isValid()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Link::isValid () const
+ 		+inline
+
+
Returns
True if ids, transform, and type are valid for use in the graph.
+ +

Definition at line 103 of file Link.h.

+ +
+
+ +

◆ from()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Link::from () const
+ 		+inline
+
+ +

Definition at line 105 of file Link.h.

+ +
+
+ +

◆ to()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Link::to () const
+ 		+inline
+
+ +

Definition at line 106 of file Link.h.

+ +
+
+ +

◆ transform()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::Link::transform () const
+ 		+inline
+
+ +

Definition at line 107 of file Link.h.

+ +
+
+ +

◆ type()

+ +
+
+ + + + + +
+ + + + + + + +
Type rtabmap::Link::type () const
+ 		+inline
+
+ +

Definition at line 108 of file Link.h.

+ +
+
+ +

◆ typeName() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
std::string rtabmap::Link::typeName () const
+ 		+inline
+
+ +

Definition at line 109 of file Link.h.

+ +
+
+ +

◆ infMatrix()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::Link::infMatrix () const
+ 		+inline
+
+ +

Definition at line 110 of file Link.h.

+ +
+
+ +

◆ rotVariance()

+ +
+
+ + + + + + + + +
double rtabmap::Link::rotVariance (bool minimum = true) const
+
+ +

Rotation variance derived from the information matrix diagonal (roll, pitch, yaw).

+
Parameters
+ + +
minimumIf true, returns the largest diagonal entry (most uncertain axis); if false, returns the smallest non-zero entry.
+
+
+ +
+
+ +

◆ transVariance()

+ +
+
+ + + + + + + + +
double rtabmap::Link::transVariance (bool minimum = true) const
+
+ +

Translation variance derived from the information matrix diagonal (x, y, z).

+
Parameters
+ + +
minimumIf true, returns the largest diagonal entry; if false, the smallest non-zero entry.
+
+
+ +
+
+ +

◆ setFrom()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Link::setFrom (int from)
+ 		+inline
+
+ +

Definition at line 124 of file Link.h.

+ +
+
+ +

◆ setTo()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Link::setTo (int to)
+ 		+inline
+
+ +

Definition at line 125 of file Link.h.

+ +
+
+ +

◆ setTransform()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Link::setTransform (const Transform & transform)
+ 		+inline
+
+ +

Definition at line 126 of file Link.h.

+ +
+
+ +

◆ setType()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Link::setType (Type type)
+ 		+inline
+
+ +

Definition at line 127 of file Link.h.

+ +
+
+ +

◆ userDataRaw()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::Link::userDataRaw () const
+ 		+inline
+
+ +

Definition at line 131 of file Link.h.

+ +
+
+ +

◆ userDataCompressed()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::Link::userDataCompressed () const
+ 		+inline
+
+ +

Definition at line 132 of file Link.h.

+ +
+
+ +

◆ uncompressUserDataConst()

+ +
+
+ + + + + + + +
cv::Mat rtabmap::Link::uncompressUserDataConst () const
+
+
Returns
Uncompressed user data without modifying internal storage.
+ +
+
+ +

◆ merge()

+ +
+
+ + + + + + + + + + + + + + + + + + +
Link rtabmap::Link::merge (const Link & link,
Type outputType 
) const
+
+ +

Chains this link (from → to) with link (to → link.to).

+
Parameters
+ + + +
linkSecond link; must satisfy this->to() == link.from().
outputTypeType of the merged link.
+
+
+
Returns
Single link from from() to link.to() with transform (T_{ac} = T_{ab} T_{bc}) (or null if either input transform is null). Information matrix handling depends on outputType:
    +
  • kNeighborMerged: (\Omega_{ac} = (\Omega_{ab}^{-1} + \Omega_{bc}^{-1})^{-1}) (covariances add when both legs are diagonal and independent).
    • +
  • Other types: keeps the full information matrix of link unless (\Omega_{ab}(0,0) < \Omega_{bc}(0,0)) (i.e. the smaller x information entry).
    • +
+
+ +
+
+ +

◆ inverse()

+ +
+
+ + + + + + + +
Link rtabmap::Link::inverse () const
+
+
Returns
Link with swapped endpoints and inverted transform.
+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/Link.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGrid-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGrid-members.html new file mode 100644 index 00000000..055f2e14 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGrid-members.html @@ -0,0 +1,100 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::LocalGrid Member List
+
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+ +

This is the complete list of members for rtabmap::LocalGrid, including all inherited members.

+ + + + + + + + + +
cellSizertabmap::LocalGrid
emptyCellsrtabmap::LocalGrid
groundCellsrtabmap::LocalGrid
is3D() constrtabmap::LocalGrid
LocalGrid(const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))rtabmap::LocalGrid
obstacleCellsrtabmap::LocalGrid
viewPointrtabmap::LocalGrid
~LocalGrid() (defined in rtabmap::LocalGrid)rtabmap::LocalGridinlinevirtual
+ +
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rtabmap::LocalGrid Class Reference
+
+
+ +

Local occupancy grid cells for one map node (ground, obstacles, empty). + More...

+ +

#include <LocalGrid.h>

+ + + + + + + +

+Public Member Functions

 LocalGrid (const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))
 Builds a local grid from cell matrices.
 
bool is3D () const
 
+ + + + + + + + + + + + + + + + +

+Public Attributes

cv::Mat groundCells
 Ground cells (1×N, CV_32FC2–CV_32FC7, see class doc).
 
cv::Mat obstacleCells
 Obstacle cells (same layout as groundCells).
 
cv::Mat emptyCells
 Empty/free cells (same layout as groundCells).
 
float cellSize
 Cell size in meters.
 
cv::Point3f viewPoint
 View point used to build the grid.
 
+

Detailed Description

+

Local occupancy grid cells for one map node (ground, obstacles, empty).

+

Each layer is stored as a 1×N cv::Mat of cell coordinates in the robot/base frame. Layouts match LaserScan grid storage (LaserScan::Format):

    +
  • CV_32FC2 (2 ch): kXY — (x, y)
    • +
  • CV_32FC3 (3 ch): kXYZ or kXYI — (x, y, z) or (x, y, intensity)
    • +
  • CV_32FC4 (4 ch): kXYZI or kXYZRGB — (x, y, z, intensity) or (x, y, z, RGB)
    • +
  • CV_32FC5 (5 ch): kXYNormal or kXYZIT — 2D (x, y, nx, ny, nz) or 3D (x, y, z, intensity, time)
    • +
  • CV_32FC6 (6 ch): kXYINormal, kXYZNormal or kXYZIRT
    • +
  • CV_32FC7 (7 ch): kXYZINormal or kXYZRGBNormal
    • +
+

is3D() is true when every non-empty layer is CV_32FC3, CV_32FC4 or CV_32FC6 (5-channel layers are treated as 2D by OccupancyGrid). Extra fields are not used for pose/projection. cellSize is the grid resolution in meters (must be > 0). viewPoint is the sensor/view origin used when the grid was built.

+
See also
LaserScan
+
+LocalGridMaker
+
+OccupancyGrid
+
+LocalGridCache
+ +

Definition at line 61 of file LocalGrid.h.

+

Constructor & Destructor Documentation

+ +

◆ LocalGrid()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::LocalGrid::LocalGrid (const cv::Mat & ground,
const cv::Mat & obstacles,
const cv::Mat & empty,
float cellSize,
const cv::Point3f & viewPoint = cv::Point3f(0, 0, 0) 
)
+
+ +

Builds a local grid from cell matrices.

+
Parameters
+ + + + + + +
groundGround cell coordinates (may be empty).
obstaclesObstacle cell coordinates (may be empty).
emptyEmpty/free cell coordinates (may be empty).
cellSizeGrid cell size in meters (must be > 0).
viewPointView/sensor origin in the grid frame.
+
+
+ +
+
+ +

◆ ~LocalGrid()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::LocalGrid::~LocalGrid ()
+ 		+inlinevirtual
+
+ +

Definition at line 77 of file LocalGrid.h.

+ +
+
+

Member Function Documentation

+ +

◆ is3D()

+ +
+
+ + + + + + + +
bool rtabmap::LocalGrid::is3D () const
+
+
Returns
True if every non-empty layer is CV_32FC3, CV_32FC4 or CV_32FC6 (see class doc).
+ +
+
+

Member Data Documentation

+ +

◆ groundCells

+ +
+
+ + + + +
cv::Mat rtabmap::LocalGrid::groundCells
+
+ +

Ground cells (1×N, CV_32FC2–CV_32FC7, see class doc).

+ +

Definition at line 82 of file LocalGrid.h.

+ +
+
+ +

◆ obstacleCells

+ +
+
+ + + + +
cv::Mat rtabmap::LocalGrid::obstacleCells
+
+ +

Obstacle cells (same layout as groundCells).

+ +

Definition at line 83 of file LocalGrid.h.

+ +
+
+ +

◆ emptyCells

+ +
+
+ + + + +
cv::Mat rtabmap::LocalGrid::emptyCells
+
+ +

Empty/free cells (same layout as groundCells).

+ +

Definition at line 84 of file LocalGrid.h.

+ +
+
+ +

◆ cellSize

+ +
+
+ + + + +
float rtabmap::LocalGrid::cellSize
+
+ +

Cell size in meters.

+ +

Definition at line 85 of file LocalGrid.h.

+ +
+
+ +

◆ viewPoint

+ +
+
+ + + + +
cv::Point3f rtabmap::LocalGrid::viewPoint
+
+ +

View point used to build the grid.

+ +

Definition at line 86 of file LocalGrid.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache-members.html new file mode 100644 index 00000000..9816ba52 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache-members.html @@ -0,0 +1,105 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+
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+ +

This is the complete list of members for rtabmap::LocalGridCache, including all inherited members.

+ + + + + + + + + + + + + + +
add(int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))rtabmap::LocalGridCache
add(int nodeId, const LocalGrid &localGrid)rtabmap::LocalGridCache
begin() const (defined in rtabmap::LocalGridCache)rtabmap::LocalGridCacheinline
clear(bool temporaryOnly=false)rtabmap::LocalGridCache
empty() const (defined in rtabmap::LocalGridCache)rtabmap::LocalGridCacheinline
end() const (defined in rtabmap::LocalGridCache)rtabmap::LocalGridCacheinline
find(int nodeId) const (defined in rtabmap::LocalGridCache)rtabmap::LocalGridCacheinline
getMemoryUsed() constrtabmap::LocalGridCache
LocalGridCache() (defined in rtabmap::LocalGridCache)rtabmap::LocalGridCacheinline
localGrids() const (defined in rtabmap::LocalGridCache)rtabmap::LocalGridCacheinline
shareTo(int nodeId, LocalGridCache &anotherCache) constrtabmap::LocalGridCache
size() const (defined in rtabmap::LocalGridCache)rtabmap::LocalGridCacheinline
~LocalGridCache() (defined in rtabmap::LocalGridCache)rtabmap::LocalGridCacheinlinevirtual
+ +
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache.html b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache.html new file mode 100644 index 00000000..8b2b5da5 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridCache.html @@ -0,0 +1,415 @@ + + + + + + + + +RTAB-Map: rtabmap::LocalGridCache Class Reference + + + + + + + + + + + + +
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+
+ +

Cache of LocalGrid entries keyed by map node id. + More...

+ +

#include <LocalGrid.h>

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+void add (int nodeId, const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint=cv::Point3f(0, 0, 0))
 Inserts or replaces the grid for nodeId (from separate cell mats).
 
+void add (int nodeId, const LocalGrid &localGrid)
 Inserts or replaces the grid for nodeId.
 
bool shareTo (int nodeId, LocalGridCache &anotherCache) const
 Copies a grid to anotherCache if present here and absent there.
 
+unsigned long getMemoryUsed () const
 Approximate memory used by cached grids (bytes).
 
void clear (bool temporaryOnly=false)
 Removes cached grids.
 
size_t size () const
 
bool empty () const
 
const std::map< int, LocalGrid > & localGrids () const
 
std::map< int, LocalGrid >::const_iterator find (int nodeId) const
 
std::map< int, LocalGrid >::const_iterator begin () const
 
std::map< int, LocalGrid >::const_iterator end () const
 
+

Detailed Description

+

Cache of LocalGrid entries keyed by map node id.

+

Used by GlobalMap and its subclasses (e.g. OccupancyGrid) to hold per-node local grids before assembly. Node id 0 is stored as -1 (temporary grid). Negative ids passed to add() are rejected.

+ +

Definition at line 97 of file LocalGrid.h.

+

Constructor & Destructor Documentation

+ +

◆ LocalGridCache()

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::LocalGridCache::LocalGridCache ()
+ 		+inline
+
+ +

Definition at line 100 of file LocalGrid.h.

+ +
+
+ +

◆ ~LocalGridCache()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::LocalGridCache::~LocalGridCache ()
+ 		+inlinevirtual
+
+ +

Definition at line 101 of file LocalGrid.h.

+ +
+
+

Member Function Documentation

+ +

◆ shareTo()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::LocalGridCache::shareTo (int nodeId,
LocalGridCache & anotherCache 
) const
+
+ +

Copies a grid to anotherCache if present here and absent there.

+
Returns
True if a grid was shared.
+ +
+
+ +

◆ clear()

+ +
+
+ + + + + + + + +
void rtabmap::LocalGridCache::clear (bool temporaryOnly = false)
+
+ +

Removes cached grids.

+
Parameters
+ + +
temporaryOnlyIf true, removes only entries with negative ids (e.g. -1).
+
+
+ +
+
+ +

◆ size()

+ +
+
+ + + + + +
+ + + + + + + +
size_t rtabmap::LocalGridCache::size () const
+ 		+inline
+
+ +

Definition at line 129 of file LocalGrid.h.

+ +
+
+ +

◆ empty()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LocalGridCache::empty () const
+ 		+inline
+
+ +

Definition at line 130 of file LocalGrid.h.

+ +
+
+ +

◆ localGrids()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, LocalGrid > & rtabmap::LocalGridCache::localGrids () const
+ 		+inline
+
+ +

Definition at line 131 of file LocalGrid.h.

+ +
+
+ +

◆ find()

+ +
+
+ + + + + +
+ + + + + + + + +
std::map< int, LocalGrid >::const_iterator rtabmap::LocalGridCache::find (int nodeId) const
+ 		+inline
+
+ +

Definition at line 133 of file LocalGrid.h.

+ +
+
+ +

◆ begin()

+ +
+
+ + + + + +
+ + + + + + + +
std::map< int, LocalGrid >::const_iterator rtabmap::LocalGridCache::begin () const
+ 		+inline
+
+ +

Definition at line 134 of file LocalGrid.h.

+ +
+
+ +

◆ end()

+ +
+
+ + + + + +
+ + + + + + + +
std::map< int, LocalGrid >::const_iterator rtabmap::LocalGridCache::end () const
+ 		+inline
+
+ +

Definition at line 135 of file LocalGrid.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker-members.html new file mode 100644 index 00000000..d3c6bae2 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker-members.html @@ -0,0 +1,130 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
+
+ + + + + + +
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rtabmap::LocalGridMaker Member List
+
+
+ +

This is the complete list of members for rtabmap::LocalGridMaker, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
cellSize_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
cloudDecimation_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
clusterRadius_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
createLocalMap(const Signature &node, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPoint)rtabmap::LocalGridMaker
createLocalMap(const LaserScan &cloud, const Transform &pose, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPointInOut) constrtabmap::LocalGridMaker
flatObstaclesDetected_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
footprintHeight_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
footprintLength_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
footprintWidth_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
getCellSize() constrtabmap::LocalGridMakerinline
grid3D_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
groundIsObstacle_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
groundNormalsUp_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
isGridFromDepth() constrtabmap::LocalGridMakerinline
isMapFrameProjection() constrtabmap::LocalGridMakerinline
LocalGridMaker(const ParametersMap &parameters=ParametersMap())rtabmap::LocalGridMaker
maxGroundAngle_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
maxGroundHeight_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
maxObstacleHeight_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
minClusterSize_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
minGroundHeight_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
noiseFilteringMinNeighbors_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
noiseFilteringRadius_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
normalKSearch_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
normalsSegmentation_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
occupancySensor_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
parameters_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
parseParameters(const ParametersMap &parameters)rtabmap::LocalGridMakervirtual
preVoxelFiltering_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
projMapFrame_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
rangeMax_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
rangeMin_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
rayTracing_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
roiRatios_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
scan2dUnknownSpaceFilled_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
scanDecimation_ (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakerprotected
segmentCloud(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &pose, const cv::Point3f &viewPoint, pcl::IndicesPtr &groundIndices, pcl::IndicesPtr &obstaclesIndices, pcl::IndicesPtr *flatObstacles=0) constrtabmap::LocalGridMaker
~LocalGridMaker() (defined in rtabmap::LocalGridMaker)rtabmap::LocalGridMakervirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker.html b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker.html new file mode 100644 index 00000000..e4594486 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1LocalGridMaker.html @@ -0,0 +1,1193 @@ + + + + + + + + +RTAB-Map: rtabmap::LocalGridMaker Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Protected Attributes | +List of all members
+
rtabmap::LocalGridMaker Class Reference
+
+
+ +

Builds per-node local occupancy grids from laser scans or depth clouds. + More...

+ +

#include <LocalGridMaker.h>

+ + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ LocalGridMaker (const ParametersMap &parameters=ParametersMap())
 Constructs with parseParameters() on parameters (or defaults).
 
+virtual void parseParameters (const ParametersMap &parameters)
 Updates grid settings from Grid/ entries in parameters.
 
float getCellSize () const
 
bool isGridFromDepth () const
 
bool isMapFrameProjection () const
 
template<typename PointT >
pcl::PointCloud< PointT >::Ptr segmentCloud (const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &pose, const cv::Point3f &viewPoint, pcl::IndicesPtr &groundIndices, pcl::IndicesPtr &obstaclesIndices, pcl::IndicesPtr *flatObstacles=0) const
 Segments a point cloud into ground and obstacle indices.
 
void createLocalMap (const Signature &node, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPoint)
 Creates a local grid from a Signature's laser scan or depth data.
 
void createLocalMap (const LaserScan &cloud, const Transform &pose, cv::Mat &groundCells, cv::Mat &obstacleCells, cv::Mat &emptyCells, cv::Point3f &viewPointInOut) const
 Creates a local grid from a 3D (or organized) LaserScan.
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Protected Attributes

ParametersMap parameters_
 
unsigned int cloudDecimation_
 
float rangeMax_
 
float rangeMin_
 
std::vector< float > roiRatios_
 
float footprintLength_
 
float footprintWidth_
 
float footprintHeight_
 
int scanDecimation_
 
float cellSize_
 
bool preVoxelFiltering_
 
int occupancySensor_
 
bool projMapFrame_
 
float maxObstacleHeight_
 
int normalKSearch_
 
float groundNormalsUp_
 
float maxGroundAngle_
 
float clusterRadius_
 
int minClusterSize_
 
bool flatObstaclesDetected_
 
float minGroundHeight_
 
float maxGroundHeight_
 
bool normalsSegmentation_
 
bool grid3D_
 
bool groundIsObstacle_
 
float noiseFilteringRadius_
 
int noiseFilteringMinNeighbors_
 
bool scan2dUnknownSpaceFilled_
 
bool rayTracing_
 
+

Detailed Description

+

Builds per-node local occupancy grids from laser scans or depth clouds.

+

Configured via Grid/ parameters (parseParameters()). Used by Memory to populate LocalGrid cells (ground / obstacles / empty) stored on SensorData and cached in LocalGridCache for global maps (OccupancyGrid, OctoMap, GridMap).

+

Sensor source (Grid/Sensor, isGridFromDepth()):

    +
  • 0 — laser scan only
    • +
  • 1 — depth image(s) only (default)
    • +
  • 2 — laser scan and depth
    • +
+

2D laser path: projects a 2D LaserScan with util3d::occupancy2DFromLaserScan().

+

3D path: segments the scan/cloud into ground and obstacles (segmentCloud()), then outputs LocalGrid cell matrices (2D projection or 3D cells per Grid/3D).

+
See also
LocalGrid
+
+Memory
+ +

Definition at line 64 of file LocalGridMaker.h.

+

Member Function Documentation

+ +

◆ getCellSize()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::LocalGridMaker::getCellSize () const
+ 		+inline
+
+
Returns
Current Grid/CellSize (m).
+ +

Definition at line 75 of file LocalGridMaker.h.

+ +
+
+ +

◆ isGridFromDepth()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LocalGridMaker::isGridFromDepth () const
+ 		+inline
+
+
Returns
True if occupancy is built from depth (Grid/Sensor is 1 or 2).
+ +

Definition at line 77 of file LocalGridMaker.h.

+ +
+
+ +

◆ isMapFrameProjection()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::LocalGridMaker::isMapFrameProjection () const
+ 		+inline
+
+
Returns
True if Grid/MapFrameProjection is enabled.
+ +

Definition at line 79 of file LocalGridMaker.h.

+ +
+
+ +

◆ segmentCloud()

+ +
+
+
+template<typename PointT >
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
pcl::PointCloud< PointT >::Ptr rtabmap::LocalGridMaker::segmentCloud (const typename pcl::PointCloud< PointT >::Ptr & cloud,
const pcl::IndicesPtr & indices,
const Transform & pose,
const cv::Point3f & viewPoint,
pcl::IndicesPtr & groundIndices,
pcl::IndicesPtr & obstaclesIndices,
pcl::IndicesPtr * flatObstacles = 0 
) const
+
+ +

Segments a point cloud into ground and obstacle indices.

+

Applies optional voxel filtering (Grid/PreVoxelFiltering, leaf size Grid/CellSize), footprint crop, height filtering, then either normal-based ground segmentation (Grid/NormalsSegmentation) or Z passthrough.

+
Parameters
+ + + + + + + + +
cloudInput cloud (sensor frame, transformed internally using pose). Must be non-null; an empty cloud is allowed and returns empty outputs.
indicesSubset of cloud to process (must be non-null; empty = all points when the cloud is dense).
poseNode pose (used for map-frame projection and footprint).
viewPointSensor origin for segmentation / ray tracing.
groundIndicesOutput indices of ground points.
obstaclesIndicesOutput indices of obstacle points.
flatObstaclesOptional output for flat obstacle clusters.
+
+
+
Returns
Segmented cloud (voxel-downsampled when Grid/PreVoxelFiltering is true, using Grid/CellSize).
+ +

Definition at line 38 of file LocalMapMaker.hpp.

+ +
+
+ +

◆ createLocalMap() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::LocalGridMaker::createLocalMap (const Signature & node,
cv::Mat & groundCells,
cv::Mat & obstacleCells,
cv::Mat & emptyCells,
cv::Point3f & viewPoint 
)
+
+ +

Creates a local grid from a Signature's laser scan or depth data.

+
Parameters
+ + + + + + +
nodeSignature with sensor data (pose used for 3D scans).
groundCellsOutput ground cells (LocalGrid format).
obstacleCellsOutput obstacle cells.
emptyCellsOutput empty/free cells. Behavior depends on the sensor path:
    +
  • 2D laser, laser-only mode (Grid/Sensor=0 and a 2D LaserScan): uses util3d::occupancy2DFromLaserScan() / util3d::create2DMap(). Free space along each hit beam is always ray-traced (sensor → obstacle). Grid/Scan2dUnknownSpaceFilled is separate: when true, it additionally sweeps unknown angular gaps between the first and last hit (sparse FOV / “holes” in coverage) out to Grid/RangeMax or scan max range.
    • +
  • Other cases (3D scan, depth, Grid/Sensor=2, etc.): see createLocalMap(const LaserScan&,...).
    • +
+
viewPointOutput view point used for the grid.
+
+
+ +
+
+ +

◆ createLocalMap() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::LocalGridMaker::createLocalMap (const LaserScan & cloud,
const Transform & pose,
cv::Mat & groundCells,
cv::Mat & obstacleCells,
cv::Mat & emptyCells,
cv::Point3f & viewPointInOut 
) const
+
+ +

Creates a local grid from a 3D (or organized) LaserScan.

+
Parameters
+ + + + + + + +
cloudInput scan in sensor frame.
poseNode pose in map/odom frame.
groundCellsOutput ground cells.
obstacleCellsOutput obstacle cells.
emptyCellsOutput empty/free cells. Filled when Grid/RayTracing is true: 3D via OctoMap if Grid/3D and OctoMap support are enabled (Grid/RangeMax, Grid/CellSize); otherwise 2D ray fill via occupancy2DFromLaserScan when Grid/3D is false (Grid/RangeMax, Grid/CellSize).
viewPointInOutView point (may be rotated if isMapFrameProjection()).
+
+
+ +
+
+

Member Data Documentation

+ +

◆ parameters_

+ +
+
+ + + + + +
+ + + + +
ParametersMap rtabmap::LocalGridMaker::parameters_
+ 		+protected
+
+ +

Definition at line 152 of file LocalGridMaker.h.

+ +
+
+ +

◆ cloudDecimation_

+ +
+
+ + + + + +
+ + + + +
unsigned int rtabmap::LocalGridMaker::cloudDecimation_
+ 		+protected
+
+ +

Definition at line 154 of file LocalGridMaker.h.

+ +
+
+ +

◆ rangeMax_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::rangeMax_
+ 		+protected
+
+ +

Definition at line 155 of file LocalGridMaker.h.

+ +
+
+ +

◆ rangeMin_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::rangeMin_
+ 		+protected
+
+ +

Definition at line 156 of file LocalGridMaker.h.

+ +
+
+ +

◆ roiRatios_

+ +
+
+ + + + + +
+ + + + +
std::vector<float> rtabmap::LocalGridMaker::roiRatios_
+ 		+protected
+
+ +

Definition at line 157 of file LocalGridMaker.h.

+ +
+
+ +

◆ footprintLength_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::footprintLength_
+ 		+protected
+
+ +

Definition at line 158 of file LocalGridMaker.h.

+ +
+
+ +

◆ footprintWidth_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::footprintWidth_
+ 		+protected
+
+ +

Definition at line 159 of file LocalGridMaker.h.

+ +
+
+ +

◆ footprintHeight_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::footprintHeight_
+ 		+protected
+
+ +

Definition at line 160 of file LocalGridMaker.h.

+ +
+
+ +

◆ scanDecimation_

+ +
+
+ + + + + +
+ + + + +
int rtabmap::LocalGridMaker::scanDecimation_
+ 		+protected
+
+ +

Definition at line 161 of file LocalGridMaker.h.

+ +
+
+ +

◆ cellSize_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::cellSize_
+ 		+protected
+
+ +

Definition at line 162 of file LocalGridMaker.h.

+ +
+
+ +

◆ preVoxelFiltering_

+ +
+
+ + + + + +
+ + + + +
bool rtabmap::LocalGridMaker::preVoxelFiltering_
+ 		+protected
+
+ +

Definition at line 163 of file LocalGridMaker.h.

+ +
+
+ +

◆ occupancySensor_

+ +
+
+ + + + + +
+ + + + +
int rtabmap::LocalGridMaker::occupancySensor_
+ 		+protected
+
+ +

Definition at line 164 of file LocalGridMaker.h.

+ +
+
+ +

◆ projMapFrame_

+ +
+
+ + + + + +
+ + + + +
bool rtabmap::LocalGridMaker::projMapFrame_
+ 		+protected
+
+ +

Definition at line 165 of file LocalGridMaker.h.

+ +
+
+ +

◆ maxObstacleHeight_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::maxObstacleHeight_
+ 		+protected
+
+ +

Definition at line 166 of file LocalGridMaker.h.

+ +
+
+ +

◆ normalKSearch_

+ +
+
+ + + + + +
+ + + + +
int rtabmap::LocalGridMaker::normalKSearch_
+ 		+protected
+
+ +

Definition at line 167 of file LocalGridMaker.h.

+ +
+
+ +

◆ groundNormalsUp_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::groundNormalsUp_
+ 		+protected
+
+ +

Definition at line 168 of file LocalGridMaker.h.

+ +
+
+ +

◆ maxGroundAngle_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::maxGroundAngle_
+ 		+protected
+
+ +

Definition at line 169 of file LocalGridMaker.h.

+ +
+
+ +

◆ clusterRadius_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::clusterRadius_
+ 		+protected
+
+ +

Definition at line 170 of file LocalGridMaker.h.

+ +
+
+ +

◆ minClusterSize_

+ +
+
+ + + + + +
+ + + + +
int rtabmap::LocalGridMaker::minClusterSize_
+ 		+protected
+
+ +

Definition at line 171 of file LocalGridMaker.h.

+ +
+
+ +

◆ flatObstaclesDetected_

+ +
+
+ + + + + +
+ + + + +
bool rtabmap::LocalGridMaker::flatObstaclesDetected_
+ 		+protected
+
+ +

Definition at line 172 of file LocalGridMaker.h.

+ +
+
+ +

◆ minGroundHeight_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::minGroundHeight_
+ 		+protected
+
+ +

Definition at line 173 of file LocalGridMaker.h.

+ +
+
+ +

◆ maxGroundHeight_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::maxGroundHeight_
+ 		+protected
+
+ +

Definition at line 174 of file LocalGridMaker.h.

+ +
+
+ +

◆ normalsSegmentation_

+ +
+
+ + + + + +
+ + + + +
bool rtabmap::LocalGridMaker::normalsSegmentation_
+ 		+protected
+
+ +

Definition at line 175 of file LocalGridMaker.h.

+ +
+
+ +

◆ grid3D_

+ +
+
+ + + + + +
+ + + + +
bool rtabmap::LocalGridMaker::grid3D_
+ 		+protected
+
+ +

Definition at line 176 of file LocalGridMaker.h.

+ +
+
+ +

◆ groundIsObstacle_

+ +
+
+ + + + + +
+ + + + +
bool rtabmap::LocalGridMaker::groundIsObstacle_
+ 		+protected
+
+ +

Definition at line 177 of file LocalGridMaker.h.

+ +
+
+ +

◆ noiseFilteringRadius_

+ +
+
+ + + + + +
+ + + + +
float rtabmap::LocalGridMaker::noiseFilteringRadius_
+ 		+protected
+
+ +

Definition at line 178 of file LocalGridMaker.h.

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+ +

◆ noiseFilteringMinNeighbors_

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int rtabmap::LocalGridMaker::noiseFilteringMinNeighbors_
+ 		+protected
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+ +

Definition at line 179 of file LocalGridMaker.h.

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◆ scan2dUnknownSpaceFilled_

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bool rtabmap::LocalGridMaker::scan2dUnknownSpaceFilled_
+ 		+protected
+
+ +

Definition at line 180 of file LocalGridMaker.h.

+ +
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◆ rayTracing_

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bool rtabmap::LocalGridMaker::rayTracing_
+ 		+protected
+
+ +

Definition at line 181 of file LocalGridMaker.h.

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detect(const cv::Mat &image, const std::vector< CameraModel > &models, const cv::Mat &depth=cv::Mat(), const std::map< int, float > &markerLengths=std::map< int, float >(), cv::Mat *imageWithDetections=0) (defined in rtabmap::MarkerDetector)rtabmap::MarkerDetector
detect(const cv::Mat &image, const CameraModel &model, const cv::Mat &depth=cv::Mat(), const std::map< int, float > &markerLengths=std::map< int, float >(), cv::Mat *imageWithDetections=0) (defined in rtabmap::MarkerDetector)rtabmap::MarkerDetector
kStrategyApriltag enum value (defined in rtabmap::MarkerDetector)rtabmap::MarkerDetector
kStrategyOpencv enum value (defined in rtabmap::MarkerDetector)rtabmap::MarkerDetector
MarkerDetector(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::MarkerDetector)rtabmap::MarkerDetector
parseParameters(const ParametersMap &parameters) (defined in rtabmap::MarkerDetector)rtabmap::MarkerDetector
Strategy enum name (defined in rtabmap::MarkerDetector)rtabmap::MarkerDetector
~MarkerDetector() (defined in rtabmap::MarkerDetector)rtabmap::MarkerDetectorvirtual
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rtabmap::MarkerDetector Class Reference
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+Public Types

enum  Strategy { kStrategyOpencv +, kStrategyApriltag + }
 
+ + + + + + + + + +

+Public Member Functions

+ MarkerDetector (const ParametersMap &parameters=ParametersMap())
 
+void parseParameters (const ParametersMap &parameters)
 
+std::map< int, MarkerInfo > detect (const cv::Mat &image, const std::vector< CameraModel > &models, const cv::Mat &depth=cv::Mat(), const std::map< int, float > &markerLengths=std::map< int, float >(), cv::Mat *imageWithDetections=0)
 
+std::map< int, MarkerInfo > detect (const cv::Mat &image, const CameraModel &model, const cv::Mat &depth=cv::Mat(), const std::map< int, float > &markerLengths=std::map< int, float >(), cv::Mat *imageWithDetections=0)
 
+

Detailed Description

+
+

Definition at line 59 of file MarkerDetector.h.

+

Member Enumeration Documentation

+ +

◆ Strategy

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enum rtabmap::MarkerDetector::Strategy
+
+ +

Definition at line 62 of file MarkerDetector.h.

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id() const (defined in rtabmap::MarkerInfo)rtabmap::MarkerInfoinline
length() const (defined in rtabmap::MarkerInfo)rtabmap::MarkerInfoinline
MarkerInfo(int id, float length, Transform pose) (defined in rtabmap::MarkerInfo)rtabmap::MarkerInfoinline
pose() const (defined in rtabmap::MarkerInfo)rtabmap::MarkerInfoinline
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+Public Member Functions

 MarkerInfo (int id, float length, Transform pose)
 
int id () const
 
float length () const
 
const Transform & pose () const
 
+

Detailed Description

+
+

Definition at line 43 of file MarkerDetector.h.

+

Constructor & Destructor Documentation

+ +

◆ MarkerInfo()

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rtabmap::MarkerInfo::MarkerInfo (int id,
float length,
Transform pose 
)
+ 		+inline
+
+ +

Definition at line 45 of file MarkerDetector.h.

+ +
+
+

Member Function Documentation

+ +

◆ id()

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+ + + + + + + +
int rtabmap::MarkerInfo::id () const
+ 		+inline
+
+ +

Definition at line 50 of file MarkerDetector.h.

+ +
+
+ +

◆ length()

+ +
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float rtabmap::MarkerInfo::length () const
+ 		+inline
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+ +

Definition at line 51 of file MarkerDetector.h.

+ +
+
+ +

◆ pose()

+ +
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const Transform & rtabmap::MarkerInfo::pose () const
+ 		+inline
+
+ +

Definition at line 52 of file MarkerDetector.h.

+ +
+
+
The documentation for this class was generated from the following file: +
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Memory-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Memory-members.html new file mode 100644 index 00000000..b554d0fe --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Memory-members.html @@ -0,0 +1,198 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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_dbDriverrtabmap::Memoryprotected
addLink(const Link &link, bool addInDatabase=false)rtabmap::Memory
allNodesInWM() constrtabmap::Memoryinline
cleanup()rtabmap::Memory
cleanupLocalGrids(const std::map< int, Transform > &poses, const cv::Mat &map, float xMin, float yMin, float cellSize, int cropRadius=1, bool filterScans=false)rtabmap::Memory
close(bool databaseSaved=true, bool postInitClosingEvents=false, const std::string &ouputDatabasePath="")rtabmap::Memory
computeIcpTransform(const Signature &fromS, const Signature &toS, Transform guess, RegistrationInfo *info=0) constrtabmap::Memory
computeIcpTransformMulti(int newId, int oldId, const std::map< int, Transform > &poses, RegistrationInfo *info=0)rtabmap::Memory
computeLikelihood(const Signature *signature, const std::list< int > &ids)rtabmap::Memory
computeTransform(Signature &fromS, Signature &toS, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false) constrtabmap::Memory
computeTransform(int fromId, int toId, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false)rtabmap::Memory
convertToIntermediate(int locationId)rtabmap::Memory
deleteLocation(int locationId, std::list< int > *deletedWords=0, bool keepLinkedInDb=false)rtabmap::Memory
dumpDictionary(const char *fileNameRef, const char *fileNameDesc) constrtabmap::Memory
dumpMemory(std::string directory) constrtabmap::Memoryvirtual
dumpMemoryTree(const char *fileNameTree) constrtabmap::Memory
dumpSignatures(const char *fileNameSign, bool words3D) constrtabmap::Memoryvirtual
emptyTrash()rtabmap::Memory
forget(const std::set< int > &ignoredIds=std::set< int >())rtabmap::Memory
generateGraph(const std::string &fileName, const std::set< int > &ids=std::set< int >())rtabmap::Memory
getAllLabels() constrtabmap::Memoryinline
getAllLinks(bool lookInDatabase, bool ignoreNullLinks=true, bool withLandmarks=false) constrtabmap::Memory
getAllSignatureIds(bool ignoreChildren=true) constrtabmap::Memory
getDatabaseMemoryUsed() constrtabmap::Memory
getDatabaseUrl() constrtabmap::Memory
getDatabaseVersion() constrtabmap::Memory
getDbSavingTime() constrtabmap::Memory
getFeature2D() constrtabmap::Memoryinline
getGPS(int id, GPS &gps, Transform &offsetENU, bool lookInDatabase, int maxGraphDepth=0) constrtabmap::Memory
getGroundTruthPose(int signatureId, bool lookInDatabase=false) constrtabmap::Memory
getGroundTruths() constrtabmap::Memoryinline
getImageCompressed(int signatureId) constrtabmap::Memory
getLandmarksIndex() constrtabmap::Memoryinline
getLastGlobalLoopClosureId() constrtabmap::Memoryinline
getLastSignatureId() constrtabmap::Memory
getLastWorkingSignature(bool ignoreIntermediateNodes) constrtabmap::Memory
getLinks(int signatureId, bool lookInDatabase=false, bool withLandmarks=false) constrtabmap::Memory
getLoopClosureLinks(int signatureId, bool lookInDatabase=false) constrtabmap::Memory
getMapId(int id, bool lookInDatabase=false) constrtabmap::Memory
getMaxStMemSize() constrtabmap::Memoryinline
getMemoryUsed() constrtabmap::Memory
getMetricConstraints(const std::set< int > &ids, std::map< int, Transform > &poses, std::multimap< int, Link > &links, bool lookInDatabase=false, bool landmarksAdded=false)rtabmap::Memory
getNeighborLinks(int signatureId, bool lookInDatabase=false) constrtabmap::Memory
getNeighborsId(int signatureId, int maxGraphDepth, int maxCheckedInDatabase=-1, bool incrementMarginOnLoop=false, bool ignoreLoopIds=false, bool ignoreIntermediateNodes=false, bool ignoreLocalSpaceLoopIds=false, const std::set< int > &nodesSet=std::set< int >(), double *dbAccessTime=0) constrtabmap::Memory
getNeighborsIdRadius(int signatureId, float radius, const std::map< int, Transform > &optimizedPoses, int maxGraphDepth) constrtabmap::Memory
getNodeCalibration(int nodeId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) constrtabmap::Memory
getNodeData(int locationId, bool images, bool scan, bool userData, bool occupancyGrid) constrtabmap::Memory
getNodeInfo(int signatureId, Transform &odomPose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruth, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors, bool lookInDatabase=false) constrtabmap::Memory
getNodesObservingLandmark(int landmarkId, bool lookInDatabase) constrtabmap::Memory
getNodeWordsAndGlobalDescriptors(int nodeId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &wordsKpts, std::vector< cv::Point3f > &words3, cv::Mat &wordsDescriptors, std::vector< GlobalDescriptor > &globalDescriptors) constrtabmap::Memory
getOdomMaxInf() constrtabmap::Memoryinline
getOdomPose(int signatureId, bool lookInDatabase=false) constrtabmap::Memory
getParameters() constrtabmap::Memoryinlinevirtual
getSignature(int id) constrtabmap::Memory
getSignatureIdByLabel(const std::string &label, bool lookInDatabase=true) constrtabmap::Memory
getSimilarityThreshold() constrtabmap::Memoryinline
getStMem() constrtabmap::Memoryinline
getStMemIntermediateNodesCount() constrtabmap::Memoryinline
getVWDictionary() constrtabmap::Memory
getWeights() constrtabmap::Memory
getWorkingMem() constrtabmap::Memoryinline
getWorkingMemIntermediateNodesCount() constrtabmap::Memoryinline
getWorkingMemSize(bool ignoreIntermediateNodes=false) constrtabmap::Memory
incrementMapId(std::map< int, int > *reducedIds=0)rtabmap::Memory
init(const std::string &dbUrl, bool dbOverwritten=false, const ParametersMap &parameters=ParametersMap(), bool postInitClosingEvents=false)rtabmap::Memory
isBinDataKept() constrtabmap::Memoryinline
isGraphReduced() constrtabmap::Memoryinline
isIDsGenerated() constrtabmap::Memoryinline
isIncremental() constrtabmap::Memoryinline
isInLTM(int signatureId) constrtabmap::Memoryinline
isInSTM(int signatureId) constrtabmap::Memoryinline
isInWM(int signatureId) constrtabmap::Memoryinline
isLocalizationDataSaved() constrtabmap::Memoryinline
isOdomGravityUsed() constrtabmap::Memoryinline
isReadOnly() constrtabmap::Memoryinline
joinTrashThread()rtabmap::Memory
kIdInvalidrtabmap::Memorystatic
kIdStartrtabmap::Memorystatic
kIdVirtualrtabmap::Memorystatic
labelSignature(int id, const std::string &label)rtabmap::Memory
load2DMap(float &xMin, float &yMin, float &cellSize) constrtabmap::Memory
loadOptimizedMesh(std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons=0, std::vector< std::vector< Eigen::Vector2f > > *texCoords=0, cv::Mat *textures=0) constrtabmap::Memory
loadOptimizedPoses(Transform *lastlocalizationPose) constrtabmap::Memory
loadPreviewImage() constrtabmap::Memory
Memory(const ParametersMap &parameters=ParametersMap())rtabmap::Memory
memoryChanged() constrtabmap::Memoryinline
parseParameters(const ParametersMap &parameters)rtabmap::Memoryvirtual
reactivateSignatures(const std::list< int > &ids, unsigned int maxLoaded, double &timeDbAccess)rtabmap::Memory
reduceNode(int id, float maxDistance=0.0f, bool keepLinkedInDb=false, int direction=0)rtabmap::Memory
removeAllVirtualLinks()rtabmap::Memory
removeLink(int idA, int idB)rtabmap::Memory
removeRawData(int id, bool image=true, bool scan=true, bool userData=true, bool occupancyGrid=true)rtabmap::Memory
removeVirtualLinks(int signatureId)rtabmap::Memory
save2DMap(const cv::Mat &map, float xMin, float yMin, float cellSize) constrtabmap::Memory
saveLocationData(int locationId)rtabmap::Memory
saveOptimizedMesh(const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) constrtabmap::Memory
saveOptimizedPoses(const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) constrtabmap::Memory
savePreviewImage(const cv::Mat &image) constrtabmap::Memory
saveStatistics(const Statistics &statistics, bool saveWMState)rtabmap::Memory
setDummyDictionary(bool enabled)rtabmap::Memory
setUserData(int id, const cv::Mat &data)rtabmap::Memory
update(const SensorData &data, Statistics *stats=0)rtabmap::Memory
update(const SensorData &data, const Transform &pose, const cv::Mat &covariance, const std::vector< float > &velocity=std::vector< float >(), Statistics *stats=0)rtabmap::Memory
updateAge(int signatureId)rtabmap::Memory
updateLink(const Link &link, bool updateInDatabase=false)rtabmap::Memory
~Memory() (defined in rtabmap::Memory)rtabmap::Memoryvirtual
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rtabmap::Memory Class Reference
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+ +

Three-tiered memory management (STM, WM, LTM) for RTAB-Map. + More...

+ +

#include <Memory.h>

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+Collaboration diagram for rtabmap::Memory:
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+Public Member Functions

 Memory (const ParametersMap &parameters=ParametersMap())
 Constructs a Memory instance with the given parameters.
 
virtual void parseParameters (const ParametersMap &parameters)
 Re-parses parameters and propagates them to owned sub-objects.
 
virtual const ParametersMap & getParameters () const
 
bool update (const SensorData &data, Statistics *stats=0)
 Adds a sensor observation to the map (overload without odometry pose).
 
bool update (const SensorData &data, const Transform &pose, const cv::Mat &covariance, const std::vector< float > &velocity=std::vector< float >(), Statistics *stats=0)
 Adds a sensor observation with odometry pose and velocity to the map.
 
bool init (const std::string &dbUrl, bool dbOverwritten=false, const ParametersMap &parameters=ParametersMap(), bool postInitClosingEvents=false)
 Opens or creates a database and loads existing state into WM.
 
void close (bool databaseSaved=true, bool postInitClosingEvents=false, const std::string &ouputDatabasePath="")
 Flushes pending data and closes the database connection.
 
std::map< int, float > computeLikelihood (const Signature *signature, const std::list< int > &ids)
 Computes loop-closure likelihood of signature against a set of WM ids.
 
int incrementMapId (std::map< int, int > *reducedIds=0)
 Starts a new map id, breaking session continuity (e.g. after localization loss).
 
void updateAge (int signatureId)
 Refreshes the age of signatureId in working memory, marking it as recent.
 
std::list< int > forget (const std::set< int > &ignoredIds=std::set< int >())
 Transfers oldest signatures from WM to LTM to respect memory and/or time limits.
 
std::set< int > reactivateSignatures (const std::list< int > &ids, unsigned int maxLoaded, double &timeDbAccess)
 Reloads signatures from LTM into WM.
 
int cleanup ()
 Drops the last signature if flagged as bad, or any signature in localization mode.
 
+void saveStatistics (const Statistics &statistics, bool saveWMState)
 Persists statistics to the database; saveWMState records the WM id list.
 
+void savePreviewImage (const cv::Mat &image) const
 Stores a preview image (typically a thumbnail of the last frame) in the database.
 
+cv::Mat loadPreviewImage () const
 Loads the preview image previously written by savePreviewImage().
 
+void saveOptimizedPoses (const std::map< int, Transform > &optimizedPoses, const Transform &lastlocalizationPose) const
 Persists an optimized pose graph and the last localization pose for next session.
 
+std::map< int, Transform > loadOptimizedPoses (Transform *lastlocalizationPose) const
 Loads optimized poses previously written by saveOptimizedPoses().
 
+void save2DMap (const cv::Mat &map, float xMin, float yMin, float cellSize) const
 Persists a 2D occupancy grid (origin xMin, yMin and resolution cellSize).
 
+cv::Mat load2DMap (float &xMin, float &yMin, float &cellSize) const
 Loads the 2D occupancy grid previously written by save2DMap().
 
void saveOptimizedMesh (const cv::Mat &cloud, const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > &polygons=std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(), const std::vector< std::vector< Eigen::Vector2f > > &texCoords=std::vector< std::vector< Eigen::Vector2f > >(), const cv::Mat &textures=cv::Mat()) const
 Persists an optimized textured/colored mesh to the database.
 
+cv::Mat loadOptimizedMesh (std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > *polygons=0, std::vector< std::vector< Eigen::Vector2f > > *texCoords=0, cv::Mat *textures=0) const
 Loads the optimized mesh previously written by saveOptimizedMesh().
 
+void emptyTrash ()
 Forces the database driver to flush any queued signature/word saves.
 
+void joinTrashThread ()
 Blocks until the asynchronous database write thread has finished pending work.
 
bool addLink (const Link &link, bool addInDatabase=false)
 Adds a graph link between two signatures.
 
+void updateLink (const Link &link, bool updateInDatabase=false)
 Replaces an existing link with link (same endpoints and type).
 
+void removeAllVirtualLinks ()
 Removes every virtual link in WM.
 
+void removeVirtualLinks (int signatureId)
 Removes virtual links attached to signatureId.
 
std::map< int, int > getNeighborsId (int signatureId, int maxGraphDepth, int maxCheckedInDatabase=-1, bool incrementMarginOnLoop=false, bool ignoreLoopIds=false, bool ignoreIntermediateNodes=false, bool ignoreLocalSpaceLoopIds=false, const std::set< int > &nodesSet=std::set< int >(), double *dbAccessTime=0) const
 Breadth-first walk of the pose graph from signatureId.
 
std::map< int, float > getNeighborsIdRadius (int signatureId, float radius, const std::map< int, Transform > &optimizedPoses, int maxGraphDepth) const
 Returns neighbor ids within a Euclidean radius using optimized poses.
 
+void convertToIntermediate (int locationId)
 Marks locationId as intermediate (weight = -1); excludes it from loop closure.
 
void deleteLocation (int locationId, std::list< int > *deletedWords=0, bool keepLinkedInDb=false)
 Removes locationId from WM/STM and the database.
 
+void saveLocationData (int locationId)
 Forces locationId to be flushed to the database.
 
+void removeLink (int idA, int idB)
 Removes any link between idA and idB (both directions).
 
+void removeRawData (int id, bool image=true, bool scan=true, bool userData=true, bool occupancyGrid=true)
 Strips raw images, scan, user data and/or occupancy grid from id to save memory (RAM). This doesn't clear any compressed data.
 
int reduceNode (int id, float maxDistance=0.0f, bool keepLinkedInDb=false, int direction=0)
 Merges id with a close neighbor (graph reduction).
 
void setDummyDictionary (bool enabled)
 Enables a dummy visual word dictionary (no descriptors kept, word ids only).
 
const std::map< int, double > & getWorkingMem () const
 
size_t getWorkingMemSize (bool ignoreIntermediateNodes=false) const
 Returns the number of signatures in working memory, excluding the virtual place.
 
int getWorkingMemIntermediateNodesCount () const
 
int getStMemIntermediateNodesCount () const
 
const std::set< int > & getStMem () const
 
int getMaxStMemSize () const
 
+std::multimap< int, Link > getNeighborLinks (int signatureId, bool lookInDatabase=false) const
 Returns neighbor (sequential) links of signatureId; lookInDatabase also checks LTM.
 
+std::multimap< int, Link > getLoopClosureLinks (int signatureId, bool lookInDatabase=false) const
 Returns loop-closure links of signatureId; lookInDatabase also checks LTM.
 
std::multimap< int, Link > getLinks (int signatureId, bool lookInDatabase=false, bool withLandmarks=false) const
 Returns all links of signatureId (neighbor, loop, prior, gravity, ...).
 
+std::multimap< int, Link > getAllLinks (bool lookInDatabase, bool ignoreNullLinks=true, bool withLandmarks=false) const
 Returns links of every signature; ignoreNullLinks drops empty placeholders.
 
bool isBinDataKept () const
 
float getSimilarityThreshold () const
 
std::map< int, int > getWeights () const
 
int getLastSignatureId () const
 
const Signature * getLastWorkingSignature (bool ignoreIntermediateNodes) const
 Returns the most recent WM signature.
 
+std::map< int, Link > getNodesObservingLandmark (int landmarkId, bool lookInDatabase) const
 Returns all nodes observing landmark landmarkId, mapped to the observation link.
 
int getSignatureIdByLabel (const std::string &label, bool lookInDatabase=true) const
 
bool labelSignature (int id, const std::string &label)
 Assigns or removes a label on id.
 
const std::map< int, std::string > & getAllLabels () const
 
const std::map< int, std::set< int > > & getLandmarksIndex () const
 
bool allNodesInWM () const
 
bool setUserData (int id, const cv::Mat &data)
 Attaches user data to signature id, compressing it on the fly if needed.
 
int getDatabaseMemoryUsed () const
 
std::string getDatabaseVersion () const
 
std::string getDatabaseUrl () const
 
double getDbSavingTime () const
 
int getMapId (int id, bool lookInDatabase=false) const
 
Transform getOdomPose (int signatureId, bool lookInDatabase=false) const
 
Transform getGroundTruthPose (int signatureId, bool lookInDatabase=false) const
 
const std::map< int, Transform > & getGroundTruths () const
 
void getGPS (int id, GPS &gps, Transform &offsetENU, bool lookInDatabase, int maxGraphDepth=0) const
 Returns a GPS fix for id, falling back to the nearest GPS-tagged neighbor.
 
bool getNodeInfo (int signatureId, Transform &odomPose, int &mapId, int &weight, std::string &label, double &stamp, Transform &groundTruth, std::vector< float > &velocity, GPS &gps, EnvSensors &sensors, bool lookInDatabase=false) const
 Reads metadata of signatureId (no images/scan/words).
 
cv::Mat getImageCompressed (int signatureId) const
 
SensorData getNodeData (int locationId, bool images, bool scan, bool userData, bool occupancyGrid) const
 Loads sensor data of locationId from WM or LTM.
 
+void getNodeWordsAndGlobalDescriptors (int nodeId, std::multimap< int, int > &words, std::vector< cv::KeyPoint > &wordsKpts, std::vector< cv::Point3f > &words3, cv::Mat &wordsDescriptors, std::vector< GlobalDescriptor > &globalDescriptors) const
 Loads the visual words, 3D points and global descriptors stored with nodeId.
 
+void getNodeCalibration (int nodeId, std::vector< CameraModel > &models, std::vector< StereoCameraModel > &stereoModels) const
 Loads mono and/or stereo camera calibration stored with nodeId.
 
std::set< int > getAllSignatureIds (bool ignoreChildren=true) const
 Returns all signature ids in WM, STM and LTM.
 
bool memoryChanged () const
 Reports whether the in-memory map has been modified since the database was last loaded or reset. close() uses this flag to decide whether the database needs to be rewritten.
 
bool isIncremental () const
 
bool isReadOnly () const
 
bool isLocalizationDataSaved () const
 
const Signature * getSignature (int id) const
 
bool isInSTM (int signatureId) const
 
bool isInWM (int signatureId) const
 
bool isInLTM (int signatureId) const
 
bool isIDsGenerated () const
 
int getLastGlobalLoopClosureId () const
 
const Feature2D * getFeature2D () const
 
bool isGraphReduced () const
 
const std::vector< double > & getOdomMaxInf () const
 
bool isOdomGravityUsed () const
 
+void dumpMemoryTree (const char *fileNameTree) const
 Writes a human-readable dump of WM/STM, links and weights to fileNameTree.
 
+virtual void dumpMemory (std::string directory) const
 Dumps every internal map (signatures, words, dictionary) to text files in directory.
 
+virtual void dumpSignatures (const char *fileNameSign, bool words3D) const
 Dumps signatures' word ids (and 3D positions if words3D) to fileNameSign.
 
+void dumpDictionary (const char *fileNameRef, const char *fileNameDesc) const
 Dumps the visual word dictionary: references to fileNameRef, descriptors to fileNameDesc.
 
unsigned long getMemoryUsed () const
 
void generateGraph (const std::string &fileName, const std::set< int > &ids=std::set< int >())
 Writes a Graphviz DOT file of the pose graph.
 
int cleanupLocalGrids (const std::map< int, Transform > &poses, const cv::Mat &map, float xMin, float yMin, float cellSize, int cropRadius=1, bool filterScans=false)
 Removes spurious obstacle points from each node's local grid using a reference 2D map.
 
const VWDictionary * getVWDictionary () const
 
void getMetricConstraints (const std::set< int > &ids, std::map< int, Transform > &poses, std::multimap< int, Link > &links, bool lookInDatabase=false, bool landmarksAdded=false)
 Extracts a sub-graph (poses + links) for a set of node ids.
 
Transform computeTransform (Signature &fromS, Signature &toS, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false) const
 Computes the relative transform from fromS to toS using the registration pipeline.
 
+Transform computeTransform (int fromId, int toId, Transform guess, RegistrationInfo *info=0, bool useKnownCorrespondencesIfPossible=false)
 Convenience overload: loads signatures by id and forwards to the Signature variant.
 
Transform computeIcpTransform (const Signature &fromS, const Signature &toS, Transform guess, RegistrationInfo *info=0) const
 Refines a transform using ICP alignment of laser scans only.
 
Transform computeIcpTransformMulti (int newId, int oldId, const std::map< int, Transform > &poses, RegistrationInfo *info=0)
 ICP registration of one node against an assembled cloud from multiple neighbors.
 
+ + + + + + + + + + +

+Static Public Attributes

static const int kIdStart
 First valid signature id assigned by getNextId() (positive integer).
 
static const int kIdVirtual
 Reserved id for the "virtual place" used by the Bayes filter (negative).
 
static const int kIdInvalid
 Sentinel value indicating an invalid signature id (zero).
 
+ + + + +

+Protected Attributes

DBDriver * _dbDriver
 Database driver owning the persistent storage (created by init()).
 
+

Detailed Description

+

Three-tiered memory management (STM, WM, LTM) for RTAB-Map.

+

Memory is the core map data structure used by Rtabmap. It stores observations as Signature nodes connected by Link edges and orchestrates their lifecycle across three tiers:

+
    +
  • Short-Term Memory (STM): most recently added signatures, kept at a fixed size (see Parameters::kMemSTMSize()). Used to delay recently observed places before they become candidates for loop closure.
    • +
  • Working Memory (WM): signatures available for loop-closure likelihood computation in the current iteration. Older signatures are transferred from WM to LTM by forget() to bound iteration time.
    • +
  • Long-Term Memory (LTM): persisted in the database via DBDriver. Signatures can be brought back to WM with reactivateSignatures() when their neighbors still in WM are good loop-closure candidates.
    • +
+

The class also owns a visual word dictionary (VWDictionary), feature extractor (Feature2D) and registration pipelines (Registration, RegistrationVis, RegistrationIcp) used to compute relative transforms between signatures.

+

Typical iteration: update() adds a new SensorData as a Signature in STM; computeLikelihood() scores it against WM; the Rtabmap caller decides on loop closures with BayesFilter; cleanup() drops bad signatures; forget() transfers oldest WM signatures to LTM and reactivateSignatures() pulls relevant ones back.

+
See also
Signature
+
+DBDriver
+
+VWDictionary
+
+Rtabmap
+ +

Definition at line 101 of file Memory.h.

+

Constructor & Destructor Documentation

+ +

◆ Memory()

+ +
+
+ + + + + + + + +
rtabmap::Memory::Memory (const ParametersMap & parameters = ParametersMap())
+
+ +

Constructs a Memory instance with the given parameters.

+

The database is not opened here; call init() to open or create a database and load persisted state. parameters may include any key from Parameters (memory, keypoint, registration, etc.); missing keys fall back to defaults.

+ +
+
+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::Memory::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Re-parses parameters and propagates them to owned sub-objects.

+

Forwards the relevant subset to VWDictionary, Feature2D, the registration pipelines and the database driver. Safe to call at runtime to change settings.

+ +
+
+ +

◆ getParameters()

+ +
+
+ + + + + +
+ + + + + + + +
virtual const ParametersMap & rtabmap::Memory::getParameters () const
+ 		+inlinevirtual
+
+
Returns
The most recent parameter map applied via the constructor or parseParameters().
+ +

Definition at line 130 of file Memory.h.

+ +
+
+ +

◆ update() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::Memory::update (const SensorData & data,
Statistics * stats = 0 
)
+
+ +

Adds a sensor observation to the map (overload without odometry pose).

+

Equivalent to calling the full update() with an identity pose and empty covariance. The new signature is added to STM; oldest STM entries are promoted to WM as needed.

+
Parameters
+ + + +
dataSensor data (images, scan, user data, odometry features) for this frame.
statsOptional output statistics receiver for timing/diagnostic values.
+
+
+
Returns
True if a signature was successfully created and added, false otherwise.
+ +
+
+ +

◆ update() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
bool rtabmap::Memory::update (const SensorData & data,
const Transform & pose,
const cv::Mat & covariance,
const std::vector< float > & velocity = std::vector< float >(),
Statistics * stats = 0 
)
+
+ +

Adds a sensor observation with odometry pose and velocity to the map.

+

Creates a new Signature, extracts visual words, links it to the previous STM signature with a neighbor link, runs rehearsal against STM and promotes the oldest STM signature to WM if STM is full.

+
Parameters
+ + + + + + +
dataSensor data (images, scan, user data, odometry features).
poseOdometry pose at this frame (null if odometry not used).
covariance6x6 odometry covariance (or empty if null odometry is provided).
velocityOptional 6-vector (vx, vy, vz, vroll, vpitch, vyaw).
statsOptional output statistics receiver.
+
+
+
Returns
True on success, false if signature creation failed.
+ +
+
+ +

◆ init()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
bool rtabmap::Memory::init (const std::string & dbUrl,
bool dbOverwritten = false,
const ParametersMap & parameters = ParametersMap(),
bool postInitClosingEvents = false 
)
+
+ +

Opens or creates a database and loads existing state into WM.

+
Parameters
+ + + + + +
dbUrlPath to the database file (empty for in-memory).
dbOverwrittenIf true, deletes the existing file before opening.
parametersOptional parameter override applied before loading.
postInitClosingEventsIf true, posts RtabmapEventInit events for progress reporting (used by GUI).
+
+
+
Returns
True on success, false if the database could not be opened.
+ +
+
+ +

◆ close()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Memory::close (bool databaseSaved = true,
bool postInitClosingEvents = false,
const std::string & ouputDatabasePath = "" 
)
+
+ +

Flushes pending data and closes the database connection.

+
Parameters
+ + + + +
databaseSavedIf true, persists STM/WM signatures and statistics before closing. If false, in-memory state is discarded.
postInitClosingEventsIf true, posts progress events while closing.
ouputDatabasePathIf non-empty, the database is copied to this path on close. If a database on disk was initially created/loaded on a different path, it will be updated with latest changes and renamed to the output path.
+
+
+ +
+
+ +

◆ computeLikelihood()

+ +
+
+ + + + + + + + + + + + + + + + + + +
std::map< int, float > rtabmap::Memory::computeLikelihood (const Signature * signature,
const std::list< int > & ids 
)
+
+ +

Computes loop-closure likelihood of signature against a set of WM ids.

+

Compares visual words (tf-idf if enabled) between signature and each id in ids and returns a normalized likelihood per id.

+
Parameters
+ + + +
signatureQuery signature (typically the last added one).
idsCandidate signature ids in working memory.
+
+
+
Returns
Map from id to likelihood score.
+ +
+
+ +

◆ incrementMapId()

+ +
+
+ + + + + + + + +
int rtabmap::Memory::incrementMapId (std::map< int, int > * reducedIds = 0)
+
+ +

Starts a new map id, breaking session continuity (e.g. after localization loss).

+
Parameters
+ + +
reducedIdsIf non-null, populated with id remappings produced by graph reduction triggered by the new map.
+
+
+
Returns
The new map id (auto-incremented).
+ +
+
+ +

◆ updateAge()

+ +
+
+ + + + + + + + +
void rtabmap::Memory::updateAge (int signatureId)
+
+ +

Refreshes the age of signatureId in working memory, marking it as recent.

+

Used to keep loop-closure hypotheses active so they are not transferred to LTM during the next forget() call.

+ +
+
+ +

◆ forget()

+ +
+
+ + + + + + + + +
std::list< int > rtabmap::Memory::forget (const std::set< int > & ignoredIds = std::set< int >())
+
+ +

Transfers oldest signatures from WM to LTM to respect memory and/or time limits.

+

Two regimes are used depending on the visual word dictionary state:

    +
  • Word-count regime: active only when mapping mode is on, the VWDictionary is in incremental mode, contains at least one word, and is not using incremental FLANN. In this regime, signatures are transferred until the number of visual words removed from the dictionary catches up with the number of new words indexed since the previous iteration.
    • +
  • Signature-count regime: used in every other case (localization mode, dictionary not incremental, dictionary still empty – e.g. lidar-only mapping or no feature extraction – or incremental FLANN, where the word count is no longer the bottleneck). In this regime, at least one more signature than the count added/retrieved in the previous iteration is transferred, regardless of words.
    • +
+

In both regimes, candidate selection (see getRemovableSignatures()) honors ignoredIds, skips intermediate nodes, and excludes WM nodes linked to STM (to preserve rehearsal). Intermediate (weight==-1) nodes linked to a transferred signature are dragged out with it.

+
Parameters
+ + +
ignoredIdsSignatures that must not be transferred (e.g. STM, retrieved ids, on the planned path).
+
+
+
Returns
Ids of signatures moved to LTM, in transfer order.
+ +
+
+ +

◆ reactivateSignatures()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
std::set< int > rtabmap::Memory::reactivateSignatures (const std::list< int > & ids,
unsigned int maxLoaded,
double & timeDbAccess 
)
+
+ +

Reloads signatures from LTM into WM.

+
Parameters
+ + + + +
idsCandidate ids; those already in WM/STM are ignored.
maxLoadedHard cap on number of ids actually loaded (0 = unlimited).
timeDbAccessOutput: time spent in the database driver (seconds).
+
+
+
Returns
Ids effectively brought back to WM.
+ +
+
+ +

◆ cleanup()

+ +
+
+ + + + + + + +
int rtabmap::Memory::cleanup ()
+
+ +

Drops the last signature if flagged as bad, or any signature in localization mode.

+
Returns
Id of the removed signature, or 0 if none was removed.
+ +
+
+ +

◆ saveOptimizedMesh()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Memory::saveOptimizedMesh (const cv::Mat & cloud,
const std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > > & polygons = std::vector< std::vector< std::vector< RTABMAP_PCL_INDEX > > >(),
const std::vector< std::vector< Eigen::Vector2f > > & texCoords = std::vector< std::vector< Eigen::Vector2f > >(),
const cv::Mat & textures = cv::Mat() 
) const
+
+ +

Persists an optimized textured/colored mesh to the database.

+
Parameters
+ + + + + +
cloudPoint cloud (XYZRGB) of vertices.
polygonsPer-texture list of polygons; each polygon is a list of vertex indices.
texCoordsPer-texture list of UV coords matching polygons.
texturesConcatenated texture images (square, equal-sized).
+
+
+ +
+
+ +

◆ addLink()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::Memory::addLink (const Link & link,
bool addInDatabase = false 
)
+
+ +

Adds a graph link between two signatures.

+
Parameters
+ + + +
linkLink to add (type, transform, covariance).
addInDatabaseIf true, the link is also added when one of the ids is only in LTM.
+
+
+
Returns
True if the link was added, false on conflict or missing nodes.
+ +
+
+ +

◆ getNeighborsId()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
std::map< int, int > rtabmap::Memory::getNeighborsId (int signatureId,
int maxGraphDepth,
int maxCheckedInDatabase = -1,
bool incrementMarginOnLoop = false,
bool ignoreLoopIds = false,
bool ignoreIntermediateNodes = false,
bool ignoreLocalSpaceLoopIds = false,
const std::set< int > & nodesSet = std::set< int >(),
double * dbAccessTime = 0 
) const
+
+ +

Breadth-first walk of the pose graph from signatureId.

+

Visits neighbor and (optionally) loop-closure neighbors up to maxGraphDepth.

+
Parameters
+ + + + + + + + + + +
signatureIdStarting node.
maxGraphDepthMaximum graph distance (0 = infinite graph depth).
maxCheckedInDatabaseCap on LTM look-ups (-1 = unlimited, 0 = WM only).
incrementMarginOnLoopIf true, loop-closure links count toward depth.
ignoreLoopIdsIf true, loop-closure neighbors are not traversed.
ignoreIntermediateNodesIf true, weight==-1 intermediate nodes are skipped.
ignoreLocalSpaceLoopIdsIf true, only global loop closures are traversed.
nodesSetIf non-empty, traversal is constrained to these ids.
dbAccessTimeOutput: time spent in database access (seconds).
+
+
+
Returns
Map from visited node id to graph depth, including signatureId (with graph depth of 0)
+ +
+
+ +

◆ getNeighborsIdRadius()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
std::map< int, float > rtabmap::Memory::getNeighborsIdRadius (int signatureId,
float radius,
const std::map< int, Transform > & optimizedPoses,
int maxGraphDepth 
) const
+
+ +

Returns neighbor ids within a Euclidean radius using optimized poses.

+
Parameters
+ + + + + +
signatureIdQuery node id.
radiusMaximum distance from signatureId (meters).
optimizedPosesPose graph after optimization (used for distances).
maxGraphDepthMaximum graph distance (in terms of nodes) to bound the search.
+
+
+
Returns
Map from node id to squared distance from signatureId.
+ +
+
+ +

◆ deleteLocation()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Memory::deleteLocation (int locationId,
std::list< int > * deletedWords = 0,
bool keepLinkedInDb = false 
)
+
+ +

Removes locationId from WM/STM and the database.

+
Parameters
+ + + + +
locationIdId of the signature to delete.
deletedWordsOptional output: words whose reference count dropped to zero.
keepLinkedInDbIf true, the location keeps its links, weight and label and stays part of the graph in the database. If false (default), it is unlinked first – links removed on both sides, weight invalidated, label cleared – so at best it is kept as history only and no longer appears in getAllSignatureIds(). An unlinked location is written to the database only if it was already saved there or if Parameters::kMemNotLinkedNodesKept() is true (default); otherwise it is discarded outright.
+
+
+ +
+
+ +

◆ reduceNode()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
int rtabmap::Memory::reduceNode (int id,
float maxDistance = 0.0f,
bool keepLinkedInDb = false,
int direction = 0 
)
+
+ +

Merges id with a close neighbor (graph reduction).

+
Parameters
+ + + + + +
idNode to reduce.
maxDistanceMaximum distance to a neighbor to allow the merge (meters).
keepLinkedInDbSame meaning as in deleteLocation(): if true, the merged node keeps its links, weight and label and stays part of the graph in the database. If false (default), it is unlinked first – links removed on both sides, weight invalidated, label cleared – so at best it is kept as history only and no longer appears in getAllSignatureIds(). An unlinked node is written to the database only if it was already saved there or if Parameters::kMemNotLinkedNodesKept() is true (default); otherwise it is discarded outright.
directionRestrict merge target: 0=any, 1=previous neighbor, 2=next neighbor.
+
+
+
Returns
Id of the node id was merged into, or 0 if no reduction was performed.
+ +
+
+ +

◆ setDummyDictionary()

+ +
+
+ + + + + + + + +
void rtabmap::Memory::setDummyDictionary (bool enabled)
+
+ +

Enables a dummy visual word dictionary (no descriptors kept, word ids only).

+
Note
Must be called before init(); ignored (with an error logged) once the database driver is set.
+
+Silently disabled by init() when the database holds no dictionary, since there would be nothing to skip loading, and the memory would otherwise be left unable to add new nodes.
+ +
+
+ +

◆ getWorkingMem()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, double > & rtabmap::Memory::getWorkingMem () const
+ 		+inline
+
+
Returns
Working memory as { signature id, age } (does not include STM).
+ +

Definition at line 400 of file Memory.h.

+ +
+
+ +

◆ getWorkingMemSize()

+ +
+
+ + + + + + + + +
size_t rtabmap::Memory::getWorkingMemSize (bool ignoreIntermediateNodes = false) const
+
+ +

Returns the number of signatures in working memory, excluding the virtual place.

+
Parameters
+ + +
ignoreIntermediateNodesIf true, intermediate nodes (weight = -1) are not counted.
+
+
+ +
+
+ +

◆ getWorkingMemIntermediateNodesCount()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Memory::getWorkingMemIntermediateNodesCount () const
+ 		+inline
+
+
Returns
Number of intermediate nodes (weight = -1) currently in working memory.
+ +

Definition at line 407 of file Memory.h.

+ +
+
+ +

◆ getStMemIntermediateNodesCount()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Memory::getStMemIntermediateNodesCount () const
+ 		+inline
+
+
Returns
Number of intermediate nodes (weight = -1) currently in short-term memory.
+ +

Definition at line 409 of file Memory.h.

+ +
+
+ +

◆ getStMem()

+ +
+
+ + + + + +
+ + + + + + + +
const std::set< int > & rtabmap::Memory::getStMem () const
+ 		+inline
+
+
Returns
Set of signature ids currently in short-term memory.
+ +

Definition at line 411 of file Memory.h.

+ +
+
+ +

◆ getMaxStMemSize()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Memory::getMaxStMemSize () const
+ 		+inline
+
+
Returns
Configured maximum STM size (Parameters::kMemSTMSize()).
+ +

Definition at line 413 of file Memory.h.

+ +
+
+ +

◆ getLinks()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
std::multimap< int, Link > rtabmap::Memory::getLinks (int signatureId,
bool lookInDatabase = false,
bool withLandmarks = false 
) const
+
+ +

Returns all links of signatureId (neighbor, loop, prior, gravity, ...).

+
Parameters
+ + + + +
signatureIdSource node id (can also be a landmark id).
lookInDatabaseAlso query LTM for links.
withLandmarksInclude landmark links in the result.
+
+
+ +
+
+ +

◆ isBinDataKept()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Memory::isBinDataKept () const
+ 		+inline
+
+
Returns
True if raw binary data (images, scans) is kept in memory after compression.
+ +

Definition at line 432 of file Memory.h.

+ +
+
+ +

◆ getSimilarityThreshold()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Memory::getSimilarityThreshold () const
+ 		+inline
+
+
Returns
Similarity threshold used by rehearsal (Parameters::kMemRehearsalSimilarity()).
+ +

Definition at line 434 of file Memory.h.

+ +
+
+ +

◆ getWeights()

+ +
+
+ + + + + + + +
std::map< int, int > rtabmap::Memory::getWeights () const
+
+
Returns
Map from signature id to weight (rehearsal accumulation count) for WM and STM.
+ +
+
+ +

◆ getLastSignatureId()

+ +
+
+ + + + + + + +
int rtabmap::Memory::getLastSignatureId () const
+
+
Returns
Id of the most recently added signature, or 0 if none.
+ +
+
+ +

◆ getLastWorkingSignature()

+ +
+
+ + + + + + + + +
const Signature * rtabmap::Memory::getLastWorkingSignature (bool ignoreIntermediateNodes) const
+
+ +

Returns the most recent WM signature.

+
Parameters
+ + +
ignoreIntermediateNodesIf true, skips weight==-1 placeholder nodes.
+
+
+ +
+
+ +

◆ getSignatureIdByLabel()

+ +
+
+ + + + + + + + + + + + + + + + + + +
int rtabmap::Memory::getSignatureIdByLabel (const std::string & label,
bool lookInDatabase = true 
) const
+
+
Returns
Signature id labeled label, or 0 if not found.
+ +
+
+ +

◆ labelSignature()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::Memory::labelSignature (int id,
const std::string & label 
)
+
+ +

Assigns or removes a label on id.

+
Parameters
+ + + +
idSignature id; pass 0 to remove an existing label by name.
labelLabel text; empty to remove.
+
+
+
Returns
True if the label was applied.
+ +
+
+ +

◆ getAllLabels()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, std::string > & rtabmap::Memory::getAllLabels () const
+ 		+inline
+
+
Returns
Map from signature id to non-empty label (including STM+WM+LTM).
+ +

Definition at line 456 of file Memory.h.

+ +
+
+ +

◆ getLandmarksIndex()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, std::set< int > > & rtabmap::Memory::getLandmarksIndex () const
+ 		+inline
+
+
Returns
Reverse landmark index: { landmark id (negative), nodes observing it }.
+ +

Definition at line 458 of file Memory.h.

+ +
+
+ +

◆ allNodesInWM()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Memory::allNodesInWM () const
+ 		+inline
+
+
Returns
True if every persisted node (in LTM) is currently loaded in WM/STM.
+ +

Definition at line 460 of file Memory.h.

+ +
+
+ +

◆ setUserData()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::Memory::setUserData (int id,
const cv::Mat & data 
)
+
+ +

Attaches user data to signature id, compressing it on the fly if needed.

+

The format is detected automatically: a single-row CV_8UC1 matrix is treated as already-compressed data and stored as-is; anything else is considered raw and compressed before being stored.

+
Note
If you pass one-dimensional unsigned 8-bit raw data, transpose it so it has multiple rows (not multiple columns), otherwise it will be misdetected as already compressed.
+
Parameters
+ + + +
idTarget signature id (must be in WM/STM or LTM).
dataRaw or pre-compressed user data.
+
+
+
Returns
True if the data was attached, false if id was not found.
+ +
+
+ +

◆ getDatabaseMemoryUsed()

+ +
+
+ + + + + + + +
int rtabmap::Memory::getDatabaseMemoryUsed () const
+
+
Returns
On-disk database size in bytes.
+ +
+
+ +

◆ getDatabaseVersion()

+ +
+
+ + + + + + + +
std::string rtabmap::Memory::getDatabaseVersion () const
+
+
Returns
Schema version of the open database (e.g. "0.20.0").
+ +
+
+ +

◆ getDatabaseUrl()

+ +
+
+ + + + + + + +
std::string rtabmap::Memory::getDatabaseUrl () const
+
+
Returns
File path of the open database (empty if in-memory).
+ +
+
+ +

◆ getDbSavingTime()

+ +
+
+ + + + + + + +
double rtabmap::Memory::getDbSavingTime () const
+
+
Returns
Last emptyTrash() flush time in seconds.
+ +
+
+ +

◆ getMapId()

+ +
+
+ + + + + + + + + + + + + + + + + + +
int rtabmap::Memory::getMapId (int id,
bool lookInDatabase = false 
) const
+
+
Returns
Map id of signature id; lookInDatabase also queries LTM.
+ +
+
+ +

◆ getOdomPose()

+ +
+
+ + + + + + + + + + + + + + + + + + +
Transform rtabmap::Memory::getOdomPose (int signatureId,
bool lookInDatabase = false 
) const
+
+
Returns
Odometry pose stored with signatureId (null if unknown).
+ +
+
+ +

◆ getGroundTruthPose()

+ +
+
+ + + + + + + + + + + + + + + + + + +
Transform rtabmap::Memory::getGroundTruthPose (int signatureId,
bool lookInDatabase = false 
) const
+
+
Returns
Ground-truth pose stored with signatureId (null if unknown).
+ +
+
+ +

◆ getGroundTruths()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, Transform > & rtabmap::Memory::getGroundTruths () const
+ 		+inline
+
+
Returns
Ground-truth poses for nodes currently in WM/STM.
+ +

Definition at line 493 of file Memory.h.

+ +
+
+ +

◆ getGPS()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Memory::getGPS (int id,
GPS & gps,
Transform & offsetENU,
bool lookInDatabase,
int maxGraphDepth = 0 
) const
+
+ +

Returns a GPS fix for id, falling back to the nearest GPS-tagged neighbor.

+

Two cases:

    +
  • If id has a GPS fix attached, gps is set to that fix and offsetENU is left at identity.
    • +
  • Otherwise, the graph is searched (via getNeighborsId() with depth maxGraphDepth, ignoring loop closures) for the closest neighbor that has a GPS fix. When one is found, gps is set to that neighbor's fix and offsetENU is the rigid transform from that neighbor's pose to id, expressed in ENU coordinates (derived from the neighbor's heading/bearing). Applying offsetENU on top of the GPS-derived pose of the neighbor yields the ENU pose of id.
    • +
+

If no GPS fix is found on id or any reachable neighbor, gps is returned empty (gps.stamp()==0) and offsetENU is identity.

+
Parameters
+ + + + + + +
idQuery signature id.
gpsOutput GPS fix (empty if none found).
offsetENUOutput ENU-frame offset from the GPS-tagged node to id (identity when id itself carries the GPS fix or when none is found).
lookInDatabaseIf true, also fetch missing nodes from LTM during the search.
maxGraphDepthMaximum graph depth used to look for a GPS-tagged neighbor when id has none (0 = no depth limit, i.e. search the whole reachable graph).
+
+
+ +
+
+ +

◆ getNodeInfo()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
bool rtabmap::Memory::getNodeInfo (int signatureId,
Transform & odomPose,
int & mapId,
int & weight,
std::string & label,
double & stamp,
Transform & groundTruth,
std::vector< float > & velocity,
GPS & gps,
EnvSensors & sensors,
bool lookInDatabase = false 
) const
+
+ +

Reads metadata of signatureId (no images/scan/words).

+
Parameters
+ + + + + + + + + + + + +
signatureIdNode id.
odomPoseOutput odometry pose (null if not set).
mapIdOutput map id.
weightOutput rehearsal weight.
labelOutput label (empty if none).
stampOutput timestamp (seconds, epoch).
groundTruthOutput ground-truth pose (null if not set).
velocityOutput 6-vector velocity (empty if not set).
gpsOutput GPS fix (invalid if not set).
sensorsOutput environmental sensor readings.
lookInDatabaseAlso query LTM.
+
+
+
Returns
True if signatureId was found.
+ +
+
+ +

◆ getImageCompressed()

+ +
+
+ + + + + + + + +
cv::Mat rtabmap::Memory::getImageCompressed (int signatureId) const
+
+
Returns
Compressed image blob for signatureId (empty if not stored).
+ +
+
+ +

◆ getNodeData()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
SensorData rtabmap::Memory::getNodeData (int locationId,
bool images,
bool scan,
bool userData,
bool occupancyGrid 
) const
+
+ +

Loads sensor data of locationId from WM or LTM.

+
Parameters
+ + + + + +
imagesInclude compressed RGB/depth images.
scanInclude laser scan blob.
userDataInclude user data blob.
occupancyGridInclude occupancy grid cells.
+
+
+ +
+
+ +

◆ getAllSignatureIds()

+ +
+
+ + + + + + + + +
std::set< int > rtabmap::Memory::getAllSignatureIds (bool ignoreChildren = true) const
+
+ +

Returns all signature ids in WM, STM and LTM.

+
Parameters
+ + +
ignoreChildrenIf true, nodes not linked to graph anymore are excluded
+
+
+ +
+
+ +

◆ memoryChanged()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Memory::memoryChanged () const
+ 		+inline
+
+ +

Reports whether the in-memory map has been modified since the database was last loaded or reset. close() uses this flag to decide whether the database needs to be rewritten.

+

The flag is cleared to false on construction and by close() / clear(), and is raised to true on any of the following events:

+
    +
  • update() in mapping mode (Parameters::kMemIncrementalMemory() == true, see isIncremental()): every successful call sets the flag, since a new Signature is added to the graph and the visual word dictionary may grow.
    • +
  • update() in localization mode (isIncremental() == false): the flag is set only when Parameters::kMemLocalizationDataSaved() is enabled (see isLocalizationDataSaved()), i.e. when the new node must be persisted back to the database. Pure localization (the default, Parameters::kMemLocalizationDataSaved() == false) leaves the flag at false even after many update() calls, because nothing needs to be saved.
    • +
  • reduceNode(): merging a node into a neighbor mutates the graph and marks the memory as changed (and also raises the link-changed flag).
    • +
  • init() dictionary repair: when init() rebuilds the visual word dictionary because words are missing from the database, the flag is forced to true so the regenerated dictionary is saved back on close(), even if no new data was processed.
    • +
+

Note that link-only modifications (e.g. addLink(), updateLink(), removeLink()) update an independent _linksChanged flag, not this one.

+
Returns
True if the memory has changed and would need to be persisted.
+ +

Definition at line 602 of file Memory.h.

+ +
+
+ +

◆ isIncremental()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Memory::isIncremental () const
+ 		+inline
+
+
Returns
True if the memory grows on update() (mapping mode), false in localization mode.
+
See also
Parameters::kMemIncrementalMemory()
+ +

Definition at line 607 of file Memory.h.

+ +
+
+ +

◆ isReadOnly()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Memory::isReadOnly () const
+ 		+inline
+
+
Returns
True in localization mode when database writes are disabled (i.e. isIncremental() is false and Parameters::kMemLocalizationReadOnly() is enabled).
+
See also
Parameters::kMemIncrementalMemory()
+
+Parameters::kMemLocalizationReadOnly()
+ +

Definition at line 614 of file Memory.h.

+ +
+
+ +

◆ isLocalizationDataSaved()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Memory::isLocalizationDataSaved () const
+ 		+inline
+
+
Returns
True if data added during localization is persisted to the database.
+
See also
Parameters::kMemLocalizationDataSaved()
+ +

Definition at line 619 of file Memory.h.

+ +
+
+ +

◆ getSignature()

+ +
+
+ + + + + + + + +
const Signature * rtabmap::Memory::getSignature (int id) const
+
+
Returns
Signature with id in WM/STM, or null if not loaded.
+ +
+
+ +

◆ isInSTM()

+ +
+
+ + + + + +
+ + + + + + + + +
bool rtabmap::Memory::isInSTM (int signatureId) const
+ 		+inline
+
+
Returns
True if signatureId is in short-term memory.
+ +

Definition at line 623 of file Memory.h.

+ +
+
+ +

◆ isInWM()

+ +
+
+ + + + + +
+ + + + + + + + +
bool rtabmap::Memory::isInWM (int signatureId) const
+ 		+inline
+
+
Returns
True if signatureId is in working memory.
+ +

Definition at line 625 of file Memory.h.

+ +
+
+ +

◆ isInLTM()

+ +
+
+ + + + + +
+ + + + + + + + +
bool rtabmap::Memory::isInLTM (int signatureId) const
+ 		+inline
+
+
Returns
True if signatureId is not in STM/WM, so when it is in LTM or non-existing.
+ +

Definition at line 627 of file Memory.h.

+ +
+
+ +

◆ isIDsGenerated()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Memory::isIDsGenerated () const
+ 		+inline
+
+
Returns
True if signature ids are auto-generated, false if taken from sensor data id.
+ +

Definition at line 629 of file Memory.h.

+ +
+
+ +

◆ getLastGlobalLoopClosureId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Memory::getLastGlobalLoopClosureId () const
+ 		+inline
+
+
Returns
Id of the last accepted global loop-closure node, or 0 if none.
+ +

Definition at line 631 of file Memory.h.

+ +
+
+ +

◆ getFeature2D()

+ +
+
+ + + + + +
+ + + + + + + +
const Feature2D * rtabmap::Memory::getFeature2D () const
+ 		+inline
+
+
Returns
Feature extractor used to compute visual words.
+ +

Definition at line 633 of file Memory.h.

+ +
+
+ +

◆ isGraphReduced()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Memory::isGraphReduced () const
+ 		+inline
+
+
Returns
True if graph reduction is enabled (Parameters::kMemReduceGraph()).
+ +

Definition at line 635 of file Memory.h.

+ +
+
+ +

◆ getOdomMaxInf()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< double > & rtabmap::Memory::getOdomMaxInf () const
+ 		+inline
+
+
Returns
Running per-axis maximum of the diagonal of every neighbor (odometry) link's information matrix observed so far, as a 6-vector (x, y, z, roll, pitch, yaw). Empty until at least one 6x6 neighbor link information matrix has been seen.
+

This is a runtime statistic, not a configurable parameter: it is updated on init() (over all loaded neighbor links) and on every update() that adds a new neighbor link.

+

It is consumed by Rtabmap::getInformation() when Parameters::kRGBDLoopCovLimited() is enabled, to clip loop-closure information matrices so a loop never claims higher confidence than odometry itself ever provided.

+
See also
Parameters::kRGBDLoopCovLimited()
+ +

Definition at line 653 of file Memory.h.

+ +
+
+ +

◆ isOdomGravityUsed()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Memory::isOdomGravityUsed () const
+ 		+inline
+
+
Returns
True if the odometry pose orientation is used (instead of the IMU orientation) as the source of each new node's gravity link.
+

When enabled, every new node gets a self-loop Link::kGravity holding the rotation of the odometry pose passed to update(). This assumes odometry is already gravity-aligned (e.g. a VIO front-end). When disabled, the gravity link is built from the IMU orientation in SensorData::imu() if available.

+

Gravity links are consumed by graph optimization only when Parameters::kOptimizerGravitySigma() is non-zero.

+
See also
Parameters::kMemUseOdomGravity()
+
+Parameters::kOptimizerGravitySigma()
+ +

Definition at line 669 of file Memory.h.

+ +
+
+ +

◆ getMemoryUsed()

+ +
+
+ + + + + + + +
unsigned long rtabmap::Memory::getMemoryUsed () const
+
+
Returns
Approximate RAM usage of the in-memory state, in bytes.
+ +
+
+ +

◆ generateGraph()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::Memory::generateGraph (const std::string & fileName,
const std::set< int > & ids = std::set< int >() 
)
+
+ +

Writes a Graphviz DOT file of the pose graph.

+
Parameters
+ + + +
fileNameOutput path.
idsIf non-empty, restrict the graph to these node ids.
+
+
+ +
+
+ +

◆ cleanupLocalGrids()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
int rtabmap::Memory::cleanupLocalGrids (const std::map< int, Transform > & poses,
const cv::Mat & map,
float xMin,
float yMin,
float cellSize,
int cropRadius = 1,
bool filterScans = false 
)
+
+ +

Removes spurious obstacle points from each node's local grid using a reference 2D map.

+

For every node in poses, the node's local obstacle grid is loaded, each obstacle point is projected with poses into the reference map, and the point is kept only if either:

    +
  • the reference map cell at its projection is not free space (i.e. the cell is an obstacle or unknown, value != 0), or
    • +
  • the reference map contains an obstacle cell (value == 100) within cropRadius cells of the projection.
    • +
+

Points that fall on a free cell and have no obstacle neighbor within cropRadius are dropped. The filtered obstacle grid replaces the node's grid in WM/STM and (if the node is already persisted) in the database via DBDriver::updateOccupancyGrid().

+

Ground and empty cells are not touched: they are read and written back as-is.

+

When filterScans is true, the same projection/filtering rule is also applied to each node's raw laser scan, and the rewritten scan is saved back to the database. This is useful to remove dynamic objects from the stored scans before re-meshing or re-exporting.

+
Parameters
+ + + + + + + + +
posesOptimized poses used to project the local grids/scans into map.
mapReference 2D occupancy grid (cell values: 0 free, 100 occupied, anything else unknown).
xMinReference map origin x in world coordinates (meters).
yMinReference map origin y in world coordinates (meters).
cellSizeReference map resolution (meters/cell); must match the nodes' grid cell size.
cropRadiusSearch radius (in cells) around each projected point used to accept points near an obstacle in map.
filterScansIf true, also filter and rewrite the raw laser scan attached to each node, using the same rule as for obstacle cells.
+
+
+
Returns
Number of (node, grid or scan) modifications performed, or -1 on error (no database loaded, empty poses or empty map).
+ +
+
+ +

◆ getVWDictionary()

+ +
+
+ + + + + + + +
const VWDictionary * rtabmap::Memory::getVWDictionary () const
+
+
Returns
Visual word dictionary used for tf-idf likelihood and feature matching.
+ +
+
+ +

◆ getMetricConstraints()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Memory::getMetricConstraints (const std::set< int > & ids,
std::map< int, Transform > & poses,
std::multimap< int, Link > & links,
bool lookInDatabase = false,
bool landmarksAdded = false 
)
+
+ +

Extracts a sub-graph (poses + links) for a set of node ids.

+

Used by graph optimization callers to retrieve constraints for a region of interest.

+
Parameters
+ + + + + + +
idsIds to include.
posesOutput: odometry poses for ids.
linksOutput: links between the nodes (and to landmarks if landmarksAdded).
lookInDatabaseIf true, fetch missing data from LTM.
landmarksAddedIf true, also include landmark constraints.
+
+
+ +
+
+ +

◆ computeTransform()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Transform rtabmap::Memory::computeTransform (Signature & fromS,
Signature & toS,
Transform guess,
RegistrationInfo * info = 0,
bool useKnownCorrespondencesIfPossible = false 
) const
+
+ +

Computes the relative transform from fromS to toS using the registration pipeline.

+
Parameters
+ + + + + + +
fromSSource signature (will be modified to cache extracted data).
toSTarget signature.
guessInitial transform estimate (null if unknown).
infoOptional output with inlier counts, variance and diagnostics.
useKnownCorrespondencesIfPossibleIf true, reuses existing word-id correspondences.
+
+
+
Returns
The estimated transform, or a null Transform on failure.
+ +
+
+ +

◆ computeIcpTransform()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Transform rtabmap::Memory::computeIcpTransform (const Signature & fromS,
const Signature & toS,
Transform guess,
RegistrationInfo * info = 0 
) const
+
+ +

Refines a transform using ICP alignment of laser scans only.

+
Returns
The refined transform, or a null Transform on failure.
+ +
+
+ +

◆ computeIcpTransformMulti()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Transform rtabmap::Memory::computeIcpTransformMulti (int newId,
int oldId,
const std::map< int, Transform > & poses,
RegistrationInfo * info = 0 
)
+
+ +

ICP registration of one node against an assembled cloud from multiple neighbors.

+
Parameters
+ + + + + +
newIdNew (query) node id.
oldIdReference node id.
posesNeighbor poses used to assemble the reference cloud.
infoOptional output with inlier counts and diagnostics.
+
+
+
Returns
The estimated transform, or a null Transform on failure.
+ +
+
+

Member Data Documentation

+ +

◆ kIdStart

+ +
+
+ + + + + +
+ + + + +
const int rtabmap::Memory::kIdStart
+ 		+static
+
+ +

First valid signature id assigned by getNextId() (positive integer).

+ +

Definition at line 105 of file Memory.h.

+ +
+
+ +

◆ kIdVirtual

+ +
+
+ + + + + +
+ + + + +
const int rtabmap::Memory::kIdVirtual
+ 		+static
+
+ +

Reserved id for the "virtual place" used by the Bayes filter (negative).

+ +

Definition at line 107 of file Memory.h.

+ +
+
+ +

◆ kIdInvalid

+ +
+
+ + + + + +
+ + + + +
const int rtabmap::Memory::kIdInvalid
+ 		+static
+
+ +

Sentinel value indicating an invalid signature id (zero).

+ +

Definition at line 109 of file Memory.h.

+ +
+
+ +

◆ _dbDriver

+ +
+
+ + + + + +
+ + + + +
DBDriver* rtabmap::Memory::_dbDriver
+ 		+protected
+
+ +

Database driver owning the persistent storage (created by init()).

+ +

Definition at line 819 of file Memory.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/Memory.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::ORB Member List
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This is the complete list of members for rtabmap::ORB, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::ORB)rtabmap::ORBinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::ORBvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
ORB(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::ORB)rtabmap::ORB
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::ORB)rtabmap::ORBvirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~ORB() (defined in rtabmap::ORB)rtabmap::ORBvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ORB.html b/preview/pr-1492/api/latest/classrtabmap_1_1ORB.html new file mode 100644 index 00000000..68830bb6 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ORB.html @@ -0,0 +1,343 @@ + + + + + + + + +RTAB-Map: rtabmap::ORB Class Reference + + + + + + + + + + + + +
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rtabmap::ORB Class Reference
+
+
+ +

ORB detector and descriptor (optional GPU). + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::ORB:
+
+
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+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::ORB:
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ ORB (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

ORB detector and descriptor (optional GPU).

+ +

Definition at line 383 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::ORB::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::ORB::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 390 of file Features2d.h.

+ +
+
+ +

◆ isGpuAvailable()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::ORB::isGpuAvailable () const
+ 		+overridevirtual
+
+ +

Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.

+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree-members.html new file mode 100644 index 00000000..16f256ac --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree-members.html @@ -0,0 +1,145 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::ORBOctree Member List
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This is the complete list of members for rtabmap::ORBOctree, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::ORBOctree)rtabmap::ORBOctreeinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() constrtabmap::Feature2Dinlinevirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
ORBOctree(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::ORBOctree)rtabmap::ORBOctree
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::ORBOctree)rtabmap::ORBOctreevirtual
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~ORBOctree() (defined in rtabmap::ORBOctree)rtabmap::ORBOctreevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree.html b/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree.html new file mode 100644 index 00000000..bfa3cadd --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree.html @@ -0,0 +1,314 @@ + + + + + + + + +RTAB-Map: rtabmap::ORBOctree Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
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rtabmap::ORBOctree Class Reference
+
+
+ +

ORB with octree spatial distribution (RTAB-Map must be built with OCTREE enabled). + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::ORBOctree:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::ORBOctree:
+
+
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+ + + + + +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ ORBOctree (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
virtual bool isGpuAvailable () const
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

ORB with octree spatial distribution (RTAB-Map must be built with OCTREE enabled).

+ +

Definition at line 647 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::ORBOctree::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::ORBOctree::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 654 of file Features2d.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree__coll__graph.map new file mode 100644 index 00000000..b3fb3764 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree__coll__graph.md5 new file mode 100644 index 00000000..aa00c106 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree__coll__graph.md5 @@ -0,0 +1 @@ +50aea02d62e4bc4c8ece040ae8bbccbb \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1ORBOctree__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..8e941d1f2a0c38064f715335e245d6ef7de1bf12 GIT binary patch literal 4702 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rtabmap::OccupancyGrid Member List
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This is the complete list of members for rtabmap::OccupancyGrid, including all inherited members.

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addAssembledNode(int id, const Transform &pose)rtabmap::GlobalMapprotected
addedNodes() constrtabmap::GlobalMapinline
assemble(const std::list< std::pair< int, Transform > > &newPoses)rtabmap::OccupancyGridprotectedvirtual
assembledNodes() constrtabmap::GlobalMapinlineprotected
cache() constrtabmap::GlobalMapinlineprotected
cellSize_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
clear()rtabmap::OccupancyGridvirtual
fullUpdateNeeded(const std::map< int, Transform > &poses) constrtabmap::GlobalMap
getCellSize() constrtabmap::GlobalMapinline
getGridMax(double &x, double &y) constrtabmap::GlobalMapinline
getGridMax(double &x, double &y, double &z) constrtabmap::GlobalMapinline
getGridMin(double &x, double &y) constrtabmap::GlobalMapinline
getGridMin(double &x, double &y, double &z) constrtabmap::GlobalMapinline
getMap(float &xMin, float &yMin) const (defined in rtabmap::OccupancyGrid)rtabmap::OccupancyGrid
getMemoryUsed() constrtabmap::OccupancyGridvirtual
getMinMapSize() const (defined in rtabmap::OccupancyGrid)rtabmap::OccupancyGridinline
getProbMap(float &xMin, float &yMin) const (defined in rtabmap::OccupancyGrid)rtabmap::OccupancyGrid
getUpdateError() constrtabmap::GlobalMapinline
GlobalMap(const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())rtabmap::GlobalMapprotected
isNodeAssembled(int id)rtabmap::GlobalMapinlineprotected
logodds(double probability)rtabmap::GlobalMapinlinestatic
logOddsClampingMax_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsClampingMin_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsHit_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsMiss_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
maxValues_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
minValues_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
OccupancyGrid(const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::OccupancyGrid)rtabmap::OccupancyGrid
occupancyThr_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
probability(double logodds)rtabmap::GlobalMapinlinestatic
setMap(const cv::Mat &map, float xMin, float yMin, float cellSize, const std::map< int, Transform > &poses) (defined in rtabmap::OccupancyGrid)rtabmap::OccupancyGrid
update(const std::map< int, Transform > &poses)rtabmap::GlobalMap
updateError_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
~GlobalMap() (defined in rtabmap::GlobalMap)rtabmap::GlobalMapvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OccupancyGrid.html b/preview/pr-1492/api/latest/classrtabmap_1_1OccupancyGrid.html new file mode 100644 index 00000000..4f96c64c --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OccupancyGrid.html @@ -0,0 +1,333 @@ + + + + + + + + +RTAB-Map: rtabmap::OccupancyGrid Class Reference + + + + + + + + + + + + +
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RTAB-Map 0.23.10 +
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+Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::OccupancyGrid Class Reference
+
+
+
+Inheritance diagram for rtabmap::OccupancyGrid:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::OccupancyGrid:
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Collaboration graph
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+Public Member Functions

+ OccupancyGrid (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 
+void setMap (const cv::Mat &map, float xMin, float yMin, float cellSize, const std::map< int, Transform > &poses)
 
float getMinMapSize () const
 
virtual void clear ()
 Clears assembled nodes and grid bounds; does not clear LocalGridCache.
 
+cv::Mat getMap (float &xMin, float &yMin) const
 
+cv::Mat getProbMap (float &xMin, float &yMin) const
 
unsigned long getMemoryUsed () const
 Approximate memory used by assembled-node bookkeeping (bytes).
 
- Public Member Functions inherited from rtabmap::GlobalMap
bool fullUpdateNeeded (const std::map< int, Transform > &poses) const
 True if the map should be rebuilt from cache (loop closure or disjoint graph).
 
bool update (const std::map< int, Transform > &poses)
 Incrementally assemble new nodes from poses.
 
float getCellSize () const
 
float getUpdateError () const
 
const std::map< int, Transform > & addedNodes () const
 
void getGridMin (double &x, double &y) const
 2D grid minimum (x, y) in meters.
 
void getGridMax (double &x, double &y) const
 2D grid maximum (x, y) in meters.
 
void getGridMin (double &x, double &y, double &z) const
 3D grid minimum (x, y, z) in meters.
 
void getGridMax (double &x, double &y, double &z) const
 3D grid maximum (x, y, z) in meters.
 
+ + + + + + + + + + + + + + + + + +

+Protected Member Functions

virtual void assemble (const std::list< std::pair< int, Transform > > &newPoses)
 Subclass hook: merge newPoses into the global map; call addAssembledNode().
 
- Protected Member Functions inherited from rtabmap::GlobalMap
 GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 Constructs the base map; subclasses call from their constructor.
 
const std::map< int, LocalGrid > & cache () const
 
const std::map< int, Transform > & assembledNodes () const
 
bool isNodeAssembled (int id)
 
+void addAssembledNode (int id, const Transform &pose)
 Records a successfully assembled node (ids <= 0 are ignored).
 
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+Additional Inherited Members

- Static Public Member Functions inherited from rtabmap::GlobalMap
static float logodds (double probability)
 Converts probability in (0, 1) to log-odds.
 
static double probability (double logodds)
 Converts log-odds back to probability in (0, 1).
 
- Protected Attributes inherited from rtabmap::GlobalMap
float cellSize_
 
float updateError_
 
float occupancyThr_
 
float logOddsHit_
 
float logOddsMiss_
 
float logOddsClampingMin_
 
float logOddsClampingMax_
 
double minValues_ [3]
 
double maxValues_ [3]
 
+

Detailed Description

+
+

Definition at line 40 of file OccupancyGrid.h.

+

Member Function Documentation

+ +

◆ getMinMapSize()

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float rtabmap::OccupancyGrid::getMinMapSize () const
+ 		+inline
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+ +

Definition at line 45 of file OccupancyGrid.h.

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◆ clear()

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virtual void rtabmap::OccupancyGrid::clear ()
+ 		+virtual
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+ +

Clears assembled nodes and grid bounds; does not clear LocalGridCache.

+ +

Reimplemented from rtabmap::GlobalMap.

+ +
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+ +

◆ getMemoryUsed()

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unsigned long rtabmap::OccupancyGrid::getMemoryUsed () const
+ 		+virtual
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+ +

Approximate memory used by assembled-node bookkeeping (bytes).

+ +

Reimplemented from rtabmap::GlobalMap.

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+ +

◆ assemble()

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virtual void rtabmap::OccupancyGrid::assemble (const std::list< std::pair< int, Transform > > & newPoses)
+ 		+protectedvirtual
+
+ +

Subclass hook: merge newPoses into the global map; call addAssembledNode().

+ +

Implements rtabmap::GlobalMap.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OctoMap Member List
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This is the complete list of members for rtabmap::OctoMap, including all inherited members.

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addAssembledNode(int id, const Transform &pose)rtabmap::GlobalMapprotected
addedNodes() constrtabmap::GlobalMapinline
assemble(const std::list< std::pair< int, Transform > > &newPoses)rtabmap::OctoMapprotectedvirtual
assembledNodes() constrtabmap::GlobalMapinlineprotected
cache() constrtabmap::GlobalMapinlineprotected
cellSize_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
clear()rtabmap::OctoMapvirtual
createCloud(unsigned int treeDepth=0, std::vector< int > *obstacleIndices=0, std::vector< int > *emptyIndices=0, std::vector< int > *groundIndices=0, bool originalRefPoints=true, std::vector< int > *frontierIndices=0, std::vector< double > *cloudProb=0) const (defined in rtabmap::OctoMap)rtabmap::OctoMap
createProjectionMap(float &xMin, float &yMin, float &gridCellSize, float minGridSize=0.0f, unsigned int treeDepth=0) (defined in rtabmap::OctoMap)rtabmap::OctoMap
findCloseEmpty(RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition) (defined in rtabmap::OctoMap)rtabmap::OctoMapstatic
findEmptyNode(RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition) (defined in rtabmap::OctoMap)rtabmap::OctoMapstatic
floodFill(RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition, std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > &EmptyNodes, std::queue< octomap::point3d > &positionToExplore) (defined in rtabmap::OctoMap)rtabmap::OctoMapstatic
fullUpdateNeeded(const std::map< int, Transform > &poses) constrtabmap::GlobalMap
getCellSize() constrtabmap::GlobalMapinline
getGridMax(double &x, double &y) constrtabmap::GlobalMapinline
getGridMax(double &x, double &y, double &z) constrtabmap::GlobalMapinline
getGridMin(double &x, double &y) constrtabmap::GlobalMapinline
getGridMin(double &x, double &y, double &z) constrtabmap::GlobalMapinline
getMemoryUsed() constrtabmap::OctoMapvirtual
getUpdateError() constrtabmap::GlobalMapinline
GlobalMap(const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())rtabmap::GlobalMapprotected
hasColor() const (defined in rtabmap::OctoMap)rtabmap::OctoMapinline
isNodeAssembled(int id)rtabmap::GlobalMapinlineprotected
isNodeVisited(std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > const &EmptyNodes, octomap::OcTreeKey const key) (defined in rtabmap::OctoMap)rtabmap::OctoMapstatic
isValidEmpty(RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition) (defined in rtabmap::OctoMap)rtabmap::OctoMapstatic
logodds(double probability)rtabmap::GlobalMapinlinestatic
logOddsClampingMax_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsClampingMin_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsHit_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
logOddsMiss_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
maxValues_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
minValues_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
occupancyThr_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
OctoMap(const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::OctoMap)rtabmap::OctoMap
octree() const (defined in rtabmap::OctoMap)rtabmap::OctoMapinline
probability(double logodds)rtabmap::GlobalMapinlinestatic
update(const std::map< int, Transform > &poses)rtabmap::GlobalMap
updateError_ (defined in rtabmap::GlobalMap)rtabmap::GlobalMapprotected
writeBinary(const std::string &path) (defined in rtabmap::OctoMap)rtabmap::OctoMap
~GlobalMap() (defined in rtabmap::GlobalMap)rtabmap::GlobalMapvirtual
~OctoMap() (defined in rtabmap::OctoMap)rtabmap::OctoMapvirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OctoMap.html b/preview/pr-1492/api/latest/classrtabmap_1_1OctoMap.html new file mode 100644 index 00000000..91833dbb --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OctoMap.html @@ -0,0 +1,381 @@ + + + + + + + + +RTAB-Map: rtabmap::OctoMap Class Reference + + + + + + + + + + + + +
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+
RTAB-Map 0.23.10 +
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+Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::OctoMap Class Reference
+
+
+
+Inheritance diagram for rtabmap::OctoMap:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::OctoMap:
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Collaboration graph
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ OctoMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 
const RtabmapColorOcTree * octree () const
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr createCloud (unsigned int treeDepth=0, std::vector< int > *obstacleIndices=0, std::vector< int > *emptyIndices=0, std::vector< int > *groundIndices=0, bool originalRefPoints=true, std::vector< int > *frontierIndices=0, std::vector< double > *cloudProb=0) const
 
+cv::Mat createProjectionMap (float &xMin, float &yMin, float &gridCellSize, float minGridSize=0.0f, unsigned int treeDepth=0)
 
+bool writeBinary (const std::string &path)
 
virtual void clear ()
 Clears assembled nodes and grid bounds; does not clear LocalGridCache.
 
virtual unsigned long getMemoryUsed () const
 Approximate memory used by assembled-node bookkeeping (bytes).
 
bool hasColor () const
 
- Public Member Functions inherited from rtabmap::GlobalMap
bool fullUpdateNeeded (const std::map< int, Transform > &poses) const
 True if the map should be rebuilt from cache (loop closure or disjoint graph).
 
bool update (const std::map< int, Transform > &poses)
 Incrementally assemble new nodes from poses.
 
float getCellSize () const
 
float getUpdateError () const
 
const std::map< int, Transform > & addedNodes () const
 
void getGridMin (double &x, double &y) const
 2D grid minimum (x, y) in meters.
 
void getGridMax (double &x, double &y) const
 2D grid maximum (x, y) in meters.
 
void getGridMin (double &x, double &y, double &z) const
 3D grid minimum (x, y, z) in meters.
 
void getGridMax (double &x, double &y, double &z) const
 3D grid maximum (x, y, z) in meters.
 
+ + + + + + + + + + + + + + + + + + +

+Static Public Member Functions

+static std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > findEmptyNode (RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition)
 
+static void floodFill (RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition, std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > &EmptyNodes, std::queue< octomap::point3d > &positionToExplore)
 
+static bool isNodeVisited (std::unordered_set< octomap::OcTreeKey, octomap::OcTreeKey::KeyHash > const &EmptyNodes, octomap::OcTreeKey const key)
 
+static octomap::point3d findCloseEmpty (RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition)
 
+static bool isValidEmpty (RtabmapColorOcTree *octree_, unsigned int treeDepth, octomap::point3d startPosition)
 
- Static Public Member Functions inherited from rtabmap::GlobalMap
static float logodds (double probability)
 Converts probability in (0, 1) to log-odds.
 
static double probability (double logodds)
 Converts log-odds back to probability in (0, 1).
 
+ + + + + + + + + + + + + + + + + +

+Protected Member Functions

virtual void assemble (const std::list< std::pair< int, Transform > > &newPoses)
 Subclass hook: merge newPoses into the global map; call addAssembledNode().
 
- Protected Member Functions inherited from rtabmap::GlobalMap
 GlobalMap (const LocalGridCache *cache, const ParametersMap &parameters=ParametersMap())
 Constructs the base map; subclasses call from their constructor.
 
const std::map< int, LocalGrid > & cache () const
 
const std::map< int, Transform > & assembledNodes () const
 
bool isNodeAssembled (int id)
 
+void addAssembledNode (int id, const Transform &pose)
 Records a successfully assembled node (ids <= 0 are ignored).
 
+ + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Protected Attributes inherited from rtabmap::GlobalMap
float cellSize_
 
float updateError_
 
float occupancyThr_
 
float logOddsHit_
 
float logOddsMiss_
 
float logOddsClampingMin_
 
float logOddsClampingMax_
 
double minValues_ [3]
 
double maxValues_ [3]
 
+

Detailed Description

+
+

Definition at line 175 of file OctoMap.h.

+

Member Function Documentation

+ +

◆ octree()

+ +
+
+ + + + + +
+ + + + + + + +
const RtabmapColorOcTree * rtabmap::OctoMap::octree () const
+ 		+inline
+
+ +

Definition at line 179 of file OctoMap.h.

+ +
+
+ +

◆ clear()

+ +
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+ + + + + +
+ + + + + + + +
virtual void rtabmap::OctoMap::clear ()
+ 		+virtual
+
+ +

Clears assembled nodes and grid bounds; does not clear LocalGridCache.

+ +

Reimplemented from rtabmap::GlobalMap.

+ +
+
+ +

◆ getMemoryUsed()

+ +
+
+ + + + + +
+ + + + + + + +
virtual unsigned long rtabmap::OctoMap::getMemoryUsed () const
+ 		+virtual
+
+ +

Approximate memory used by assembled-node bookkeeping (bytes).

+ +

Reimplemented from rtabmap::GlobalMap.

+ +
+
+ +

◆ hasColor()

+ +
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+ + + + + +
+ + + + + + + +
bool rtabmap::OctoMap::hasColor () const
+ 		+inline
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+ +

Definition at line 203 of file OctoMap.h.

+ +
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+ +

◆ assemble()

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+ + + + + + + + +
virtual void rtabmap::OctoMap::assemble (const std::list< std::pair< int, Transform > > & newPoses)
+ 		+protectedvirtual
+
+ +

Subclass hook: merge newPoses into the global map; call addAssembledNode().

+ +

Implements rtabmap::GlobalMap.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/global_map/OctoMap.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::Odometry Member List
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This is the complete list of members for rtabmap::Odometry, including all inherited members.

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canProcessAsyncIMU() constrtabmap::Odometryinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()=0rtabmap::Odometrypure virtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::Odometryvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Odometry.html b/preview/pr-1492/api/latest/classrtabmap_1_1Odometry.html new file mode 100644 index 00000000..a8bb399d --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Odometry.html @@ -0,0 +1,786 @@ + + + + + + + + +RTAB-Map: rtabmap::Odometry Class Reference + + + + + + + + + + + + +
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::Odometry Class Referenceabstract
+
+
+ +

Abstract base class for visual, lidar and visual-inertial odometry backends. + More...

+ +

#include <Odometry.h>

+
+Inheritance diagram for rtabmap::Odometry:
+
+
Inheritance graph
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[legend]
+ + + + + +

+Public Types

enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()=0
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
+ + + + + + + +

+Static Public Member Functions

static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
+ + + + + + +

+Protected Member Functions

const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+

Abstract base class for visual, lidar and visual-inertial odometry backends.

+

Odometry estimates the incremental motion between consecutive SensorData frames. Concrete implementations override computeTransform(); the public process() pipeline handles IMU caching, optional motion guesses, filtering (Kalman or particle), image decimation, deskewing and pose integration.

+

Use create() to instantiate a backend from Parameters::kOdomStrategy().

+
See also
OdometryThread
+
+OdometryInfo
+ +

Definition at line 56 of file Odometry.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::Odometry::Type
+
+ +

Odometry backend selected by Parameters::kOdomStrategy().

+ + + + + + + + + + + + + + + + + +
Enumerator
kTypeUndef 

Undefined / invalid type.

+
kTypeF2M 

Frame-to-map (default).

+
kTypeF2F 

Frame-to-frame.

+
kTypeFovis 

FOVIS stereo visual odometry.

+
kTypeViso2 

libviso2.

+
kTypeDVO 

Dense visual odometry.

+
kTypeORBSLAM 

ORB-SLAM 2/3.

+
kTypeOkvis 

OKVIS.

+
kTypeLOAM 

LOAM lidar odometry.

+
kTypeMSCKF 

MSCKF visual-inertial.

+
kTypeVINSFusion 

VINS-Fusion.

+
kTypeOpenVINS 

OpenVINS.

+
kTypeFLOAM 

FLOAM lidar odometry.

+
kTypeOpen3D 

Open3D RGB-D odometry.

+
kTypeCuVSLAM 

cuVSLAM.

+
kTypeLIOSAM 

LIO-SAM.

+
+ +

Definition at line 60 of file Odometry.h.

+ +
+
+

Member Function Documentation

+ +

◆ create() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static Odometry * rtabmap::Odometry::create (const ParametersMap & parameters = ParametersMap())
+ 		+static
+
+ +

Creates an odometry instance from Parameters::kOdomStrategy() in parameters.

+
Parameters
+ + +
parametersRTAB-Map parameters (odometry strategy and related options).
+
+
+
Returns
New odometry object (caller owns the pointer). Falls back to kTypeF2M if the type is unknown.
+ +
+
+ +

◆ create() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
static Odometry * rtabmap::Odometry::create (Type & type,
const ParametersMap & parameters = ParametersMap() 
)
+ 		+static
+
+ +

Creates an odometry instance of a given type.

+
Parameters
+ + + +
typeIn/out odometry type; updated to kTypeF2M if type is unknown.
parametersRTAB-Map parameters passed to the concrete backend.
+
+
+ +
+
+ +

◆ process() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
Transform rtabmap::Odometry::process (SensorData & data,
OdometryInfo * info = 0 
)
+
+ +

Processes a sensor frame and updates the integrated pose.

+
Parameters
+ + + +
dataInput sensor data (must have id() >= 0). May be modified in place (decompression, deskewing).
infoOptional output statistics and debug data.
+
+
+
Returns
Updated integrated pose (getPose()) after the frame is processed, or a null transform if odometry is lost. The incremental transform is available in OdometryInfo::transform when info is provided.
+ +
+
+ +

◆ process() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
Transform rtabmap::Odometry::process (SensorData & data,
const Transform & guess,
OdometryInfo * info = 0 
)
+
+ +

Processes a sensor frame with an external motion guess.

+
Parameters
+ + + + +
dataInput sensor data.
guessOptional prior on the incremental transform (used by the backend when supported).
infoOptional output statistics and debug data.
+
+
+ +
+
+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::Odometry::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
+
+
+ +

Reimplemented in rtabmap::OdometryMono, rtabmap::OdometryCuVSLAM, rtabmap::OdometryDVO, rtabmap::OdometryF2F, rtabmap::OdometryF2M, rtabmap::OdometryFLOAM, rtabmap::OdometryFovis, rtabmap::OdometryLIOSAM, rtabmap::OdometryLOAM, rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpen3D, rtabmap::OdometryOpenVINS, rtabmap::OdometryORBSLAM2, rtabmap::OdometryORBSLAM3, rtabmap::OdometryVINSFusion, and rtabmap::OdometryViso2.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Odometry::Type rtabmap::Odometry::getType ()
+ 		+pure virtual
+
+
Returns
Concrete odometry backend type.
+ +

Implemented in rtabmap::OdometryCuVSLAM, rtabmap::OdometryDVO, rtabmap::OdometryF2F, rtabmap::OdometryF2M, rtabmap::OdometryFLOAM, rtabmap::OdometryFovis, rtabmap::OdometryLIOSAM, rtabmap::OdometryLOAM, rtabmap::OdometryMono, rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpen3D, rtabmap::OdometryOpenVINS, rtabmap::OdometryORBSLAM2, rtabmap::OdometryORBSLAM3, rtabmap::OdometryVINSFusion, and rtabmap::OdometryViso2.

+ +
+
+ +

◆ canProcessRawImages()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::Odometry::canProcessRawImages () const
+ 		+inlinevirtual
+
+
Returns
True if the backend can process unrectified camera images.
+ +

Reimplemented in rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpenVINS, and rtabmap::OdometryVINSFusion.

+ +

Definition at line 117 of file Odometry.h.

+ +
+
+ +

◆ canProcessAsyncIMU()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::Odometry::canProcessAsyncIMU () const
+ 		+inlinevirtual
+
+
Returns
True if the backend processes IMU asynchronously outside process().
+ +

Reimplemented in rtabmap::OdometryLIOSAM, rtabmap::OdometryMSCKF, rtabmap::OdometryOkvis, rtabmap::OdometryOpenVINS, rtabmap::OdometryORBSLAM3, and rtabmap::OdometryVINSFusion.

+ +

Definition at line 119 of file Odometry.h.

+ +
+
+ +

◆ getPose()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::Odometry::getPose () const
+ 		+inline
+
+
Returns
Current integrated odometry pose.
+ +

Definition at line 122 of file Odometry.h.

+ +
+
+ +

◆ isInfoDataFilled()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Odometry::isInfoDataFilled () const
+ 		+inline
+
+
Returns
True if OdometryInfo debug/statistics fields are filled in process().
+ +

Definition at line 124 of file Odometry.h.

+ +
+
+ +

◆ previousVelocityTransform()

+ +
+
+ + + + + + + +
RTABMAP_DEPRECATED const Transform & rtabmap::Odometry::previousVelocityTransform () const
+
+
Deprecated:
Use getVelocityGuess() instead.
+ +
+
+ +

◆ getVelocityGuess()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::Odometry::getVelocityGuess () const
+ 		+inline
+
+
Returns
Last estimated velocity used for motion guessing (may be null).
+ +

Definition at line 128 of file Odometry.h.

+ +
+
+ +

◆ previousStamp()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::Odometry::previousStamp () const
+ 		+inline
+
+
Returns
Timestamp of the previously processed frame.
+ +

Definition at line 130 of file Odometry.h.

+ +
+
+ +

◆ framesProcessed()

+ +
+
+ + + + + +
+ + + + + + + +
unsigned int rtabmap::Odometry::framesProcessed () const
+ 		+inline
+
+
Returns
Number of frames processed since the last reset().
+ +

Definition at line 132 of file Odometry.h.

+ +
+
+ +

◆ imagesAlreadyRectified()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Odometry::imagesAlreadyRectified () const
+ 		+inline
+
+
Returns
True if input images are already rectified (see Parameters::kRtabmapImagesAlreadyRectified()).
+ +

Definition at line 134 of file Odometry.h.

+ +
+
+ +

◆ imus()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< double, Transform > & rtabmap::Odometry::imus () const
+ 		+inlineprotected
+
+
Returns
IMU orientations cached from recent frames (stamp → transform).
+ +

Definition at line 138 of file Odometry.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM-members.html new file mode 100644 index 00000000..894ca8b3 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM-members.html @@ -0,0 +1,129 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::OdometryCuVSLAM Member List
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This is the complete list of members for rtabmap::OdometryCuVSLAM, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
canProcessAsyncIMU() constrtabmap::Odometryinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryCuVSLAMinlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryCuVSLAM(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryCuVSLAM)rtabmap::OdometryCuVSLAM
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryCuVSLAMvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryCuVSLAM() (defined in rtabmap::OdometryCuVSLAM)rtabmap::OdometryCuVSLAMvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM.html new file mode 100644 index 00000000..cf4eaa35 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryCuVSLAM.html @@ -0,0 +1,264 @@ + + + + + + + + +RTAB-Map: rtabmap::OdometryCuVSLAM Class Reference + + + + + + + + + + + + +
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rtabmap::OdometryCuVSLAM Class Reference
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+Inheritance diagram for rtabmap::OdometryCuVSLAM:
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+Public Member Functions

+ OdometryCuVSLAM (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
+ + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+
+

Definition at line 45 of file OdometryCuVSLAM.h.

+

Member Function Documentation

+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::OdometryCuVSLAM::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
+
+
+ +

Reimplemented from rtabmap::Odometry.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Odometry::Type rtabmap::OdometryCuVSLAM::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 52 of file OdometryCuVSLAM.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OdometryDVO Member List
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This is the complete list of members for rtabmap::OdometryDVO, including all inherited members.

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canProcessAsyncIMU() constrtabmap::Odometryinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryDVOinlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryDVO(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryDVO)rtabmap::OdometryDVO
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryDVOvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryDVO() (defined in rtabmap::OdometryDVO)rtabmap::OdometryDVOvirtual
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rtabmap::OdometryDVO Class Reference
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+Inheritance diagram for rtabmap::OdometryDVO:
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+Public Member Functions

+ OdometryDVO (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
+ + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+
+

Definition at line 43 of file OdometryDVO.h.

+

Member Function Documentation

+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::OdometryDVO::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
+
+
+ +

Reimplemented from rtabmap::Odometry.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Odometry::Type rtabmap::OdometryDVO::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 50 of file OdometryDVO.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO__coll__graph.map new file mode 100644 index 00000000..0928a1e1 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO__coll__graph.md5 new file mode 100644 index 00000000..c39e9ff8 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO__coll__graph.md5 @@ -0,0 +1 @@ +e751dcd3a2f80de5113c2cab3307d015 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryDVO__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..e7994b10aba48957729f912b2729b4c120763c3e GIT binary patch literal 5318 zcmc&&hgXx^mkqrmARxWBhctOqsR;p8iik+>MS0ZFTM$A=x`==@0ewjCNT@w{ zNH0>APAF36X6CnM&3`Z}E6JC;z9i?Kd-gtipLhd(Z5m28N(cl(bN?RP5WKg8r#m?* zc*Skna)UQgdmU{!yXM+p>*O2Zokrj{2sEyx)trN zZ;TYL$=zR4)K1~j^zy2m+Nyn84=+>}G#GgtNXDcR9iV)(C?zFD+t~Q^dko91R}TdF z`1wcX=RGzJ^3C%pMr_dDB$UzJqjrf@Y)PcIB(0;2%Nu<~9*W=8$Hm9T_YV#>__F+r zFf8q9-R(&D@x!#j63q~His3e}w)WVp;TjmrFQyPaTVA%8k&`pOn|P$NRpG2a|>3nnZ*?q)PjP7dwYB8-rmwX^X&Z66&gk8#h z%~we{KKAc-ly+O_;3Pyr!p>(Fbl02_5+x4{Xi@6n8nLuqav2W+oX|5oobqAZrOHY)<7MadY=V%F4?9+}EetkqX=aTLS|FJu@>oNZg1vK18^d)=L_8IXW0QI_U7<0S=n4 ztK;P+@#;K00lV|7TU-i=aAH!@WJ{jw_5L(|0bbrEwbv8P^ukHvep{CyNw{ca4ad~`s`EB9cw{Lk4CM-O?wpm$Oi6Nz>rAxo8gEs~1Tqh;! z|5TKf@u^*%@=vPPAorIw3B!$^JjuqbuB~a!2d#6C{`hgv^tGUqlauAl=2(g1$ZbZ- z?z#$8!Pb_Wy}P@fk?8n`&s9dEAlAhmU2Lv#%42lOQcz8k<(d+pkj@)R=WPa^rb&1U4`udwmNl6GlKiQ3&3=G|u zVvLmgvp&O1V3U?}TT}Ju0!|JN9_EClwY8@PC5EMgYhxG;5f>Mi<@u*NQ!!G=2P4r) z)l2aDV|uy>;89LaE=w&;b&{El&4rF1TX(uD88$E;9UToV8C%+!YbB?peZEz@&=JaR zUdfEF3mSWS7E*vmRAy%8qqa-xuTF-B3;;c;FJDHqwJ95!n6SGKi=lcoJ>A_|2r(?G zr=T+9_x2EO(+w1WHnNn1q_55wu8ZD&+C#OXBDN(TW=lKWYmLM@Ecu8K5)#@zdlp+! zAqGy9tzmV29lvFIdU`s_=#9-y=);FM+}zv}k^0%vBzN;@^YZd)K7J&FG&DAPxfipx z!ubd=Qh`5{B`lh#X=!N{eAcKtuFhO5Y&xIA5C5LfZJuF|hZDXx z9LR8Warrhe5%Y0An5x{QTI=4uxPjP|(a})_=*s%~&x2KL;8OH0Ev86CWWH+XwCxji zQ|5Sh;Ng&bZODlS02(4xR8+LaeMSyogHJ($#b<30)!M3b^=CMY5P}O zU0hv_zC1ti@jE}>#^3>El@^N`9=>t7Hl*?B5q*BxRS>9im{9uCbfatPJpo9fj|?L< zX7Om!rY~f-J+}VYFdr|kozb1_96+qi%?beV8bay3fBi-A{P}ZJw71~X;ryhU8Yw&r z%y3aVe$7?PlK12S)lbjF6dihg+_kU}W^^YD^9)oFB^4FABNFS`woiJ6D^XkOy=4=X zl5&HPh-hhdHzk_t)-rB$3<3c>^icH=@%hPaY-guhTYG!q*rozIU@PH=`8~n~NJ2F= zwbQe++DA76y=!k&$6(IGWkq z*x)g#vg8#P7ss6a z%D+TJcpkhTT~Ss+o~8nFzZngKes_@t9K*|&6yrMSEVJ@CiG5{lCEu53O6Th z)q%`b4&3|n!5xtt^X0vDwXn6d^~&YRg1ll=+Me#*yz&q(AzxZ~eYillsj2B*W24`9 zxqS2t`YF<}I)#a{MmWZK zsOG~Z&i}da3kL~{r{@;0U!~nFxKGPqOU5EHOC_bEm_1@~ zS4b6lg8QlKEp10pLr)Ar={zB42CE%VO|`E^lHG<7{p;(*acS!1m@tywS%Z-j`QRRc zZx@{cwk&ORR||0Gfz(q{rb`9 zbkWiifFrXjNcx>LTl|U)jiSCQ6b9bMe{P+2)qo+~GSnFH0Yn(6O?Dj<8qjeaB8A>`GZ$T3RaT zz!7vs8F_hr0RiIbwgbv27zm1;!Dn@&yt)HsWyP7Bmj{^V+vq6a?c2BEnwoY~bxyV{ zq-qy?L~n9(Y90D$izm5Nkt{&7EW_0%4*y{uIjLp={mt3gIo!Nb3$zY4c6Q!Otet}c z(Ty87zK@R=mX}jeW7I`6-XJH5z&$ar!cX5zAKSUQx~^yoFcj9-(m(!J7X`WsL`GH? 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This is the complete list of members for rtabmap::OdometryEvent, including all inherited members.

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covariance() const (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
data() (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
data() const (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
getClassName() constrtabmap::OdometryEventinlinevirtual
getCode() constUEventinline
info() const (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
OdometryEvent() (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
OdometryEvent(const SensorData &data, const Transform &pose, const OdometryInfo &info=OdometryInfo()) (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
pose() const (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
UEvent(int code=0)UEventinlineprotected
velocity() const (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinline
~OdometryEvent() (defined in rtabmap::OdometryEvent)rtabmap::OdometryEventinlinevirtual
~UEvent() (defined in UEvent)UEventinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryEvent.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryEvent.html new file mode 100644 index 00000000..e54974ec --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryEvent.html @@ -0,0 +1,439 @@ + + + + + + + + +RTAB-Map: rtabmap::OdometryEvent Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
+
rtabmap::OdometryEvent Class Reference
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+
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+Inheritance diagram for rtabmap::OdometryEvent:
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Inheritance graph
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+Collaboration diagram for rtabmap::OdometryEvent:
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+Public Member Functions

 OdometryEvent (const SensorData &data, const Transform &pose, const OdometryInfo &info=OdometryInfo())
 
virtual std::string getClassName () const
 
SensorData & data ()
 
const SensorData & data () const
 
const Transform & pose () const
 
const cv::Mat & covariance () const
 
std::vector< float > velocity () const
 
const OdometryInfo & info () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

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+

Definition at line 39 of file OdometryEvent.h.

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Constructor & Destructor Documentation

+ +

◆ OdometryEvent() [1/2]

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rtabmap::OdometryEvent::OdometryEvent ()
+ 		+inline
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+ +

Definition at line 42 of file OdometryEvent.h.

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◆ OdometryEvent() [2/2]

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rtabmap::OdometryEvent::OdometryEvent (const SensorData & data,
const Transform & pose,
const OdometryInfo & info = OdometryInfo() 
)
+ 		+inline
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+ +

Definition at line 46 of file OdometryEvent.h.

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◆ ~OdometryEvent()

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virtual rtabmap::OdometryEvent::~OdometryEvent ()
+ 		+inlinevirtual
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Definition at line 66 of file OdometryEvent.h.

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Member Function Documentation

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◆ getClassName()

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virtual std::string rtabmap::OdometryEvent::getClassName () const
+ 		+inlinevirtual
+
+

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns
the class name
+ +

Implements UEvent.

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Definition at line 67 of file OdometryEvent.h.

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◆ data() [1/2]

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SensorData & rtabmap::OdometryEvent::data ()
+ 		+inline
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Definition at line 69 of file OdometryEvent.h.

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◆ data() [2/2]

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const SensorData & rtabmap::OdometryEvent::data () const
+ 		+inline
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Definition at line 70 of file OdometryEvent.h.

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◆ pose()

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const Transform & rtabmap::OdometryEvent::pose () const
+ 		+inline
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Definition at line 71 of file OdometryEvent.h.

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◆ covariance()

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const cv::Mat & rtabmap::OdometryEvent::covariance () const
+ 		+inline
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Definition at line 72 of file OdometryEvent.h.

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◆ velocity()

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std::vector< float > rtabmap::OdometryEvent::velocity () const
+ 		+inline
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Definition at line 73 of file OdometryEvent.h.

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◆ info()

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const OdometryInfo & rtabmap::OdometryEvent::info () const
+ 		+inline
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Definition at line 89 of file OdometryEvent.h.

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+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OdometryF2F Member List
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This is the complete list of members for rtabmap::OdometryF2F, including all inherited members.

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canProcessAsyncIMU() constrtabmap::Odometryinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getRefFrame() const (defined in rtabmap::OdometryF2F)rtabmap::OdometryF2Finline
getType()rtabmap::OdometryF2Finlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryF2F(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryF2F)rtabmap::OdometryF2F
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryF2Fvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryF2F() (defined in rtabmap::OdometryF2F)rtabmap::OdometryF2Fvirtual
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rtabmap::OdometryF2F Class Reference
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+Inheritance diagram for rtabmap::OdometryF2F:
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+Public Member Functions

+ OdometryF2F (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
const Signature & getRefFrame () const
 
virtual Odometry::Type getType ()
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+
+

Definition at line 38 of file OdometryF2F.h.

+

Member Function Documentation

+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::OdometryF2F::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
+
+
+ +

Reimplemented from rtabmap::Odometry.

+ +
+
+ +

◆ getRefFrame()

+ +
+
+ + + + + +
+ + + + + + + +
const Signature & rtabmap::OdometryF2F::getRefFrame () const
+ 		+inline
+
+ +

Definition at line 46 of file OdometryF2F.h.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Odometry::Type rtabmap::OdometryF2F::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 48 of file OdometryF2F.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryF2M-members.html @@ -0,0 +1,131 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + + +
+
rtabmap::OdometryF2M Member List
+
+
+ +

This is the complete list of members for rtabmap::OdometryF2M, including all inherited members.

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canProcessAsyncIMU() constrtabmap::Odometryinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getLastFrame() const (defined in rtabmap::OdometryF2M)rtabmap::OdometryF2Minline
getMap() const (defined in rtabmap::OdometryF2M)rtabmap::OdometryF2Minline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryF2Minlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryF2M(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryF2M)rtabmap::OdometryF2M
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryF2Mvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryF2M() (defined in rtabmap::OdometryF2M)rtabmap::OdometryF2Mvirtual
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+Public Member Functions | +List of all members
+
rtabmap::OdometryF2M Class Reference
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+
+
+Inheritance diagram for rtabmap::OdometryF2M:
+
+
Inheritance graph
+ + + + + +
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+Collaboration diagram for rtabmap::OdometryF2M:
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+Public Member Functions

+ OdometryF2M (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
const Signature & getMap () const
 
const Signature & getLastFrame () const
 
virtual Odometry::Type getType ()
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
+ + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+
+

Definition at line 44 of file OdometryF2M.h.

+

Member Function Documentation

+ +

◆ reset()

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+ + + + + + + + +
virtual void rtabmap::OdometryF2M::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
+
+
+ +

Reimplemented from rtabmap::Odometry.

+ +
+
+ +

◆ getMap()

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const Signature & rtabmap::OdometryF2M::getMap () const
+ 		+inline
+
+ +

Definition at line 51 of file OdometryF2M.h.

+ +
+
+ +

◆ getLastFrame()

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+ + + + + +
+ + + + + + + +
const Signature & rtabmap::OdometryF2M::getLastFrame () const
+ 		+inline
+
+ +

Definition at line 52 of file OdometryF2M.h.

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+ +

◆ getType()

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virtual Odometry::Type rtabmap::OdometryF2M::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 54 of file OdometryF2M.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OdometryFLOAM Member List
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This is the complete list of members for rtabmap::OdometryFLOAM, including all inherited members.

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canProcessAsyncIMU() constrtabmap::Odometryinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryFLOAMinlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryFLOAM(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryFLOAM)rtabmap::OdometryFLOAM
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryFLOAMvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryFLOAM() (defined in rtabmap::OdometryFLOAM)rtabmap::OdometryFLOAMvirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFLOAM.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFLOAM.html new file mode 100644 index 00000000..e0ddbb6e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFLOAM.html @@ -0,0 +1,264 @@ + + + + + + + + +RTAB-Map: rtabmap::OdometryFLOAM Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
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rtabmap::OdometryFLOAM Class Reference
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+Inheritance diagram for rtabmap::OdometryFLOAM:
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Inheritance graph
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[legend]
+
+Collaboration diagram for rtabmap::OdometryFLOAM:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ OdometryFLOAM (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
+ + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+
+

Definition at line 38 of file OdometryFLOAM.h.

+

Member Function Documentation

+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::OdometryFLOAM::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
+
+
+ +

Reimplemented from rtabmap::Odometry.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Odometry::Type rtabmap::OdometryFLOAM::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 45 of file OdometryFLOAM.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFLOAM__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFLOAM__coll__graph.map new file mode 100644 index 00000000..dd0734af --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFLOAM__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFLOAM__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFLOAM__coll__graph.md5 new file mode 100644 index 00000000..8e0c7057 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFLOAM__coll__graph.md5 @@ -0,0 +1 @@ +7de2e4e330b04aa3c7df4c067b7627b0 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFLOAM__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFLOAM__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..80cc7e3bfa85740cbd61f052039fb09ea8d0d5b8 GIT binary 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ztmdK@mi28ElM*#vRhEFvyjKQBe4s6P(opEH2}}3AnHN=rHPpcsYk(1;B(|JBk<(o_ ze)Onk(l*pURrMQ^K0Axq*p{L;=KcHkrz@xa7D&)mBjtS58r;~T$85ZPDue~QvT5BB zcDP8mn i|F$GSV{+|cKQ!9wF@a_AbOkg|A-bA|8kK5x;r|1>i_OUZ literal 0 HcmV?d00001 diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFovis-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFovis-members.html new file mode 100644 index 00000000..59416dab --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryFovis-members.html @@ -0,0 +1,129 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::OdometryFovis Member List
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This is the complete list of members for rtabmap::OdometryFovis, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
canProcessAsyncIMU() constrtabmap::Odometryinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryFovisinlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryFovis(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryFovis)rtabmap::OdometryFovis
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryFovisvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryFovis() (defined in rtabmap::OdometryFovis)rtabmap::OdometryFovisvirtual
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rtabmap::OdometryFovis Class Reference
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+Inheritance diagram for rtabmap::OdometryFovis:
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+Public Member Functions

+ OdometryFovis (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+
+

Definition at line 43 of file OdometryFovis.h.

+

Member Function Documentation

+ +

◆ reset()

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+ + + + + + + + +
virtual void rtabmap::OdometryFovis::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
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+ +

Reimplemented from rtabmap::Odometry.

+ +
+
+ +

◆ getType()

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virtual Odometry::Type rtabmap::OdometryFovis::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 50 of file OdometryFovis.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OdometryInfo Member List
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This is the complete list of members for rtabmap::OdometryInfo, including all inherited members.

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copyWithoutData() const (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
cornerInliers (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
distanceTravelled (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
features (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
gravityPitchError (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
gravityRollError (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
guess (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
guessVelocity (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
interval (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
keyFrameAdded (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localBundleAvgInlierDistance (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localBundleConstraints (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localBundleMaxKeyFramesForInlier (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localBundleModels (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localBundleOutliers (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localBundleOutliersPerCam (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localBundlePoses (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localBundleTime (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localKeyFrames (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localMap (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localMapSize (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localScanMap (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
localScanMapSize (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
lost (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
memoryUsage (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
newCorners (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
OdometryInfo() (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
refCorners (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
reg (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
stamp (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
statistics(const Transform &pose=Transform()) (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
timeDeskewing (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
timeEstimation (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
timeParticleFiltering (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
transform (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
transformFiltered (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
transformGroundTruth (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
type (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
words (defined in rtabmap::OdometryInfo)rtabmap::OdometryInfo
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryInfo.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryInfo.html new file mode 100644 index 00000000..54747848 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryInfo.html @@ -0,0 +1,775 @@ + + + + + + + + +RTAB-Map: rtabmap::OdometryInfo Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Public Attributes | +List of all members
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rtabmap::OdometryInfo Class Reference
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+
+
+Collaboration diagram for rtabmap::OdometryInfo:
+
+
Collaboration graph
+ + + + + + + + + +
[legend]
+ + + + + + +

+Public Member Functions

+OdometryInfo copyWithoutData () const
 
+std::map< std::string, float > statistics (const Transform &pose=Transform())
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

bool lost
 
RegistrationInfo reg
 
int features
 
int localMapSize
 
int localScanMapSize
 
int localKeyFrames
 
int localBundleOutliers
 
int localBundleConstraints
 
float localBundleTime
 
std::map< int, Transform > localBundlePoses
 
std::map< int, std::vector< CameraModel > > localBundleModels
 
float localBundleAvgInlierDistance
 
int localBundleMaxKeyFramesForInlier
 
std::vector< int > localBundleOutliersPerCam
 
bool keyFrameAdded
 
float timeDeskewing
 
float timeEstimation
 
float timeParticleFiltering
 
double stamp
 
double interval
 
Transform transform
 
Transform transformFiltered
 
Transform transformGroundTruth
 
Transform guessVelocity
 
Transform guess
 
float distanceTravelled
 
int memoryUsage
 
double gravityRollError
 
double gravityPitchError
 
int type
 
std::multimap< int, cv::KeyPoint > words
 
std::map< int, cv::Point3f > localMap
 
LaserScan localScanMap
 
std::vector< cv::Point2f > refCorners
 
std::vector< cv::Point2f > newCorners
 
std::vector< int > cornerInliers
 
+

Detailed Description

+
+

Definition at line 45 of file OdometryInfo.h.

+

Member Data Documentation

+ +

◆ lost

+ +
+
+ + + + +
bool rtabmap::OdometryInfo::lost
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+ +

Definition at line 52 of file OdometryInfo.h.

+ +
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+ +

◆ reg

+ +
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+ + + + +
RegistrationInfo rtabmap::OdometryInfo::reg
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+ +

Definition at line 53 of file OdometryInfo.h.

+ +
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+ +

◆ features

+ +
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+ + + + +
int rtabmap::OdometryInfo::features
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+ +

Definition at line 54 of file OdometryInfo.h.

+ +
+
+ +

◆ localMapSize

+ +
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+ + + + +
int rtabmap::OdometryInfo::localMapSize
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+ +

Definition at line 55 of file OdometryInfo.h.

+ +
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+ +

◆ localScanMapSize

+ +
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+ + + + +
int rtabmap::OdometryInfo::localScanMapSize
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+ +

Definition at line 56 of file OdometryInfo.h.

+ +
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+ +

◆ localKeyFrames

+ +
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+ + + + +
int rtabmap::OdometryInfo::localKeyFrames
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+ +

Definition at line 57 of file OdometryInfo.h.

+ +
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+ +

◆ localBundleOutliers

+ +
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+ + + + +
int rtabmap::OdometryInfo::localBundleOutliers
+
+ +

Definition at line 58 of file OdometryInfo.h.

+ +
+
+ +

◆ localBundleConstraints

+ +
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+ + + + +
int rtabmap::OdometryInfo::localBundleConstraints
+
+ +

Definition at line 59 of file OdometryInfo.h.

+ +
+
+ +

◆ localBundleTime

+ +
+
+ + + + +
float rtabmap::OdometryInfo::localBundleTime
+
+ +

Definition at line 60 of file OdometryInfo.h.

+ +
+
+ +

◆ localBundlePoses

+ +
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+ + + + +
std::map<int, Transform> rtabmap::OdometryInfo::localBundlePoses
+
+ +

Definition at line 61 of file OdometryInfo.h.

+ +
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+ +

◆ localBundleModels

+ +
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+ + + + +
std::map<int, std::vector<CameraModel> > rtabmap::OdometryInfo::localBundleModels
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+ +

Definition at line 62 of file OdometryInfo.h.

+ +
+
+ +

◆ localBundleAvgInlierDistance

+ +
+
+ + + + +
float rtabmap::OdometryInfo::localBundleAvgInlierDistance
+
+ +

Definition at line 63 of file OdometryInfo.h.

+ +
+
+ +

◆ localBundleMaxKeyFramesForInlier

+ +
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+ + + + +
int rtabmap::OdometryInfo::localBundleMaxKeyFramesForInlier
+
+ +

Definition at line 64 of file OdometryInfo.h.

+ +
+
+ +

◆ localBundleOutliersPerCam

+ +
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+ + + + +
std::vector<int> rtabmap::OdometryInfo::localBundleOutliersPerCam
+
+ +

Definition at line 65 of file OdometryInfo.h.

+ +
+
+ +

◆ keyFrameAdded

+ +
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+ + + + +
bool rtabmap::OdometryInfo::keyFrameAdded
+
+ +

Definition at line 66 of file OdometryInfo.h.

+ +
+
+ +

◆ timeDeskewing

+ +
+
+ + + + +
float rtabmap::OdometryInfo::timeDeskewing
+
+ +

Definition at line 67 of file OdometryInfo.h.

+ +
+
+ +

◆ timeEstimation

+ +
+
+ + + + +
float rtabmap::OdometryInfo::timeEstimation
+
+ +

Definition at line 68 of file OdometryInfo.h.

+ +
+
+ +

◆ timeParticleFiltering

+ +
+
+ + + + +
float rtabmap::OdometryInfo::timeParticleFiltering
+
+ +

Definition at line 69 of file OdometryInfo.h.

+ +
+
+ +

◆ stamp

+ +
+
+ + + + +
double rtabmap::OdometryInfo::stamp
+
+ +

Definition at line 70 of file OdometryInfo.h.

+ +
+
+ +

◆ interval

+ +
+
+ + + + +
double rtabmap::OdometryInfo::interval
+
+ +

Definition at line 71 of file OdometryInfo.h.

+ +
+
+ +

◆ transform

+ +
+
+ + + + +
Transform rtabmap::OdometryInfo::transform
+
+ +

Definition at line 72 of file OdometryInfo.h.

+ +
+
+ +

◆ transformFiltered

+ +
+
+ + + + +
Transform rtabmap::OdometryInfo::transformFiltered
+
+ +

Definition at line 73 of file OdometryInfo.h.

+ +
+
+ +

◆ transformGroundTruth

+ +
+
+ + + + +
Transform rtabmap::OdometryInfo::transformGroundTruth
+
+ +

Definition at line 74 of file OdometryInfo.h.

+ +
+
+ +

◆ guessVelocity

+ +
+
+ + + + +
Transform rtabmap::OdometryInfo::guessVelocity
+
+ +

Definition at line 75 of file OdometryInfo.h.

+ +
+
+ +

◆ guess

+ +
+
+ + + + +
Transform rtabmap::OdometryInfo::guess
+
+ +

Definition at line 76 of file OdometryInfo.h.

+ +
+
+ +

◆ distanceTravelled

+ +
+
+ + + + +
float rtabmap::OdometryInfo::distanceTravelled
+
+ +

Definition at line 77 of file OdometryInfo.h.

+ +
+
+ +

◆ memoryUsage

+ +
+
+ + + + +
int rtabmap::OdometryInfo::memoryUsage
+
+ +

Definition at line 78 of file OdometryInfo.h.

+ +
+
+ +

◆ gravityRollError

+ +
+
+ + + + +
double rtabmap::OdometryInfo::gravityRollError
+
+ +

Definition at line 79 of file OdometryInfo.h.

+ +
+
+ +

◆ gravityPitchError

+ +
+
+ + + + +
double rtabmap::OdometryInfo::gravityPitchError
+
+ +

Definition at line 80 of file OdometryInfo.h.

+ +
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+ +

◆ type

+ +
+
+ + + + +
int rtabmap::OdometryInfo::type
+
+ +

Definition at line 82 of file OdometryInfo.h.

+ +
+
+ +

◆ words

+ +
+
+ + + + +
std::multimap<int, cv::KeyPoint> rtabmap::OdometryInfo::words
+
+ +

Definition at line 85 of file OdometryInfo.h.

+ +
+
+ +

◆ localMap

+ +
+
+ + + + +
std::map<int, cv::Point3f> rtabmap::OdometryInfo::localMap
+
+ +

Definition at line 86 of file OdometryInfo.h.

+ +
+
+ +

◆ localScanMap

+ +
+
+ + + + +
LaserScan rtabmap::OdometryInfo::localScanMap
+
+ +

Definition at line 87 of file OdometryInfo.h.

+ +
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+ +

◆ refCorners

+ +
+
+ + + + +
std::vector<cv::Point2f> rtabmap::OdometryInfo::refCorners
+
+ +

Definition at line 90 of file OdometryInfo.h.

+ +
+
+ +

◆ newCorners

+ +
+
+ + + + +
std::vector<cv::Point2f> rtabmap::OdometryInfo::newCorners
+
+ +

Definition at line 91 of file OdometryInfo.h.

+ +
+
+ +

◆ cornerInliers

+ +
+
+ + + + +
std::vector<int> rtabmap::OdometryInfo::cornerInliers
+
+ +

Definition at line 92 of file OdometryInfo.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
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rtabmap::OdometryLIOSAM Member List
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This is the complete list of members for rtabmap::OdometryLIOSAM, including all inherited members.

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canProcessAsyncIMU() constrtabmap::OdometryLIOSAMinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryLIOSAMinlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryLIOSAM(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryLIOSAM)rtabmap::OdometryLIOSAM
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryLIOSAMvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryLIOSAM() (defined in rtabmap::OdometryLIOSAM)rtabmap::OdometryLIOSAMvirtual
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rtabmap::OdometryLIOSAM Class Reference
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+Inheritance diagram for rtabmap::OdometryLIOSAM:
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+Public Member Functions

+ OdometryLIOSAM (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
virtual bool canProcessAsyncIMU () const
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

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+

Definition at line 42 of file OdometryLIOSAM.h.

+

Member Function Documentation

+ +

◆ reset()

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virtual void rtabmap::OdometryLIOSAM::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
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+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
+
+
+ +

Reimplemented from rtabmap::Odometry.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Odometry::Type rtabmap::OdometryLIOSAM::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 49 of file OdometryLIOSAM.h.

+ +
+
+ +

◆ canProcessAsyncIMU()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::OdometryLIOSAM::canProcessAsyncIMU () const
+ 		+inlinevirtual
+
+
Returns
True if the backend processes IMU asynchronously outside process().
+ +

Reimplemented from rtabmap::Odometry.

+ +

Definition at line 50 of file OdometryLIOSAM.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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This is the complete list of members for rtabmap::OdometryLOAM, including all inherited members.

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canProcessAsyncIMU() constrtabmap::Odometryinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryLOAMinlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryLOAM(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryLOAM)rtabmap::OdometryLOAM
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryLOAMvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryLOAM() (defined in rtabmap::OdometryLOAM)rtabmap::OdometryLOAMvirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryLOAM.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryLOAM.html new file mode 100644 index 00000000..287f67ac --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryLOAM.html @@ -0,0 +1,264 @@ + + + + + + + + +RTAB-Map: rtabmap::OdometryLOAM Class Reference + + + + + + + + + + + + +
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RTAB-Map 0.23.10 +
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+Public Member Functions | +List of all members
+
rtabmap::OdometryLOAM Class Reference
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+
+
+Inheritance diagram for rtabmap::OdometryLOAM:
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Inheritance graph
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+Collaboration diagram for rtabmap::OdometryLOAM:
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+Public Member Functions

+ OdometryLOAM (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

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+

Definition at line 43 of file OdometryLOAM.h.

+

Member Function Documentation

+ +

◆ reset()

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virtual void rtabmap::OdometryLOAM::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
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+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
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Reimplemented from rtabmap::Odometry.

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◆ getType()

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virtual Odometry::Type rtabmap::OdometryLOAM::getType ()
+ 		+inlinevirtual
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Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 50 of file OdometryLOAM.h.

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The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OdometryMSCKF Member List
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This is the complete list of members for rtabmap::OdometryMSCKF, including all inherited members.

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canProcessAsyncIMU() constrtabmap::OdometryMSCKFinlinevirtual
canProcessRawImages() constrtabmap::OdometryMSCKFinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryMSCKFinlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryMSCKF(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryMSCKF)rtabmap::OdometryMSCKF
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryMSCKFvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryMSCKF() (defined in rtabmap::OdometryMSCKF)rtabmap::OdometryMSCKFvirtual
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RTAB-Map 0.23.10 +
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+Public Member Functions | +List of all members
+
rtabmap::OdometryMSCKF Class Reference
+
+
+
+Inheritance diagram for rtabmap::OdometryMSCKF:
+
+
Inheritance graph
+ + + + + +
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+
+Collaboration diagram for rtabmap::OdometryMSCKF:
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ OdometryMSCKF (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
+ + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+
+

Definition at line 38 of file OdometryMSCKF.h.

+

Member Function Documentation

+ +

◆ reset()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::OdometryMSCKF::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
+
+
+ +

Reimplemented from rtabmap::Odometry.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Odometry::Type rtabmap::OdometryMSCKF::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 45 of file OdometryMSCKF.h.

+ +
+
+ +

◆ canProcessRawImages()

+ +
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+ + + + + +
+ + + + + + + +
virtual bool rtabmap::OdometryMSCKF::canProcessRawImages () const
+ 		+inlinevirtual
+
+
Returns
True if the backend can process unrectified camera images.
+ +

Reimplemented from rtabmap::Odometry.

+ +

Definition at line 46 of file OdometryMSCKF.h.

+ +
+
+ +

◆ canProcessAsyncIMU()

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+ + + + + +
+ + + + + + + +
virtual bool rtabmap::OdometryMSCKF::canProcessAsyncIMU () const
+ 		+inlinevirtual
+
+
Returns
True if the backend processes IMU asynchronously outside process().
+ +

Reimplemented from rtabmap::Odometry.

+ +

Definition at line 47 of file OdometryMSCKF.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryMono-members.html @@ -0,0 +1,129 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::OdometryMono Member List
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This is the complete list of members for rtabmap::OdometryMono, including all inherited members.

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canProcessAsyncIMU() constrtabmap::Odometryinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryMonoinlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryMono(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryMono)rtabmap::OdometryMono
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose)rtabmap::OdometryMonovirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryMono() (defined in rtabmap::OdometryMono)rtabmap::OdometryMonovirtual
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rtabmap::OdometryMono Class Reference
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+Inheritance diagram for rtabmap::OdometryMono:
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+Public Member Functions

+ OdometryMono (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose)
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+
+

Definition at line 39 of file OdometryMono.h.

+

Member Function Documentation

+ +

◆ reset()

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+ + + + + + + + +
virtual void rtabmap::OdometryMono::reset (const Transform & initialPose)
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
+
+
+ +

Reimplemented from rtabmap::Odometry.

+ +
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+ +

◆ getType()

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virtual Odometry::Type rtabmap::OdometryMono::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 45 of file OdometryMono.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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--git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM2-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM2-members.html new file mode 100644 index 00000000..05fbaa34 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM2-members.html @@ -0,0 +1,129 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::OdometryORBSLAM2 Member List
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This is the complete list of members for rtabmap::OdometryORBSLAM2, including all inherited members.

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canProcessAsyncIMU() constrtabmap::Odometryinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryORBSLAM2inlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryORBSLAM2(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryORBSLAM2)rtabmap::OdometryORBSLAM2
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryORBSLAM2virtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryORBSLAM2() (defined in rtabmap::OdometryORBSLAM2)rtabmap::OdometryORBSLAM2virtual
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rtabmap::OdometryORBSLAM2 Class Reference
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+Inheritance diagram for rtabmap::OdometryORBSLAM2:
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+Public Member Functions

+ OdometryORBSLAM2 (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

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+

Definition at line 38 of file OdometryORBSLAM2.h.

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Member Function Documentation

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◆ reset()

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virtual void rtabmap::OdometryORBSLAM2::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
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+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
+
+
+ +

Reimplemented from rtabmap::Odometry.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Odometry::Type rtabmap::OdometryORBSLAM2::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 45 of file OdometryORBSLAM2.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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iv+w<{`MUDWotp*UHD{~`JK#S65V(RGtU}H>@P7dQHu#SK literal 0 HcmV?d00001 diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3-members.html new file mode 100644 index 00000000..dd6137af --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3-members.html @@ -0,0 +1,129 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::OdometryORBSLAM3 Member List
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This is the complete list of members for rtabmap::OdometryORBSLAM3, including all inherited members.

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canProcessAsyncIMU() constrtabmap::OdometryORBSLAM3virtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryORBSLAM3inlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryORBSLAM3(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryORBSLAM3)rtabmap::OdometryORBSLAM3
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryORBSLAM3virtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryORBSLAM3() (defined in rtabmap::OdometryORBSLAM3)rtabmap::OdometryORBSLAM3virtual
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rtabmap::OdometryORBSLAM3 Class Reference
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+Inheritance diagram for rtabmap::OdometryORBSLAM3:
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+Public Member Functions

+ OdometryORBSLAM3 (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
virtual bool canProcessAsyncIMU () const
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+
+

Definition at line 39 of file OdometryORBSLAM3.h.

+

Member Function Documentation

+ +

◆ reset()

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virtual void rtabmap::OdometryORBSLAM3::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
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+ +

Reimplemented from rtabmap::Odometry.

+ +
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+ +

◆ getType()

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virtual Odometry::Type rtabmap::OdometryORBSLAM3::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 46 of file OdometryORBSLAM3.h.

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+
+ +

◆ canProcessAsyncIMU()

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virtual bool rtabmap::OdometryORBSLAM3::canProcessAsyncIMU () const
+ 		+virtual
+
+
Returns
True if the backend processes IMU asynchronously outside process().
+ +

Reimplemented from rtabmap::Odometry.

+ +
+
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The documentation for this class was generated from the following file: +
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3__coll__graph.map new file mode 100644 index 00000000..190f042c --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3__coll__graph.md5 new file mode 100644 index 00000000..681038d9 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3__coll__graph.md5 @@ -0,0 +1 @@ +210a093f7e6b6d1f8ca6dc4428621b23 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryORBSLAM3__coll__graph.png new file mode 100644 index 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rtabmap::OdometryOkvis Member List
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This is the complete list of members for rtabmap::OdometryOkvis, including all inherited members.

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canProcessAsyncIMU() constrtabmap::OdometryOkvisinlinevirtual
canProcessRawImages() constrtabmap::OdometryOkvisinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryOkvisinlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryOkvis(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryOkvis)rtabmap::OdometryOkvis
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryOkvisvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryOkvis() (defined in rtabmap::OdometryOkvis)rtabmap::OdometryOkvisvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis.html new file mode 100644 index 00000000..f3cc51fa --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOkvis.html @@ -0,0 +1,324 @@ + + + + + + + + +RTAB-Map: rtabmap::OdometryOkvis Class Reference + + + + + + + + + + + + +
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RTAB-Map 0.23.10 +
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+Public Member Functions | +List of all members
+
rtabmap::OdometryOkvis Class Reference
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+
+
+Inheritance diagram for rtabmap::OdometryOkvis:
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Inheritance graph
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+Collaboration diagram for rtabmap::OdometryOkvis:
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+Public Member Functions

+ OdometryOkvis (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

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+

Definition at line 40 of file OdometryOkvis.h.

+

Member Function Documentation

+ +

◆ reset()

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virtual void rtabmap::OdometryOkvis::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
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+ +

Reimplemented from rtabmap::Odometry.

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+ +

◆ getType()

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virtual Odometry::Type rtabmap::OdometryOkvis::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 47 of file OdometryOkvis.h.

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◆ canProcessRawImages()

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virtual bool rtabmap::OdometryOkvis::canProcessRawImages () const
+ 		+inlinevirtual
+
+
Returns
True if the backend can process unrectified camera images.
+ +

Reimplemented from rtabmap::Odometry.

+ +

Definition at line 48 of file OdometryOkvis.h.

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◆ canProcessAsyncIMU()

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virtual bool rtabmap::OdometryOkvis::canProcessAsyncIMU () const
+ 		+inlinevirtual
+
+
Returns
True if the backend processes IMU asynchronously outside process().
+ +

Reimplemented from rtabmap::Odometry.

+ +

Definition at line 49 of file OdometryOkvis.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OdometryOpen3D Member List
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This is the complete list of members for rtabmap::OdometryOpen3D, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
canProcessAsyncIMU() constrtabmap::Odometryinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryOpen3Dinlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryOpen3D(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryOpen3D)rtabmap::OdometryOpen3D
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryOpen3Dvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryOpen3D() (defined in rtabmap::OdometryOpen3D)rtabmap::OdometryOpen3Dvirtual
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rtabmap::OdometryOpen3D Class Reference
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+Inheritance diagram for rtabmap::OdometryOpen3D:
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+Public Member Functions

+ OdometryOpen3D (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+
+

Definition at line 35 of file OdometryOpen3D.h.

+

Member Function Documentation

+ +

◆ reset()

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virtual void rtabmap::OdometryOpen3D::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
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+ +

Reimplemented from rtabmap::Odometry.

+ +
+
+ +

◆ getType()

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virtual Odometry::Type rtabmap::OdometryOpen3D::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 42 of file OdometryOpen3D.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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This is the complete list of members for rtabmap::OdometryOpenVINS, including all inherited members.

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canProcessAsyncIMU() constrtabmap::OdometryOpenVINSinlinevirtual
canProcessRawImages() constrtabmap::OdometryOpenVINSinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryOpenVINSinlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryOpenVINS(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryOpenVINS)rtabmap::OdometryOpenVINS
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryOpenVINSvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS.html new file mode 100644 index 00000000..c6c6cc52 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryOpenVINS.html @@ -0,0 +1,324 @@ + + + + + + + + +RTAB-Map: rtabmap::OdometryOpenVINS Class Reference + + + + + + + + + + + + +
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RTAB-Map 0.23.10 +
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+Public Member Functions | +List of all members
+
rtabmap::OdometryOpenVINS Class Reference
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+
+
+Inheritance diagram for rtabmap::OdometryOpenVINS:
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+Collaboration diagram for rtabmap::OdometryOpenVINS:
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+Public Member Functions

+ OdometryOpenVINS (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

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+

Definition at line 40 of file OdometryOpenVINS.h.

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Member Function Documentation

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◆ reset()

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virtual void rtabmap::OdometryOpenVINS::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
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+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
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Reimplemented from rtabmap::Odometry.

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◆ getType()

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virtual Odometry::Type rtabmap::OdometryOpenVINS::getType ()
+ 		+inlinevirtual
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Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 46 of file OdometryOpenVINS.h.

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◆ canProcessRawImages()

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virtual bool rtabmap::OdometryOpenVINS::canProcessRawImages () const
+ 		+inlinevirtual
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+
Returns
True if the backend can process unrectified camera images.
+ +

Reimplemented from rtabmap::Odometry.

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Definition at line 47 of file OdometryOpenVINS.h.

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◆ canProcessAsyncIMU()

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virtual bool rtabmap::OdometryOpenVINS::canProcessAsyncIMU () const
+ 		+inlinevirtual
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+
Returns
True if the backend processes IMU asynchronously outside process().
+ +

Reimplemented from rtabmap::Odometry.

+ +

Definition at line 48 of file OdometryOpenVINS.h.

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+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent-members.html new file mode 100644 index 00000000..cd7b9da6 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent-members.html @@ -0,0 +1,99 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + + +
+
rtabmap::OdometryResetEvent Member List
+
+
+ +

This is the complete list of members for rtabmap::OdometryResetEvent, including all inherited members.

+ + + + + + + + +
getClassName() constrtabmap::OdometryResetEventinlinevirtual
getCode() constUEventinline
getPose() const (defined in rtabmap::OdometryResetEvent)rtabmap::OdometryResetEventinline
OdometryResetEvent(const Transform &pose=Transform::getIdentity()) (defined in rtabmap::OdometryResetEvent)rtabmap::OdometryResetEventinline
UEvent(int code=0)UEventinlineprotected
~OdometryResetEvent() (defined in rtabmap::OdometryResetEvent)rtabmap::OdometryResetEventinlinevirtual
~UEvent() (defined in UEvent)UEventinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent.html new file mode 100644 index 00000000..c7f7001f --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryResetEvent.html @@ -0,0 +1,251 @@ + + + + + + + + +RTAB-Map: rtabmap::OdometryResetEvent Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+ + +
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+Public Member Functions | +List of all members
+
rtabmap::OdometryResetEvent Class Reference
+
+
+
+Inheritance diagram for rtabmap::OdometryResetEvent:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::OdometryResetEvent:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + +

+Public Member Functions

 OdometryResetEvent (const Transform &pose=Transform::getIdentity())
 
virtual std::string getClassName () const
 
const Transform & getPose () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+
+

Definition at line 97 of file OdometryEvent.h.

+

Constructor & Destructor Documentation

+ +

◆ OdometryResetEvent()

+ +
+
+ + + + + +
+ + + + + + + + +
rtabmap::OdometryResetEvent::OdometryResetEvent (const Transform & pose = Transform::getIdentity())
+ 		+inline
+
+ +

Definition at line 100 of file OdometryEvent.h.

+ +
+
+ +

◆ ~OdometryResetEvent()

+ +
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virtual rtabmap::OdometryResetEvent::~OdometryResetEvent ()
+ 		+inlinevirtual
+
+ +

Definition at line 101 of file OdometryEvent.h.

+ +
+
+

Member Function Documentation

+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::OdometryResetEvent::getClassName () const
+ 		+inlinevirtual
+
+

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns
the class name
+ +

Implements UEvent.

+ +

Definition at line 102 of file OdometryEvent.h.

+ +
+
+ +

◆ getPose()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::OdometryResetEvent::getPose () const
+ 		+inline
+
+ +

Definition at line 103 of file OdometryEvent.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OdometryThread Member List
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This is the complete list of members for rtabmap::OdometryThread, including all inherited members.

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Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
currentThreadId() (defined in UThread)UThreadinlinestatic
Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
getThreadHandle() const (defined in UThread)UThreadinline
getThreadId() const (defined in UThread)UThreadinline
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handle typedef (defined in UThreadC< void >)UThreadC< void >
handleEvent(UEvent *event)rtabmap::OdometryThreadprotectedvirtual
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
isCreating() constUThread
isIdle() constUThread
isKilled() constUThread
isRunning() constUThread
join(bool killFirst=false)UThread
Join(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kill()UThread
Kill(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kPAboveNormal enum value (defined in UThread)UThread
kPBelowNormal enum value (defined in UThread)UThread
kPLow enum value (defined in UThread)UThread
kPNormal enum value (defined in UThread)UThread
kPRealTime enum value (defined in UThread)UThread
OdometryThread(Odometry *odometry, unsigned int dataBufferMaxSize=1) (defined in rtabmap::OdometryThread)rtabmap::OdometryThread
post(UEvent *event, bool async=true) constUEventsSenderprotected
Priority enum nameUThread
registerToEventsManager() (defined in UEventsHandler)UEventsHandler
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
setAffinity(int cpu=0)UThread
setPriority(Priority priority)UThread
start()UThread
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
UEventsHandler()UEventsHandlerinlineprotected
UEventsSender() (defined in UEventsSender)UEventsSenderinline
unregisterFromEventsManager() (defined in UEventsHandler)UEventsHandler
UThread(Priority priority=kPNormal)UThread
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
~OdometryThread() (defined in rtabmap::OdometryThread)rtabmap::OdometryThreadvirtual
~UEventsHandler()UEventsHandlerprotectedvirtual
~UEventsSender() (defined in UEventsSender)UEventsSendervirtual
~UThread()UThreadvirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread.html new file mode 100644 index 00000000..5a1088ae --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread.html @@ -0,0 +1,282 @@ + + + + + + + + +RTAB-Map: rtabmap::OdometryThread Class Reference + + + + + + + + + + + + +
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rtabmap::OdometryThread Class Reference
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+Inheritance diagram for rtabmap::OdometryThread:
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Inheritance graph
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+Collaboration diagram for rtabmap::OdometryThread:
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+Public Member Functions

+ OdometryThread (Odometry *odometry, unsigned int dataBufferMaxSize=1)
 
- Public Member Functions inherited from UThread
 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
void start ()
 
void kill ()
 
void join (bool killFirst=false)
 
void setPriority (Priority priority)
 
void setAffinity (int cpu=0)
 
bool isCreating () const
 
bool isRunning () const
 
bool isIdle () const
 
bool isKilled () const
 
Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
- Public Member Functions inherited from UEventsHandler
+void registerToEventsManager ()
 
+void unregisterFromEventsManager ()
 
+ + + + + + + + + + + +

+Protected Member Functions

virtual bool handleEvent (UEvent *event)
 
- Protected Member Functions inherited from UEventsHandler
 UEventsHandler ()
 
virtual ~UEventsHandler ()
 
- Protected Member Functions inherited from UEventsSender
void post (UEvent *event, bool async=true) const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from UThread
enum  Priority {
+  kPLow +, kPBelowNormal +, kPNormal +, kPAboveNormal +,
+  kPRealTime +
+ }
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
- Static Public Member Functions inherited from UThread
static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+

Detailed Description

+
+

Definition at line 42 of file OdometryThread.h.

+

Member Function Documentation

+ +

◆ handleEvent()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual bool rtabmap::OdometryThread::handleEvent (UEvent * event)
+ 		+protectedvirtual
+
+

Method called by the UEventsManager to handle an event. Important : this method must do a minimum of work because the faster the dispatching loop is done; the faster the events are received. If a handling function takes too much time, the events list can grow faster than it is emptied. The event can be modified.

Returns
"true" to notify UEventsManager that this handler took ownership of the event (meaning it must delete it). The event will not be dispatched to next handlers.
+
+"false" to let event be dispatched to next handlers (default behavior). UEventsManager will take care of deleting the event.
+ +

Implements UEventsHandler.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.map new file mode 100644 index 00000000..32728eb4 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.map @@ -0,0 +1,11 @@ + + + + + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.md5 new file mode 100644 index 00000000..b7a4cd38 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.md5 @@ -0,0 +1 @@ +4e35d5c93c28ebac9c73ce9927f75d85 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryThread__coll__graph.png new file mode 100644 index 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rtabmap::OdometryVINSFusion Member List
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This is the complete list of members for rtabmap::OdometryVINSFusion, including all inherited members.

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canProcessAsyncIMU() constrtabmap::OdometryVINSFusioninlinevirtual
canProcessRawImages() constrtabmap::OdometryVINSFusioninlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryVINSFusioninlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryVINSFusion(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryVINSFusion)rtabmap::OdometryVINSFusion
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryVINSFusionvirtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryVINSFusion() (defined in rtabmap::OdometryVINSFusion)rtabmap::OdometryVINSFusionvirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion.html b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion.html new file mode 100644 index 00000000..ea4be4bf --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion.html @@ -0,0 +1,324 @@ + + + + + + + + +RTAB-Map: rtabmap::OdometryVINSFusion Class Reference + + + + + + + + + + + + +
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rtabmap::OdometryVINSFusion Class Reference
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+Inheritance diagram for rtabmap::OdometryVINSFusion:
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+Public Member Functions

+ OdometryVINSFusion (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
+ + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+
+

Definition at line 37 of file OdometryVINSFusion.h.

+

Member Function Documentation

+ +

◆ reset()

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+ + + + + + + + +
virtual void rtabmap::OdometryVINSFusion::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
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+
+ +

Reimplemented from rtabmap::Odometry.

+ +
+
+ +

◆ getType()

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+ + + + + +
+ + + + + + + +
virtual Odometry::Type rtabmap::OdometryVINSFusion::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 44 of file OdometryVINSFusion.h.

+ +
+
+ +

◆ canProcessRawImages()

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virtual bool rtabmap::OdometryVINSFusion::canProcessRawImages () const
+ 		+inlinevirtual
+
+
Returns
True if the backend can process unrectified camera images.
+ +

Reimplemented from rtabmap::Odometry.

+ +

Definition at line 45 of file OdometryVINSFusion.h.

+ +
+
+ +

◆ canProcessAsyncIMU()

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virtual bool rtabmap::OdometryVINSFusion::canProcessAsyncIMU () const
+ 		+inlinevirtual
+
+
Returns
True if the backend processes IMU asynchronously outside process().
+ +

Reimplemented from rtabmap::Odometry.

+ +

Definition at line 46 of file OdometryVINSFusion.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion__coll__graph.map new file mode 100644 index 00000000..c250577b --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion__coll__graph.md5 new file mode 100644 index 00000000..ee694588 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion__coll__graph.md5 @@ -0,0 +1 @@ +165fba02a881e94f128ea6462b146d97 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1OdometryVINSFusion__coll__graph.png new file mode 100644 index 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rtabmap::OdometryViso2 Member List
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This is the complete list of members for rtabmap::OdometryViso2, including all inherited members.

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canProcessAsyncIMU() constrtabmap::Odometryinlinevirtual
canProcessRawImages() constrtabmap::Odometryinlinevirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Odometrystatic
framesProcessed() constrtabmap::Odometryinline
getPose() constrtabmap::Odometryinline
getType()rtabmap::OdometryViso2inlinevirtual
getVelocityGuess() constrtabmap::Odometryinline
imagesAlreadyRectified() constrtabmap::Odometryinline
imus() constrtabmap::Odometryinlineprotected
isInfoDataFilled() constrtabmap::Odometryinline
kTypeCuVSLAM enum valuertabmap::Odometry
kTypeDVO enum valuertabmap::Odometry
kTypeF2F enum valuertabmap::Odometry
kTypeF2M enum valuertabmap::Odometry
kTypeFLOAM enum valuertabmap::Odometry
kTypeFovis enum valuertabmap::Odometry
kTypeLIOSAM enum valuertabmap::Odometry
kTypeLOAM enum valuertabmap::Odometry
kTypeMSCKF enum valuertabmap::Odometry
kTypeOkvis enum valuertabmap::Odometry
kTypeOpen3D enum valuertabmap::Odometry
kTypeOpenVINS enum valuertabmap::Odometry
kTypeORBSLAM enum valuertabmap::Odometry
kTypeUndef enum valuertabmap::Odometry
kTypeVINSFusion enum valuertabmap::Odometry
kTypeViso2 enum valuertabmap::Odometry
Odometry(const rtabmap::ParametersMap &parameters)rtabmap::Odometryprotected
OdometryViso2(const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap()) (defined in rtabmap::OdometryViso2)rtabmap::OdometryViso2
previousStamp() constrtabmap::Odometryinline
previousVelocityTransform() constrtabmap::Odometry
process(SensorData &data, OdometryInfo *info=0)rtabmap::Odometry
process(SensorData &data, const Transform &guess, OdometryInfo *info=0)rtabmap::Odometry
reset(const Transform &initialPose=Transform::getIdentity())rtabmap::OdometryViso2virtual
Type enum namertabmap::Odometry
~Odometry() (defined in rtabmap::Odometry)rtabmap::Odometryvirtual
~OdometryViso2() (defined in rtabmap::OdometryViso2)rtabmap::OdometryViso2virtual
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rtabmap::OdometryViso2 Class Reference
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+Inheritance diagram for rtabmap::OdometryViso2:
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+Collaboration diagram for rtabmap::OdometryViso2:
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+Public Member Functions

+ OdometryViso2 (const rtabmap::ParametersMap &parameters=rtabmap::ParametersMap())
 
virtual void reset (const Transform &initialPose=Transform::getIdentity())
 Resets internal state and sets the initial pose.
 
virtual Odometry::Type getType ()
 
- Public Member Functions inherited from rtabmap::Odometry
Transform process (SensorData &data, OdometryInfo *info=0)
 Processes a sensor frame and updates the integrated pose.
 
Transform process (SensorData &data, const Transform &guess, OdometryInfo *info=0)
 Processes a sensor frame with an external motion guess.
 
virtual bool canProcessRawImages () const
 
virtual bool canProcessAsyncIMU () const
 
const Transform & getPose () const
 
bool isInfoDataFilled () const
 
RTABMAP_DEPRECATED const Transform & previousVelocityTransform () const
 
const Transform & getVelocityGuess () const
 
double previousStamp () const
 
unsigned int framesProcessed () const
 
bool imagesAlreadyRectified () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Odometry
enum  Type {
+  kTypeUndef = -1 +, kTypeF2M = 0 +, kTypeF2F = 1 +, kTypeFovis = 2 +,
+  kTypeViso2 = 3 +, kTypeDVO = 4 +, kTypeORBSLAM = 5 +, kTypeOkvis = 6 +,
+  kTypeLOAM = 7 +, kTypeMSCKF = 8 +, kTypeVINSFusion = 9 +, kTypeOpenVINS = 10 +,
+  kTypeFLOAM = 11 +, kTypeOpen3D = 12 +, kTypeCuVSLAM = 13 +, kTypeLIOSAM = 14 +
+ }
 Odometry backend selected by Parameters::kOdomStrategy(). More...
 
- Static Public Member Functions inherited from rtabmap::Odometry
static Odometry * create (const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance from Parameters::kOdomStrategy() in parameters.
 
static Odometry * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates an odometry instance of a given type.
 
- Protected Member Functions inherited from rtabmap::Odometry
const std::map< double, Transform > & imus () const
 
+ Odometry (const rtabmap::ParametersMap &parameters)
 Constructs the base odometry state from RTAB-Map parameters.
 
+

Detailed Description

+
+

Definition at line 37 of file OdometryViso2.h.

+

Member Function Documentation

+ +

◆ reset()

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+ + + + + + + + +
virtual void rtabmap::OdometryViso2::reset (const Transform & initialPose = Transform::getIdentity())
+ 		+virtual
+
+ +

Resets internal state and sets the initial pose.

+
Parameters
+ + +
initialPoseStarting pose (must not be null). Z/roll/pitch may be cleared if Parameters::kRegForce3DoF() is enabled.
+
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+ +

Reimplemented from rtabmap::Odometry.

+ +
+
+ +

◆ getType()

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virtual Odometry::Type rtabmap::OdometryViso2::getType ()
+ 		+inlinevirtual
+
+
Returns
Concrete odometry backend type.
+ +

Implements rtabmap::Odometry.

+ +

Definition at line 44 of file OdometryViso2.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::Optimizer Member List
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This is the complete list of members for rtabmap::Optimizer, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
computeBACorrespondences(const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())rtabmap::Optimizer
create(const ParametersMap &parameters)rtabmap::Optimizerstatic
create(Optimizer::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Optimizerstatic
epsilon() constrtabmap::Optimizerinline
getConnectedGraph(int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) constrtabmap::Optimizer
gravitySigma() constrtabmap::Optimizerinline
isAvailable(Optimizer::Type type)rtabmap::Optimizerstatic
isCovarianceIgnored() constrtabmap::Optimizerinline
isRobust() constrtabmap::Optimizerinline
isSlam2d() constrtabmap::Optimizerinline
iterations() constrtabmap::Optimizerinline
kTypeCeres enum valuertabmap::Optimizer
kTypeCVSBA enum valuertabmap::Optimizer
kTypeG2O enum valuertabmap::Optimizer
kTypeGTSAM enum valuertabmap::Optimizer
kTypeTORO enum valuertabmap::Optimizer
kTypeUndef enum valuertabmap::Optimizer
landmarksIgnored() constrtabmap::Optimizerinline
optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizer
optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizervirtual
optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)rtabmap::Optimizervirtual
optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())rtabmap::Optimizer
optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())rtabmap::Optimizer
optimizeBA(const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)rtabmap::Optimizer
optimizeIncremental(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizer
Optimizer(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in rtabmap::Optimizer)rtabmap::Optimizerprotected
Optimizer(const ParametersMap &parameters) (defined in rtabmap::Optimizer)rtabmap::Optimizerprotected
parseParameters(const ParametersMap &parameters)rtabmap::Optimizervirtual
priorsIgnored() constrtabmap::Optimizerinline
setCovarianceIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setEpsilon(double epsilon) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setGravitySigma(float value) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setIterations(int iterations) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setLandmarksIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setPriorsIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setRobust(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setSlam2d(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
type() const =0rtabmap::Optimizerpure virtual
Type enum namertabmap::Optimizer
~Optimizer() (defined in rtabmap::Optimizer)rtabmap::Optimizerinlinevirtual
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
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rtabmap::Optimizer Class Referenceabstract
+
+
+ +

Abstract base for pose-graph and bundle-adjustment optimizers. + More...

+ +

#include <Optimizer.h>

+
+Inheritance diagram for rtabmap::Optimizer:
+
+
Inheritance graph
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[legend]
+ + + + + +

+Public Types

enum  Type {
+  kTypeUndef = -1 +, kTypeTORO = 0 +, kTypeG2O = 1 +, kTypeGTSAM = 2 +,
+  kTypeCeres = 3 +, kTypeCVSBA = 4 +
+ }
 Graph-optimizer back-end identifier. More...
 
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+Public Member Functions

void getConnectedGraph (int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) const
 Extracts the connected component reachable from fromId.
 
virtual Type type () const =0
 Returns the concrete back-end identifier (one of Type).
 
virtual void parseParameters (const ParametersMap &parameters)
 Reads shared knobs from parameters and applies them to this instance.
 
std::map< int, Transform > optimizeIncremental (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization that grows the graph one node at a time.
 
std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization (single shot).
 
virtual std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization with marginal covariance of rootId.
 
virtual std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
 
std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
 BA wrapper that derives camera models and correspondences from signatures.
 
+std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
 BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.
 
Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 Refine a single two-frame link via BA.
 
void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
 Build BA correspondences (3D points + per-frame observations) from signatures.
 
Getters for tunables shared across back-ends.
int iterations () const
 Max solver iterations.
 
bool isSlam2d () const
 True if optimizing in SE(2) instead of SE(3).
 
bool isCovarianceIgnored () const
 If true, all edges share an identity information matrix.
 
double epsilon () const
 Convergence threshold on cost decrease.
 
bool isRobust () const
 If true, use a robust kernel / switchable factors against bad loop closures.
 
bool priorsIgnored () const
 If true, unary priors on poses are dropped.
 
bool landmarksIgnored () const
 If true, landmark/marker observations are dropped.
 
float gravitySigma () const
 Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it.
 
Setters mirroring the corresponding getters.
void setIterations (int iterations)
 
void setSlam2d (bool enabled)
 
void setCovarianceIgnored (bool enabled)
 
void setEpsilon (double epsilon)
 
void setRobust (bool enabled)
 
void setPriorsIgnored (bool enabled)
 
void setLandmarksIgnored (bool enabled)
 
void setGravitySigma (float value)
 
+ + + + + + + + + + +

+Static Public Member Functions

static bool isAvailable (Optimizer::Type type)
 Returns whether type was compiled in (its third-party dependency was found).
 
static Optimizer * create (const ParametersMap &parameters)
 Factory: build an optimizer from a ParametersMap.
 
+static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
 Factory: build an optimizer of a specific type. Caller owns the result.
 
+ + + + + +

+Protected Member Functions

+ Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
 
+ Optimizer (const ParametersMap &parameters)
 
+

Detailed Description

+

Abstract base for pose-graph and bundle-adjustment optimizers.

+

Optimizer is a factory + interface in front of several third-party back-ends (TORO, g2o, GTSAM, Ceres, cvsba). Use create() to instantiate one based on the Optimizer/Strategy parameter; use isAvailable() to check whether a given back-end was compiled in.

+

Two families of methods are exposed:

    +
  • Pose-graph optimization (optimize / optimizeIncremental) — refines poses given relative-pose constraints. Subclasses override optimize() with covariance output.
    • +
  • Bundle adjustment (optimizeBA) — jointly refines poses and 3D points using reprojection error. Subclasses override the lowest-level overload; the others are convenience wrappers that fill in models/correspondences from Signature data.
    • +
+

Common knobs (iterations, robust kernels, 2D-vs-3D, etc.) are configured through parseParameters() or per-attribute setters and apply to whichever back-end is selected.

+ +

Definition at line 87 of file Optimizer.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::Optimizer::Type
+
+ +

Graph-optimizer back-end identifier.

+ + + + + + + +
Enumerator
kTypeUndef 

Unspecified / invalid.

+
kTypeTORO 

TORO (tree-based relaxation).

+
kTypeG2O 

g2o (general graph optimization, supports BA).

+
kTypeGTSAM 

GTSAM (factor graphs, iSAM2-style incremental).

+
kTypeCeres 

Ceres Solver (nonlinear least squares, supports BA).

+
kTypeCVSBA 

cvsba (sparse bundle adjustment only).

+
+ +

Definition at line 91 of file Optimizer.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ ~Optimizer()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::Optimizer::~Optimizer ()
+ 		+inlinevirtual
+
+ +

Definition at line 135 of file Optimizer.h.

+ +
+
+

Member Function Documentation

+ +

◆ isAvailable()

+ +
+
+ + + + + +
+ + + + + + + + +
static bool rtabmap::Optimizer::isAvailable (Optimizer::Type type)
+ 		+static
+
+ +

Returns whether type was compiled in (its third-party dependency was found).

+

kTypeUndef is treated as unavailable. create() falls back through this check to pick the first available back-end when the requested one is missing.

+ +
+
+ +

◆ create()

+ +
+
+ + + + + +
+ + + + + + + + +
static Optimizer * rtabmap::Optimizer::create (const ParametersMap & parameters)
+ 		+static
+
+ +

Factory: build an optimizer from a ParametersMap.

+

Reads Optimizer/Strategy from parameters; falls back to the default strategy if the chosen back-end isn't compiled in. Caller owns the returned pointer.

+ +
+
+ +

◆ getConnectedGraph()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Optimizer::getConnectedGraph (int fromId,
const std::map< int, Transform > & posesIn,
const std::multimap< int, Link > & linksIn,
std::map< int, Transform > & posesOut,
std::multimap< int, Link > & linksOut 
) const
+
+ +

Extracts the connected component reachable from fromId.

+

Walks linksIn breadth-first starting at fromId and copies every visited pose (from posesIn) and every traversed link into posesOut / linksOut. Use this to isolate the subgraph that actually affects fromId before calling optimize(), since the back-ends require a single connected component.

+ +
+
+ +

◆ type()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Type rtabmap::Optimizer::type () const
+ 		+pure virtual
+
+ +

Returns the concrete back-end identifier (one of Type).

+ +

Implemented in rtabmap::OptimizerCeres, rtabmap::OptimizerCVSBA, rtabmap::OptimizerG2O, rtabmap::OptimizerGTSAM, and rtabmap::OptimizerTORO.

+ +
+
+ +

◆ iterations()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Optimizer::iterations () const
+ 		+inline
+
+ +

Max solver iterations.

+ +

Definition at line 142 of file Optimizer.h.

+ +
+
+ +

◆ isSlam2d()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Optimizer::isSlam2d () const
+ 		+inline
+
+ +

True if optimizing in SE(2) instead of SE(3).

+ +

Definition at line 143 of file Optimizer.h.

+ +
+
+ +

◆ isCovarianceIgnored()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Optimizer::isCovarianceIgnored () const
+ 		+inline
+
+ +

If true, all edges share an identity information matrix.

+ +

Definition at line 144 of file Optimizer.h.

+ +
+
+ +

◆ epsilon()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::Optimizer::epsilon () const
+ 		+inline
+
+ +

Convergence threshold on cost decrease.

+ +

Definition at line 145 of file Optimizer.h.

+ +
+
+ +

◆ isRobust()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Optimizer::isRobust () const
+ 		+inline
+
+ +

If true, use a robust kernel / switchable factors against bad loop closures.

+ +

Definition at line 146 of file Optimizer.h.

+ +
+
+ +

◆ priorsIgnored()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Optimizer::priorsIgnored () const
+ 		+inline
+
+ +

If true, unary priors on poses are dropped.

+ +

Definition at line 147 of file Optimizer.h.

+ +
+
+ +

◆ landmarksIgnored()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Optimizer::landmarksIgnored () const
+ 		+inline
+
+ +

If true, landmark/marker observations are dropped.

+ +

Definition at line 148 of file Optimizer.h.

+ +
+
+ +

◆ gravitySigma()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Optimizer::gravitySigma () const
+ 		+inline
+
+ +

Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it.

+ +

Definition at line 149 of file Optimizer.h.

+ +
+
+ +

◆ setIterations()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Optimizer::setIterations (int iterations)
+ 		+inline
+
+ +

Definition at line 154 of file Optimizer.h.

+ +
+
+ +

◆ setSlam2d()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Optimizer::setSlam2d (bool enabled)
+ 		+inline
+
+ +

Definition at line 155 of file Optimizer.h.

+ +
+
+ +

◆ setCovarianceIgnored()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Optimizer::setCovarianceIgnored (bool enabled)
+ 		+inline
+
+ +

Definition at line 156 of file Optimizer.h.

+ +
+
+ +

◆ setEpsilon()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Optimizer::setEpsilon (double epsilon)
+ 		+inline
+
+ +

Definition at line 157 of file Optimizer.h.

+ +
+
+ +

◆ setRobust()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Optimizer::setRobust (bool enabled)
+ 		+inline
+
+ +

Definition at line 158 of file Optimizer.h.

+ +
+
+ +

◆ setPriorsIgnored()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Optimizer::setPriorsIgnored (bool enabled)
+ 		+inline
+
+ +

Definition at line 159 of file Optimizer.h.

+ +
+
+ +

◆ setLandmarksIgnored()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Optimizer::setLandmarksIgnored (bool enabled)
+ 		+inline
+
+ +

Definition at line 160 of file Optimizer.h.

+ +
+
+ +

◆ setGravitySigma()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Optimizer::setGravitySigma (float value)
+ 		+inline
+
+ +

Definition at line 161 of file Optimizer.h.

+ +
+
+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::Optimizer::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Reads shared knobs from parameters and applies them to this instance.

+

Subclasses override to additionally read back-end-specific keys (e.g. g2o/Solver, GTSAM/Optimizer); they should call this base implementation first.

+ +

Reimplemented in rtabmap::OptimizerCeres, rtabmap::OptimizerG2O, and rtabmap::OptimizerGTSAM.

+ +
+
+ +

◆ optimizeIncremental()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
std::map< int, Transform > rtabmap::Optimizer::optimizeIncremental (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & constraints,
std::list< std::map< int, Transform > > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0 
)
+
+ +

Pose-graph optimization that grows the graph one node at a time.

+

Inserts poses in poses iteration order, propagating odometry edges (Neighbor / NeighborMerged) directly and triggering a call to optimize() whenever a loop closure is added. A final full optimize() pass anchors at rootId. Useful for warm-starting heavily-deformed initial guesses where a single-shot optimize() can diverge.

+
Parameters
+ + + + + + + +
rootIdPose whose absolute transform is held fixed.
posesInitial poses keyed by id.
constraintsRelative-pose constraints (see Link::Type).
intermediateGraphesOptional: appended per outer iteration for debug/visualization.
finalErrorOptional: written with the solver's final cost.
iterationsDoneOptional: written with the solver's actual iteration count.
+
+
+
Returns
Refined poses (same key set as poses), or empty on failure.
+ +
+
+ +

◆ optimize() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
std::map< int, Transform > rtabmap::Optimizer::optimize (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & constraints,
std::list< std::map< int, Transform > > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0 
)
+
+ +

Pose-graph optimization (single shot).

+

Convenience overload that discards the output covariance. See the covariance-returning overload below for parameter docs.

+ +
+
+ +

◆ optimize() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual std::map< int, Transform > rtabmap::Optimizer::optimize (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & constraints,
cv::Mat & outputCovariance,
std::list< std::map< int, Transform > > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0 
)
+ 		+virtual
+
+ +

Pose-graph optimization with marginal covariance of rootId.

+

This is the primary back-end entry point — concrete subclasses override it. The base implementation just emits an error.

+
Parameters
+ + + + + + + + +
rootIdPose to hold fixed during optimization.
posesInitial pose estimates.
constraintsRelative-pose constraints between pose ids (and optionally to landmarks).
outputCovarianceOutput: 6x6 covariance of the last optimized pose w.r.t. rootId (3x3 for 2D mode). Filled only if the back-end supports it.
intermediateGraphesOptional: appended at each iteration for debug/visualization.
finalErrorOptional: written with the solver's final cost.
iterationsDoneOptional: written with the solver's actual iteration count.
+
+
+
Returns
Refined poses, or empty on failure.
+ +

Reimplemented in rtabmap::OptimizerCeres, rtabmap::OptimizerG2O, rtabmap::OptimizerGTSAM, and rtabmap::OptimizerTORO.

+ +
+
+ +

◆ optimizeBA() [1/3]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual std::map< int, Transform > rtabmap::Optimizer::optimizeBA (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & links,
const std::map< int, std::vector< CameraModel > > & models,
std::map< int, cv::Point3f > & points3DMap,
const std::map< int, std::map< int, FeatureBA > > & wordReferences,
std::set< int > * outliers = 0 
)
+ 		+virtual
+
+ +

Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).

+

Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other optimizeBA() overloads ultimately funnel here.

+
Parameters
+ + + + + + + + +
rootIdPose to hold fixed. If negative, ALL poses other than the (positive) lowest id are held fixed.
posesInitial pose estimates keyed by frame id.
linksEdges used to define the BA problem topology.
modelsCamera model(s) per frame; for stereo, Tx must be set on the model (= -baseline*fx). Multi-camera rigs have multiple entries per frame.
points3DMapIn/out: world 3D points keyed by word id; refined on return.
wordReferencesObservations: <wordId, <frameId, FeatureBA>>. See FeatureBA.
outliersOptional output: word ids dropped by the back-end's outlier rejection.
+
+
+
Returns
Refined poses, or empty on failure.
+ +

Reimplemented in rtabmap::OptimizerCeres, rtabmap::OptimizerCVSBA, rtabmap::OptimizerG2O, and rtabmap::OptimizerGTSAM.

+ +
+
+ +

◆ optimizeBA() [2/3]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
std::map< int, Transform > rtabmap::Optimizer::optimizeBA (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & links,
const std::map< int, Signature > & signatures,
std::map< int, cv::Point3f > & points3DMap,
std::map< int, std::map< int, FeatureBA > > & wordReferences,
bool rematchFeatures = false,
const ParametersMap & registrationParameters = ParametersMap() 
)
+
+ +

BA wrapper that derives camera models and correspondences from signatures.

+

Builds models per frame from each Signature's SensorData (mono or stereo, with stereo-baseline encoded in Tx), calls computeBACorrespondences() to populate points3DMap / wordReferences from the signatures' words, then delegates to the back-end overload above.

+
Parameters
+ + + +
rematchFeaturesIf true, re-match descriptors across linked frames before building correspondences (more accurate, more expensive).
registrationParametersForwarded to RegistrationVis when re-matching.
+
+
+ +
+
+ +

◆ optimizeBA() [3/3]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Transform rtabmap::Optimizer::optimizeBA (const Link & link,
const CameraModel & model,
std::map< int, cv::Point3f > & points3DMap,
const std::map< int, std::map< int, FeatureBA > > & wordReferences,
std::set< int > * outliers = 0 
)
+
+ +

Refine a single two-frame link via BA.

+

Sets the from frame at identity and the to frame at link.transform(), then runs BA over the supplied 3D points and observations. Returns the refined relative transform, or link.transform() unchanged on failure.

+ +
+
+ +

◆ computeBACorrespondences()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Optimizer::computeBACorrespondences (const std::map< int, Transform > & poses,
const std::multimap< int, Link > & links,
const std::map< int, Signature > & signatures,
std::map< int, cv::Point3f > & points3DMap,
std::map< int, std::map< int, FeatureBA > > & wordReferences,
bool rematchFeatures = false,
bool useLinkTransformAsGuess = false,
ParametersMap registrationParameters = ParametersMap() 
)
+
+ +

Build BA correspondences (3D points + per-frame observations) from signatures.

+

For each link, matches words between the two signatures with RegistrationVis, triangulates / lifts depth into world coordinates using the frames' initial poses, and populates points3DMap (one entry per word id) and wordReferences (one entry per (word, frame) observation).

+
Parameters
+ + + + +
rematchFeaturesIf true, descriptors are re-matched between frames instead of relying on pre-existing word ids — more robust to feature drift.
useLinkTransformAsGuessIf true, the link's transform seeds the PnP guess instead of estimating it from scratch.
registrationParametersForwarded to RegistrationVis (estimation type, inlier counts, NNDR, etc.).
+
+
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OptimizerCVSBA Member List
+
+
+ +

This is the complete list of members for rtabmap::OptimizerCVSBA, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available() (defined in rtabmap::OptimizerCVSBA)rtabmap::OptimizerCVSBAstatic
computeBACorrespondences(const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())rtabmap::Optimizer
create(const ParametersMap &parameters)rtabmap::Optimizerstatic
create(Optimizer::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Optimizerstatic
epsilon() constrtabmap::Optimizerinline
getConnectedGraph(int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) constrtabmap::Optimizer
gravitySigma() constrtabmap::Optimizerinline
isAvailable(Optimizer::Type type)rtabmap::Optimizerstatic
isCovarianceIgnored() constrtabmap::Optimizerinline
isRobust() constrtabmap::Optimizerinline
isSlam2d() constrtabmap::Optimizerinline
iterations() constrtabmap::Optimizerinline
kTypeCeres enum valuertabmap::Optimizer
kTypeCVSBA enum valuertabmap::Optimizer
kTypeG2O enum valuertabmap::Optimizer
kTypeGTSAM enum valuertabmap::Optimizer
kTypeTORO enum valuertabmap::Optimizer
kTypeUndef enum valuertabmap::Optimizer
landmarksIgnored() constrtabmap::Optimizerinline
optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizer
optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizervirtual
optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)rtabmap::OptimizerCVSBAvirtual
rtabmap::Optimizer::optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())rtabmap::Optimizer
rtabmap::Optimizer::optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())rtabmap::Optimizer
rtabmap::Optimizer::optimizeBA(const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)rtabmap::Optimizer
optimizeIncremental(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizer
Optimizer(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in rtabmap::Optimizer)rtabmap::Optimizerprotected
Optimizer(const ParametersMap &parameters) (defined in rtabmap::Optimizer)rtabmap::Optimizerprotected
OptimizerCVSBA(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored()) (defined in rtabmap::OptimizerCVSBA)rtabmap::OptimizerCVSBAinline
OptimizerCVSBA(const ParametersMap &parameters) (defined in rtabmap::OptimizerCVSBA)rtabmap::OptimizerCVSBAinline
parseParameters(const ParametersMap &parameters)rtabmap::Optimizervirtual
priorsIgnored() constrtabmap::Optimizerinline
setCovarianceIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setEpsilon(double epsilon) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setGravitySigma(float value) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setIterations(int iterations) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setLandmarksIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setPriorsIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setRobust(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setSlam2d(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
Type enum namertabmap::Optimizer
type() constrtabmap::OptimizerCVSBAinlinevirtual
~Optimizer() (defined in rtabmap::Optimizer)rtabmap::Optimizerinlinevirtual
~OptimizerCVSBA() (defined in rtabmap::OptimizerCVSBA)rtabmap::OptimizerCVSBAinlinevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA.html new file mode 100644 index 00000000..7672fafe --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCVSBA.html @@ -0,0 +1,458 @@ + + + + + + + + +RTAB-Map: rtabmap::OptimizerCVSBA Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +List of all members
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rtabmap::OptimizerCVSBA Class Reference
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+Inheritance diagram for rtabmap::OptimizerCVSBA:
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+Public Member Functions

 OptimizerCVSBA (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored())
 
 OptimizerCVSBA (const ParametersMap &parameters)
 
virtual Type type () const
 Returns the concrete back-end identifier (one of Type).
 
virtual std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
 
- Public Member Functions inherited from rtabmap::Optimizer
void getConnectedGraph (int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) const
 Extracts the connected component reachable from fromId.
 
virtual void parseParameters (const ParametersMap &parameters)
 Reads shared knobs from parameters and applies them to this instance.
 
std::map< int, Transform > optimizeIncremental (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization that grows the graph one node at a time.
 
std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization (single shot).
 
virtual std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization with marginal covariance of rootId.
 
std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
 BA wrapper that derives camera models and correspondences from signatures.
 
+std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
 BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.
 
Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 Refine a single two-frame link via BA.
 
void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
 Build BA correspondences (3D points + per-frame observations) from signatures.
 
int iterations () const
 Max solver iterations.
 
bool isSlam2d () const
 True if optimizing in SE(2) instead of SE(3).
 
bool isCovarianceIgnored () const
 If true, all edges share an identity information matrix.
 
double epsilon () const
 Convergence threshold on cost decrease.
 
bool isRobust () const
 If true, use a robust kernel / switchable factors against bad loop closures.
 
bool priorsIgnored () const
 If true, unary priors on poses are dropped.
 
bool landmarksIgnored () const
 If true, landmark/marker observations are dropped.
 
float gravitySigma () const
 Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it.
 
void setIterations (int iterations)
 
void setSlam2d (bool enabled)
 
void setCovarianceIgnored (bool enabled)
 
void setEpsilon (double epsilon)
 
void setRobust (bool enabled)
 
void setPriorsIgnored (bool enabled)
 
void setLandmarksIgnored (bool enabled)
 
void setGravitySigma (float value)
 
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+Static Public Member Functions

+static bool available ()
 
- Static Public Member Functions inherited from rtabmap::Optimizer
static bool isAvailable (Optimizer::Type type)
 Returns whether type was compiled in (its third-party dependency was found).
 
static Optimizer * create (const ParametersMap &parameters)
 Factory: build an optimizer from a ParametersMap.
 
+static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
 Factory: build an optimizer of a specific type. Caller owns the result.
 
+ + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Optimizer
enum  Type {
+  kTypeUndef = -1 +, kTypeTORO = 0 +, kTypeG2O = 1 +, kTypeGTSAM = 2 +,
+  kTypeCeres = 3 +, kTypeCVSBA = 4 +
+ }
 Graph-optimizer back-end identifier. More...
 
- Protected Member Functions inherited from rtabmap::Optimizer
+ Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
 
+ Optimizer (const ParametersMap &parameters)
 
+

Detailed Description

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Definition at line 35 of file OptimizerCVSBA.h.

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Constructor & Destructor Documentation

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◆ OptimizerCVSBA() [1/2]

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rtabmap::OptimizerCVSBA::OptimizerCVSBA (int iterations = Parameters::defaultOptimizerIterations(),
bool slam2d = Parameters::defaultRegForce3DoF(),
bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored() 
)
+ 		+inline
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Definition at line 41 of file OptimizerCVSBA.h.

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◆ OptimizerCVSBA() [2/2]

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rtabmap::OptimizerCVSBA::OptimizerCVSBA (const ParametersMap & parameters)
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Definition at line 46 of file OptimizerCVSBA.h.

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◆ ~OptimizerCVSBA()

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virtual rtabmap::OptimizerCVSBA::~OptimizerCVSBA ()
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Definition at line 48 of file OptimizerCVSBA.h.

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Member Function Documentation

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◆ type()

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virtual Type rtabmap::OptimizerCVSBA::type () const
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Returns the concrete back-end identifier (one of Type).

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Implements rtabmap::Optimizer.

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Definition at line 50 of file OptimizerCVSBA.h.

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◆ optimizeBA()

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virtual std::map< int, Transform > rtabmap::OptimizerCVSBA::optimizeBA (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & links,
const std::map< int, std::vector< CameraModel > > & models,
std::map< int, cv::Point3f > & points3DMap,
const std::map< int, std::map< int, FeatureBA > > & wordReferences,
std::set< int > * outliers = 0 
)
+ 		+virtual
+
+ +

Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).

+

Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other optimizeBA() overloads ultimately funnel here.

+
Parameters
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rootIdPose to hold fixed. If negative, ALL poses other than the (positive) lowest id are held fixed.
posesInitial pose estimates keyed by frame id.
linksEdges used to define the BA problem topology.
modelsCamera model(s) per frame; for stereo, Tx must be set on the model (= -baseline*fx). Multi-camera rigs have multiple entries per frame.
points3DMapIn/out: world 3D points keyed by word id; refined on return.
wordReferencesObservations: <wordId, <frameId, FeatureBA>>. See FeatureBA.
outliersOptional output: word ids dropped by the back-end's outlier rejection.
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Returns
Refined poses, or empty on failure.
+ +

Reimplemented from rtabmap::Optimizer.

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The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OptimizerCeres Member List
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This is the complete list of members for rtabmap::OptimizerCeres, including all inherited members.

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available() (defined in rtabmap::OptimizerCeres)rtabmap::OptimizerCeresstatic
computeBACorrespondences(const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())rtabmap::Optimizer
create(const ParametersMap &parameters)rtabmap::Optimizerstatic
create(Optimizer::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Optimizerstatic
epsilon() constrtabmap::Optimizerinline
getConnectedGraph(int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) constrtabmap::Optimizer
gravitySigma() constrtabmap::Optimizerinline
isAvailable(Optimizer::Type type)rtabmap::Optimizerstatic
isCovarianceIgnored() constrtabmap::Optimizerinline
isRobust() constrtabmap::Optimizerinline
isSlam2d() constrtabmap::Optimizerinline
iterations() constrtabmap::Optimizerinline
kTypeCeres enum valuertabmap::Optimizer
kTypeCVSBA enum valuertabmap::Optimizer
kTypeG2O enum valuertabmap::Optimizer
kTypeGTSAM enum valuertabmap::Optimizer
kTypeTORO enum valuertabmap::Optimizer
kTypeUndef enum valuertabmap::Optimizer
landmarksIgnored() constrtabmap::Optimizerinline
optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::OptimizerCeresvirtual
rtabmap::Optimizer::optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizer
optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)rtabmap::OptimizerCeresvirtual
rtabmap::Optimizer::optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())rtabmap::Optimizer
rtabmap::Optimizer::optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())rtabmap::Optimizer
rtabmap::Optimizer::optimizeBA(const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)rtabmap::Optimizer
optimizeIncremental(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizer
Optimizer(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in rtabmap::Optimizer)rtabmap::Optimizerprotected
Optimizer(const ParametersMap &parameters) (defined in rtabmap::Optimizer)rtabmap::Optimizerprotected
OptimizerCeres(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon()) (defined in rtabmap::OptimizerCeres)rtabmap::OptimizerCeresinline
OptimizerCeres(const ParametersMap &parameters) (defined in rtabmap::OptimizerCeres)rtabmap::OptimizerCeres
parseParameters(const ParametersMap &parameters)rtabmap::OptimizerCeresvirtual
priorsIgnored() constrtabmap::Optimizerinline
setCovarianceIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setEpsilon(double epsilon) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setGravitySigma(float value) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setIterations(int iterations) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setLandmarksIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setPriorsIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setRobust(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setSlam2d(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
type() constrtabmap::OptimizerCeresinlinevirtual
Type enum namertabmap::Optimizer
~Optimizer() (defined in rtabmap::Optimizer)rtabmap::Optimizerinlinevirtual
~OptimizerCeres() (defined in rtabmap::OptimizerCeres)rtabmap::OptimizerCeresinlinevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres.html new file mode 100644 index 00000000..89dd584d --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerCeres.html @@ -0,0 +1,552 @@ + + + + + + + + +RTAB-Map: rtabmap::OptimizerCeres Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +List of all members
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rtabmap::OptimizerCeres Class Reference
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+Inheritance diagram for rtabmap::OptimizerCeres:
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+Public Member Functions

 OptimizerCeres (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon())
 
+ OptimizerCeres (const ParametersMap &parameters)
 
virtual Type type () const
 Returns the concrete back-end identifier (one of Type).
 
virtual void parseParameters (const ParametersMap &parameters)
 Reads shared knobs from parameters and applies them to this instance.
 
virtual std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization with marginal covariance of rootId.
 
virtual std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
 
- Public Member Functions inherited from rtabmap::Optimizer
void getConnectedGraph (int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) const
 Extracts the connected component reachable from fromId.
 
std::map< int, Transform > optimizeIncremental (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization that grows the graph one node at a time.
 
std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization (single shot).
 
std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
 BA wrapper that derives camera models and correspondences from signatures.
 
+std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
 BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.
 
Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 Refine a single two-frame link via BA.
 
void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
 Build BA correspondences (3D points + per-frame observations) from signatures.
 
int iterations () const
 Max solver iterations.
 
bool isSlam2d () const
 True if optimizing in SE(2) instead of SE(3).
 
bool isCovarianceIgnored () const
 If true, all edges share an identity information matrix.
 
double epsilon () const
 Convergence threshold on cost decrease.
 
bool isRobust () const
 If true, use a robust kernel / switchable factors against bad loop closures.
 
bool priorsIgnored () const
 If true, unary priors on poses are dropped.
 
bool landmarksIgnored () const
 If true, landmark/marker observations are dropped.
 
float gravitySigma () const
 Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it.
 
void setIterations (int iterations)
 
void setSlam2d (bool enabled)
 
void setCovarianceIgnored (bool enabled)
 
void setEpsilon (double epsilon)
 
void setRobust (bool enabled)
 
void setPriorsIgnored (bool enabled)
 
void setLandmarksIgnored (bool enabled)
 
void setGravitySigma (float value)
 
+ + + + + + + + + + + + + +

+Static Public Member Functions

+static bool available ()
 
- Static Public Member Functions inherited from rtabmap::Optimizer
static bool isAvailable (Optimizer::Type type)
 Returns whether type was compiled in (its third-party dependency was found).
 
static Optimizer * create (const ParametersMap &parameters)
 Factory: build an optimizer from a ParametersMap.
 
+static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
 Factory: build an optimizer of a specific type. Caller owns the result.
 
+ + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Optimizer
enum  Type {
+  kTypeUndef = -1 +, kTypeTORO = 0 +, kTypeG2O = 1 +, kTypeGTSAM = 2 +,
+  kTypeCeres = 3 +, kTypeCVSBA = 4 +
+ }
 Graph-optimizer back-end identifier. More...
 
- Protected Member Functions inherited from rtabmap::Optimizer
+ Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
 
+ Optimizer (const ParametersMap &parameters)
 
+

Detailed Description

+
+

Definition at line 35 of file OptimizerCeres.h.

+

Constructor & Destructor Documentation

+ +

◆ OptimizerCeres()

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rtabmap::OptimizerCeres::OptimizerCeres (int iterations = Parameters::defaultOptimizerIterations(),
bool slam2d = Parameters::defaultRegForce3DoF(),
bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
double epsilon = Parameters::defaultOptimizerEpsilon() 
)
+ 		+inline
+
+ +

Definition at line 41 of file OptimizerCeres.h.

+ +
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+ +

◆ ~OptimizerCeres()

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virtual rtabmap::OptimizerCeres::~OptimizerCeres ()
+ 		+inlinevirtual
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+ +

Definition at line 52 of file OptimizerCeres.h.

+ +
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+

Member Function Documentation

+ +

◆ type()

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virtual Type rtabmap::OptimizerCeres::type () const
+ 		+inlinevirtual
+
+ +

Returns the concrete back-end identifier (one of Type).

+ +

Implements rtabmap::Optimizer.

+ +

Definition at line 54 of file OptimizerCeres.h.

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◆ parseParameters()

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virtual void rtabmap::OptimizerCeres::parseParameters (const ParametersMap & parameters)
+ 		+virtual
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+ +

Reads shared knobs from parameters and applies them to this instance.

+

Subclasses override to additionally read back-end-specific keys (e.g. g2o/Solver, GTSAM/Optimizer); they should call this base implementation first.

+ +

Reimplemented from rtabmap::Optimizer.

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◆ optimize()

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virtual std::map< int, Transform > rtabmap::OptimizerCeres::optimize (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & constraints,
cv::Mat & outputCovariance,
std::list< std::map< int, Transform > > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0 
)
+ 		+virtual
+
+ +

Pose-graph optimization with marginal covariance of rootId.

+

This is the primary back-end entry point — concrete subclasses override it. The base implementation just emits an error.

+
Parameters
+ + + + + + + + +
rootIdPose to hold fixed during optimization.
posesInitial pose estimates.
constraintsRelative-pose constraints between pose ids (and optionally to landmarks).
outputCovarianceOutput: 6x6 covariance of the last optimized pose w.r.t. rootId (3x3 for 2D mode). Filled only if the back-end supports it.
intermediateGraphesOptional: appended at each iteration for debug/visualization.
finalErrorOptional: written with the solver's final cost.
iterationsDoneOptional: written with the solver's actual iteration count.
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Returns
Refined poses, or empty on failure.
+ +

Reimplemented from rtabmap::Optimizer.

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◆ optimizeBA()

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virtual std::map< int, Transform > rtabmap::OptimizerCeres::optimizeBA (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & links,
const std::map< int, std::vector< CameraModel > > & models,
std::map< int, cv::Point3f > & points3DMap,
const std::map< int, std::map< int, FeatureBA > > & wordReferences,
std::set< int > * outliers = 0 
)
+ 		+virtual
+
+ +

Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).

+

Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other optimizeBA() overloads ultimately funnel here.

+
Parameters
+ + + + + + + + +
rootIdPose to hold fixed. If negative, ALL poses other than the (positive) lowest id are held fixed.
posesInitial pose estimates keyed by frame id.
linksEdges used to define the BA problem topology.
modelsCamera model(s) per frame; for stereo, Tx must be set on the model (= -baseline*fx). Multi-camera rigs have multiple entries per frame.
points3DMapIn/out: world 3D points keyed by word id; refined on return.
wordReferencesObservations: <wordId, <frameId, FeatureBA>>. See FeatureBA.
outliersOptional output: word ids dropped by the back-end's outlier rejection.
+
+
+
Returns
Refined poses, or empty on failure.
+ +

Reimplemented from rtabmap::Optimizer.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OptimizerG2O Member List
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This is the complete list of members for rtabmap::OptimizerG2O, including all inherited members.

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available() (defined in rtabmap::OptimizerG2O)rtabmap::OptimizerG2Ostatic
computeBACorrespondences(const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())rtabmap::Optimizer
create(const ParametersMap &parameters)rtabmap::Optimizerstatic
create(Optimizer::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Optimizerstatic
epsilon() constrtabmap::Optimizerinline
getConnectedGraph(int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) constrtabmap::Optimizer
gravitySigma() constrtabmap::Optimizerinline
isAvailable(Optimizer::Type type)rtabmap::Optimizerstatic
isCholmodAvailable() (defined in rtabmap::OptimizerG2O)rtabmap::OptimizerG2Ostatic
isCovarianceIgnored() constrtabmap::Optimizerinline
isCSparseAvailable() (defined in rtabmap::OptimizerG2O)rtabmap::OptimizerG2Ostatic
isRobust() constrtabmap::Optimizerinline
isSlam2d() constrtabmap::Optimizerinline
iterations() constrtabmap::Optimizerinline
kTypeCeres enum valuertabmap::Optimizer
kTypeCVSBA enum valuertabmap::Optimizer
kTypeG2O enum valuertabmap::Optimizer
kTypeGTSAM enum valuertabmap::Optimizer
kTypeTORO enum valuertabmap::Optimizer
kTypeUndef enum valuertabmap::Optimizer
landmarksIgnored() constrtabmap::Optimizerinline
loadGraph(const std::string &fileName, std::map< int, Transform > &poses, std::multimap< int, Link > &edgeConstraints) (defined in rtabmap::OptimizerG2O)rtabmap::OptimizerG2Ostatic
optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::OptimizerG2Ovirtual
rtabmap::Optimizer::optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizer
optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)rtabmap::OptimizerG2Ovirtual
rtabmap::Optimizer::optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())rtabmap::Optimizer
rtabmap::Optimizer::optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())rtabmap::Optimizer
rtabmap::Optimizer::optimizeBA(const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)rtabmap::Optimizer
optimizeIncremental(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizer
Optimizer(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in rtabmap::Optimizer)rtabmap::Optimizerprotected
Optimizer(const ParametersMap &parameters) (defined in rtabmap::Optimizer)rtabmap::Optimizerprotected
OptimizerG2O(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::OptimizerG2O)rtabmap::OptimizerG2O
parseParameters(const ParametersMap &parameters)rtabmap::OptimizerG2Ovirtual
priorsIgnored() constrtabmap::Optimizerinline
saveGraph(const std::string &fileName, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints) (defined in rtabmap::OptimizerG2O)rtabmap::OptimizerG2O
setCovarianceIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setEpsilon(double epsilon) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setGravitySigma(float value) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setIterations(int iterations) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setLandmarksIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setPriorsIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setRobust(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setSlam2d(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
type() constrtabmap::OptimizerG2Oinlinevirtual
Type enum namertabmap::Optimizer
~Optimizer() (defined in rtabmap::Optimizer)rtabmap::Optimizerinlinevirtual
~OptimizerG2O() (defined in rtabmap::OptimizerG2O)rtabmap::OptimizerG2Oinlinevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O.html new file mode 100644 index 00000000..e93add16 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerG2O.html @@ -0,0 +1,512 @@ + + + + + + + + +RTAB-Map: rtabmap::OptimizerG2O Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +List of all members
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rtabmap::OptimizerG2O Class Reference
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+Inheritance diagram for rtabmap::OptimizerG2O:
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+Collaboration diagram for rtabmap::OptimizerG2O:
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+Public Member Functions

+ OptimizerG2O (const ParametersMap &parameters=ParametersMap())
 
virtual Type type () const
 Returns the concrete back-end identifier (one of Type).
 
virtual void parseParameters (const ParametersMap &parameters)
 Reads shared knobs from parameters and applies them to this instance.
 
virtual std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization with marginal covariance of rootId.
 
virtual std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
 
+bool saveGraph (const std::string &fileName, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints)
 
- Public Member Functions inherited from rtabmap::Optimizer
void getConnectedGraph (int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) const
 Extracts the connected component reachable from fromId.
 
std::map< int, Transform > optimizeIncremental (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization that grows the graph one node at a time.
 
std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization (single shot).
 
std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
 BA wrapper that derives camera models and correspondences from signatures.
 
+std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
 BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.
 
Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 Refine a single two-frame link via BA.
 
void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
 Build BA correspondences (3D points + per-frame observations) from signatures.
 
int iterations () const
 Max solver iterations.
 
bool isSlam2d () const
 True if optimizing in SE(2) instead of SE(3).
 
bool isCovarianceIgnored () const
 If true, all edges share an identity information matrix.
 
double epsilon () const
 Convergence threshold on cost decrease.
 
bool isRobust () const
 If true, use a robust kernel / switchable factors against bad loop closures.
 
bool priorsIgnored () const
 If true, unary priors on poses are dropped.
 
bool landmarksIgnored () const
 If true, landmark/marker observations are dropped.
 
float gravitySigma () const
 Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it.
 
void setIterations (int iterations)
 
void setSlam2d (bool enabled)
 
void setCovarianceIgnored (bool enabled)
 
void setEpsilon (double epsilon)
 
void setRobust (bool enabled)
 
void setPriorsIgnored (bool enabled)
 
void setLandmarksIgnored (bool enabled)
 
void setGravitySigma (float value)
 
+ + + + + + + + + + + + + + + + + + + +

+Static Public Member Functions

+static bool available ()
 
+static bool isCSparseAvailable ()
 
+static bool isCholmodAvailable ()
 
+static bool loadGraph (const std::string &fileName, std::map< int, Transform > &poses, std::multimap< int, Link > &edgeConstraints)
 
- Static Public Member Functions inherited from rtabmap::Optimizer
static bool isAvailable (Optimizer::Type type)
 Returns whether type was compiled in (its third-party dependency was found).
 
static Optimizer * create (const ParametersMap &parameters)
 Factory: build an optimizer from a ParametersMap.
 
+static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
 Factory: build an optimizer of a specific type. Caller owns the result.
 
+ + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Optimizer
enum  Type {
+  kTypeUndef = -1 +, kTypeTORO = 0 +, kTypeG2O = 1 +, kTypeGTSAM = 2 +,
+  kTypeCeres = 3 +, kTypeCVSBA = 4 +
+ }
 Graph-optimizer back-end identifier. More...
 
- Protected Member Functions inherited from rtabmap::Optimizer
+ Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
 
+ Optimizer (const ParametersMap &parameters)
 
+

Detailed Description

+
+

Definition at line 37 of file OptimizerG2O.h.

+

Constructor & Destructor Documentation

+ +

◆ ~OptimizerG2O()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::OptimizerG2O::~OptimizerG2O ()
+ 		+inlinevirtual
+
+ +

Definition at line 52 of file OptimizerG2O.h.

+ +
+
+

Member Function Documentation

+ +

◆ type()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Type rtabmap::OptimizerG2O::type () const
+ 		+inlinevirtual
+
+ +

Returns the concrete back-end identifier (one of Type).

+ +

Implements rtabmap::Optimizer.

+ +

Definition at line 54 of file OptimizerG2O.h.

+ +
+
+ +

◆ parseParameters()

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+ + + + + +
+ + + + + + + + +
virtual void rtabmap::OptimizerG2O::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Reads shared knobs from parameters and applies them to this instance.

+

Subclasses override to additionally read back-end-specific keys (e.g. g2o/Solver, GTSAM/Optimizer); they should call this base implementation first.

+ +

Reimplemented from rtabmap::Optimizer.

+ +
+
+ +

◆ optimize()

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virtual std::map< int, Transform > rtabmap::OptimizerG2O::optimize (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & constraints,
cv::Mat & outputCovariance,
std::list< std::map< int, Transform > > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0 
)
+ 		+virtual
+
+ +

Pose-graph optimization with marginal covariance of rootId.

+

This is the primary back-end entry point — concrete subclasses override it. The base implementation just emits an error.

+
Parameters
+ + + + + + + + +
rootIdPose to hold fixed during optimization.
posesInitial pose estimates.
constraintsRelative-pose constraints between pose ids (and optionally to landmarks).
outputCovarianceOutput: 6x6 covariance of the last optimized pose w.r.t. rootId (3x3 for 2D mode). Filled only if the back-end supports it.
intermediateGraphesOptional: appended at each iteration for debug/visualization.
finalErrorOptional: written with the solver's final cost.
iterationsDoneOptional: written with the solver's actual iteration count.
+
+
+
Returns
Refined poses, or empty on failure.
+ +

Reimplemented from rtabmap::Optimizer.

+ +
+
+ +

◆ optimizeBA()

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virtual std::map< int, Transform > rtabmap::OptimizerG2O::optimizeBA (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & links,
const std::map< int, std::vector< CameraModel > > & models,
std::map< int, cv::Point3f > & points3DMap,
const std::map< int, std::map< int, FeatureBA > > & wordReferences,
std::set< int > * outliers = 0 
)
+ 		+virtual
+
+ +

Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).

+

Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other optimizeBA() overloads ultimately funnel here.

+
Parameters
+ + + + + + + + +
rootIdPose to hold fixed. If negative, ALL poses other than the (positive) lowest id are held fixed.
posesInitial pose estimates keyed by frame id.
linksEdges used to define the BA problem topology.
modelsCamera model(s) per frame; for stereo, Tx must be set on the model (= -baseline*fx). Multi-camera rigs have multiple entries per frame.
points3DMapIn/out: world 3D points keyed by word id; refined on return.
wordReferencesObservations: <wordId, <frameId, FeatureBA>>. See FeatureBA.
outliersOptional output: word ids dropped by the back-end's outlier rejection.
+
+
+
Returns
Refined poses, or empty on failure.
+ +

Reimplemented from rtabmap::Optimizer.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OptimizerGTSAM Member List
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This is the complete list of members for rtabmap::OptimizerGTSAM, including all inherited members.

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available() (defined in rtabmap::OptimizerGTSAM)rtabmap::OptimizerGTSAMstatic
computeBACorrespondences(const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())rtabmap::Optimizer
create(const ParametersMap &parameters)rtabmap::Optimizerstatic
create(Optimizer::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Optimizerstatic
epsilon() constrtabmap::Optimizerinline
getConnectedGraph(int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) constrtabmap::Optimizer
gravitySigma() constrtabmap::Optimizerinline
isAvailable(Optimizer::Type type)rtabmap::Optimizerstatic
isCovarianceIgnored() constrtabmap::Optimizerinline
isRobust() constrtabmap::Optimizerinline
isSlam2d() constrtabmap::Optimizerinline
iterations() constrtabmap::Optimizerinline
kTypeCeres enum valuertabmap::Optimizer
kTypeCVSBA enum valuertabmap::Optimizer
kTypeG2O enum valuertabmap::Optimizer
kTypeGTSAM enum valuertabmap::Optimizer
kTypeTORO enum valuertabmap::Optimizer
kTypeUndef enum valuertabmap::Optimizer
landmarksIgnored() constrtabmap::Optimizerinline
optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::OptimizerGTSAMvirtual
rtabmap::Optimizer::optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizer
optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)rtabmap::OptimizerGTSAMvirtual
rtabmap::Optimizer::optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())rtabmap::Optimizer
rtabmap::Optimizer::optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())rtabmap::Optimizer
rtabmap::Optimizer::optimizeBA(const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)rtabmap::Optimizer
optimizeIncremental(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizer
Optimizer(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in rtabmap::Optimizer)rtabmap::Optimizerprotected
Optimizer(const ParametersMap &parameters) (defined in rtabmap::Optimizer)rtabmap::Optimizerprotected
OptimizerGTSAM(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::OptimizerGTSAM)rtabmap::OptimizerGTSAM
parseParameters(const ParametersMap &parameters)rtabmap::OptimizerGTSAMvirtual
priorsIgnored() constrtabmap::Optimizerinline
setCovarianceIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setEpsilon(double epsilon) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setGravitySigma(float value) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setIterations(int iterations) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setLandmarksIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setPriorsIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setRobust(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setSlam2d(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
Type enum namertabmap::Optimizer
type() constrtabmap::OptimizerGTSAMinlinevirtual
~Optimizer() (defined in rtabmap::Optimizer)rtabmap::Optimizerinlinevirtual
~OptimizerGTSAM() (defined in rtabmap::OptimizerGTSAM)rtabmap::OptimizerGTSAMvirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM.html new file mode 100644 index 00000000..18a596e0 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerGTSAM.html @@ -0,0 +1,473 @@ + + + + + + + + +RTAB-Map: rtabmap::OptimizerGTSAM Class Reference + + + + + + + + + + + + +
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rtabmap::OptimizerGTSAM Class Reference
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+Inheritance diagram for rtabmap::OptimizerGTSAM:
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+Collaboration diagram for rtabmap::OptimizerGTSAM:
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+Public Member Functions

+ OptimizerGTSAM (const ParametersMap &parameters=ParametersMap())
 
virtual Type type () const
 Returns the concrete back-end identifier (one of Type).
 
virtual void parseParameters (const ParametersMap &parameters)
 Reads shared knobs from parameters and applies them to this instance.
 
virtual std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization with marginal covariance of rootId.
 
virtual std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
 
- Public Member Functions inherited from rtabmap::Optimizer
void getConnectedGraph (int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) const
 Extracts the connected component reachable from fromId.
 
std::map< int, Transform > optimizeIncremental (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization that grows the graph one node at a time.
 
std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization (single shot).
 
std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
 BA wrapper that derives camera models and correspondences from signatures.
 
+std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
 BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.
 
Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 Refine a single two-frame link via BA.
 
void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
 Build BA correspondences (3D points + per-frame observations) from signatures.
 
int iterations () const
 Max solver iterations.
 
bool isSlam2d () const
 True if optimizing in SE(2) instead of SE(3).
 
bool isCovarianceIgnored () const
 If true, all edges share an identity information matrix.
 
double epsilon () const
 Convergence threshold on cost decrease.
 
bool isRobust () const
 If true, use a robust kernel / switchable factors against bad loop closures.
 
bool priorsIgnored () const
 If true, unary priors on poses are dropped.
 
bool landmarksIgnored () const
 If true, landmark/marker observations are dropped.
 
float gravitySigma () const
 Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it.
 
void setIterations (int iterations)
 
void setSlam2d (bool enabled)
 
void setCovarianceIgnored (bool enabled)
 
void setEpsilon (double epsilon)
 
void setRobust (bool enabled)
 
void setPriorsIgnored (bool enabled)
 
void setLandmarksIgnored (bool enabled)
 
void setGravitySigma (float value)
 
+ + + + + + + + + + + + + +

+Static Public Member Functions

+static bool available ()
 
- Static Public Member Functions inherited from rtabmap::Optimizer
static bool isAvailable (Optimizer::Type type)
 Returns whether type was compiled in (its third-party dependency was found).
 
static Optimizer * create (const ParametersMap &parameters)
 Factory: build an optimizer from a ParametersMap.
 
+static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
 Factory: build an optimizer of a specific type. Caller owns the result.
 
+ + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Optimizer
enum  Type {
+  kTypeUndef = -1 +, kTypeTORO = 0 +, kTypeG2O = 1 +, kTypeGTSAM = 2 +,
+  kTypeCeres = 3 +, kTypeCVSBA = 4 +
+ }
 Graph-optimizer back-end identifier. More...
 
- Protected Member Functions inherited from rtabmap::Optimizer
+ Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
 
+ Optimizer (const ParametersMap &parameters)
 
+

Detailed Description

+
+

Definition at line 39 of file OptimizerGTSAM.h.

+

Member Function Documentation

+ +

◆ type()

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+ + + + + +
+ + + + + + + +
virtual Type rtabmap::OptimizerGTSAM::type () const
+ 		+inlinevirtual
+
+ +

Returns the concrete back-end identifier (one of Type).

+ +

Implements rtabmap::Optimizer.

+ +

Definition at line 48 of file OptimizerGTSAM.h.

+ +
+
+ +

◆ parseParameters()

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virtual void rtabmap::OptimizerGTSAM::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Reads shared knobs from parameters and applies them to this instance.

+

Subclasses override to additionally read back-end-specific keys (e.g. g2o/Solver, GTSAM/Optimizer); they should call this base implementation first.

+ +

Reimplemented from rtabmap::Optimizer.

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+
+ +

◆ optimize()

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virtual std::map< int, Transform > rtabmap::OptimizerGTSAM::optimize (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & constraints,
cv::Mat & outputCovariance,
std::list< std::map< int, Transform > > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0 
)
+ 		+virtual
+
+ +

Pose-graph optimization with marginal covariance of rootId.

+

This is the primary back-end entry point — concrete subclasses override it. The base implementation just emits an error.

+
Parameters
+ + + + + + + + +
rootIdPose to hold fixed during optimization.
posesInitial pose estimates.
constraintsRelative-pose constraints between pose ids (and optionally to landmarks).
outputCovarianceOutput: 6x6 covariance of the last optimized pose w.r.t. rootId (3x3 for 2D mode). Filled only if the back-end supports it.
intermediateGraphesOptional: appended at each iteration for debug/visualization.
finalErrorOptional: written with the solver's final cost.
iterationsDoneOptional: written with the solver's actual iteration count.
+
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+
Returns
Refined poses, or empty on failure.
+ +

Reimplemented from rtabmap::Optimizer.

+ +
+
+ +

◆ optimizeBA()

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virtual std::map< int, Transform > rtabmap::OptimizerGTSAM::optimizeBA (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & links,
const std::map< int, std::vector< CameraModel > > & models,
std::map< int, cv::Point3f > & points3DMap,
const std::map< int, std::map< int, FeatureBA > > & wordReferences,
std::set< int > * outliers = 0 
)
+ 		+virtual
+
+ +

Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).

+

Concrete subclasses (g2o, Ceres, cvsba) override this; the base implementation errors out. The other optimizeBA() overloads ultimately funnel here.

+
Parameters
+ + + + + + + + +
rootIdPose to hold fixed. If negative, ALL poses other than the (positive) lowest id are held fixed.
posesInitial pose estimates keyed by frame id.
linksEdges used to define the BA problem topology.
modelsCamera model(s) per frame; for stereo, Tx must be set on the model (= -baseline*fx). Multi-camera rigs have multiple entries per frame.
points3DMapIn/out: world 3D points keyed by word id; refined on return.
wordReferencesObservations: <wordId, <frameId, FeatureBA>>. See FeatureBA.
outliersOptional output: word ids dropped by the back-end's outlier rejection.
+
+
+
Returns
Refined poses, or empty on failure.
+ +

Reimplemented from rtabmap::Optimizer.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::OptimizerTORO Member List
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This is the complete list of members for rtabmap::OptimizerTORO, including all inherited members.

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available() (defined in rtabmap::OptimizerTORO)rtabmap::OptimizerTOROstatic
computeBACorrespondences(const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())rtabmap::Optimizer
create(const ParametersMap &parameters)rtabmap::Optimizerstatic
create(Optimizer::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Optimizerstatic
epsilon() constrtabmap::Optimizerinline
getConnectedGraph(int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) constrtabmap::Optimizer
gravitySigma() constrtabmap::Optimizerinline
isAvailable(Optimizer::Type type)rtabmap::Optimizerstatic
isCovarianceIgnored() constrtabmap::Optimizerinline
isRobust() constrtabmap::Optimizerinline
isSlam2d() constrtabmap::Optimizerinline
iterations() constrtabmap::Optimizerinline
kTypeCeres enum valuertabmap::Optimizer
kTypeCVSBA enum valuertabmap::Optimizer
kTypeG2O enum valuertabmap::Optimizer
kTypeGTSAM enum valuertabmap::Optimizer
kTypeTORO enum valuertabmap::Optimizer
kTypeUndef enum valuertabmap::Optimizer
landmarksIgnored() constrtabmap::Optimizerinline
loadGraph(const std::string &fileName, std::map< int, Transform > &poses, std::multimap< int, Link > &edgeConstraints) (defined in rtabmap::OptimizerTORO)rtabmap::OptimizerTOROstatic
optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::OptimizerTOROvirtual
rtabmap::Optimizer::optimize(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizer
optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)rtabmap::Optimizervirtual
optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())rtabmap::Optimizer
optimizeBA(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())rtabmap::Optimizer
optimizeBA(const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)rtabmap::Optimizer
optimizeIncremental(int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)rtabmap::Optimizer
Optimizer(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma()) (defined in rtabmap::Optimizer)rtabmap::Optimizerprotected
Optimizer(const ParametersMap &parameters) (defined in rtabmap::Optimizer)rtabmap::Optimizerprotected
OptimizerTORO(int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon()) (defined in rtabmap::OptimizerTORO)rtabmap::OptimizerTOROinline
OptimizerTORO(const ParametersMap &parameters) (defined in rtabmap::OptimizerTORO)rtabmap::OptimizerTOROinline
parseParameters(const ParametersMap &parameters)rtabmap::Optimizervirtual
priorsIgnored() constrtabmap::Optimizerinline
saveGraph(const std::string &fileName, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints) (defined in rtabmap::OptimizerTORO)rtabmap::OptimizerTORO
setCovarianceIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setEpsilon(double epsilon) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setGravitySigma(float value) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setIterations(int iterations) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setLandmarksIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setPriorsIgnored(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setRobust(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
setSlam2d(bool enabled) (defined in rtabmap::Optimizer)rtabmap::Optimizerinline
type() constrtabmap::OptimizerTOROinlinevirtual
Type enum namertabmap::Optimizer
~Optimizer() (defined in rtabmap::Optimizer)rtabmap::Optimizerinlinevirtual
~OptimizerTORO() (defined in rtabmap::OptimizerTORO)rtabmap::OptimizerTOROinlinevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO.html b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO.html new file mode 100644 index 00000000..a1091d34 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1OptimizerTORO.html @@ -0,0 +1,470 @@ + + + + + + + + +RTAB-Map: rtabmap::OptimizerTORO Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +List of all members
+
rtabmap::OptimizerTORO Class Reference
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+Inheritance diagram for rtabmap::OptimizerTORO:
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Inheritance graph
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+Collaboration diagram for rtabmap::OptimizerTORO:
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+Public Member Functions

 OptimizerTORO (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon())
 
 OptimizerTORO (const ParametersMap &parameters)
 
virtual Type type () const
 Returns the concrete back-end identifier (one of Type).
 
virtual std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints, cv::Mat &outputCovariance, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization with marginal covariance of rootId.
 
+bool saveGraph (const std::string &fileName, const std::map< int, Transform > &poses, const std::multimap< int, Link > &edgeConstraints)
 
- Public Member Functions inherited from rtabmap::Optimizer
void getConnectedGraph (int fromId, const std::map< int, Transform > &posesIn, const std::multimap< int, Link > &linksIn, std::map< int, Transform > &posesOut, std::multimap< int, Link > &linksOut) const
 Extracts the connected component reachable from fromId.
 
virtual void parseParameters (const ParametersMap &parameters)
 Reads shared knobs from parameters and applies them to this instance.
 
std::map< int, Transform > optimizeIncremental (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization that grows the graph one node at a time.
 
std::map< int, Transform > optimize (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints, std::list< std::map< int, Transform > > *intermediateGraphes=0, double *finalError=0, int *iterationsDone=0)
 Pose-graph optimization (single shot).
 
virtual std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, std::vector< CameraModel > > &models, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
 
std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
 BA wrapper that derives camera models and correspondences from signatures.
 
+std::map< int, Transform > optimizeBA (int rootId, const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, bool rematchFeatures=false, const ParametersMap &registrationParameters=ParametersMap())
 BA convenience wrapper: like the overload above but ignores the refined 3D points and observation map.
 
Transform optimizeBA (const Link &link, const CameraModel &model, std::map< int, cv::Point3f > &points3DMap, const std::map< int, std::map< int, FeatureBA > > &wordReferences, std::set< int > *outliers=0)
 Refine a single two-frame link via BA.
 
void computeBACorrespondences (const std::map< int, Transform > &poses, const std::multimap< int, Link > &links, const std::map< int, Signature > &signatures, std::map< int, cv::Point3f > &points3DMap, std::map< int, std::map< int, FeatureBA > > &wordReferences, bool rematchFeatures=false, bool useLinkTransformAsGuess=false, ParametersMap registrationParameters=ParametersMap())
 Build BA correspondences (3D points + per-frame observations) from signatures.
 
int iterations () const
 Max solver iterations.
 
bool isSlam2d () const
 True if optimizing in SE(2) instead of SE(3).
 
bool isCovarianceIgnored () const
 If true, all edges share an identity information matrix.
 
double epsilon () const
 Convergence threshold on cost decrease.
 
bool isRobust () const
 If true, use a robust kernel / switchable factors against bad loop closures.
 
bool priorsIgnored () const
 If true, unary priors on poses are dropped.
 
bool landmarksIgnored () const
 If true, landmark/marker observations are dropped.
 
float gravitySigma () const
 Std-dev (rad) of the gravity prior on roll/pitch; 0 disables it.
 
void setIterations (int iterations)
 
void setSlam2d (bool enabled)
 
void setCovarianceIgnored (bool enabled)
 
void setEpsilon (double epsilon)
 
void setRobust (bool enabled)
 
void setPriorsIgnored (bool enabled)
 
void setLandmarksIgnored (bool enabled)
 
void setGravitySigma (float value)
 
+ + + + + + + + + + + + + + + +

+Static Public Member Functions

+static bool available ()
 
+static bool loadGraph (const std::string &fileName, std::map< int, Transform > &poses, std::multimap< int, Link > &edgeConstraints)
 
- Static Public Member Functions inherited from rtabmap::Optimizer
static bool isAvailable (Optimizer::Type type)
 Returns whether type was compiled in (its third-party dependency was found).
 
static Optimizer * create (const ParametersMap &parameters)
 Factory: build an optimizer from a ParametersMap.
 
+static Optimizer * create (Optimizer::Type type, const ParametersMap &parameters=ParametersMap())
 Factory: build an optimizer of a specific type. Caller owns the result.
 
+ + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Optimizer
enum  Type {
+  kTypeUndef = -1 +, kTypeTORO = 0 +, kTypeG2O = 1 +, kTypeGTSAM = 2 +,
+  kTypeCeres = 3 +, kTypeCVSBA = 4 +
+ }
 Graph-optimizer back-end identifier. More...
 
- Protected Member Functions inherited from rtabmap::Optimizer
+ Optimizer (int iterations=Parameters::defaultOptimizerIterations(), bool slam2d=Parameters::defaultRegForce3DoF(), bool covarianceIgnored=Parameters::defaultOptimizerVarianceIgnored(), double epsilon=Parameters::defaultOptimizerEpsilon(), bool robust=Parameters::defaultOptimizerRobust(), bool priorsIgnored=Parameters::defaultOptimizerPriorsIgnored(), bool landmarksIgnored=Parameters::defaultOptimizerLandmarksIgnored(), float gravitySigma=Parameters::defaultOptimizerGravitySigma())
 
+ Optimizer (const ParametersMap &parameters)
 
+

Detailed Description

+
+

Definition at line 35 of file OptimizerTORO.h.

+

Constructor & Destructor Documentation

+ +

◆ OptimizerTORO() [1/2]

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rtabmap::OptimizerTORO::OptimizerTORO (int iterations = Parameters::defaultOptimizerIterations(),
bool slam2d = Parameters::defaultRegForce3DoF(),
bool covarianceIgnored = Parameters::defaultOptimizerVarianceIgnored(),
double epsilon = Parameters::defaultOptimizerEpsilon() 
)
+ 		+inline
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+ +

Definition at line 47 of file OptimizerTORO.h.

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◆ OptimizerTORO() [2/2]

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rtabmap::OptimizerTORO::OptimizerTORO (const ParametersMap & parameters)
+ 		+inline
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+ +

Definition at line 53 of file OptimizerTORO.h.

+ +
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+ +

◆ ~OptimizerTORO()

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virtual rtabmap::OptimizerTORO::~OptimizerTORO ()
+ 		+inlinevirtual
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+ +

Definition at line 55 of file OptimizerTORO.h.

+ +
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+

Member Function Documentation

+ +

◆ type()

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virtual Type rtabmap::OptimizerTORO::type () const
+ 		+inlinevirtual
+
+ +

Returns the concrete back-end identifier (one of Type).

+ +

Implements rtabmap::Optimizer.

+ +

Definition at line 57 of file OptimizerTORO.h.

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◆ optimize()

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virtual std::map< int, Transform > rtabmap::OptimizerTORO::optimize (int rootId,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & constraints,
cv::Mat & outputCovariance,
std::list< std::map< int, Transform > > * intermediateGraphes = 0,
double * finalError = 0,
int * iterationsDone = 0 
)
+ 		+virtual
+
+ +

Pose-graph optimization with marginal covariance of rootId.

+

This is the primary back-end entry point — concrete subclasses override it. The base implementation just emits an error.

+
Parameters
+ + + + + + + + +
rootIdPose to hold fixed during optimization.
posesInitial pose estimates.
constraintsRelative-pose constraints between pose ids (and optionally to landmarks).
outputCovarianceOutput: 6x6 covariance of the last optimized pose w.r.t. rootId (3x3 for 2D mode). Filled only if the back-end supports it.
intermediateGraphesOptional: appended at each iteration for debug/visualization.
finalErrorOptional: written with the solver's final cost.
iterationsDoneOptional: written with the solver's actual iteration count.
+
+
+
Returns
Refined poses, or empty on failure.
+ +

Reimplemented from rtabmap::Optimizer.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::ParamEvent Member List
+
+
+ +

This is the complete list of members for rtabmap::ParamEvent, including all inherited members.

+ + + + + + + + + +
getClassName() constrtabmap::ParamEventinlinevirtual
getCode() constUEventinline
getParameters() const (defined in rtabmap::ParamEvent)rtabmap::ParamEventinline
ParamEvent(const ParametersMap &parameters) (defined in rtabmap::ParamEvent)rtabmap::ParamEventinline
ParamEvent(const std::string &parameterKey, const std::string &parameterValue) (defined in rtabmap::ParamEvent)rtabmap::ParamEventinline
UEvent(int code=0)UEventinlineprotected
~ParamEvent() (defined in rtabmap::ParamEvent)rtabmap::ParamEventinline
~UEvent() (defined in UEvent)UEventinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
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+Public Member Functions | +List of all members
+
rtabmap::ParamEvent Class Reference
+
+
+ +

#include <ParamEvent.h>

+
+Inheritance diagram for rtabmap::ParamEvent:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::ParamEvent:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + +

+Public Member Functions

 ParamEvent (const ParametersMap &parameters)
 
 ParamEvent (const std::string &parameterKey, const std::string &parameterValue)
 
virtual std::string getClassName () const
 
const ParametersMap & getParameters () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+

The parameters event. This event is used to send parameters across the threads.

+ +

Definition at line 41 of file ParamEvent.h.

+

Constructor & Destructor Documentation

+ +

◆ ParamEvent() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
rtabmap::ParamEvent::ParamEvent (const ParametersMap & parameters)
+ 		+inline
+
+ +

Definition at line 44 of file ParamEvent.h.

+ +
+
+ +

◆ ParamEvent() [2/2]

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+ + + + + + + + + + + + + + + + + + +
rtabmap::ParamEvent::ParamEvent (const std::string & parameterKey,
const std::string & parameterValue 
)
+ 		+inline
+
+ +

Definition at line 45 of file ParamEvent.h.

+ +
+
+ +

◆ ~ParamEvent()

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::ParamEvent::~ParamEvent ()
+ 		+inline
+
+ +

Definition at line 49 of file ParamEvent.h.

+ +
+
+

Member Function Documentation

+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::ParamEvent::getClassName () const
+ 		+inlinevirtual
+
+

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns
the class name
+ +

Implements UEvent.

+ +

Definition at line 50 of file ParamEvent.h.

+ +
+
+ +

◆ getParameters()

+ +
+
+ + + + + +
+ + + + + + + +
const ParametersMap & rtabmap::ParamEvent::getParameters () const
+ 		+inline
+
+ +

Definition at line 52 of file ParamEvent.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent__coll__graph.map new file mode 100644 index 00000000..57e4b8ef --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent__coll__graph.md5 new file mode 100644 index 00000000..2ede6095 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent__coll__graph.md5 @@ -0,0 +1 @@ +86c880cd42c1f8bdb5e1791a4459f201 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1ParamEvent__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..72cf756d9f130942280984072a78445800bc1912 GIT binary patch literal 3690 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rtabmap::Parameters Member List
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This is the complete list of members for rtabmap::Parameters, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +
createDefaultWorkingDirectory() (defined in rtabmap::Parameters)rtabmap::Parametersstatic
deserialize(const std::string &parameters) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
filterParameters(const ParametersMap &parameters, const std::string &group, bool remove=false)rtabmap::Parametersstatic
getBackwardCompatibilityMap()rtabmap::Parametersstatic
getDefaultDatabaseName() (defined in rtabmap::Parameters)rtabmap::Parametersstatic
getDefaultOdometryParameters(bool stereo=false, bool vis=true, bool icp=false) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
getDefaultParameters()rtabmap::Parametersinlinestatic
getDefaultParameters(const std::string &group) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
getDescription(const std::string &paramKey)rtabmap::Parametersstatic
getRemovedParameters()rtabmap::Parametersstatic
getType(const std::string &paramKey)rtabmap::Parametersstatic
getVersion() (defined in rtabmap::Parameters)rtabmap::Parametersstatic
isFeatureParameter(const std::string &param) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
parse(const ParametersMap &parameters, const std::string &key, bool &value) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
parse(const ParametersMap &parameters, const std::string &key, int &value) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
parse(const ParametersMap &parameters, const std::string &key, unsigned int &value) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
parse(const ParametersMap &parameters, const std::string &key, float &value) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
parse(const ParametersMap &parameters, const std::string &key, double &value) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
parse(const ParametersMap &parameters, const std::string &key, std::string &value) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
parse(const ParametersMap &parameters, ParametersMap &parametersOut) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
parseArguments(int argc, char *argv[], bool onlyParameters=false) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
readINI(const std::string &configFile, ParametersMap &parameters, bool modifiedOnly=false) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
readINIStr(const std::string &configContent, ParametersMap &parameters, bool modifiedOnly=false) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
serialize(const ParametersMap &parameters) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
showUsage() (defined in rtabmap::Parameters)rtabmap::Parametersstatic
writeINI(const std::string &configFile, const ParametersMap &parameters) (defined in rtabmap::Parameters)rtabmap::Parametersstatic
~Parameters() (defined in rtabmap::Parameters)rtabmap::Parametersvirtual
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+Static Public Member Functions | +List of all members
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rtabmap::Parameters Class Reference
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+ +

#include <Parameters.h>

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+Static Public Member Functions

static const ParametersMap & getDefaultParameters ()
 
static std::string getType (const std::string &paramKey)
 
static std::string getDescription (const std::string &paramKey)
 
+static bool parse (const ParametersMap &parameters, const std::string &key, bool &value)
 
+static bool parse (const ParametersMap &parameters, const std::string &key, int &value)
 
+static bool parse (const ParametersMap &parameters, const std::string &key, unsigned int &value)
 
+static bool parse (const ParametersMap &parameters, const std::string &key, float &value)
 
+static bool parse (const ParametersMap &parameters, const std::string &key, double &value)
 
+static bool parse (const ParametersMap &parameters, const std::string &key, std::string &value)
 
+static void parse (const ParametersMap &parameters, ParametersMap &parametersOut)
 
+static const char * showUsage ()
 
+static ParametersMap parseArguments (int argc, char *argv[], bool onlyParameters=false)
 
+static std::string getVersion ()
 
+static std::string getDefaultDatabaseName ()
 
+static std::string serialize (const ParametersMap &parameters)
 
+static ParametersMap deserialize (const std::string &parameters)
 
+static bool isFeatureParameter (const std::string &param)
 
+static ParametersMap getDefaultOdometryParameters (bool stereo=false, bool vis=true, bool icp=false)
 
+static ParametersMap getDefaultParameters (const std::string &group)
 
static ParametersMap filterParameters (const ParametersMap &parameters, const std::string &group, bool remove=false)
 
+static void readINI (const std::string &configFile, ParametersMap &parameters, bool modifiedOnly=false)
 
+static void readINIStr (const std::string &configContent, ParametersMap &parameters, bool modifiedOnly=false)
 
+static void writeINI (const std::string &configFile, const ParametersMap &parameters)
 
static const std::map< std::string, std::pair< bool, std::string > > & getRemovedParameters ()
 
static const ParametersMap & getBackwardCompatibilityMap ()
 
+static std::string createDefaultWorkingDirectory ()
 
+

Detailed Description

+

Class Parameters. This class is used to manage all custom parameters we want in the application. It was designed to be very easy to add a new parameter (just by adding one line of code). The macro PARAM(PREFIX, NAME, TYPE, DEFAULT_VALUE) is used to create a parameter in this class. A parameter can be accessed after by Parameters::defaultPARAMETERNAME() for the default value, Parameters::kPARAMETERNAME for his key (parameter name). The class provides also a general map containing all the parameter's key and default value. This map can be accessed anywhere in the application by Parameters::getDefaultParameters(); Example:

//Defining a parameter in this class with the macro PARAM:
+
PARAM(Video, ImageWidth, int, 640);
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+
// Now from anywhere in the application (Parameters is a singleton)
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int width = Parameters::defaultVideoImageWidth(); // theDefaultValue = 640
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std::string theKey = Parameters::kVideoImageWidth(); // theKey = "Video/ImageWidth"
+
std::string strValue = Util::value(Parameters::getDefaultParameters(), theKey); // strValue = "640"
+
rtabmap::Parameters::getDefaultParameters
static const ParametersMap & getDefaultParameters()
Definition Parameters.h:978
+
See also
getDefaultParameters() TODO Add a detailed example with simple classes
+ +

Definition at line 170 of file Parameters.h.

+

Member Function Documentation

+ +

◆ getDefaultParameters()

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+ + + + + +
+ + + + + + + +
static const ParametersMap & rtabmap::Parameters::getDefaultParameters ()
+ 		+inlinestatic
+
+

Get default parameters

+ +

Definition at line 978 of file Parameters.h.

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◆ getType()

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static std::string rtabmap::Parameters::getType (const std::string & paramKey)
+ 		+static
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+

Get parameter type

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+ +

◆ getDescription()

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static std::string rtabmap::Parameters::getDescription (const std::string & paramKey)
+ 		+static
+
+

Get parameter description

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+ +

◆ filterParameters()

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static ParametersMap rtabmap::Parameters::filterParameters (const ParametersMap & parameters,
const std::string & group,
bool remove = false 
)
+ 		+static
+
+

If remove=false: keep only parameters of the specified group. If remove=true: remove parameters of the specified group.

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+ +

◆ getRemovedParameters()

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+ + + + + +
+ + + + + + + +
static const std::map< std::string, std::pair< bool, std::string > > & rtabmap::Parameters::getRemovedParameters ()
+ 		+static
+
+

Get removed parameters (backward compatibility) <OldKeyName, <isEqual, NewKeyName> >, when isEqual=true, the old value can be safely copied to new parameter

+ +
+
+ +

◆ getBackwardCompatibilityMap()

+ +
+
+ + + + + +
+ + + + + + + +
static const ParametersMap & rtabmap::Parameters::getBackwardCompatibilityMap ()
+ 		+static
+
+

<NewKeyName, OldKeyName>

+ +
+
+
The documentation for this class was generated from the following file: +
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter-members.html new file mode 100644 index 00000000..27c0dbbb --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ParticleFilter-members.html @@ -0,0 +1,95 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+ + + + +
filter(double val) (defined in rtabmap::ParticleFilter)rtabmap::ParticleFilterinline
init(double initValue=0.0f) (defined in rtabmap::ParticleFilter)rtabmap::ParticleFilterinline
ParticleFilter(unsigned int nParticles=200, double noise=0.1, double lambda=10.0, double initValue=0.0) (defined in rtabmap::ParticleFilter)rtabmap::ParticleFilterinline
+ +
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rtabmap::ParticleFilter Class Reference
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+Public Member Functions

 ParticleFilter (unsigned int nParticles=200, double noise=0.1, double lambda=10.0, double initValue=0.0)
 
void init (double initValue=0.0f)
 
double filter (double val)
 
+

Detailed Description

+
+

Definition at line 115 of file ParticleFilter.h.

+

Constructor & Destructor Documentation

+ +

◆ ParticleFilter()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::ParticleFilter::ParticleFilter (unsigned int nParticles = 200,
double noise = 0.1,
double lambda = 10.0,
double initValue = 0.0 
)
+ 		+inline
+
+ +

Definition at line 118 of file ParticleFilter.h.

+ +
+
+

Member Function Documentation

+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::ParticleFilter::init (double initValue = 0.0f)
+ 		+inline
+
+ +

Definition at line 128 of file ParticleFilter.h.

+ +
+
+ +

◆ filter()

+ +
+
+ + + + + +
+ + + + + + + + +
double rtabmap::ParticleFilter::filter (double val)
+ 		+inline
+
+ +

Definition at line 133 of file ParticleFilter.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1ProgressState-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1ProgressState-members.html new file mode 100644 index 00000000..8d638d17 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1ProgressState-members.html @@ -0,0 +1,97 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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callback(const std::string &msg) const (defined in rtabmap::ProgressState)rtabmap::ProgressStateinlinevirtual
isCanceled() const (defined in rtabmap::ProgressState)rtabmap::ProgressStateinline
ProgressState() (defined in rtabmap::ProgressState)rtabmap::ProgressStateinline
setCanceled(bool canceled) (defined in rtabmap::ProgressState)rtabmap::ProgressStateinline
~ProgressState() (defined in rtabmap::ProgressState)rtabmap::ProgressStateinlinevirtual
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rtabmap::ProgressState Class Reference
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+Public Member Functions

virtual bool callback (const std::string &msg) const
 
void setCanceled (bool canceled)
 
bool isCanceled () const
 
+

Detailed Description

+
+

Definition at line 35 of file ProgressState.h.

+

Constructor & Destructor Documentation

+ +

◆ ProgressState()

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::ProgressState::ProgressState ()
+ 		+inline
+
+ +

Definition at line 38 of file ProgressState.h.

+ +
+
+ +

◆ ~ProgressState()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::ProgressState::~ProgressState ()
+ 		+inlinevirtual
+
+ +

Definition at line 45 of file ProgressState.h.

+ +
+
+

Member Function Documentation

+ +

◆ callback()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual bool rtabmap::ProgressState::callback (const std::string & msg) const
+ 		+inlinevirtual
+
+ +

Definition at line 39 of file ProgressState.h.

+ +
+
+ +

◆ setCanceled()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::ProgressState::setCanceled (bool canceled)
+ 		+inline
+
+ +

Definition at line 47 of file ProgressState.h.

+ +
+
+ +

◆ isCanceled()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::ProgressState::isCanceled () const
+ 		+inline
+
+ +

Definition at line 51 of file ProgressState.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1PythonInterface-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1PythonInterface-members.html new file mode 100644 index 00000000..09f8c4e1 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1PythonInterface-members.html @@ -0,0 +1,95 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+ + + + +
instance(const std::string &caller="") (defined in rtabmap::PythonInterface)rtabmap::PythonInterfacestatic
operator=(const PythonInterface &)=delete (defined in rtabmap::PythonInterface)rtabmap::PythonInterface
PythonInterface(const PythonInterface &)=delete (defined in rtabmap::PythonInterface)rtabmap::PythonInterface
+ +
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rtabmap::PythonInterface Class Reference
+
+
+ +

#include <PythonInterface.h>

+ + + + + + +

+Public Member Functions

+ PythonInterface (const PythonInterface &)=delete
 
+PythonInterface & operator= (const PythonInterface &)=delete
 
+ + + +

+Static Public Member Functions

+static PythonInterface & instance (const std::string &caller="")
 
+

Detailed Description

+

Process-wide singleton owning the embedded Python interpreter. Call PythonInterface::instance() from the main thread (typically near the top of main()) before any Python-using class is constructed.

+ +

Definition at line 28 of file PythonInterface.h.

+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Registration-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Registration-members.html new file mode 100644 index 00000000..21c442f4 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Registration-members.html @@ -0,0 +1,123 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
canUseGuess() constrtabmap::Registration
canUseGuessImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
computeTransformation(const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) constrtabmap::Registration
computeTransformation(const SensorData &from, const SensorData &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) constrtabmap::Registration
computeTransformationImpl(Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const =0rtabmap::Registrationprotectedpure virtual
computeTransformationMod(Signature &from, Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) constrtabmap::Registration
COVARIANCE_ANGULAR_EPSILONrtabmap::Registrationstatic
COVARIANCE_LINEAR_EPSILONrtabmap::Registrationstatic
create(const ParametersMap &parameters)rtabmap::Registrationstatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Registrationstatic
force3DoF() constrtabmap::Registrationinline
getMinGeometryCorrespondencesRatio() constrtabmap::Registration
getMinGeometryCorrespondencesRatioImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
getMinVisualCorrespondences() constrtabmap::Registration
getMinVisualCorrespondencesImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
isImageRequired() constrtabmap::Registration
isImageRequiredImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
isScanRequired() constrtabmap::Registration
isScanRequiredImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
isUserDataRequired() constrtabmap::Registration
isUserDataRequiredImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
kTypeIcp enum value (defined in rtabmap::Registration)rtabmap::Registration
kTypeUndef enum value (defined in rtabmap::Registration)rtabmap::Registration
kTypeVis enum value (defined in rtabmap::Registration)rtabmap::Registration
kTypeVisIcp enum value (defined in rtabmap::Registration)rtabmap::Registration
parseParameters(const ParametersMap &parameters)rtabmap::Registrationvirtual
Registration(const ParametersMap &parameters=ParametersMap(), Registration *child=0)rtabmap::Registrationprotected
repeatOnce() constrtabmap::Registrationinline
setChildRegistration(Registration *child)rtabmap::Registration
Type enum namertabmap::Registration
~Registration() (defined in rtabmap::Registration)rtabmap::Registrationvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Registration.html b/preview/pr-1492/api/latest/classrtabmap_1_1Registration.html new file mode 100644 index 00000000..a084b253 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Registration.html @@ -0,0 +1,605 @@ + + + + + + + + +RTAB-Map: rtabmap::Registration Class Reference + + + + + + + + + + + + +
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+
rtabmap::Registration Class Referenceabstract
+
+
+ +

Abstract base for registering two observations (visual, ICP, or both). + More...

+ +

#include <Registration.h>

+
+Inheritance diagram for rtabmap::Registration:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+ + + + + +

+Public Types

enum  Type { kTypeUndef = -1 +, kTypeVis = 0 +, kTypeIcp = 1 +, kTypeVisIcp = 2 + }
 Registration strategy selected by Reg/Strategy. More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

virtual void parseParameters (const ParametersMap &parameters)
 Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.
 
+bool isImageRequired () const
 True if images are needed (parent or child).
 
+bool isScanRequired () const
 True if laser scans are needed (parent or child).
 
+bool isUserDataRequired () const
 True if user data is needed (parent or child).
 
+bool canUseGuess () const
 True if the strategy can refine an initial guess (parent or child).
 
+int getMinVisualCorrespondences () const
 Minimum visual inliers required (max of parent and child thresholds).
 
+float getMinGeometryCorrespondencesRatio () const
 Minimum geometry inlier ratio required (max of parent and child thresholds).
 
bool repeatOnce () const
 
bool force3DoF () const
 
+void setChildRegistration (Registration *child)
 Replaces child_; takes ownership of child.
 
+Transform computeTransformation (const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
 Registers from to to using immutable signatures (copied internally).
 
+Transform computeTransformation (const SensorData &from, const SensorData &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
 Registers two SensorData observations (wrapped as signatures).
 
+Transform computeTransformationMod (Signature &from, Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
 Registers from to to; signatures may be modified by the implementation.
 
+ + + + + + + +

+Static Public Member Functions

+static Registration * create (const ParametersMap &parameters)
 Creates a registration from Reg/Strategy in parameters. Caller owns the pointer.
 
+static Registration * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.
 
+ + + + + + + +

+Static Public Attributes

static double COVARIANCE_LINEAR_EPSILON
 Minimum diagonal value for linear covariance (m²).
 
static double COVARIANCE_ANGULAR_EPSILON
 Minimum diagonal value for angular covariance (rad²).
 
+ + + + + + + + + + + + + + + + + + + +

+Protected Member Functions

+ Registration (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
 child is owned and deleted in the destructor.
 
virtual Transform computeTransformationImpl (Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const =0
 Strategy-specific registration.
 
virtual bool isImageRequiredImpl () const
 
virtual bool isScanRequiredImpl () const
 
virtual bool isUserDataRequiredImpl () const
 
virtual bool canUseGuessImpl () const
 
virtual int getMinVisualCorrespondencesImpl () const
 
virtual float getMinGeometryCorrespondencesRatioImpl () const
 
+

Detailed Description

+

Abstract base for registering two observations (visual, ICP, or both).

+

Factory create() builds RegistrationVis, RegistrationIcp, or RegistrationVisIcp from Reg/Strategy in a ParametersMap.

+

computeTransformation() wraps signatures and delegates to computeTransformationMod(), which calls computeTransformationImpl() on the concrete strategy, optionally chains a child_ registration (e.g. ICP after visual), applies Reg/Force3DoF, and may repeat once with the first result as guess when Reg/RepeatOnce is enabled.

+

Requirement queries (isImageRequired(), isScanRequired(), etc.) OR-combine with the child when the parent returns false. Minimum correspondence thresholds take the maximum between parent and child.

+
See also
RegistrationVis
+
+RegistrationIcp
+
+RegistrationInfo
+ +

Definition at line 60 of file Registration.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::Registration::Type
+
+ +

Registration strategy selected by Reg/Strategy.

+ +

Definition at line 64 of file Registration.h.

+ +
+
+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::Registration::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.

+ +

Reimplemented in rtabmap::RegistrationIcp, and rtabmap::RegistrationVis.

+ +
+
+ +

◆ repeatOnce()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Registration::repeatOnce () const
+ 		+inline
+
+
Returns
Value of Reg/RepeatOnce.
+ +

Definition at line 102 of file Registration.h.

+ +
+
+ +

◆ force3DoF()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Registration::force3DoF () const
+ 		+inline
+
+
Returns
Value of Reg/Force3DoF.
+ +

Definition at line 104 of file Registration.h.

+ +
+
+ +

◆ computeTransformationImpl()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual Transform rtabmap::Registration::computeTransformationImpl (Signature & from,
Signature & to,
Transform guess,
RegistrationInfo & info 
) const
+ 		+protectedpure virtual
+
+ +

Strategy-specific registration.

+

May modify from and to; a child_ registration reuses those changes.

+ +

Implemented in rtabmap::RegistrationIcp, and rtabmap::RegistrationVis.

+ +
+
+ +

◆ isImageRequiredImpl()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::Registration::isImageRequiredImpl () const
+ 		+inlineprotectedvirtual
+
+ +

Definition at line 144 of file Registration.h.

+ +
+
+ +

◆ isScanRequiredImpl()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::Registration::isScanRequiredImpl () const
+ 		+inlineprotectedvirtual
+
+ +

Definition at line 145 of file Registration.h.

+ +
+
+ +

◆ isUserDataRequiredImpl()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::Registration::isUserDataRequiredImpl () const
+ 		+inlineprotectedvirtual
+
+ +

Definition at line 146 of file Registration.h.

+ +
+
+ +

◆ canUseGuessImpl()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::Registration::canUseGuessImpl () const
+ 		+inlineprotectedvirtual
+
+ +

Definition at line 147 of file Registration.h.

+ +
+
+ +

◆ getMinVisualCorrespondencesImpl()

+ +
+
+ + + + + +
+ + + + + + + +
virtual int rtabmap::Registration::getMinVisualCorrespondencesImpl () const
+ 		+inlineprotectedvirtual
+
+ +

Definition at line 148 of file Registration.h.

+ +
+
+ +

◆ getMinGeometryCorrespondencesRatioImpl()

+ +
+
+ + + + + +
+ + + + + + + +
virtual float rtabmap::Registration::getMinGeometryCorrespondencesRatioImpl () const
+ 		+inlineprotectedvirtual
+
+ +

Definition at line 149 of file Registration.h.

+ +
+
+

Member Data Documentation

+ +

◆ COVARIANCE_LINEAR_EPSILON

+ +
+
+ + + + + +
+ + + + +
double rtabmap::Registration::COVARIANCE_LINEAR_EPSILON
+ 		+static
+
+ +

Minimum diagonal value for linear covariance (m²).

+ +

Definition at line 71 of file Registration.h.

+ +
+
+ +

◆ COVARIANCE_ANGULAR_EPSILON

+ +
+
+ + + + + +
+ + + + +
double rtabmap::Registration::COVARIANCE_ANGULAR_EPSILON
+ 		+static
+
+ +

Minimum diagonal value for angular covariance (rad²).

+ +

Definition at line 73 of file Registration.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp-members.html new file mode 100644 index 00000000..a24790fb --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp-members.html @@ -0,0 +1,134 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
available(IcpStrategy strategy)rtabmap::RegistrationIcpstatic
canUseGuess() constrtabmap::Registration
canUseGuessImpl() const (defined in rtabmap::RegistrationIcp)rtabmap::RegistrationIcpinlineprotectedvirtual
computeTransformation(const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) constrtabmap::Registration
computeTransformation(const SensorData &from, const SensorData &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) constrtabmap::Registration
computeTransformationImpl(Signature &from, Signature &to, Transform guess, RegistrationInfo &info) constrtabmap::RegistrationIcpprotectedvirtual
computeTransformationMod(Signature &from, Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) constrtabmap::Registration
COVARIANCE_ANGULAR_EPSILONrtabmap::Registrationstatic
COVARIANCE_LINEAR_EPSILONrtabmap::Registrationstatic
create(const ParametersMap &parameters)rtabmap::Registrationstatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Registrationstatic
force3DoF() constrtabmap::Registrationinline
getMinGeometryCorrespondencesRatio() constrtabmap::Registration
getMinGeometryCorrespondencesRatioImpl() const (defined in rtabmap::RegistrationIcp)rtabmap::RegistrationIcpinlineprotectedvirtual
getMinVisualCorrespondences() constrtabmap::Registration
getMinVisualCorrespondencesImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
IcpStrategy enum namertabmap::RegistrationIcp
isImageRequired() constrtabmap::Registration
isImageRequiredImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
isScanRequired() constrtabmap::Registration
isScanRequiredImpl() const (defined in rtabmap::RegistrationIcp)rtabmap::RegistrationIcpinlineprotectedvirtual
isUserDataRequired() constrtabmap::Registration
isUserDataRequiredImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
kIcpCCCoreLib enum valuertabmap::RegistrationIcp
kIcpEnd enum valuertabmap::RegistrationIcp
kIcpPCL enum valuertabmap::RegistrationIcp
kIcpPointMatcher enum valuertabmap::RegistrationIcp
kIcpUndef enum valuertabmap::RegistrationIcp
kTypeIcp enum value (defined in rtabmap::Registration)rtabmap::Registration
kTypeUndef enum value (defined in rtabmap::Registration)rtabmap::Registration
kTypeVis enum value (defined in rtabmap::Registration)rtabmap::Registration
kTypeVisIcp enum value (defined in rtabmap::Registration)rtabmap::Registration
parseParameters(const ParametersMap &parameters)rtabmap::RegistrationIcpvirtual
Registration(const ParametersMap &parameters=ParametersMap(), Registration *child=0)rtabmap::Registrationprotected
RegistrationIcp(const ParametersMap &parameters=ParametersMap(), Registration *child=0) (defined in rtabmap::RegistrationIcp)rtabmap::RegistrationIcp
RegistrationIcp(IcpStrategy strategy, const ParametersMap &parameters=ParametersMap(), Registration *child=0) (defined in rtabmap::RegistrationIcp)rtabmap::RegistrationIcp
repeatOnce() constrtabmap::Registrationinline
setChildRegistration(Registration *child)rtabmap::Registration
strategyName(IcpStrategy strategy)rtabmap::RegistrationIcpstatic
Type enum namertabmap::Registration
~Registration() (defined in rtabmap::Registration)rtabmap::Registrationvirtual
~RegistrationIcp() (defined in rtabmap::RegistrationIcp)rtabmap::RegistrationIcpvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp.html b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp.html new file mode 100644 index 00000000..f636ca70 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationIcp.html @@ -0,0 +1,481 @@ + + + + + + + + +RTAB-Map: rtabmap::RegistrationIcp Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::RegistrationIcp Class Reference
+
+
+
+Inheritance diagram for rtabmap::RegistrationIcp:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::RegistrationIcp:
+
+
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+ + + + + +
[legend]
+ + + + + + + + +

+Public Types

enum  IcpStrategy {
+  kIcpUndef = -1 +, kIcpPCL = 0 +, kIcpPointMatcher = 1 +, kIcpCCCoreLib = 2 +,
+  kIcpEnd = 3 +
+ }
 
- Public Types inherited from rtabmap::Registration
enum  Type { kTypeUndef = -1 +, kTypeVis = 0 +, kTypeIcp = 1 +, kTypeVisIcp = 2 + }
 Registration strategy selected by Reg/Strategy. More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ RegistrationIcp (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
 
+ RegistrationIcp (IcpStrategy strategy, const ParametersMap &parameters=ParametersMap(), Registration *child=0)
 
virtual void parseParameters (const ParametersMap &parameters)
 Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.
 
- Public Member Functions inherited from rtabmap::Registration
+bool isImageRequired () const
 True if images are needed (parent or child).
 
+bool isScanRequired () const
 True if laser scans are needed (parent or child).
 
+bool isUserDataRequired () const
 True if user data is needed (parent or child).
 
+bool canUseGuess () const
 True if the strategy can refine an initial guess (parent or child).
 
+int getMinVisualCorrespondences () const
 Minimum visual inliers required (max of parent and child thresholds).
 
+float getMinGeometryCorrespondencesRatio () const
 Minimum geometry inlier ratio required (max of parent and child thresholds).
 
bool repeatOnce () const
 
bool force3DoF () const
 
+void setChildRegistration (Registration *child)
 Replaces child_; takes ownership of child.
 
+Transform computeTransformation (const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
 Registers from to to using immutable signatures (copied internally).
 
+Transform computeTransformation (const SensorData &from, const SensorData &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
 Registers two SensorData observations (wrapped as signatures).
 
+Transform computeTransformationMod (Signature &from, Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
 Registers from to to; signatures may be modified by the implementation.
 
+ + + + + + + + + + + + + + +

+Static Public Member Functions

static bool available (IcpStrategy strategy)
 Returns true if strategy is built into this rtabmap binary.
 
+static const char * strategyName (IcpStrategy strategy)
 Human-readable name for strategy ("PCL", "libpointmatcher", "CCCoreLib", or "Unknown").
 
- Static Public Member Functions inherited from rtabmap::Registration
+static Registration * create (const ParametersMap &parameters)
 Creates a registration from Reg/Strategy in parameters. Caller owns the pointer.
 
+static Registration * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.
 
+ + + + + + + + + + + + + + + + + + + + +

+Protected Member Functions

virtual Transform computeTransformationImpl (Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const
 Strategy-specific registration.
 
virtual bool isScanRequiredImpl () const
 
virtual bool canUseGuessImpl () const
 
virtual float getMinGeometryCorrespondencesRatioImpl () const
 
- Protected Member Functions inherited from rtabmap::Registration
+ Registration (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
 child is owned and deleted in the destructor.
 
virtual bool isImageRequiredImpl () const
 
virtual bool isUserDataRequiredImpl () const
 
virtual int getMinVisualCorrespondencesImpl () const
 
+ + + + + + + + +

+Additional Inherited Members

- Static Public Attributes inherited from rtabmap::Registration
static double COVARIANCE_LINEAR_EPSILON
 Minimum diagonal value for linear covariance (m²).
 
static double COVARIANCE_ANGULAR_EPSILON
 Minimum diagonal value for angular covariance (rad²).
 
+

Detailed Description

+
+

Definition at line 39 of file RegistrationIcp.h.

+

Member Enumeration Documentation

+ +

◆ IcpStrategy

+ +
+
+ + + + +
enum rtabmap::RegistrationIcp::IcpStrategy
+
+ + + + + + +
Enumerator
kIcpUndef 

Undefined / invalid type.

+
kIcpPCL 

Point Cloud Library.

+
kIcpPointMatcher 

libpointmatcher.

+
kIcpCCCoreLib 

CCCoreLib (Cloud Compare).

+
kIcpEnd 

Sentinel: always keep last. Used to iterate through strategies.

+
+ +

Definition at line 42 of file RegistrationIcp.h.

+ +
+
+

Member Function Documentation

+ +

◆ available()

+ +
+
+ + + + + +
+ + + + + + + + +
static bool rtabmap::RegistrationIcp::available (IcpStrategy strategy)
+ 		+static
+
+ +

Returns true if strategy is built into this rtabmap binary.

+

kPCL is always available; kPointMatcher requires the RTABMAP_POINTMATCHER build flag; kCCCoreLib requires RTABMAP_CCCORELIB.

+ +
+
+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::RegistrationIcp::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Parses Reg/RepeatOnce, Reg/Force3DoF and forwards to child_ if set.

+ +

Reimplemented from rtabmap::Registration.

+ +
+
+ +

◆ computeTransformationImpl()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual Transform rtabmap::RegistrationIcp::computeTransformationImpl (Signature & from,
Signature & to,
Transform guess,
RegistrationInfo & info 
) const
+ 		+protectedvirtual
+
+ +

Strategy-specific registration.

+

May modify from and to; a child_ registration reuses those changes.

+ +

Implements rtabmap::Registration.

+ +
+
+ +

◆ isScanRequiredImpl()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::RegistrationIcp::isScanRequiredImpl () const
+ 		+inlineprotectedvirtual
+
+ +

Reimplemented from rtabmap::Registration.

+ +

Definition at line 79 of file RegistrationIcp.h.

+ +
+
+ +

◆ canUseGuessImpl()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::RegistrationIcp::canUseGuessImpl () const
+ 		+inlineprotectedvirtual
+
+ +

Reimplemented from rtabmap::Registration.

+ +

Definition at line 80 of file RegistrationIcp.h.

+ +
+
+ +

◆ getMinGeometryCorrespondencesRatioImpl()

+ +
+
+ + + + + +
+ + + + + + + +
virtual float rtabmap::RegistrationIcp::getMinGeometryCorrespondencesRatioImpl () const
+ 		+inlineprotectedvirtual
+
+ +

Reimplemented from rtabmap::Registration.

+ +

Definition at line 81 of file RegistrationIcp.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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Nm@-_c@UcbEzW{A~ + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::RegistrationInfo Member List
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This is the complete list of members for rtabmap::RegistrationInfo, including all inherited members.

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copyWithoutData() constrtabmap::RegistrationInfoinline
covariancertabmap::RegistrationInfo
icpCorrespondencesrtabmap::RegistrationInfo
icpInliersRatiortabmap::RegistrationInfo
icpIterationsrtabmap::RegistrationInfo
icpRMSrtabmap::RegistrationInfo
icpRotationrtabmap::RegistrationInfo
icpStructuralComplexityrtabmap::RegistrationInfo
icpStructuralDistributionrtabmap::RegistrationInfo
icpTranslationrtabmap::RegistrationInfo
inliersrtabmap::RegistrationInfo
inliersDistributionrtabmap::RegistrationInfo
inliersIDsrtabmap::RegistrationInfo
inliersMeanDistancertabmap::RegistrationInfo
inliersPerCamrtabmap::RegistrationInfo
inliersRatiortabmap::RegistrationInfo
matchesrtabmap::RegistrationInfo
matchesIDsrtabmap::RegistrationInfo
matchesPerCamrtabmap::RegistrationInfo
projectedIDsrtabmap::RegistrationInfo
RegistrationInfo() (defined in rtabmap::RegistrationInfo)rtabmap::RegistrationInfoinline
rejectedMsgrtabmap::RegistrationInfo
totalTimertabmap::RegistrationInfo
variancertabmap::RegistrationInfo
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.html b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.html new file mode 100644 index 00000000..eb9eee6b --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationInfo.html @@ -0,0 +1,594 @@ + + + + + + + + +RTAB-Map: rtabmap::RegistrationInfo Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Public Attributes | +List of all members
+
rtabmap::RegistrationInfo Class Reference
+
+
+ +

Statistics and diagnostics returned by Registration. + More...

+ +

#include <RegistrationInfo.h>

+ + + + + +

+Public Member Functions

RegistrationInfo copyWithoutData () const
 Copies scalar metrics and covariance; omits correspondence ID vectors.
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

cv::Mat covariance
 
std::string rejectedMsg
 
double totalTime
 
int inliers
 
float inliersRatio
 
float inliersMeanDistance
 
float inliersDistribution
 
std::vector< int > inliersIDs
 
int matches
 
float variance
 
std::vector< int > matchesIDs
 
std::vector< int > projectedIDs
 
std::vector< int > inliersPerCam
 
std::vector< int > matchesPerCam
 
float icpInliersRatio
 
float icpTranslation
 
float icpRotation
 
float icpStructuralComplexity
 
float icpStructuralDistribution
 
int icpCorrespondences
 
float icpRMS
 
int icpIterations
 
+

Detailed Description

+

Statistics and diagnostics returned by Registration.

+

Filled by RegistrationVis and/or RegistrationIcp during Registration::computeTransformation(). The 6×6 covariance matrix is clamped to Registration::COVARIANCE_LINEAR_EPSILON and Registration::COVARIANCE_ANGULAR_EPSILON on the diagonal when empty or too small.

+

Visual fields are set by RegistrationVis; ICP fields by RegistrationIcp. In a combined Vis+ICP pipeline, both sets may be populated in the same object.

+ +

Definition at line 47 of file RegistrationInfo.h.

+

Constructor & Destructor Documentation

+ +

◆ RegistrationInfo()

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::RegistrationInfo::RegistrationInfo ()
+ 		+inline
+
+ +

Definition at line 50 of file RegistrationInfo.h.

+ +
+
+

Member Function Documentation

+ +

◆ copyWithoutData()

+ +
+
+ + + + + +
+ + + + + + + +
RegistrationInfo rtabmap::RegistrationInfo::copyWithoutData () const
+ 		+inline
+
+ +

Copies scalar metrics and covariance; omits correspondence ID vectors.

+ +

Definition at line 71 of file RegistrationInfo.h.

+ +
+
+

Member Data Documentation

+ +

◆ covariance

+ +
+
+ + + + +
cv::Mat rtabmap::RegistrationInfo::covariance
+
+

6×6 registration uncertainty (CV_64FC1).

+ +

Definition at line 95 of file RegistrationInfo.h.

+ +
+
+ +

◆ rejectedMsg

+ +
+
+ + + + +
std::string rtabmap::RegistrationInfo::rejectedMsg
+
+

Reason the registration was rejected, if any.

+ +

Definition at line 96 of file RegistrationInfo.h.

+ +
+
+ +

◆ totalTime

+ +
+
+ + + + +
double rtabmap::RegistrationInfo::totalTime
+
+

Total registration time (seconds).

+ +

Definition at line 97 of file RegistrationInfo.h.

+ +
+
+ +

◆ inliers

+ +
+
+ + + + +
int rtabmap::RegistrationInfo::inliers
+
+

Number of visual inliers.

+ +

Definition at line 100 of file RegistrationInfo.h.

+ +
+
+ +

◆ inliersRatio

+ +
+
+ + + + +
float rtabmap::RegistrationInfo::inliersRatio
+
+

Ratio of inliers to matches.

+ +

Definition at line 101 of file RegistrationInfo.h.

+ +
+
+ +

◆ inliersMeanDistance

+ +
+
+ + + + +
float rtabmap::RegistrationInfo::inliersMeanDistance
+
+

Mean reprojection or descriptor distance of inliers.

+ +

Definition at line 102 of file RegistrationInfo.h.

+ +
+
+ +

◆ inliersDistribution

+ +
+
+ + + + +
float rtabmap::RegistrationInfo::inliersDistribution
+
+

Spatial spread of inliers in the image.

+ +

Definition at line 103 of file RegistrationInfo.h.

+ +
+
+ +

◆ inliersIDs

+ +
+
+ + + + +
std::vector<int> rtabmap::RegistrationInfo::inliersIDs
+
+

Indices of inlier keypoints.

+ +

Definition at line 104 of file RegistrationInfo.h.

+ +
+
+ +

◆ matches

+ +
+
+ + + + +
int rtabmap::RegistrationInfo::matches
+
+

Total visual matches before outlier rejection.

+ +

Definition at line 105 of file RegistrationInfo.h.

+ +
+
+ +

◆ variance

+ +
+
+ + + + +
float rtabmap::RegistrationInfo::variance
+
+

Estimated variance of the visual constraint.

+ +

Definition at line 106 of file RegistrationInfo.h.

+ +
+
+ +

◆ matchesIDs

+ +
+
+ + + + +
std::vector<int> rtabmap::RegistrationInfo::matchesIDs
+
+

Indices of all matches.

+ +

Definition at line 107 of file RegistrationInfo.h.

+ +
+
+ +

◆ projectedIDs

+ +
+
+ + + + +
std::vector<int> rtabmap::RegistrationInfo::projectedIDs
+
+

Source ("from") feature IDs used in projection.

+ +

Definition at line 108 of file RegistrationInfo.h.

+ +
+
+ +

◆ inliersPerCam

+ +
+
+ + + + +
std::vector<int> rtabmap::RegistrationInfo::inliersPerCam
+
+

Inlier count per camera (multi-camera).

+ +

Definition at line 109 of file RegistrationInfo.h.

+ +
+
+ +

◆ matchesPerCam

+ +
+
+ + + + +
std::vector<int> rtabmap::RegistrationInfo::matchesPerCam
+
+

Match count per camera (multi-camera).

+ +

Definition at line 110 of file RegistrationInfo.h.

+ +
+
+ +

◆ icpInliersRatio

+ +
+
+ + + + +
float rtabmap::RegistrationInfo::icpInliersRatio
+
+

Ratio of ICP inlier correspondences.

+ +

Definition at line 113 of file RegistrationInfo.h.

+ +
+
+ +

◆ icpTranslation

+ +
+
+ + + + +
float rtabmap::RegistrationInfo::icpTranslation
+
+

Translation component of the ICP correction (m).

+ +

Definition at line 114 of file RegistrationInfo.h.

+ +
+
+ +

◆ icpRotation

+ +
+
+ + + + +
float rtabmap::RegistrationInfo::icpRotation
+
+

Rotation component of the ICP correction (rad).

+ +

Definition at line 115 of file RegistrationInfo.h.

+ +
+
+ +

◆ icpStructuralComplexity

+ +
+
+ + + + +
float rtabmap::RegistrationInfo::icpStructuralComplexity
+
+

Structural complexity of the scan overlap.

+ +

Definition at line 116 of file RegistrationInfo.h.

+ +
+
+ +

◆ icpStructuralDistribution

+ +
+
+ + + + +
float rtabmap::RegistrationInfo::icpStructuralDistribution
+
+

Distribution of structural features in the overlap.

+ +

Definition at line 117 of file RegistrationInfo.h.

+ +
+
+ +

◆ icpCorrespondences

+ +
+
+ + + + +
int rtabmap::RegistrationInfo::icpCorrespondences
+
+

Number of ICP point correspondences.

+ +

Definition at line 118 of file RegistrationInfo.h.

+ +
+
+ +

◆ icpRMS

+ +
+
+ + + + +
float rtabmap::RegistrationInfo::icpRMS
+
+

Root-mean-square error of ICP correspondences (m).

+ +

Definition at line 119 of file RegistrationInfo.h.

+ +
+
+ +

◆ icpIterations

+ +
+
+ + + + +
int rtabmap::RegistrationInfo::icpIterations
+
+

Number of ICP iterations actually performed (-1 if unavailable from backend).

+ +

Definition at line 120 of file RegistrationInfo.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis-members.html new file mode 100644 index 00000000..b2c83ee4 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis-members.html @@ -0,0 +1,132 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::RegistrationVis Member List
+
+
+ +

This is the complete list of members for rtabmap::RegistrationVis, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
canUseGuess() constrtabmap::Registration
canUseGuessImpl() const (defined in rtabmap::RegistrationVis)rtabmap::RegistrationVisinlineprotectedvirtual
computeTransformation(const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) constrtabmap::Registration
computeTransformation(const SensorData &from, const SensorData &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) constrtabmap::Registration
computeTransformationImpl(Signature &from, Signature &to, Transform guess, RegistrationInfo &info) constrtabmap::RegistrationVisprotectedvirtual
computeTransformationMod(Signature &from, Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) constrtabmap::Registration
COVARIANCE_ANGULAR_EPSILONrtabmap::Registrationstatic
COVARIANCE_LINEAR_EPSILONrtabmap::Registrationstatic
create(const ParametersMap &parameters)rtabmap::Registrationstatic
create(Type &type, const ParametersMap &parameters=ParametersMap())rtabmap::Registrationstatic
force3DoF() constrtabmap::Registrationinline
getDetector() constrtabmap::RegistrationVisinline
getEstimationType() constrtabmap::RegistrationVisinline
getInlierDistance() constrtabmap::RegistrationVisinline
getIterations() constrtabmap::RegistrationVisinline
getMinGeometryCorrespondencesRatio() constrtabmap::Registration
getMinGeometryCorrespondencesRatioImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
getMinInliers() constrtabmap::RegistrationVisinline
getMinVisualCorrespondences() constrtabmap::Registration
getMinVisualCorrespondencesImpl() const (defined in rtabmap::RegistrationVis)rtabmap::RegistrationVisinlineprotectedvirtual
getNNDR() constrtabmap::RegistrationVisinline
getNNType() constrtabmap::RegistrationVisinline
isImageRequired() constrtabmap::Registration
isImageRequiredImpl() const (defined in rtabmap::RegistrationVis)rtabmap::RegistrationVisinlineprotectedvirtual
isScanRequired() constrtabmap::Registration
isScanRequiredImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
isUserDataRequired() constrtabmap::Registration
isUserDataRequiredImpl() const (defined in rtabmap::Registration)rtabmap::Registrationinlineprotectedvirtual
kTypeIcp enum value (defined in rtabmap::Registration)rtabmap::Registration
kTypeUndef enum value (defined in rtabmap::Registration)rtabmap::Registration
kTypeVis enum value (defined in rtabmap::Registration)rtabmap::Registration
kTypeVisIcp enum value (defined in rtabmap::Registration)rtabmap::Registration
parseParameters(const ParametersMap &parameters)rtabmap::RegistrationVisvirtual
Registration(const ParametersMap &parameters=ParametersMap(), Registration *child=0)rtabmap::Registrationprotected
RegistrationVis(const ParametersMap &parameters=ParametersMap(), Registration *child=0)rtabmap::RegistrationVis
repeatOnce() constrtabmap::Registrationinline
setChildRegistration(Registration *child)rtabmap::Registration
Type enum namertabmap::Registration
~Registration() (defined in rtabmap::Registration)rtabmap::Registrationvirtual
~RegistrationVis() (defined in rtabmap::RegistrationVis)rtabmap::RegistrationVisvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis.html b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis.html new file mode 100644 index 00000000..66e75ed1 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RegistrationVis.html @@ -0,0 +1,617 @@ + + + + + + + + +RTAB-Map: rtabmap::RegistrationVis Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::RegistrationVis Class Reference
+
+
+ +

Visual registration between two signatures using features and geometry. + More...

+ +

#include <RegistrationVis.h>

+
+Inheritance diagram for rtabmap::RegistrationVis:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::RegistrationVis:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ RegistrationVis (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
 child is owned and deleted in the destructor.
 
virtual void parseParameters (const ParametersMap &parameters)
 Parses Vis/ and feature parameters; recreates feature detectors.
 
float getInlierDistance () const
 
int getIterations () const
 
int getMinInliers () const
 
int getNNType () const
 
float getNNDR () const
 
int getEstimationType () const
 
const Feature2D * getDetector () const
 
- Public Member Functions inherited from rtabmap::Registration
+bool isImageRequired () const
 True if images are needed (parent or child).
 
+bool isScanRequired () const
 True if laser scans are needed (parent or child).
 
+bool isUserDataRequired () const
 True if user data is needed (parent or child).
 
+bool canUseGuess () const
 True if the strategy can refine an initial guess (parent or child).
 
+int getMinVisualCorrespondences () const
 Minimum visual inliers required (max of parent and child thresholds).
 
+float getMinGeometryCorrespondencesRatio () const
 Minimum geometry inlier ratio required (max of parent and child thresholds).
 
bool repeatOnce () const
 
bool force3DoF () const
 
+void setChildRegistration (Registration *child)
 Replaces child_; takes ownership of child.
 
+Transform computeTransformation (const Signature &from, const Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
 Registers from to to using immutable signatures (copied internally).
 
+Transform computeTransformation (const SensorData &from, const SensorData &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
 Registers two SensorData observations (wrapped as signatures).
 
+Transform computeTransformationMod (Signature &from, Signature &to, Transform guess=Transform::getIdentity(), RegistrationInfo *info=0) const
 Registers from to to; signatures may be modified by the implementation.
 
+ + + + + + + + + + + + + + + + + + + + +

+Protected Member Functions

virtual Transform computeTransformationImpl (Signature &from, Signature &to, Transform guess, RegistrationInfo &info) const
 Strategy-specific registration.
 
virtual bool isImageRequiredImpl () const
 
virtual bool canUseGuessImpl () const
 
virtual int getMinVisualCorrespondencesImpl () const
 
- Protected Member Functions inherited from rtabmap::Registration
+ Registration (const ParametersMap &parameters=ParametersMap(), Registration *child=0)
 child is owned and deleted in the destructor.
 
virtual bool isScanRequiredImpl () const
 
virtual bool isUserDataRequiredImpl () const
 
virtual float getMinGeometryCorrespondencesRatioImpl () const
 
+ + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Registration
enum  Type { kTypeUndef = -1 +, kTypeVis = 0 +, kTypeIcp = 1 +, kTypeVisIcp = 2 + }
 Registration strategy selected by Reg/Strategy. More...
 
- Static Public Member Functions inherited from rtabmap::Registration
+static Registration * create (const ParametersMap &parameters)
 Creates a registration from Reg/Strategy in parameters. Caller owns the pointer.
 
+static Registration * create (Type &type, const ParametersMap &parameters=ParametersMap())
 Creates a registration of type (may be adjusted, e.g. to kTypeVis). Caller owns the pointer.
 
- Static Public Attributes inherited from rtabmap::Registration
static double COVARIANCE_LINEAR_EPSILON
 Minimum diagonal value for linear covariance (m²).
 
static double COVARIANCE_ANGULAR_EPSILON
 Minimum diagonal value for angular covariance (rad²).
 
+

Detailed Description

+

Visual registration between two signatures using features and geometry.

+

Extracts and matches features (Feature2D), then estimates motion with Vis/EstimationType (3D→3D, 3D→2D PnP, or 2D→2D epipolar). Supports RGB-D (CameraModel + depth), stereo (StereoCameraModel), optical flow, GMS, and optional Python matchers when built with Python support.

+

Can chain a child_ registration (e.g. RegistrationIcp in Registration::kTypeVisIcp). Feature-related Vis/ parameters are mapped to Kp/ for Feature2D::create().

+
See also
Registration
+
+RegistrationInfo
+ +

Definition at line 60 of file RegistrationVis.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::RegistrationVis::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Parses Vis/ and feature parameters; recreates feature detectors.

+ +

Reimplemented from rtabmap::Registration.

+ +
+
+ +

◆ getInlierDistance()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::RegistrationVis::getInlierDistance () const
+ 		+inline
+
+
Returns
Vis/InlierDistance (m).
+ +

Definition at line 71 of file RegistrationVis.h.

+ +
+
+ +

◆ getIterations()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::RegistrationVis::getIterations () const
+ 		+inline
+
+
Returns
Vis/Iterations (RANSAC iterations).
+ +

Definition at line 73 of file RegistrationVis.h.

+ +
+
+ +

◆ getMinInliers()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::RegistrationVis::getMinInliers () const
+ 		+inline
+
+
Returns
Vis/MinInliers.
+ +

Definition at line 75 of file RegistrationVis.h.

+ +
+
+ +

◆ getNNType()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::RegistrationVis::getNNType () const
+ 		+inline
+
+
Returns
Vis/CorNNType nearest-neighbor strategy.
+ +

Definition at line 77 of file RegistrationVis.h.

+ +
+
+ +

◆ getNNDR()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::RegistrationVis::getNNDR () const
+ 		+inline
+
+
Returns
Vis/CorNNDR ratio test threshold.
+ +

Definition at line 79 of file RegistrationVis.h.

+ +
+
+ +

◆ getEstimationType()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::RegistrationVis::getEstimationType () const
+ 		+inline
+
+
Returns
Vis/EstimationType (0: 3D→3D, 1: PnP, 2: epipolar).
+ +

Definition at line 81 of file RegistrationVis.h.

+ +
+
+ +

◆ getDetector()

+ +
+
+ + + + + +
+ + + + + + + +
const Feature2D * rtabmap::RegistrationVis::getDetector () const
+ 		+inline
+
+
Returns
Feature detector used for the “from” signature.
+ +

Definition at line 84 of file RegistrationVis.h.

+ +
+
+ +

◆ computeTransformationImpl()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual Transform rtabmap::RegistrationVis::computeTransformationImpl (Signature & from,
Signature & to,
Transform guess,
RegistrationInfo & info 
) const
+ 		+protectedvirtual
+
+ +

Strategy-specific registration.

+

May modify from and to; a child_ registration reuses those changes.

+ +

Implements rtabmap::Registration.

+ +
+
+ +

◆ isImageRequiredImpl()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::RegistrationVis::isImageRequiredImpl () const
+ 		+inlineprotectedvirtual
+
+ +

Reimplemented from rtabmap::Registration.

+ +

Definition at line 93 of file RegistrationVis.h.

+ +
+
+ +

◆ canUseGuessImpl()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::RegistrationVis::canUseGuessImpl () const
+ 		+inlineprotectedvirtual
+
+ +

Reimplemented from rtabmap::Registration.

+ +

Definition at line 94 of file RegistrationVis.h.

+ +
+
+ +

◆ getMinVisualCorrespondencesImpl()

+ +
+
+ + + + + +
+ + + + + + + +
virtual int rtabmap::RegistrationVis::getMinVisualCorrespondencesImpl () const
+ 		+inlineprotectedvirtual
+
+ +

Reimplemented from rtabmap::Registration.

+ +

Definition at line 95 of file RegistrationVis.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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+
rtabmap::Rtabmap Member List
+
+
+ +

This is the complete list of members for rtabmap::Rtabmap, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
addLink(const Link &link)rtabmap::Rtabmap
addNodesToRepublish(const std::vector< int > &ids)rtabmap::Rtabmap
adjustLikelihood(std::map< int, float > &likelihood) constrtabmap::Rtabmap
cleanupLocalGrids(const std::map< int, Transform > &mapPoses, const cv::Mat &map, float xMin, float yMin, float cellSize, int cropRadius=1, bool filterScans=false)rtabmap::Rtabmap
clearPath(int status)rtabmap::Rtabmap
close(bool databaseSaved=true, const std::string &ouputDatabasePath="")rtabmap::Rtabmap
computePath(int targetNode, bool global)rtabmap::Rtabmap
computePath(const Transform &targetPose, float tolerance=-1.0f)rtabmap::Rtabmap
deleteLastLocation()rtabmap::Rtabmap
detectMoreLoopClosures(float clusterRadiusMax=0.5f, float clusterAngle=M_PI/6.0f, int iterations=1, bool intraSession=true, bool interSession=true, const ProgressState *state=0, float clusterRadiusMin=0.0f, int toFromMapId=-1)rtabmap::Rtabmap
dumpData() constrtabmap::Rtabmap
dumpPrediction() constrtabmap::Rtabmap
exportPoses(const std::string &path, bool optimized, bool global, int format)rtabmap::Rtabmap
generateDOTGraph(const std::string &path, int id=0, int margin=5)rtabmap::Rtabmap
get3DMap(std::map< int, Signature > &signatures, std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global) constrtabmap::Rtabmap
getForwardWMPoses(int fromId, int maxNearestNeighbors, float radius, int maxDiffID) constrtabmap::Rtabmap
getGoalReachedRadius() constrtabmap::Rtabmapinline
getGraph(std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global, std::map< int, Signature > *signatures=0, bool withImages=false, bool withScan=false, bool withUserData=false, bool withGrid=false, bool withWords=true, bool withGlobalDescriptors=true) constrtabmap::Rtabmap
getHighestHypothesisId() constrtabmap::Rtabmapinline
getHighestHypothesisValue() constrtabmap::Rtabmapinline
getInformation(const cv::Mat &covariance) constrtabmap::Rtabmap
getLastLocalizationPose() constrtabmap::Rtabmapinline
getLastLocationId() constrtabmap::Rtabmap
getLastProcessTime() constrtabmap::Rtabmapinline
getLocalConstraints() constrtabmap::Rtabmapinline
getLocalOptimizedPoses() constrtabmap::Rtabmapinline
getLocalRadius() constrtabmap::Rtabmapinline
getLoopClosureId() constrtabmap::Rtabmapinline
getLoopClosureValue() constrtabmap::Rtabmapinline
getMapCorrection() constrtabmap::Rtabmapinline
getMemory() constrtabmap::Rtabmapinline
getMemoryThreshold() constrtabmap::Rtabmapinline
getNodesInRadius(const Transform &pose, float radius, int k=0, std::map< int, float > *distsSqr=0)rtabmap::Rtabmap
getNodesInRadius(int nodeId, float radius, int k=0, std::map< int, float > *distsSqr=0)rtabmap::Rtabmap
getParameters() constrtabmap::Rtabmapinline
getPath() constrtabmap::Rtabmapinline
getPathCurrentGoalId() constrtabmap::Rtabmap
getPathCurrentGoalIndex() constrtabmap::Rtabmapinline
getPathCurrentIndex() constrtabmap::Rtabmapinline
getPathNextNodes() constrtabmap::Rtabmap
getPathNextPoses() constrtabmap::Rtabmap
getPaths(const std::map< int, Transform > &poses, const Transform &target, int maxGraphDepth=0) constrtabmap::Rtabmap
getPathStatus() constrtabmap::Rtabmapinline
getPathTransformToGoal() constrtabmap::Rtabmapinline
getPose(int locationId) constrtabmap::Rtabmap
getSignatureCopy(int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) constrtabmap::Rtabmap
getStatistics() constrtabmap::Rtabmap
getSTM() constrtabmap::Rtabmap
getSTMSize() constrtabmap::Rtabmap
getTimeThreshold() constrtabmap::Rtabmapinline
getTotalMemSize() constrtabmap::Rtabmap
getWeights() constrtabmap::Rtabmap
getWM() constrtabmap::Rtabmap
getWMSize() constrtabmap::Rtabmap
getWorkingDir() constrtabmap::Rtabmapinline
globalBundleAdjustment(int optimizerType=1, bool rematchFeatures=true, int iterations=0, float pixelVariance=0.0f)rtabmap::Rtabmap
init(const ParametersMap &parameters, const std::string &databasePath="", bool loadDatabaseParameters=false)rtabmap::Rtabmap
init(const std::string &configFile="", const std::string &databasePath="", bool loadDatabaseParameters=false)rtabmap::Rtabmap
isIDsGenerated() constrtabmap::Rtabmap
isInSTM(int locationId) constrtabmap::Rtabmap
isRGBDMode() constrtabmap::Rtabmapinline
kVhEpipolar enum valuertabmap::Rtabmap
kVhNone enum valuertabmap::Rtabmap
kVhUndef enum valuertabmap::Rtabmap
labelLocation(int id, const std::string &label)rtabmap::Rtabmap
parseParameters(const ParametersMap &parameters)rtabmap::Rtabmap
process(const SensorData &data, Transform odomPose, const cv::Mat &odomCovariance=cv::Mat::eye(6, 6, CV_64FC1), const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >())rtabmap::Rtabmap
process(const SensorData &data, Transform odomPose, float odomLinearVariance, float odomAngularVariance, const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >())rtabmap::Rtabmap
process(const cv::Mat &image, int id=0, const std::map< std::string, float > &externalStats=std::map< std::string, float >())rtabmap::Rtabmap
refineLinks()rtabmap::Rtabmap
rejectLastLoopClosure()rtabmap::Rtabmap
resetMemory()rtabmap::Rtabmap
Rtabmap() (defined in rtabmap::Rtabmap)rtabmap::Rtabmap
setDummyDictionary(bool enabled=true)rtabmap::Rtabmap
setInitialPose(const Transform &initialPose)rtabmap::Rtabmap
setMemoryThreshold(int maxMemoryAllowed)rtabmap::Rtabmap
setOptimizedPoses(const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints)rtabmap::Rtabmap
setTimeThreshold(float maxTimeAllowed)rtabmap::Rtabmap
setUserData(int id, const cv::Mat &data)rtabmap::Rtabmap
setWorkingDirectory(std::string path)rtabmap::Rtabmap
triggerNewMap()rtabmap::Rtabmap
VhStrategy enum namertabmap::Rtabmap
~Rtabmap() (defined in rtabmap::Rtabmap)rtabmap::Rtabmapvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap.html b/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap.html new file mode 100644 index 00000000..2cee6994 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Rtabmap.html @@ -0,0 +1,2755 @@ + + + + + + + + +RTAB-Map: rtabmap::Rtabmap Class Reference + + + + + + + + + + + + +
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RTAB-Map 0.23.10 +
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+Public Types | +Public Member Functions | +List of all members
+
rtabmap::Rtabmap Class Reference
+
+
+ +

Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure). + More...

+ +

#include <Rtabmap.h>

+ + + + + +

+Public Types

enum  VhStrategy { kVhNone +, kVhEpipolar +, kVhUndef + }
 Loop-closure verification strategy. More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

bool process (const SensorData &data, Transform odomPose, const cv::Mat &odomCovariance=cv::Mat::eye(6, 6, CV_64FC1), const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >())
 Main RTAB-Map iteration: ingests one sensor frame and updates the map.
 
bool process (const SensorData &data, Transform odomPose, float odomLinearVariance, float odomAngularVariance, const std::vector< float > &odomVelocity=std::vector< float >(), const std::map< std::string, float > &externalStats=std::map< std::string, float >())
 Convenience overload: builds a diagonal covariance from scalar variances.
 
bool process (const cv::Mat &image, int id=0, const std::map< std::string, float > &externalStats=std::map< std::string, float >())
 Appearance-only convenience overload (loop-closure detection without odometry).
 
void init (const ParametersMap &parameters, const std::string &databasePath="", bool loadDatabaseParameters=false)
 Initializes Rtabmap with parameters and a database.
 
void init (const std::string &configFile="", const std::string &databasePath="", bool loadDatabaseParameters=false)
 Initializes Rtabmap from a configuration file and a database.
 
void close (bool databaseSaved=true, const std::string &ouputDatabasePath="")
 Closes Rtabmap and releases the underlying Memory.
 
const std::string & getWorkingDir () const
 
bool isRGBDMode () const
 
int getLoopClosureId () const
 
float getLoopClosureValue () const
 
int getHighestHypothesisId () const
 
float getHighestHypothesisValue () const
 
int getLastLocationId () const
 
std::list< int > getWM () const
 
std::set< int > getSTM () const
 
int getWMSize () const
 
int getSTMSize () const
 
std::map< int, int > getWeights () const
 
int getTotalMemSize () const
 
double getLastProcessTime () const
 
bool isInSTM (int locationId) const
 
bool isIDsGenerated () const
 
const Statistics & getStatistics () const
 
const std::map< int, Transform > & getLocalOptimizedPoses () const
 
const std::multimap< int, Link > & getLocalConstraints () const
 
Transform getPose (int locationId) const
 
Transform getMapCorrection () const
 
const Memory * getMemory () const
 
float getGoalReachedRadius () const
 
float getLocalRadius () const
 
const Transform & getLastLocalizationPose () const
 
float getTimeThreshold () const
 
void setTimeThreshold (float maxTimeAllowed)
 Sets the per-iteration time budget (ms).
 
int getMemoryThreshold () const
 
void setMemoryThreshold (int maxMemoryAllowed)
 Sets the maximum number of signatures kept in WM (0 = unbounded).
 
void setInitialPose (const Transform &initialPose)
 Sets the localization prior pose used to seed the next process() call (localization mode only).
 
int triggerNewMap ()
 Starts a new map session (next process() will create a fresh map id).
 
bool labelLocation (int id, const std::string &label)
 Assigns or clears a label on signature id.
 
bool setUserData (int id, const cv::Mat &data)
 Attaches user data to signature id, compressing it on the fly if needed.
 
void generateDOTGraph (const std::string &path, int id=0, int margin=5)
 Writes a Graphviz DOT file of the pose graph.
 
void exportPoses (const std::string &path, bool optimized, bool global, int format)
 Exports the current pose graph to a text file.
 
void resetMemory ()
 Clears all in-memory state and resets the database.
 
+void dumpPrediction () const
 Dumps the Bayes-filter prediction matrix to a file in the working directory.
 
+void dumpData () const
 Dumps the Memory state (signatures, words, dictionary) to the working directory.
 
+void parseParameters (const ParametersMap &parameters)
 Re-parses parameters and propagates them to owned sub-objects (Memory, BayesFilter, Optimizer, ...).
 
const ParametersMap & getParameters () const
 
void setWorkingDirectory (std::string path)
 Sets the working directory used for dumps, logs and temporary files.
 
void rejectLastLoopClosure ()
 Removes the loop-closure link added at the last process() iteration.
 
void deleteLastLocation ()
 Deletes the most recent (non-intermediate) location from the map.
 
void setOptimizedPoses (const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints)
 Replaces the current optimized poses and constraints with externally provided ones.
 
Signature getSignatureCopy (int id, bool images, bool scan, bool userData, bool occupancyGrid, bool withWords, bool withGlobalDescriptors) const
 Returns a copy of signature id with optional payloads attached.
 
+RTABMAP_DEPRECATED void get3DMap (std::map< int, Signature > &signatures, std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global) const
 Deprecated: use getGraph() instead with withImages=true, withScan=true, withUserData=true and withGrid=true.
 
void getGraph (std::map< int, Transform > &poses, std::multimap< int, Link > &constraints, bool optimized, bool global, std::map< int, Signature > *signatures=0, bool withImages=false, bool withScan=false, bool withUserData=false, bool withGrid=false, bool withWords=true, bool withGlobalDescriptors=true) const
 Extracts a full snapshot of the current pose graph.
 
std::map< int, Transform > getNodesInRadius (const Transform &pose, float radius, int k=0, std::map< int, float > *distsSqr=0)
 Returns optimized poses within a metric radius of pose.
 
std::map< int, Transform > getNodesInRadius (int nodeId, float radius, int k=0, std::map< int, float > *distsSqr=0)
 Returns optimized poses within a metric radius of node nodeId.
 
int detectMoreLoopClosures (float clusterRadiusMax=0.5f, float clusterAngle=M_PI/6.0f, int iterations=1, bool intraSession=true, bool interSession=true, const ProgressState *state=0, float clusterRadiusMin=0.0f, int toFromMapId=-1)
 Post-processing: searches for additional loop closures over the existing graph.
 
bool globalBundleAdjustment (int optimizerType=1, bool rematchFeatures=true, int iterations=0, float pixelVariance=0.0f)
 Runs a global bundle adjustment over the optimized graph.
 
int cleanupLocalGrids (const std::map< int, Transform > &mapPoses, const cv::Mat &map, float xMin, float yMin, float cellSize, int cropRadius=1, bool filterScans=false)
 Filters spurious obstacles from every node's local grid using a reference 2D map.
 
int refineLinks ()
 Re-runs registration on every link of the current graph and updates the ones that converge.
 
bool addLink (const Link &link)
 Adds an external link to the map.
 
+cv::Mat getInformation (const cv::Mat &covariance) const
 Converts an odometry covariance into an information matrix, clipping by Memory::getOdomMaxInf() when Parameters::kRGBDLoopCovLimited() is enabled.
 
void addNodesToRepublish (const std::vector< int > &ids)
 Marks node ids whose data should be re-emitted on the next process().
 
void setDummyDictionary (bool enabled=true)
 Loads the visual word dictionary as ids only, without descriptors.
 
int getPathStatus () const
 
void clearPath (int status)
 Clears the current path and sets its terminal status.
 
bool computePath (int targetNode, bool global)
 Plans a path from the current location to node targetNode.
 
bool computePath (const Transform &targetPose, float tolerance=-1.0f)
 Plans a path in the current optimized map toward a metric goal pose.
 
const std::vector< std::pair< int, Transform > > & getPath () const
 
std::vector< std::pair< int, Transform > > getPathNextPoses () const
 
std::vector< int > getPathNextNodes () const
 
int getPathCurrentGoalId () const
 
unsigned int getPathCurrentIndex () const
 
unsigned int getPathCurrentGoalIndex () const
 
const Transform & getPathTransformToGoal () const
 
std::map< int, Transform > getForwardWMPoses (int fromId, int maxNearestNeighbors, float radius, int maxDiffID) const
 Returns optimized poses of WM nodes located in front of fromId.
 
std::map< int, std::map< int, Transform > > getPaths (const std::map< int, Transform > &poses, const Transform &target, int maxGraphDepth=0) const
 Segments a set of optimized poses into paths connected by neighbor links.
 
void adjustLikelihood (std::map< int, float > &likelihood) const
 Applies the standard RTAB-Map likelihood adjustment.
 
+

Detailed Description

+

Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure).

+

Rtabmap orchestrates the full SLAM iteration. Each new sensor observation passed to process() goes through the steps described below.

+
1. Memory update
+

Done via Memory::update(): a new Signature is added to STM, the oldest STM entry is promoted to WM if STM is full, and rehearsal compares the new signature to the previous STM signature.

+

When the robot barely moved since the previous frame (odometry displacement below Parameters::kRGBDLinearUpdate() and Parameters::kRGBDAngularUpdate()), the iteration is flagged as a "small displacement":

    +
  • If a loop closure or localization was already accepted on a recent iteration, appearance-based global loop-closure detection and proximity detection by space are both skipped to avoid wasting work while the robot is stationary at an already-known location (only retrieval runs).
    • +
  • Otherwise (no recent loop closure / localization), both still run normally so a first-time loop closure can still be detected from a standstill.
    • +
+

In either case, at the end of the iteration, if no loop closure, proximity detection or landmark observation latched onto the new node, it is deleted from Memory so the map does not grow while the robot is idle.

+

Rehearsal still runs first, so visually similar consecutive idle frames may also be merged into the previous STM signature (its weight is incremented and the new signature is discarded) when the similarity exceeds Parameters::kMemRehearsalSimilarity().

+
2. Loop-closure hypothesis
+

Scored via Memory::computeLikelihood() and the recursive BayesFilter (prior + observation update).

+
3. Hypothesis selection
+

The highest posterior is compared against the loop-closure threshold (Parameters::kRtabmapLoopThr()); if accepted, the loop-closure link is added and the pose graph is re-optimized by Optimizer.

+

In RGB-D mode, two extra checks must pass before the link is committed:

    +
  • a valid geometric transform must be computed between the two candidate nodes by the registration pipeline (visual + optional ICP, see Memory::computeTransform());
    • +
  • the resulting transform must not be rejected by the graph-optimization consistency check (see Parameters::kRGBDOptimizeMaxError()).
    • +
+

The optimization used by the consistency check depends on the operating mode:

    +
  • In mapping mode, optimizeCurrentMap() re-optimizes the local map around the current signature including the new link, then graph::computeMaxGraphErrors() measures the worst per-link residual / its standard deviation. If the ratio exceeds Parameters::kRGBDOptimizeMaxError(), the loop closure(s) added this iteration are removed from Memory.
    • +
  • In localization mode, optimization is run on a sub-graph composed of the odometry cache (Parameters::kRGBDMaxOdomCacheSize()), the newly added localization link and pose priors fixing the map nodes (weighted by Parameters::kRGBDLocalizationPriorInf()). The same error-ratio check is applied; on failure the localization is rejected for this iteration but the persisted map and its links are left untouched.
    • +
+

In both modes, if the same link is rejected twice in a row, repairGraph() may also be attempted (within Parameters::kRGBDOptimizeMaxErrorRepairRadius()) to drop the offending link instead of the new candidate.

+

If either RGB-D check fails, the candidate is discarded and no link is added.

+
4. Retrieval
+

Once a loop-closure hypothesis is selected, neighbors of the matched node are brought back from LTM into WM via Memory::reactivateSignatures(), so the next iteration can compare against them too. Up to Parameters::kRtabmapMaxRetrieved() nodes are pulled per iteration; nodes around the current path or local pose may also be retrieved (capped by Parameters::kRtabmapMaxLocalRetrieved()).

+

Retrieval (and the related node immunization) is only active when memory management is enabled, i.e. when Parameters::kRtabmapTimeThr() or Parameters::kRtabmapMemoryThr() is non-zero.

+
5. Proximity detection (RGB-D mode)
+

Visual and scan-based local matches to nearby nodes, used in addition to the appearance-based loop closure.

+

Candidate proximity links go through the same two RGB-D gates as loop closures above: a valid geometric transform must be computed by the registration pipeline, and the transform must not be rejected by the graph-optimization consistency check.

+
6. Transfer (WM to LTM)
+

At the end of the iteration, if the iteration exceeded the configured time budget (Parameters::kRtabmapTimeThr()) or WM exceeded its size budget (Parameters::kRtabmapMemoryThr()), Memory::forget() moves the oldest low-frequency signatures from WM to LTM (immunized nodes – retrieved neighbors, the last localization node, etc. – are kept in WM).

+

Transfer is skipped when both thresholds are 0 (memory management disabled).

+
7. Map / localization output
+

Optimized poses, current map correction and statistics are made available to callers via the getters below.

+
Operating modes
+

Selected by Parameters::kMemIncrementalMemory() (see Memory::isIncremental()):

    +
  • Mapping: STM and WM grow; loop closures update the optimized graph.
    • +
  • Localization: STM/WM are frozen; the current node is matched against the persisted map and only getLastLocalizationPose() is updated.
    • +
+
Path planning
+

Rtabmap also exposes basic graph-based path planning in RGB-D mode (computePath(), getPath(), getPathStatus()), used by the GUI to navigate between mapped locations.

+

When memory management is enabled (see step 4 Retrieval and step 6 Transfer), the retrieval step also pulls nodes along the currently planned path back from LTM into WM (capped by Parameters::kRtabmapMaxLocalRetrieved()) so the robot is able to re-localize against upcoming waypoints as it follows the path, even when those nodes had been transferred out of WM earlier.

+
See also
Memory
+
+BayesFilter
+
+Optimizer
+
+Parameters
+ +

Definition at line 193 of file Rtabmap.h.

+

Member Enumeration Documentation

+ +

◆ VhStrategy

+ +
+
+ + + + +
enum rtabmap::Rtabmap::VhStrategy
+
+ +

Loop-closure verification strategy.

+ + + + +
Enumerator
kVhNone 

No verification: the highest hypothesis above threshold is accepted.

+
kVhEpipolar 

Epipolar geometry verification (mostly historical, RGB-only mode).

+
kVhUndef 

Sentinel – undefined.

+
+ +

Definition at line 197 of file Rtabmap.h.

+ +
+
+

Member Function Documentation

+ +

◆ process() [1/3]

+ +
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bool rtabmap::Rtabmap::process (const SensorData & data,
Transform odomPose,
const cv::Mat & odomCovariance = cv::Mat::eye(6, 6, CV_64FC1),
const std::vector< float > & odomVelocity = std::vector< float >(),
const std::map< std::string, float > & externalStats = std::map< std::string, float >() 
)
+
+ +

Main RTAB-Map iteration: ingests one sensor frame and updates the map.

+

Adds data to Memory, runs the Bayes filter on the current likelihood, selects a loop-closure hypothesis if any, performs proximity detection, re-optimizes the graph as needed, and refreshes getStatistics() and getLastLocalizationPose().

+
Parameters
+ + + + + + +
dataSensor data for this frame (images, scan, user data, ...).
odomPoseOdometry pose; must be non-null in RGB-D SLAM mode. Pass a null Transform to fall back to appearance-only mode.
odomCovariance6x6 odometry covariance (default: identity).
odomVelocityOptional 6-vector (vx, vy, vz, vroll, vpitch, vyaw).
externalStatsExtra named statistics to record in the database for this iteration.
+
+
+
Returns
True if data was added to the map (i.e. an update() succeeded).
+ +
+
+ +

◆ process() [2/3]

+ +
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bool rtabmap::Rtabmap::process (const SensorData & data,
Transform odomPose,
float odomLinearVariance,
float odomAngularVariance,
const std::vector< float > & odomVelocity = std::vector< float >(),
const std::map< std::string, float > & externalStats = std::map< std::string, float >() 
)
+
+ +

Convenience overload: builds a diagonal covariance from scalar variances.

+

The 6x6 odometry covariance is constructed as diag(odomLinearVariance, odomLinearVariance, odomLinearVariance, +odomAngularVariance, odomAngularVariance, odomAngularVariance).

+ +
+
+ +

◆ process() [3/3]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
bool rtabmap::Rtabmap::process (const cv::Mat & image,
int id = 0,
const std::map< std::string, float > & externalStats = std::map< std::string, float >() 
)
+
+ +

Appearance-only convenience overload (loop-closure detection without odometry).

+

Equivalent to processing image alone, with no odometry pose. Useful for offline loop-closure benchmarking on image sequences.

+
Parameters
+ + + + +
imageRGB or grayscale frame.
idOptional frame id (0 = auto-generated).
externalStatsExtra named statistics to record in the database for this iteration.
+
+
+ +
+
+ +

◆ init() [1/2]

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+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Rtabmap::init (const ParametersMap & parameters,
const std::string & databasePath = "",
bool loadDatabaseParameters = false 
)
+
+ +

Initializes Rtabmap with parameters and a database.

+
Parameters
+ + + + +
parametersParameters overriding default parameters and database parameters (see loadDatabaseParameters).
databasePathDatabase input/output path. If empty, an in-memory database is used. If set and the file does not exist, it is created empty; if it exists, nodes and the visual word vocabulary are loaded into working memory.
loadDatabaseParametersIf true and an existing database is opened, the parameters stored inside the database are loaded and applied to this Rtabmap instance (then overridden by parameters).
+
+
+ +
+
+ +

◆ init() [2/2]

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void rtabmap::Rtabmap::init (const std::string & configFile = "",
const std::string & databasePath = "",
bool loadDatabaseParameters = false 
)
+
+ +

Initializes Rtabmap from a configuration file and a database.

+
Parameters
+ + + + +
configFileConfiguration file (*.ini) overriding default parameters and database parameters (see loadDatabaseParameters).
databasePathDatabase input/output path; same semantics as the other init().
loadDatabaseParametersIf true and an existing database is opened, the parameters stored inside the database are loaded and applied first, then overridden by values from configFile.
+
+
+ +
+
+ +

◆ close()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::Rtabmap::close (bool databaseSaved = true,
const std::string & ouputDatabasePath = "" 
)
+
+ +

Closes Rtabmap and releases the underlying Memory.

+
Parameters
+ + + +
databaseSavedIf true, the in-memory state is flushed to the database; if false, in-memory changes are discarded.
ouputDatabasePathIf non-empty, the database is copied to this path on close. If a database on disk was initially created/loaded on a different path, it will be updated with the latest changes and renamed to the output path.
+
+
+ +
+
+ +

◆ getWorkingDir()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::Rtabmap::getWorkingDir () const
+ 		+inline
+
+
Returns
Working directory used for dumps, log files and temporary outputs.
+ +

Definition at line 297 of file Rtabmap.h.

+ +
+
+ +

◆ isRGBDMode()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Rtabmap::isRGBDMode () const
+ 		+inline
+
+
Returns
True if RGB-D SLAM mode is enabled (Parameters::kRGBDEnabled()).
+ +

Definition at line 299 of file Rtabmap.h.

+ +
+
+ +

◆ getLoopClosureId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Rtabmap::getLoopClosureId () const
+ 		+inline
+
+
Returns
Id of the loop-closure hypothesis accepted at the last process() iteration, or 0 if none.
+ +

Definition at line 301 of file Rtabmap.h.

+ +
+
+ +

◆ getLoopClosureValue()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Rtabmap::getLoopClosureValue () const
+ 		+inline
+
+
Returns
Posterior probability of the accepted loop-closure hypothesis, or 0 if none.
+ +

Definition at line 303 of file Rtabmap.h.

+ +
+
+ +

◆ getHighestHypothesisId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Rtabmap::getHighestHypothesisId () const
+ 		+inline
+
+
Returns
Id of the highest-posterior hypothesis at the last iteration (whether or not it was accepted).
+ +

Definition at line 305 of file Rtabmap.h.

+ +
+
+ +

◆ getHighestHypothesisValue()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Rtabmap::getHighestHypothesisValue () const
+ 		+inline
+
+
Returns
Posterior of the highest-posterior hypothesis at the last iteration.
+ +

Definition at line 307 of file Rtabmap.h.

+ +
+
+ +

◆ getLastLocationId()

+ +
+
+ + + + + + + +
int rtabmap::Rtabmap::getLastLocationId () const
+
+
Returns
Id of the last non-intermediate signature added to the map (0 if none).
+ +
+
+ +

◆ getWM()

+ +
+
+ + + + + + + +
std::list< int > rtabmap::Rtabmap::getWM () const
+
+
Returns
Working memory ids ordered as in Memory::getWorkingMem().
+ +
+
+ +

◆ getSTM()

+ +
+
+ + + + + + + +
std::set< int > rtabmap::Rtabmap::getSTM () const
+
+
Returns
Short-term memory ids.
+ +
+
+ +

◆ getWMSize()

+ +
+
+ + + + + + + +
int rtabmap::Rtabmap::getWMSize () const
+
+
Returns
Working memory size (number of WM signatures).
+ +
+
+ +

◆ getSTMSize()

+ +
+
+ + + + + + + +
int rtabmap::Rtabmap::getSTMSize () const
+
+
Returns
Short-term memory size (number of STM signatures).
+ +
+
+ +

◆ getWeights()

+ +
+
+ + + + + + + +
std::map< int, int > rtabmap::Rtabmap::getWeights () const
+
+
Returns
Per-signature weights (rehearsal counts) for WM and STM.
+ +
+
+ +

◆ getTotalMemSize()

+ +
+
+ + + + + + + +
int rtabmap::Rtabmap::getTotalMemSize () const
+
+
Returns
Total number of signatures across WM, STM and LTM.
+ +
+
+ +

◆ getLastProcessTime()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::Rtabmap::getLastProcessTime () const
+ 		+inline
+
+
Returns
Wall-clock duration of the last process() call, in seconds.
+ +

Definition at line 323 of file Rtabmap.h.

+ +
+
+ +

◆ isInSTM()

+ +
+
+ + + + + + + + +
bool rtabmap::Rtabmap::isInSTM (int locationId) const
+
+
Returns
True if locationId is currently in short-term memory.
+ +
+
+ +

◆ isIDsGenerated()

+ +
+
+ + + + + + + +
bool rtabmap::Rtabmap::isIDsGenerated () const
+
+
Returns
True if signature ids are auto-generated (vs. taken from SensorData::id()).
+ +
+
+ +

◆ getStatistics()

+ +
+
+ + + + + + + +
const Statistics & rtabmap::Rtabmap::getStatistics () const
+
+
Returns
Statistics produced by the last process() iteration.
+ +
+
+ +

◆ getLocalOptimizedPoses()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, Transform > & rtabmap::Rtabmap::getLocalOptimizedPoses () const
+ 		+inline
+
+
Returns
Optimized poses of the current local map (last graph optimization result).
+ +

Definition at line 331 of file Rtabmap.h.

+ +
+
+ +

◆ getLocalConstraints()

+ +
+
+ + + + + +
+ + + + + + + +
const std::multimap< int, Link > & rtabmap::Rtabmap::getLocalConstraints () const
+ 		+inline
+
+
Returns
Constraints (links) of the current local map.
+ +

Definition at line 333 of file Rtabmap.h.

+ +
+
+ +

◆ getPose()

+ +
+
+ + + + + + + + +
Transform rtabmap::Rtabmap::getPose (int locationId) const
+
+
Returns
Optimized pose of locationId in the current local map (identity if not present).
+ +
+
+ +

◆ getMapCorrection()

+ +
+
+ + + + + +
+ + + + + + + +
Transform rtabmap::Rtabmap::getMapCorrection () const
+ 		+inline
+
+
Returns
Transform mapping odometry frame to the optimized map frame.
+

This is the correction applied to incoming odometry poses so they align with the latest graph optimization output. Updated whenever a loop closure or proximity detection re-optimizes the graph.

+

In ROS terms, this corresponds to the standard /map -> /odom TF transform published by SLAM systems: composing it with the live odometry pose (/odom -> /base_link) yields the robot pose in the map frame.

+ +

Definition at line 349 of file Rtabmap.h.

+ +
+
+ +

◆ getMemory()

+ +
+
+ + + + + +
+ + + + + + + +
const Memory * rtabmap::Rtabmap::getMemory () const
+ 		+inline
+
+
Returns
Owned Memory (may be null before init()).
+ +

Definition at line 351 of file Rtabmap.h.

+ +
+
+ +

◆ getGoalReachedRadius()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Rtabmap::getGoalReachedRadius () const
+ 		+inline
+
+
Returns
Radius (meters) under which the current path goal is considered reached.
+ +

Definition at line 353 of file Rtabmap.h.

+ +
+
+ +

◆ getLocalRadius()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Rtabmap::getLocalRadius () const
+ 		+inline
+
+
Returns
Local radius (meters) used by proximity detection and path planning queries.
+ +

Definition at line 355 of file Rtabmap.h.

+ +
+
+ +

◆ getLastLocalizationPose()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::Rtabmap::getLastLocalizationPose () const
+ 		+inline
+
+
Returns
Last localized pose in the map frame.
+

In localization mode, this is the corrected odometry pose of the last processed frame. In mapping mode, this is the last pose returned by getLocalOptimizedPoses().

+ +

Definition at line 363 of file Rtabmap.h.

+ +
+
+ +

◆ getTimeThreshold()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Rtabmap::getTimeThreshold () const
+ 		+inline
+
+
Returns
Maximum allowed processing time per process() call, in milliseconds.
+
See also
Parameters::kRtabmapTimeThr()
+ +

Definition at line 369 of file Rtabmap.h.

+ +
+
+ +

◆ setTimeThreshold()

+ +
+
+ + + + + + + + +
void rtabmap::Rtabmap::setTimeThreshold (float maxTimeAllowed)
+
+ +

Sets the per-iteration time budget (ms).

+

Drives how aggressively WM is transferred to LTM to keep iterations under the threshold. 0 disables the time bound.

+
Note
This setting and setMemoryThreshold() are the only two switches that enable RTAB-Map's memory management (WM-to-LTM transfer, retrieval and node immunization). When both are 0, memory management is disabled and all signatures stay in working memory.
+
See also
Parameters::kRtabmapTimeThr()
+ +
+
+ +

◆ getMemoryThreshold()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Rtabmap::getMemoryThreshold () const
+ 		+inline
+
+
Returns
Maximum allowed WM size (number of signatures).
+
See also
Parameters::kRtabmapMemoryThr()
+ +

Definition at line 388 of file Rtabmap.h.

+ +
+
+ +

◆ setMemoryThreshold()

+ +
+
+ + + + + + + + +
void rtabmap::Rtabmap::setMemoryThreshold (int maxMemoryAllowed)
+
+ +

Sets the maximum number of signatures kept in WM (0 = unbounded).

+
Note
This setting and setTimeThreshold() are the only two switches that enable RTAB-Map's memory management (WM-to-LTM transfer, retrieval and node immunization). When both are 0, memory management is disabled and all signatures stay in working memory.
+
See also
Parameters::kRtabmapMemoryThr()
+ +
+
+ +

◆ setInitialPose()

+ +
+
+ + + + + + + + +
void rtabmap::Rtabmap::setInitialPose (const Transform & initialPose)
+
+ +

Sets the localization prior pose used to seed the next process() call (localization mode only).

+

Tells RTAB-Map where the robot is currently located in the map frame, so that the very next call to process() can align incoming odometry with the persisted map without waiting for a loop closure. Typical use cases: restoring localization after a session restart, applying an external pose estimate (e.g. from a GPS or a known starting point), or recovering from "kidnapped robot" situations.

+

This call only stages state; it does not itself produce a non-identity getMapCorrection(). The alignment between the odometry frame and the map frame is performed on the next process() call, which consumes initialPose together with the incoming odometry pose. Two branches are taken depending on Parameters::kRGBDOptimizeFromGraphEnd():

    +
  • false (default): getMapCorrection() is set so that the live odometry pose is shifted to land on initialPose in the map frame (the optimized map is left untouched).
    • +
  • true: every optimized node pose is rigidly transformed so that the map itself moves to align with initialPose (the map correction stays close to identity).
    • +
+

The transform applied is restricted by SLAM dimensionality: 3-DoF (x, y, yaw) for 2D SLAM, 4-DoF (x, y, z, yaw) when gravity is available (IMU orientation or Memory::isOdomGravityUsed()) and Parameters::kOptimizerGravitySigma() is non-zero, full 6-DoF otherwise.

+

Side effects on the staged state:

    +
  • getLastLocalizationPose() is replaced by initialPose; the localization covariance, the last localization node id and the odometry cache used for loop-closure rejection are all cleared.
    • +
  • getMapCorrection() is reset to identity and any backup is cleared.
    • +
  • If the current map has not been optimized yet (no entries in getLocalOptimizedPoses()) and a last working signature exists, the map is optimized around that signature so the next process() has something to localize against.
    • +
+

After the next process() consumes the prior, the nearest optimized node to initialPose is recorded as the last localization node.

+
Parameters
+ + +
initialPoseRobot pose in the map frame.
+
+
+
Note
No-op (with warning) in mapping mode.
+
See also
Parameters::kMemIncrementalMemory()
+
+Parameters::kRGBDOptimizeFromGraphEnd()
+ +
+
+ +

◆ triggerNewMap()

+ +
+
+ + + + + + + +
int rtabmap::Rtabmap::triggerNewMap ()
+
+ +

Starts a new map session (next process() will create a fresh map id).

+

In mapping mode, this increments the map id, clears the local optimized graph and resets the Bayes filter. In localization mode, it resets the map correction, the localization node and the odometry cache; if Parameters::kRtabmapRestartAtOrigin() is enabled, the last localization pose is reset to identity.

+
Returns
The new map id (mapping mode), or -1 (localization mode).
+ +
+
+ +

◆ labelLocation()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::Rtabmap::labelLocation (int id,
const std::string & label 
)
+
+ +

Assigns or clears a label on signature id.

+
Returns
True if the label was applied.
+ +
+
+ +

◆ setUserData()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::Rtabmap::setUserData (int id,
const cv::Mat & data 
)
+
+ +

Attaches user data to signature id, compressing it on the fly if needed.

+

The format is detected automatically: a single-row CV_8UC1 matrix is treated as already-compressed data and stored as-is; anything else is considered raw and compressed before being stored.

+
Note
If you pass one-dimensional unsigned 8-bit raw data, transpose it so it has multiple rows (not multiple columns), otherwise it will be misdetected as already compressed.
+
Parameters
+ + + +
idTarget signature id (must be in WM/STM or LTM).
dataRaw or pre-compressed user data.
+
+
+
Returns
True if the data was attached.
+ +
+
+ +

◆ generateDOTGraph()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Rtabmap::generateDOTGraph (const std::string & path,
int id = 0,
int margin = 5 
)
+
+ +

Writes a Graphviz DOT file of the pose graph.

+
Parameters
+ + + + +
pathOutput file path.
idIf non-zero, root the graph at id; otherwise use the last signature.
marginMaximum graph depth around id to include.
+
+
+ +
+
+ +

◆ exportPoses()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Rtabmap::exportPoses (const std::string & path,
bool optimized,
bool global,
int format 
)
+
+ +

Exports the current pose graph to a text file.

+

Forwards to graph::exportPoses() after collecting either the optimized or the raw odometry poses (and the matching constraints when needed).

+
Parameters
+ + + + + +
pathOutput file path.
optimizedIf true, export optimized poses; otherwise raw odometry poses.
globalIf true, include nodes from LTM as well; otherwise only WM/STM.
formatOutput format code; see graph::exportPoses() for the full list of supported values (raw, RGBD-SLAM/TUM, KITTI, TORO, g2o, ...).
+
+
+
See also
graph::exportPoses()
+ +
+
+ +

◆ resetMemory()

+ +
+
+ + + + + + + +
void rtabmap::Rtabmap::resetMemory ()
+
+ +

Clears all in-memory state and resets the database.

+

In incremental mode, also clears the persisted map. In read-only memory mode, resets the in-memory state but leaves the database untouched.

+ +
+
+ +

◆ getParameters()

+ +
+
+ + + + + +
+ + + + + + + +
const ParametersMap & rtabmap::Rtabmap::getParameters () const
+ 		+inline
+
+
Returns
Current effective parameter map.
+ +

Definition at line 526 of file Rtabmap.h.

+ +
+
+ +

◆ setWorkingDirectory()

+ +
+
+ + + + + + + + +
void rtabmap::Rtabmap::setWorkingDirectory (std::string path)
+
+ +

Sets the working directory used for dumps, logs and temporary files.

+

Can also be configured through Parameters::kRtabmapWorkingDirectory() in the parameter map passed to init() or parseParameters().

+
See also
Parameters::kRtabmapWorkingDirectory()
+ +
+
+ +

◆ rejectLastLoopClosure()

+ +
+
+ + + + + + + +
void rtabmap::Rtabmap::rejectLastLoopClosure ()
+
+ +

Removes the loop-closure link added at the last process() iteration.

+

Looks at the last non-intermediate signature in STM and erases any Link::kGlobalClosure, Link::kLocalSpaceClosure, Link::kLocalTimeClosure or Link::kUserClosure attached to it. The current optimized map is updated accordingly.

+ +
+
+ +

◆ deleteLastLocation()

+ +
+
+ + + + + + + +
void rtabmap::Rtabmap::deleteLastLocation ()
+
+ +

Deletes the most recent (non-intermediate) location from the map.

+

Used by tools to undo the very last process() iteration. In mapping mode, the optimized graph is recomputed without the deleted node.

+
Note
Locations whose neighbors include intermediate nodes are not supported.
+ +
+
+ +

◆ setOptimizedPoses()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::Rtabmap::setOptimizedPoses (const std::map< int, Transform > & poses,
const std::multimap< int, Link > & constraints 
)
+
+ +

Replaces the current optimized poses and constraints with externally provided ones.

+

Useful when graph optimization is performed outside of Rtabmap.

+
Warning
No consistency check is performed against the current Memory state: poses and constraints overwrite the internal containers verbatim. The caller is responsible for ensuring that every id in poses (and every endpoint of every link in constraints) belongs to a signature currently in STM or WM (see Memory::isInSTM() / Memory::isInWM()). Passing poses for ids that are no longer loaded will leave dangling entries that may confuse subsequent process() calls.
+ +
+
+ +

◆ getSignatureCopy()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Signature rtabmap::Rtabmap::getSignatureCopy (int id,
bool images,
bool scan,
bool userData,
bool occupancyGrid,
bool withWords,
bool withGlobalDescriptors 
) const
+
+ +

Returns a copy of signature id with optional payloads attached.

+

Loads from WM/STM if present, otherwise from LTM. Selectively populates the returned Signature with images, scan, user data, occupancy grid, visual words and global descriptors.

+ +
+
+ +

◆ getGraph()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Rtabmap::getGraph (std::map< int, Transform > & poses,
std::multimap< int, Link > & constraints,
bool optimized,
bool global,
std::map< int, Signature > * signatures = 0,
bool withImages = false,
bool withScan = false,
bool withUserData = false,
bool withGrid = false,
bool withWords = true,
bool withGlobalDescriptors = true 
) const
+
+ +

Extracts a full snapshot of the current pose graph.

+
Parameters
+ + + + + + + + + + + + +
posesOutput: pose for every selected node.
constraintsOutput: links between selected nodes.
optimizedIf true, return optimized poses; otherwise raw odometry poses.
globalIf true, include nodes from LTM as well; otherwise only WM/STM.
signaturesOptional output: a copy of each node's Signature (with the payloads requested by the with* flags).
withImagesAttach compressed RGB/depth images to signatures.
withScanAttach laser scan blob.
withUserDataAttach user data blob.
withGridAttach occupancy grid cells.
withWordsAttach visual words (id, keypoints, 3D points, descriptors).
withGlobalDescriptorsAttach global descriptors.
+
+
+ +
+
+ +

◆ getNodesInRadius() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
std::map< int, Transform > rtabmap::Rtabmap::getNodesInRadius (const Transform & pose,
float radius,
int k = 0,
std::map< int, float > * distsSqr = 0 
)
+
+ +

Returns optimized poses within a metric radius of pose.

+
Parameters
+ + + + + +
poseQuery pose in the map frame.
radiusSearch radius in meters (0 falls back to Parameters::kRGBDLocalRadius()).
kIf non-zero, also cap the result to the k nearest neighbors.
distsSqrOptional output: per-id squared distance to pose.
+
+
+
Returns
Nodes (and possibly landmarks) within the radius, mapped to their pose. Landmarks have a negative id.
+ +
+
+ +

◆ getNodesInRadius() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
std::map< int, Transform > rtabmap::Rtabmap::getNodesInRadius (int nodeId,
float radius,
int k = 0,
std::map< int, float > * distsSqr = 0 
)
+
+ +

Returns optimized poses within a metric radius of node nodeId.

+
Parameters
+ + + + + +
nodeIdQuery node id. Pass 0 to query around the latest node. A negative id requests neighbors of the corresponding landmark.
radiusSearch radius in meters (0 falls back to Parameters::kRGBDLocalRadius()).
kIf non-zero, cap the result to the k nearest neighbors.
distsSqrOptional output: per-id squared distance to nodeId.
+
+
+
Returns
Nodes (and possibly landmarks) within the radius.
+ +
+
+ +

◆ detectMoreLoopClosures()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
int rtabmap::Rtabmap::detectMoreLoopClosures (float clusterRadiusMax = 0.5f,
float clusterAngle = M_PI/6.0f,
int iterations = 1,
bool intraSession = true,
bool interSession = true,
const ProgressState * state = 0,
float clusterRadiusMin = 0.0f,
int toFromMapId = -1 
)
+
+ +

Post-processing: searches for additional loop closures over the existing graph.

+

Clusters nearby optimized poses and runs registration between candidates that are not yet linked. New links are added to Memory and the graph is re-optimized.

+
Note
The registration approach used here is the one configured in Memory via Parameters::kRegStrategy() (0=Vis, 1=Icp, 2=VisIcp), so the quality and sensor requirements of this pass mirror the live loop-closure pipeline.
+
+Candidate cluster pairs whose ids differ by less than Parameters::kMemSTMSize(), or that are already reachable from each other within that many graph hops, are filtered out. This prevents trivial "loop closures" between temporally or topologically adjacent nodes.
+
Parameters
+ + + + + + + + + +
clusterRadiusMaxMaximum metric distance (m) between two candidate nodes.
clusterAngleMaximum angular distance (rad) between two candidate nodes.
iterationsNumber of refinement passes.
intraSessionInclude loop closures within the same map session.
interSessionInclude loop closures between different map sessions.
stateOptional progress sink; cancellation requests are honored.
clusterRadiusMinMinimum metric distance (m); pairs closer than this are considered already linked through neighbor links.
toFromMapIdIf >=0, restrict candidate pairs to nodes belonging to this map id.
+
+
+
Returns
Number of loop closures added, or -1 on error (e.g. not in RGB-D mode, no optimizer iterations).
+ +
+
+ +

◆ globalBundleAdjustment()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
bool rtabmap::Rtabmap::globalBundleAdjustment (int optimizerType = 1,
bool rematchFeatures = true,
int iterations = 0,
float pixelVariance = 0.0f 
)
+
+ +

Runs a global bundle adjustment over the optimized graph.

+
Parameters
+ + + + + +
optimizerTypeBackend optimizer (e.g. 1=g2o); availability depends on what RTAB-Map was built with.
rematchFeaturesIf true, re-match visual features between connected nodes before BA (otherwise reuse existing word-id correspondences).
iterationsSolver iterations (0 falls back to Parameters::kOptimizerIterations()).
pixelVariancePixel reprojection variance used by the cost (0 falls back to Parameters::kOptimizerPixelVariance()).
+
+
+
Returns
True if BA was run and improved poses were stored.
+ +
+
+ +

◆ cleanupLocalGrids()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
int rtabmap::Rtabmap::cleanupLocalGrids (const std::map< int, Transform > & mapPoses,
const cv::Mat & map,
float xMin,
float yMin,
float cellSize,
int cropRadius = 1,
bool filterScans = false 
)
+
+ +

Filters spurious obstacles from every node's local grid using a reference 2D map.

+

Thin wrapper around Memory::cleanupLocalGrids(); see that method for the exact filtering rule and the meaning of cropRadius and filterScans.

+
Returns
Number of (node, grid or scan) modifications, or -1 on error.
+ +
+
+ +

◆ refineLinks()

+ +
+
+ + + + + + + +
int rtabmap::Rtabmap::refineLinks ()
+
+ +

Re-runs registration on every link of the current graph and updates the ones that converge.

+

Useful after parameter changes to refresh stored transforms.

+
Note
The registration approach is the one configured in Memory via Parameters::kRegStrategy() (0=Vis, 1=Icp, 2=VisIcp). For each link, the link's existing relative transform (the constraint produced by the current optimized local graph) is passed as the initial guess to Memory::computeTransform(), so links already close to convergence are refined locally rather than re-estimated from scratch.
+
Returns
Number of links refined, or -1 if not in RGB-D mode.
+ +
+
+ +

◆ addLink()

+ +
+
+ + + + + + + + +
bool rtabmap::Rtabmap::addLink (const Link & link)
+
+ +

Adds an external link to the map.

+

The link's "from" and "to" endpoints must exist in memory (incremental mode) or in the optimized poses (localization mode). RGB-D mode only.

+
Returns
True if the link was added.
+ +
+
+ +

◆ addNodesToRepublish()

+ +
+
+ + + + + + + + +
void rtabmap::Rtabmap::addNodesToRepublish (const std::vector< int > & ids)
+
+ +

Marks node ids whose data should be re-emitted on the next process().

+

The requested signatures are attached to the Statistics object produced by the next process() call (via the same mechanism as the regular "last signature +data"), so consumers reading getStatistics() pick them up alongside the normal output. Up to Parameters::kRtabmapMaxRepublished() ids are emitted per iteration; any leftover ids stay queued for subsequent iterations until they are republished or fall out of the current graph.

+

Pass an empty vector to clear the request set. Requires Parameters::kRtabmapMaxRepublished() > 0 and Parameters::kRtabmapPublishLastSignature() = true.

+ +
+
+ +

◆ setDummyDictionary()

+ +
+
+ + + + + + + + +
void rtabmap::Rtabmap::setDummyDictionary (bool enabled = true)
+
+ +

Loads the visual word dictionary as ids only, without descriptors.

+

With a dummy dictionary, init() populates VWDictionary with placeholder VisualWord objects carrying an empty descriptor, and the dictionary update (FLANN index construction) is skipped. This makes opening a large database much faster and lighter in RAM when the word descriptors are not needed, e.g. to inspect or post-process an existing map rather than to localize in it.

+

The dummy dictionary is silently disabled if the database has no words, or if the dictionary has to be rebuilt from the nodes because it was not saved properly.

+
Parameters
+ + +
enabledTrue to load ids only, false to load the full dictionary (default).
+
+
+
Note
Must be called before init(); an error is logged and the call ignored once the memory exists.
+
Warning
Incompatible with mapping: adding new nodes asserts in Memory::createSignature(). Loop closure detection also cannot match new observations against a descriptor-less dictionary.
+
See also
Memory::setDummyDictionary()
+ +
+
+ +

◆ getPathStatus()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Rtabmap::getPathStatus () const
+ 		+inline
+
+
Returns
Current path status: -1 = failed, 0 = idle / executing, 1 = success.
+ +

Definition at line 776 of file Rtabmap.h.

+ +
+
+ +

◆ clearPath()

+ +
+
+ + + + + + + + +
void rtabmap::Rtabmap::clearPath (int status)
+
+ +

Clears the current path and sets its terminal status.

+
Parameters
+ + +
status-1 = failed, 0 = idle / executing, 1 = success.
+
+
+ +
+
+ +

◆ computePath() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::Rtabmap::computePath (int targetNode,
bool global 
)
+
+ +

Plans a path from the current location to node targetNode.

+

RGB-D mode only (requires Parameters::kRGBDEnabled() = true).

+
Parameters
+ + + +
targetNodeDestination node id (positive) or landmark id (negative).
globalIf true, also search nodes in LTM; otherwise only the current optimized map.
+
+
+
Returns
True if a path was computed; the result is available via getPath().
+
See also
Parameters::kRGBDEnabled()
+ +
+
+ +

◆ computePath() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::Rtabmap::computePath (const Transform & targetPose,
float tolerance = -1.0f 
)
+
+ +

Plans a path in the current optimized map toward a metric goal pose.

+
Parameters
+ + + +
targetPoseGoal pose in the map frame.
toleranceGoal-acceptance tolerance (meters). A negative value falls back to Parameters::kRGBDLocalRadius(); 0 means infinite tolerance.
+
+
+
Returns
True if a path was computed.
+ +
+
+ +

◆ getPath()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< std::pair< int, Transform > > & rtabmap::Rtabmap::getPath () const
+ 		+inline
+
+
Returns
The currently planned path as a sequence of (node id, pose) waypoints.
+ +

Definition at line 805 of file Rtabmap.h.

+ +
+
+ +

◆ getPathNextPoses()

+ +
+
+ + + + + + + +
std::vector< std::pair< int, Transform > > rtabmap::Rtabmap::getPathNextPoses () const
+
+
Returns
Upcoming waypoints (from the current path index onward).
+ +
+
+ +

◆ getPathNextNodes()

+ +
+
+ + + + + + + +
std::vector< int > rtabmap::Rtabmap::getPathNextNodes () const
+
+
Returns
Upcoming node ids (from the current path index onward).
+ +
+
+ +

◆ getPathCurrentGoalId()

+ +
+
+ + + + + + + +
int rtabmap::Rtabmap::getPathCurrentGoalId () const
+
+
Returns
Id of the current intermediate path goal (the node currently being chased).
+ +
+
+ +

◆ getPathCurrentIndex()

+ +
+
+ + + + + +
+ + + + + + + +
unsigned int rtabmap::Rtabmap::getPathCurrentIndex () const
+ 		+inline
+
+
Returns
Index of the current waypoint in getPath().
+ +

Definition at line 813 of file Rtabmap.h.

+ +
+
+ +

◆ getPathCurrentGoalIndex()

+ +
+
+ + + + + +
+ + + + + + + +
unsigned int rtabmap::Rtabmap::getPathCurrentGoalIndex () const
+ 		+inline
+
+
Returns
Index of the current intermediate goal in getPath().
+ +

Definition at line 815 of file Rtabmap.h.

+ +
+
+ +

◆ getPathTransformToGoal()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::Rtabmap::getPathTransformToGoal () const
+ 		+inline
+
+
Returns
Transform from the final waypoint pose to the requested goal pose.
+ +

Definition at line 817 of file Rtabmap.h.

+ +
+
+ +

◆ getForwardWMPoses()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
std::map< int, Transform > rtabmap::Rtabmap::getForwardWMPoses (int fromId,
int maxNearestNeighbors,
float radius,
int maxDiffID 
) const
+
+ +

Returns optimized poses of WM nodes located in front of fromId.

+

Candidates are first gathered around fromId, then STM nodes are excluded, the survivors are cropped to a forward-facing box of width radius (1 m behind, radius ahead, +/-radius laterally), and a KdTree radius search keeps the maxNearestNeighbors closest poses in that box.

+
Note
Mapping vs. localization mode differs only in how the initial candidate set is built:
    +
  • In mapping mode (incremental), candidates are produced by a graph-radius walk from fromId: nodes reachable within maxDiffID graph hops AND within radius meters in the optimized poses.
    • +
  • In localization mode, the graph-hop restriction is ignored: every optimized pose within radius meters of fromId is considered. The forward-box crop and KdTree radius search that follow are identical in both modes.
    • +
+
+
Parameters
+ + + + + +
fromIdReference node (must be in Memory and getLocalOptimizedPoses()).
maxNearestNeighborsCap on the number of nodes returned.
radiusMaximum metric distance from fromId (meters).
maxDiffIDMaximum graph depth from fromId in mapping mode (0 = unlimited). Ignored in localization mode.
+
+
+ +
+
+ +

◆ getPaths()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
std::map< int, std::map< int, Transform > > rtabmap::Rtabmap::getPaths (const std::map< int, Transform > & poses,
const Transform & target,
int maxGraphDepth = 0 
) const
+
+ +

Segments a set of optimized poses into paths connected by neighbor links.

+

Designed to be called on the result of a radius search around target (a set of poses already constrained to be metrically close to the goal). Within that radius, the method partitions the poses into one or more "paths" where each path is a connected component reachable from its starting node using only neighbor (sequential) links – loop-closure links, landmark links and intermediate nodes are not used to traverse between members. Paths are produced one at a time, each starting from the still-unclaimed pose nearest to target; a candidate is added to the current path only if it has at least one neighbor link to a node already in the path.

+

Used internally by proximity detection by space (see Parameters::kRGBDProximityBySpace()) in two independent stages, each iterating over the segmented paths:

    +
  • One-to-one (visual registration): runs registration between the current node and at most one node per neighbor-connected path, avoiding redundant attempts against nearby members of the same local trajectory.
    • +
  • One-to-many (scan matching, enabled when Parameters::kRGBDProximityPathMaxNeighbors() > 0): on each path, neighboring nodes are assembled around the nearest pose on the path (up to the configured count, walked forward and backward) and their laser scans are merged for an ICP registration against the current scan. The neighbor-link-only structure of each path is what makes this assembly geometrically consistent.
    • +
+
Parameters
+ + + + +
posesCandidate nodes with their optimized poses (typically pre-filtered to a radius around target).
targetReference pose used to order paths: each path's starting node is the still-unclaimed pose closest to target.
maxGraphDepthMaximum graph depth traversed from the starting node when gathering candidates for a path (0 = unlimited).
+
+
+
Returns
Map from the starting node id of each path to its (node id -> pose) chain.
+ +
+
+ +

◆ adjustLikelihood()

+ +
+
+ + + + + + + + +
void rtabmap::Rtabmap::adjustLikelihood (std::map< int, float > & likelihood) const
+
+ +

Applies the standard RTAB-Map likelihood adjustment.

+

Normalizes raw likelihoods using mean and standard deviation across non-null values. Real-place entries with value <= mean + stdDev are clamped to 1.0; only entries above that threshold are scaled. The virtual place (the first key in likelihood, representing the "new place" hypothesis) is then set so that its likelihood reflects how peaked the real distribution is.

+

The exact formulas are selected by Parameters::kRtabmapVirtualPlaceLikelihoodRatio() (default 0, Angeli PhD formulation):

+
    +
  • Ratio = 0 (mean / std-dev formulation):
      +
    • Real place above threshold: (value - (stdDev - epsilon)) / mean
      • +
    • Virtual place: mean / stdDev + 1 (when stdDev is non-trivial and a maximum exists; otherwise 2). The virtual place "wins" when the real-place distribution is flat (small stdDev relative to mean).
      • +
    +
    • +
  • Ratio != 0 (z-score formulation):
      +
    • Real place above threshold: (value - mean) / stdDev (i.e. the z-score).
      • +
    • Virtual place: stdDev / (max - mean) + 1 (when max > mean; otherwise 2). The virtual place "wins" when no real candidate stands out far above the mean.
      • +
    +
    • +
+

In both formulations a low virtual-place likelihood favors a real-place loop closure on the next Bayes update; a high one favors the "new place" hypothesis.

+
See also
Parameters::kRtabmapVirtualPlaceLikelihoodRatio()
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree-members.html new file mode 100644 index 00000000..105e3683 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree-members.html @@ -0,0 +1,107 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::RtabmapColorOcTree Member List
+
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This is the complete list of members for rtabmap::RtabmapColorOcTree, including all inherited members.

+ + + + + + + + + + + + + + + + +
averageNodeColor(const octomap::OcTreeKey &key, uint8_t r, uint8_t g, uint8_t b) (defined in rtabmap::RtabmapColorOcTree)rtabmap::RtabmapColorOcTree
averageNodeColor(float x, float y, float z, uint8_t r, uint8_t g, uint8_t b) (defined in rtabmap::RtabmapColorOcTree)rtabmap::RtabmapColorOcTreeinline
create() constrtabmap::RtabmapColorOcTreeinline
getTreeType() const (defined in rtabmap::RtabmapColorOcTree)rtabmap::RtabmapColorOcTreeinline
integrateNodeColor(const octomap::OcTreeKey &key, uint8_t r, uint8_t g, uint8_t b) (defined in rtabmap::RtabmapColorOcTree)rtabmap::RtabmapColorOcTree
integrateNodeColor(float x, float y, float z, uint8_t r, uint8_t g, uint8_t b) (defined in rtabmap::RtabmapColorOcTree)rtabmap::RtabmapColorOcTreeinline
isNodeCollapsible(const RtabmapColorOcTreeNode *node) const (defined in rtabmap::RtabmapColorOcTree)rtabmap::RtabmapColorOcTreevirtual
pruneNode(RtabmapColorOcTreeNode *node)rtabmap::RtabmapColorOcTreevirtual
RtabmapColorOcTree(double resolution)rtabmap::RtabmapColorOcTree
RtabmapColorOcTreeMemberInitrtabmap::RtabmapColorOcTreeprotectedstatic
setNodeColor(const octomap::OcTreeKey &key, uint8_t r, uint8_t g, uint8_t b) (defined in rtabmap::RtabmapColorOcTree)rtabmap::RtabmapColorOcTree
setNodeColor(float x, float y, float z, uint8_t r, uint8_t g, uint8_t b) (defined in rtabmap::RtabmapColorOcTree)rtabmap::RtabmapColorOcTreeinline
updateInnerOccupancy() (defined in rtabmap::RtabmapColorOcTree)rtabmap::RtabmapColorOcTree
updateInnerOccupancyRecurs(RtabmapColorOcTreeNode *node, unsigned int depth) (defined in rtabmap::RtabmapColorOcTree)rtabmap::RtabmapColorOcTreeprotected
~RtabmapColorOcTree() (defined in rtabmap::RtabmapColorOcTree)rtabmap::RtabmapColorOcTreeinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree.html new file mode 100644 index 00000000..042ce232 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree.html @@ -0,0 +1,499 @@ + + + + + + + + +RTAB-Map: rtabmap::RtabmapColorOcTree Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
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rtabmap::RtabmapColorOcTree Class Reference
+
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+
+Inheritance diagram for rtabmap::RtabmapColorOcTree:
+
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+
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+ + + + + + + +
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+ + + + +

+Classes

class  StaticMemberInitializer
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ RtabmapColorOcTree (double resolution)
 Default constructor, sets resolution of leafs.
 
RtabmapColorOcTree * create () const
 
std::string getTreeType () const
 
virtual bool pruneNode (RtabmapColorOcTreeNode *node)
 
+virtual bool isNodeCollapsible (const RtabmapColorOcTreeNode *node) const
 
+RtabmapColorOcTreeNode * setNodeColor (const octomap::OcTreeKey &key, uint8_t r, uint8_t g, uint8_t b)
 
RtabmapColorOcTreeNode * setNodeColor (float x, float y, float z, uint8_t r, uint8_t g, uint8_t b)
 
+RtabmapColorOcTreeNode * averageNodeColor (const octomap::OcTreeKey &key, uint8_t r, uint8_t g, uint8_t b)
 
RtabmapColorOcTreeNode * averageNodeColor (float x, float y, float z, uint8_t r, uint8_t g, uint8_t b)
 
+RtabmapColorOcTreeNode * integrateNodeColor (const octomap::OcTreeKey &key, uint8_t r, uint8_t g, uint8_t b)
 
RtabmapColorOcTreeNode * integrateNodeColor (float x, float y, float z, uint8_t r, uint8_t g, uint8_t b)
 
+void updateInnerOccupancy ()
 
+ + + +

+Protected Member Functions

+void updateInnerOccupancyRecurs (RtabmapColorOcTreeNode *node, unsigned int depth)
 
+ + + + +

+Static Protected Attributes

static StaticMemberInitializer RtabmapColorOcTreeMemberInit
 static member to ensure static initialization (only once)
 
+

Detailed Description

+
+

Definition at line 87 of file OctoMap.h.

+

Constructor & Destructor Documentation

+ +

◆ ~RtabmapColorOcTree()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::RtabmapColorOcTree::~RtabmapColorOcTree ()
+ 		+inlinevirtual
+
+ +

Definition at line 92 of file OctoMap.h.

+ +
+
+

Member Function Documentation

+ +

◆ create()

+ +
+
+ + + + + +
+ + + + + + + +
RtabmapColorOcTree * rtabmap::RtabmapColorOcTree::create () const
+ 		+inline
+
+

virtual constructor: creates a new object of same type (Covariant return type requires an up-to-date compiler)

+ +

Definition at line 96 of file OctoMap.h.

+ +
+
+ +

◆ getTreeType()

+ +
+
+ + + + + +
+ + + + + + + +
std::string rtabmap::RtabmapColorOcTree::getTreeType () const
+ 		+inline
+
+ +

Definition at line 98 of file OctoMap.h.

+ +
+
+ +

◆ pruneNode()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual bool rtabmap::RtabmapColorOcTree::pruneNode (RtabmapColorOcTreeNode * node)
+ 		+virtual
+
+

Prunes a node when it is collapsible. This overloaded version only considers the node occupancy for pruning, different colors of child nodes are ignored.

Returns
true if pruning was successful
+ +
+
+ +

◆ setNodeColor()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
RtabmapColorOcTreeNode * rtabmap::RtabmapColorOcTree::setNodeColor (float x,
float y,
float z,
uint8_t r,
uint8_t g,
uint8_t b 
)
+ 		+inline
+
+ +

Definition at line 114 of file OctoMap.h.

+ +
+
+ +

◆ averageNodeColor()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
RtabmapColorOcTreeNode * rtabmap::RtabmapColorOcTree::averageNodeColor (float x,
float y,
float z,
uint8_t r,
uint8_t g,
uint8_t b 
)
+ 		+inline
+
+ +

Definition at line 126 of file OctoMap.h.

+ +
+
+ +

◆ integrateNodeColor()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
RtabmapColorOcTreeNode * rtabmap::RtabmapColorOcTree::integrateNodeColor (float x,
float y,
float z,
uint8_t r,
uint8_t g,
uint8_t b 
)
+ 		+inline
+
+ +

Definition at line 138 of file OctoMap.h.

+ +
+
+

Member Data Documentation

+ +

◆ RtabmapColorOcTreeMemberInit

+ +
+
+ + + + + +
+ + + + +
StaticMemberInitializer rtabmap::RtabmapColorOcTree::RtabmapColorOcTreeMemberInit
+ 		+staticprotected
+
+ +

static member to ensure static initialization (only once)

+ +

Definition at line 171 of file OctoMap.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/global_map/OctoMap.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode-members.html new file mode 100644 index 00000000..841e26ec --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode-members.html @@ -0,0 +1,112 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::RtabmapColorOcTreeNode Member List
+
+
+ +

This is the complete list of members for rtabmap::RtabmapColorOcTreeNode, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + +
createChild(unsigned int i) (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNode
expandNode() (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNode
getChild(unsigned int i) (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNode
getChild(unsigned int i) const (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNode
getNodeRefId() const (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNodeinline
getOccupancyType() const (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNodeinline
getPointRef() const (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNodeinline
kTypeEmpty enum value (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNode
kTypeGround enum value (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNode
kTypeObstacle enum value (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNode
kTypeUnknown enum value (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNode
OccupancyType enum name (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNode
pruneNode() (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNode
RtabmapColorOcTree (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNodefriend
RtabmapColorOcTreeNode() (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNodeinline
RtabmapColorOcTreeNode(const RtabmapColorOcTreeNode &rhs) (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNodeinline
setNodeRefId(int nodeRefId) (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNodeinline
setOccupancyType(char type) (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNodeinline
setPointRef(const octomap::point3d &point) (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNodeinline
updateOccupancyTypeChildren() (defined in rtabmap::RtabmapColorOcTreeNode)rtabmap::RtabmapColorOcTreeNode
+ +
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode.html new file mode 100644 index 00000000..5948f76e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTreeNode.html @@ -0,0 +1,434 @@ + + + + + + + + +RTAB-Map: rtabmap::RtabmapColorOcTreeNode Class Reference + + + + + + + + + + + + +
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+
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+ + + + + +
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+ + + + +

+Public Types

enum  OccupancyType { kTypeUnknown =-1 +, kTypeEmpty =0 +, kTypeGround =1 +, kTypeObstacle =100 + }
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 RtabmapColorOcTreeNode (const RtabmapColorOcTreeNode &rhs)
 
void setNodeRefId (int nodeRefId)
 
void setOccupancyType (char type)
 
void setPointRef (const octomap::point3d &point)
 
int getNodeRefId () const
 
int getOccupancyType () const
 
const octomap::point3d & getPointRef () const
 
+RtabmapColorOcTreeNode * getChild (unsigned int i)
 
+const RtabmapColorOcTreeNode * getChild (unsigned int i) const
 
+bool pruneNode ()
 
+void expandNode ()
 
+bool createChild (unsigned int i)
 
+void updateOccupancyTypeChildren ()
 
+ + + +

+Friends

class RtabmapColorOcTree
 
+

Detailed Description

+
+

Definition at line 53 of file OctoMap.h.

+

Member Enumeration Documentation

+ +

◆ OccupancyType

+ +
+
+ + + + +
enum rtabmap::RtabmapColorOcTreeNode::OccupancyType
+
+ +

Definition at line 56 of file OctoMap.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ RtabmapColorOcTreeNode() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::RtabmapColorOcTreeNode::RtabmapColorOcTreeNode ()
+ 		+inline
+
+ +

Definition at line 61 of file OctoMap.h.

+ +
+
+ +

◆ RtabmapColorOcTreeNode() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
rtabmap::RtabmapColorOcTreeNode::RtabmapColorOcTreeNode (const RtabmapColorOcTreeNode & rhs)
+ 		+inline
+
+ +

Definition at line 62 of file OctoMap.h.

+ +
+
+

Member Function Documentation

+ +

◆ setNodeRefId()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::RtabmapColorOcTreeNode::setNodeRefId (int nodeRefId)
+ 		+inline
+
+ +

Definition at line 64 of file OctoMap.h.

+ +
+
+ +

◆ setOccupancyType()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::RtabmapColorOcTreeNode::setOccupancyType (char type)
+ 		+inline
+
+ +

Definition at line 65 of file OctoMap.h.

+ +
+
+ +

◆ setPointRef()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::RtabmapColorOcTreeNode::setPointRef (const octomap::point3d & point)
+ 		+inline
+
+ +

Definition at line 66 of file OctoMap.h.

+ +
+
+ +

◆ getNodeRefId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::RtabmapColorOcTreeNode::getNodeRefId () const
+ 		+inline
+
+ +

Definition at line 67 of file OctoMap.h.

+ +
+
+ +

◆ getOccupancyType()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::RtabmapColorOcTreeNode::getOccupancyType () const
+ 		+inline
+
+ +

Definition at line 68 of file OctoMap.h.

+ +
+
+ +

◆ getPointRef()

+ +
+
+ + + + + +
+ + + + + + + +
const octomap::point3d & rtabmap::RtabmapColorOcTreeNode::getPointRef () const
+ 		+inline
+
+ +

Definition at line 69 of file OctoMap.h.

+ +
+
+

Friends And Related Symbol Documentation

+ +

◆ RtabmapColorOcTree

+ +
+
+ + + + + +
+ + + + +
friend class RtabmapColorOcTree
+ 		+friend
+
+ +

Definition at line 59 of file OctoMap.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/global_map/OctoMap.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::RtabmapColorOcTree::StaticMemberInitializer Member List
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+
+ +

This is the complete list of members for rtabmap::RtabmapColorOcTree::StaticMemberInitializer, including all inherited members.

+ + + +
ensureLinking()rtabmap::RtabmapColorOcTree::StaticMemberInitializerinline
StaticMemberInitializer() (defined in rtabmap::RtabmapColorOcTree::StaticMemberInitializer)rtabmap::RtabmapColorOcTree::StaticMemberInitializer
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html new file mode 100644 index 00000000..ef065a89 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree_1_1StaticMemberInitializer.html @@ -0,0 +1,136 @@ + + + + + + + + +RTAB-Map: rtabmap::RtabmapColorOcTree::StaticMemberInitializer Class Reference + + + + + + + + + + + + +
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RTAB-Map 0.23.10 +
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+Public Member Functions | +List of all members
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rtabmap::RtabmapColorOcTree::StaticMemberInitializer Class Reference
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+ +

#include <OctoMap.h>

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+Public Member Functions

void ensureLinking ()
 
+

Detailed Description

+

Static member object which ensures that this OcTree's prototype ends up in the classIDMapping only once. You need this as a static member in any derived octree class in order to read .ot files through the AbstractOcTree factory. You should also call ensureLinking() once from the constructor.

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Definition at line 159 of file OctoMap.h.

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Member Function Documentation

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◆ ensureLinking()

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void rtabmap::RtabmapColorOcTree::StaticMemberInitializer::ensureLinking ()
+ 		+inline
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+

Dummy function to ensure that MSVC does not drop the StaticMemberInitializer, causing this tree failing to register. Needs to be called from the constructor of this octree.

+ +

Definition at line 168 of file OctoMap.h.

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The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/global_map/OctoMap.h
    • +
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+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree__coll__graph.map new file mode 100644 index 00000000..78bdb253 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree__coll__graph.md5 new file mode 100644 index 00000000..641e02dd --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree__coll__graph.md5 @@ -0,0 +1 @@ +6e82c06adfafcad8224f03f82ec56f76 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapColorOcTree__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..4a83dd1bd81b51a58218515fc118ac659684d0f9 GIT binary patch literal 18242 zcmZ{M1yojB^ydYUR4JuflvD&H1PK8_TDn645d;CHTS`#66p=3J4r!H;P^6I#k?!u< z*Eh4)f7YydZ$0r5-*@l1=j{EfP0&LnnTz;T_y~erlzkwjiXfO9@b{Ov*zhOugaI{t zziAA7U(QRJX$gE%N#b1GoNyQAvhd5qI1CDtVD6Ux&mYAyQJ-oh(z?s8rkYbTQM71( zi)3c&9~|5>mTdik{>-<&7%igiQi;Gds()W*N?pSUwwV`1zxG5shPnP@Vd2`j3%=X~ zzak?e!y_WPe?7Vd@0LfF9&pL~zxUM?_}Ikz?+SJUr~Q0?WpK*Cp~;Fv$Gh zUzds1W_m5?qJRB*7)&cnCi(i3_58!tk(H53Vmi7|UmU{Jsw#?tf`a$lCfGtwtE0bC z_^RA!<5N?a?(U7ge9zdxd+F4qkyD!OIn(w%z0sHmth-liT8 zAxdpOYX7%}iFe(0m+^i*y{%4O!l~x$EEqyBmWYXoIiFitpQAe0O7E4{=G(d~1d;AvAJ@$Hv?737qavrdlo zdYghsE&4vGlzE=G*70xs{c#oUU~_9L4PNx2f`USf_4Bdn7&1<6@zc}O?Zc%)HEHPp z)q41D{0kTI?0%1o#3#C~-sxGecO5Y(GRF8lJgn;ISn;L!mga6{!%4{W^mOzrwZQZ6 zurR{ezkdhVPluP!y2Q>D-jZ`&_ww@kAnGAxQ1AZxsZ~6`b*h%3%l*Rfe7(x=U0q=} z4XV`(O(dmmKOYsu$H(t^dz6*rnR@>%S@-vds}_5!W9^RDl@k@xWWqATL=OYsym^ze z{5EBir8~*%RF*2_iM-?)brY;%v70TI>~Sz9?k6!l02? z#(15ZTIKVx@307-`%^f&b*_AT&qv=sHZh6e4+;uO?|%Apu)tuujU_3(yqu3#&{o_g zJ~lSC>}faC;lW&z#rAynpXq4{e}8`|sco;bJ+HoOHI@v|=Go}z%b4Qb-Q5~3*98RL zG0UcgPzzAe5SW-*k5u%Jcv@PrV3X2!#?%~14z#wj6l6NfIEPEG@-Y#zLGm@mlM5RdP?i9(_(GE3^D@^6OiaI(v z_DcgdRCD_^3XaD=zkD4ScvnQkVr96ze4I|jV!Fck3ucD<(e4VCx2l?2i~~IRyEk;p zKDAVR`}+0iVqbQ9Nql^~;R|hT?FWvIj&eRO2b*Sf@7Zs*HZ>7>vuhP}ls_8`jlH4w z#FjHSM9n(VS#o3W$=QU*o`KmxdkhDbHxCa_a0|cVvbO6|er5E|&6_v3VQB|PhSb#! zNW|QBt;`N~S4K=9KTiEfL_%z4W)_j1&3282h5Ck9q#a2Y><6*ZRq>>owk$Xr}p9>~l4CL|;nPSm;XsCo+U@%h)(2rDItUPOv2D__^u)u|fV zeRelOe{3UdYSOzZfel zBt*3mhE~D6lrbj~8xs@X$Vieuv$J2?+wqa`xVY@-D_5@E%j#tm7N%B==g;q{-wX+A zsnAjrmJ|^DJ3Bk|+dQc`T{en{iVB~AfZ%wugGC0w29bWZPGyt>=rl&DwWMtg8yJgy|XFJ}d$-ld4Yj5udg;(FepxAawV%}Z|Y0Os3 zvi>4`Tkt;>6w|_KD`>p{777SL0d#7jIMd| zi!TO3&2ROv;HH-0^S)2S<1TZwoCejGsY0Z)qdtBNUg*s-feO05y?tAdtfi%`yPFs` zyjleb*#2-`Rf+J1pJJMd%{2ii!&H37qoi=xC|t=4Op{2O(O6D%)2iq@>yD z=~9Kui~YHmsi||FN>fr+XhmG3dwP1JXP1|)hHIP(4HJ5^lzTtFoZB8q5OR2PiAGQy ztzsvK4t1xaqoecCe^W+B_20aGn-(u%vslh&Z}RN^!NCC>Eg2j_y7ZAs8!a{gezJge zIKK1HilQST?wvn>9;$tGF*jL5@k!y`OreBO=o({nZk3wFZ6yk!p`mCOP_OCQ;pUgh z5HLy<^{8&C;*gV-O@Y-^RZ{vX5+i1@-=YbRe3{s>Q1&>j;4Yr0I-mWqu;VfVV25gG zPQJ~JtAzhx%urg|mx-ZvIu8ITEmPlKb9|qO*(3 z)KX!?^Y_To?})21w_LZM-nJRn|2+YR^QxHG*{hafuQSgJlss6Pnwn30((#~YZ2SVBeeM8NIO-$Nxc_^iFyrYAF-s{+|Zm$)EL{Ajz41$tG-1q}=VcCa@ z9-TWqS@XKe!&6evZ)9G=X#&vTJ&zfFESJ&qqUSEl0yg7P4<6tGRtOe5JKn;$e>f?1 z|9*aRfIfnOX zbz7@5FS4F#3ArcL-c@BcLv;CaI;WOE;JHjW@ctJgU0e6ZX1@~7-~2y?DXbrNB=Gy13#CozhAz5!GQmsj#S(L zcxZX0CN7TB&}H@tF5@~>00gr~wgAv**nZZ)@Txto50kH1_lN|1v&K2kq|LpSGwCIO!&Bk=NSIW!7H`(j5hZ6D9RldHw>r9=L5 zf#(v&bsL)KVL0j-?RYu;`U0gysd?9Rrqt=_$3o8Q3_5yxy?{@0`fjkXrTF<_y?F5= zb!Tail(-w9HwwX^Q?rSQC0(Ms`vBfaV;Go5Y`{fo>9)4E=!67Co7xTRo#o$A_CnAv zGBPr{0p!Ywxb3EAD#oimeagBrR`bqOr$B8P_y_FSqlt9Q+=b=erE;{&%F4Pmj@IQX zxg+$cJ#!T!!^4r%X(>?V4kvvHzqhx)c|KZ|674kq>lL7IRsfQjN(pj+KQEJzNC0e2 zh5Jxl8pyYRhO*ORuBu9ckqqU8iiQwc5tXRBph2B$jH;?Cip2v6=?kL8wmNw)qfPA) z1;W)1&xRYk#A2eOS?$#KQu6>)@bK|zRESyjv2O0}W&(h2@9a!pU$;Hn88q4%4yG0e z_3`nsTn_ubzhRQ+{ym)WHavaZ22YXl=VKpUynGq-X}fBFJ}t~rgzV&SC(UlA1qG)G zVqS^0wY9j2nW*R)>{VG&i3T%2TG zB&WH*hI69Cl6gOZ=JNgOWLEY|ZafJv)8Fm_AXMF1PDs==@xlOi8@%-%#Ak3Cz?%*@;# zv1wT7=ZC_y>s7* zmh0ZYNQRrCs&tzAdLC1poXb#s;AEqf9?QGHphjBiP}bdgvF7vV?w$TmId;vL_p^U&Xe2gulqdk?O!X%qCyDSRv9aO=0-%hr ziijAnO_V=-7uhs;J#_f{_wNiqy)eZA;1)Uvr{>5WM_c!~>Rwj7G=5LdCzVxz^$n}w z8+;#67W_9oM-f@~y901G)<{vrCD(uS(K$isH39ie20p$kaE{d4E3JNGLiK=ZA&&bB z&gTpOa|D4}W;I$xY*T-59Uk8;>*3oU1??~q+l}e_i1a8I`c z1Y|m5Z^UfAInsP5$lkkPKlJ$}i=pR%nf>w*aiz^fOO8hFEjXvc7q#O^B5hR$b2Mx( zdr)1zKc~*F|IYgXQ!s`x27-0l=hLt{X30_?CAy-k@^xK7@0jsug&mvTa@7X{`^7|h zdV4pf-*QbSogK3j7&Tl1Ot+Agv^eHBzqS_k=@To>oflZ=urG+8ou1h3tr`dl3W`TE zkJh@Vtp!Lk`7|_$A;}uKn$9OXgLcb9+^~}y0qc`qR}cr9R}7piP4?kuvKzX_P-3fW zr+mg0KS!pEDU|=FpY#gS`3wi347TrpiB6J-!2c>o3S_w|)5S5Ez1Wp@<{88#tZFuLe0ehwPNVkWK1)}e)OYU}E_?dKnM zCW$pDnRG)h0s4(2@O<=PJI7C>!e=z%3nJt%|90L3X1U(ZQJ4(RSkUuW5XvVp@D6I~ zc-=4^C1N6nnj5=I)vl!LR0s=_+(Z7A((_N4Hz%p?`4xsUIQRl))DB72zQbKT;rH{; 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RTAB-Map 0.23.10 +
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rtabmap::RtabmapEvent Member List
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This is the complete list of members for rtabmap::RtabmapEvent, including all inherited members.

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getClassName() constrtabmap::RtabmapEventinlinevirtual
getCode() constUEventinline
getStats() const (defined in rtabmap::RtabmapEvent)rtabmap::RtabmapEventinline
RtabmapEvent(const Statistics &stats) (defined in rtabmap::RtabmapEvent)rtabmap::RtabmapEventinline
UEvent(int code=0)UEventinlineprotected
~RtabmapEvent() (defined in rtabmap::RtabmapEvent)rtabmap::RtabmapEventinlinevirtual
~UEvent() (defined in UEvent)UEventinlinevirtual
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+
+Public Member Functions | +List of all members
+
rtabmap::RtabmapEvent Class Reference
+
+
+
+Inheritance diagram for rtabmap::RtabmapEvent:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::RtabmapEvent:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + +

+Public Member Functions

 RtabmapEvent (const Statistics &stats)
 
const Statistics & getStats () const
 
virtual std::string getClassName () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+
+

Definition at line 42 of file RtabmapEvent.h.

+

Constructor & Destructor Documentation

+ +

◆ RtabmapEvent()

+ +
+
+ + + + + +
+ + + + + + + + +
rtabmap::RtabmapEvent::RtabmapEvent (const Statistics & stats)
+ 		+inline
+
+ +

Definition at line 45 of file RtabmapEvent.h.

+ +
+
+ +

◆ ~RtabmapEvent()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::RtabmapEvent::~RtabmapEvent ()
+ 		+inlinevirtual
+
+ +

Definition at line 49 of file RtabmapEvent.h.

+ +
+
+

Member Function Documentation

+ +

◆ getStats()

+ +
+
+ + + + + +
+ + + + + + + +
const Statistics & rtabmap::RtabmapEvent::getStats () const
+ 		+inline
+
+ +

Definition at line 50 of file RtabmapEvent.h.

+ +
+
+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::RtabmapEvent::getClassName () const
+ 		+inlinevirtual
+
+

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns
the class name
+ +

Implements UEvent.

+ +

Definition at line 51 of file RtabmapEvent.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap-members.html new file mode 100644 index 00000000..12d3faa6 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap-members.html @@ -0,0 +1,102 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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rtabmap::RtabmapEvent3DMap Member List
+
+
+ +

This is the complete list of members for rtabmap::RtabmapEvent3DMap, including all inherited members.

+ + + + + + + + + + + +
getClassName() constrtabmap::RtabmapEvent3DMapinlinevirtual
getCode() constUEventinline
getConstraints() const (defined in rtabmap::RtabmapEvent3DMap)rtabmap::RtabmapEvent3DMapinline
getPoses() const (defined in rtabmap::RtabmapEvent3DMap)rtabmap::RtabmapEvent3DMapinline
getSignatures() const (defined in rtabmap::RtabmapEvent3DMap)rtabmap::RtabmapEvent3DMapinline
RtabmapEvent3DMap(int codeError=0) (defined in rtabmap::RtabmapEvent3DMap)rtabmap::RtabmapEvent3DMapinline
RtabmapEvent3DMap(const std::map< int, Signature > &signatures, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints) (defined in rtabmap::RtabmapEvent3DMap)rtabmap::RtabmapEvent3DMapinline
UEvent(int code=0)UEventinlineprotected
~RtabmapEvent3DMap() (defined in rtabmap::RtabmapEvent3DMap)rtabmap::RtabmapEvent3DMapinlinevirtual
~UEvent() (defined in UEvent)UEventinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap.html new file mode 100644 index 00000000..cf0b7fc9 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapEvent3DMap.html @@ -0,0 +1,355 @@ + + + + + + + + +RTAB-Map: rtabmap::RtabmapEvent3DMap Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
+ + + + + + + + +
+
+ + +
+
+
+
+
+
Loading...
+
Searching...
+
No Matches
+
+
+
+
+ + +
+
+
+Public Member Functions | +List of all members
+
rtabmap::RtabmapEvent3DMap Class Reference
+
+
+
+Inheritance diagram for rtabmap::RtabmapEvent3DMap:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::RtabmapEvent3DMap:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + + + + +

+Public Member Functions

 RtabmapEvent3DMap (int codeError=0)
 
 RtabmapEvent3DMap (const std::map< int, Signature > &signatures, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints)
 
const std::map< int, Signature > & getSignatures () const
 
const std::map< int, Transform > & getPoses () const
 
const std::multimap< int, Link > & getConstraints () const
 
virtual std::string getClassName () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+
+

Definition at line 172 of file RtabmapEvent.h.

+

Constructor & Destructor Documentation

+ +

◆ RtabmapEvent3DMap() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
rtabmap::RtabmapEvent3DMap::RtabmapEvent3DMap (int codeError = 0)
+ 		+inline
+
+ +

Definition at line 175 of file RtabmapEvent.h.

+ +
+
+ +

◆ RtabmapEvent3DMap() [2/2]

+ +
+
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+ + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::RtabmapEvent3DMap::RtabmapEvent3DMap (const std::map< int, Signature > & signatures,
const std::map< int, Transform > & poses,
const std::multimap< int, Link > & constraints 
)
+ 		+inline
+
+ +

Definition at line 177 of file RtabmapEvent.h.

+ +
+
+ +

◆ ~RtabmapEvent3DMap()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::RtabmapEvent3DMap::~RtabmapEvent3DMap ()
+ 		+inlinevirtual
+
+ +

Definition at line 187 of file RtabmapEvent.h.

+ +
+
+

Member Function Documentation

+ +

◆ getSignatures()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, Signature > & rtabmap::RtabmapEvent3DMap::getSignatures () const
+ 		+inline
+
+ +

Definition at line 189 of file RtabmapEvent.h.

+ +
+
+ +

◆ getPoses()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, Transform > & rtabmap::RtabmapEvent3DMap::getPoses () const
+ 		+inline
+
+ +

Definition at line 190 of file RtabmapEvent.h.

+ +
+
+ +

◆ getConstraints()

+ +
+
+ + + + + +
+ + + + + + + +
const std::multimap< int, Link > & rtabmap::RtabmapEvent3DMap::getConstraints () const
+ 		+inline
+
+ +

Definition at line 191 of file RtabmapEvent.h.

+ +
+
+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::RtabmapEvent3DMap::getClassName () const
+ 		+inlinevirtual
+
+

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns
the class name
+ +

Implements UEvent.

+ +

Definition at line 193 of file RtabmapEvent.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::RtabmapEventCmd Member List
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This is the complete list of members for rtabmap::RtabmapEventCmd, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
Cmd enum name (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
d enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
dummy enum name (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
getClassName() constrtabmap::RtabmapEventCmdinlinevirtual
getCmd() const (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
getCode() constUEventinline
getParameters() const (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
kCmdCancelGoal enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdCleanDataBuffer enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdClose enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdDumpMemory enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdDumpPrediction enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdExportPoses enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdGenerateDOTGraph enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdGoal enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdInit enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdLabel enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdPause enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdPublish3DMap enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdRemoveLabel enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdRepublishData enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdResetMemory enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdResume enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdTriggerNewMap enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdUndef enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
kCmdUpdateParams enum value (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmd
RtabmapEventCmd(Cmd cmd, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
RtabmapEventCmd(Cmd cmd, const UVariant &value1, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
RtabmapEventCmd(Cmd cmd, const UVariant &value1, const UVariant &value2, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
RtabmapEventCmd(Cmd cmd, const UVariant &value1, const UVariant &value2, const UVariant &value3, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
RtabmapEventCmd(Cmd cmd, const UVariant &value1, const UVariant &value2, const UVariant &value3, const UVariant &value4, const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
UEvent(int code=0)UEventinlineprotected
value1() const (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
value2() const (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
value3() const (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
value4() const (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinline
~RtabmapEventCmd() (defined in rtabmap::RtabmapEventCmd)rtabmap::RtabmapEventCmdinlinevirtual
~UEvent() (defined in UEvent)UEventinlinevirtual
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+Public Types | +Public Member Functions | +List of all members
+
rtabmap::RtabmapEventCmd Class Reference
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+Inheritance diagram for rtabmap::RtabmapEventCmd:
+
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Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::RtabmapEventCmd:
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+ + + + + + +

+Public Types

enum  dummy { d + }
 
enum  Cmd {
+  kCmdUndef +, kCmdInit +, kCmdResetMemory +, kCmdClose +,
+  kCmdUpdateParams +, kCmdDumpMemory +, kCmdDumpPrediction +, kCmdGenerateDOTGraph +,
+  kCmdExportPoses +, kCmdCleanDataBuffer +, kCmdPublish3DMap +, kCmdRepublishData +,
+  kCmdTriggerNewMap +, kCmdPause +, kCmdResume +, kCmdGoal +,
+  kCmdCancelGoal +, kCmdLabel +, kCmdRemoveLabel +
+ }
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 RtabmapEventCmd (Cmd cmd, const ParametersMap &parameters=ParametersMap())
 
 RtabmapEventCmd (Cmd cmd, const UVariant &value1, const ParametersMap &parameters=ParametersMap())
 
 RtabmapEventCmd (Cmd cmd, const UVariant &value1, const UVariant &value2, const ParametersMap &parameters=ParametersMap())
 
 RtabmapEventCmd (Cmd cmd, const UVariant &value1, const UVariant &value2, const UVariant &value3, const ParametersMap &parameters=ParametersMap())
 
 RtabmapEventCmd (Cmd cmd, const UVariant &value1, const UVariant &value2, const UVariant &value3, const UVariant &value4, const ParametersMap &parameters=ParametersMap())
 
Cmd getCmd () const
 
const UVariant & value1 () const
 
const UVariant & value2 () const
 
const UVariant & value3 () const
 
const UVariant & value4 () const
 
const ParametersMap & getParameters () const
 
virtual std::string getClassName () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+
+

Definition at line 57 of file RtabmapEvent.h.

+

Member Enumeration Documentation

+ +

◆ dummy

+ +
+
+ + + + +
enum rtabmap::RtabmapEventCmd::dummy
+
+ +

Definition at line 60 of file RtabmapEvent.h.

+ +
+
+ +

◆ Cmd

+ +
+
+ + + + +
enum rtabmap::RtabmapEventCmd::Cmd
+
+ +

Definition at line 61 of file RtabmapEvent.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ RtabmapEventCmd() [1/5]

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rtabmap::RtabmapEventCmd::RtabmapEventCmd (Cmd cmd,
const ParametersMap & parameters = ParametersMap() 
)
+ 		+inline
+
+ +

Definition at line 83 of file RtabmapEvent.h.

+ +
+
+ +

◆ RtabmapEventCmd() [2/5]

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rtabmap::RtabmapEventCmd::RtabmapEventCmd (Cmd cmd,
const UVariant & value1,
const ParametersMap & parameters = ParametersMap() 
)
+ 		+inline
+
+ +

Definition at line 87 of file RtabmapEvent.h.

+ +
+
+ +

◆ RtabmapEventCmd() [3/5]

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rtabmap::RtabmapEventCmd::RtabmapEventCmd (Cmd cmd,
const UVariant & value1,
const UVariant & value2,
const ParametersMap & parameters = ParametersMap() 
)
+ 		+inline
+
+ +

Definition at line 92 of file RtabmapEvent.h.

+ +
+
+ +

◆ RtabmapEventCmd() [4/5]

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rtabmap::RtabmapEventCmd::RtabmapEventCmd (Cmd cmd,
const UVariant & value1,
const UVariant & value2,
const UVariant & value3,
const ParametersMap & parameters = ParametersMap() 
)
+ 		+inline
+
+ +

Definition at line 98 of file RtabmapEvent.h.

+ +
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+ +

◆ RtabmapEventCmd() [5/5]

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rtabmap::RtabmapEventCmd::RtabmapEventCmd (Cmd cmd,
const UVariant & value1,
const UVariant & value2,
const UVariant & value3,
const UVariant & value4,
const ParametersMap & parameters = ParametersMap() 
)
+ 		+inline
+
+ +

Definition at line 105 of file RtabmapEvent.h.

+ +
+
+ +

◆ ~RtabmapEventCmd()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::RtabmapEventCmd::~RtabmapEventCmd ()
+ 		+inlinevirtual
+
+ +

Definition at line 114 of file RtabmapEvent.h.

+ +
+
+

Member Function Documentation

+ +

◆ getCmd()

+ +
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+ + + + + + + +
Cmd rtabmap::RtabmapEventCmd::getCmd () const
+ 		+inline
+
+ +

Definition at line 115 of file RtabmapEvent.h.

+ +
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+ +

◆ value1()

+ +
+
+ + + + + +
+ + + + + + + +
const UVariant & rtabmap::RtabmapEventCmd::value1 () const
+ 		+inline
+
+ +

Definition at line 117 of file RtabmapEvent.h.

+ +
+
+ +

◆ value2()

+ +
+
+ + + + + +
+ + + + + + + +
const UVariant & rtabmap::RtabmapEventCmd::value2 () const
+ 		+inline
+
+ +

Definition at line 118 of file RtabmapEvent.h.

+ +
+
+ +

◆ value3()

+ +
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+ + + + + +
+ + + + + + + +
const UVariant & rtabmap::RtabmapEventCmd::value3 () const
+ 		+inline
+
+ +

Definition at line 119 of file RtabmapEvent.h.

+ +
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+ +

◆ value4()

+ +
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+ + + + + +
+ + + + + + + +
const UVariant & rtabmap::RtabmapEventCmd::value4 () const
+ 		+inline
+
+ +

Definition at line 120 of file RtabmapEvent.h.

+ +
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◆ getParameters()

+ +
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+ + + + + + + +
const ParametersMap & rtabmap::RtabmapEventCmd::getParameters () const
+ 		+inline
+
+ +

Definition at line 122 of file RtabmapEvent.h.

+ +
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◆ getClassName()

+ +
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+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::RtabmapEventCmd::getClassName () const
+ 		+inlinevirtual
+
+

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns
the class name
+ +

Implements UEvent.

+ +

Definition at line 124 of file RtabmapEvent.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::RtabmapEventInit Member List
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This is the complete list of members for rtabmap::RtabmapEventInit, including all inherited members.

+ + + + + + + + + + + + + + + + + + + +
d enum value (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInit
dummy enum name (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInit
getClassName() constrtabmap::RtabmapEventInitinlinevirtual
getCode() constUEventinline
getInfo() const (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInitinline
getStatus() const (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInitinline
kClosed enum value (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInit
kClosing enum value (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInit
kError enum value (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInit
kInfo enum value (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInit
kInitialized enum value (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInit
kInitializing enum value (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInit
RtabmapEventInit(Status status, const std::string &info=std::string()) (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInitinline
RtabmapEventInit(const std::string &info) (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInitinline
Status enum name (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInit
UEvent(int code=0)UEventinlineprotected
~RtabmapEventInit() (defined in rtabmap::RtabmapEventInit)rtabmap::RtabmapEventInitinlinevirtual
~UEvent() (defined in UEvent)UEventinlinevirtual
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+Public Types | +Public Member Functions | +List of all members
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rtabmap::RtabmapEventInit Class Reference
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+Inheritance diagram for rtabmap::RtabmapEventInit:
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Inheritance graph
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+Collaboration diagram for rtabmap::RtabmapEventInit:
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+Public Types

enum  dummy { d + }
 
enum  Status {
+  kInitializing +, kInitialized +, kClosing +, kClosed +,
+  kInfo +, kError +
+ }
 
+ + + + + + + + + + + + + + +

+Public Member Functions

 RtabmapEventInit (Status status, const std::string &info=std::string())
 
 RtabmapEventInit (const std::string &info)
 
Status getStatus () const
 
const std::string & getInfo () const
 
virtual std::string getClassName () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+
+

Definition at line 135 of file RtabmapEvent.h.

+

Member Enumeration Documentation

+ +

◆ dummy

+ +
+
+ + + + +
enum rtabmap::RtabmapEventInit::dummy
+
+ +

Definition at line 138 of file RtabmapEvent.h.

+ +
+
+ +

◆ Status

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+
+ + + + +
enum rtabmap::RtabmapEventInit::Status
+
+ +

Definition at line 139 of file RtabmapEvent.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ RtabmapEventInit() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
rtabmap::RtabmapEventInit::RtabmapEventInit (Status status,
const std::string & info = std::string() 
)
+ 		+inline
+
+ +

Definition at line 149 of file RtabmapEvent.h.

+ +
+
+ +

◆ RtabmapEventInit() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
rtabmap::RtabmapEventInit::RtabmapEventInit (const std::string & info)
+ 		+inline
+
+ +

Definition at line 156 of file RtabmapEvent.h.

+ +
+
+ +

◆ ~RtabmapEventInit()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::RtabmapEventInit::~RtabmapEventInit ()
+ 		+inlinevirtual
+
+ +

Definition at line 165 of file RtabmapEvent.h.

+ +
+
+

Member Function Documentation

+ +

◆ getStatus()

+ +
+
+ + + + + +
+ + + + + + + +
Status rtabmap::RtabmapEventInit::getStatus () const
+ 		+inline
+
+ +

Definition at line 162 of file RtabmapEvent.h.

+ +
+
+ +

◆ getInfo()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::RtabmapEventInit::getInfo () const
+ 		+inline
+
+ +

Definition at line 163 of file RtabmapEvent.h.

+ +
+
+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::RtabmapEventInit::getClassName () const
+ 		+inlinevirtual
+
+

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns
the class name
+ +

Implements UEvent.

+ +

Definition at line 166 of file RtabmapEvent.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::RtabmapGlobalPathEvent Member List
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This is the complete list of members for rtabmap::RtabmapGlobalPathEvent, including all inherited members.

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getClassName() constrtabmap::RtabmapGlobalPathEventinlinevirtual
getCode() constUEventinline
getGoal() const (defined in rtabmap::RtabmapGlobalPathEvent)rtabmap::RtabmapGlobalPathEventinline
getGoalLabel() const (defined in rtabmap::RtabmapGlobalPathEvent)rtabmap::RtabmapGlobalPathEventinline
getPlanningTime() const (defined in rtabmap::RtabmapGlobalPathEvent)rtabmap::RtabmapGlobalPathEventinline
getPoses() const (defined in rtabmap::RtabmapGlobalPathEvent)rtabmap::RtabmapGlobalPathEventinline
RtabmapGlobalPathEvent() (defined in rtabmap::RtabmapGlobalPathEvent)rtabmap::RtabmapGlobalPathEventinline
RtabmapGlobalPathEvent(int goalId, const std::vector< std::pair< int, Transform > > &poses, double planningTime) (defined in rtabmap::RtabmapGlobalPathEvent)rtabmap::RtabmapGlobalPathEventinline
RtabmapGlobalPathEvent(int goalId, const std::string &goalLabel, const std::vector< std::pair< int, Transform > > &poses, double planningTime) (defined in rtabmap::RtabmapGlobalPathEvent)rtabmap::RtabmapGlobalPathEventinline
UEvent(int code=0)UEventinlineprotected
~RtabmapGlobalPathEvent() (defined in rtabmap::RtabmapGlobalPathEvent)rtabmap::RtabmapGlobalPathEventinlinevirtual
~UEvent() (defined in UEvent)UEventinlinevirtual
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rtabmap::RtabmapGlobalPathEvent Class Reference
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+Inheritance diagram for rtabmap::RtabmapGlobalPathEvent:
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+Public Member Functions

 RtabmapGlobalPathEvent (int goalId, const std::vector< std::pair< int, Transform > > &poses, double planningTime)
 
 RtabmapGlobalPathEvent (int goalId, const std::string &goalLabel, const std::vector< std::pair< int, Transform > > &poses, double planningTime)
 
int getGoal () const
 
const std::string & getGoalLabel () const
 
double getPlanningTime () const
 
const std::vector< std::pair< int, Transform > > & getPoses () const
 
virtual std::string getClassName () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+
+

Definition at line 201 of file RtabmapEvent.h.

+

Constructor & Destructor Documentation

+ +

◆ RtabmapGlobalPathEvent() [1/3]

+ +
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+ + + + + +
+ + + + + + + +
rtabmap::RtabmapGlobalPathEvent::RtabmapGlobalPathEvent ()
+ 		+inline
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+ +

Definition at line 204 of file RtabmapEvent.h.

+ +
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+ +

◆ RtabmapGlobalPathEvent() [2/3]

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rtabmap::RtabmapGlobalPathEvent::RtabmapGlobalPathEvent (int goalId,
const std::vector< std::pair< int, Transform > > & poses,
double planningTime 
)
+ 		+inline
+
+ +

Definition at line 207 of file RtabmapEvent.h.

+ +
+
+ +

◆ RtabmapGlobalPathEvent() [3/3]

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rtabmap::RtabmapGlobalPathEvent::RtabmapGlobalPathEvent (int goalId,
const std::string & goalLabel,
const std::vector< std::pair< int, Transform > > & poses,
double planningTime 
)
+ 		+inline
+
+ +

Definition at line 214 of file RtabmapEvent.h.

+ +
+
+ +

◆ ~RtabmapGlobalPathEvent()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::RtabmapGlobalPathEvent::~RtabmapGlobalPathEvent ()
+ 		+inlinevirtual
+
+ +

Definition at line 224 of file RtabmapEvent.h.

+ +
+
+

Member Function Documentation

+ +

◆ getGoal()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::RtabmapGlobalPathEvent::getGoal () const
+ 		+inline
+
+ +

Definition at line 225 of file RtabmapEvent.h.

+ +
+
+ +

◆ getGoalLabel()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::RtabmapGlobalPathEvent::getGoalLabel () const
+ 		+inline
+
+ +

Definition at line 226 of file RtabmapEvent.h.

+ +
+
+ +

◆ getPlanningTime()

+ +
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+ + + + + +
+ + + + + + + +
double rtabmap::RtabmapGlobalPathEvent::getPlanningTime () const
+ 		+inline
+
+ +

Definition at line 227 of file RtabmapEvent.h.

+ +
+
+ +

◆ getPoses()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< std::pair< int, Transform > > & rtabmap::RtabmapGlobalPathEvent::getPoses () const
+ 		+inline
+
+ +

Definition at line 228 of file RtabmapEvent.h.

+ +
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+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::RtabmapGlobalPathEvent::getClassName () const
+ 		+inlinevirtual
+
+

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns
the class name
+ +

Implements UEvent.

+ +

Definition at line 229 of file RtabmapEvent.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::RtabmapGoalStatusEvent Member List
+
+
+ +

This is the complete list of members for rtabmap::RtabmapGoalStatusEvent, including all inherited members.

+ + + + + + + +
getClassName() constrtabmap::RtabmapGoalStatusEventinlinevirtual
getCode() constUEventinline
RtabmapGoalStatusEvent(int status) (defined in rtabmap::RtabmapGoalStatusEvent)rtabmap::RtabmapGoalStatusEventinline
UEvent(int code=0)UEventinlineprotected
~RtabmapGoalStatusEvent() (defined in rtabmap::RtabmapGoalStatusEvent)rtabmap::RtabmapGoalStatusEventinlinevirtual
~UEvent() (defined in UEvent)UEventinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapGoalStatusEvent.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapGoalStatusEvent.html new file mode 100644 index 00000000..ce9075e0 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapGoalStatusEvent.html @@ -0,0 +1,222 @@ + + + + + + + + +RTAB-Map: rtabmap::RtabmapGoalStatusEvent Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
+
rtabmap::RtabmapGoalStatusEvent Class Reference
+
+
+
+Inheritance diagram for rtabmap::RtabmapGoalStatusEvent:
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+
Inheritance graph
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[legend]
+
+Collaboration diagram for rtabmap::RtabmapGoalStatusEvent:
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Collaboration graph
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[legend]
+ + + + + + + + + +

+Public Member Functions

 RtabmapGoalStatusEvent (int status)
 
virtual std::string getClassName () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+
+

Definition at line 253 of file RtabmapEvent.h.

+

Constructor & Destructor Documentation

+ +

◆ RtabmapGoalStatusEvent()

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rtabmap::RtabmapGoalStatusEvent::RtabmapGoalStatusEvent (int status)
+ 		+inline
+
+ +

Definition at line 256 of file RtabmapEvent.h.

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◆ ~RtabmapGoalStatusEvent()

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virtual rtabmap::RtabmapGoalStatusEvent::~RtabmapGoalStatusEvent ()
+ 		+inlinevirtual
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+ +

Definition at line 259 of file RtabmapEvent.h.

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+

Member Function Documentation

+ +

◆ getClassName()

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virtual std::string rtabmap::RtabmapGoalStatusEvent::getClassName () const
+ 		+inlinevirtual
+
+

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns
the class name
+ +

Implements UEvent.

+ +

Definition at line 260 of file RtabmapEvent.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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This is the complete list of members for rtabmap::RtabmapLabelErrorEvent, including all inherited members.

+ + + + + + + + + +
getClassName() constrtabmap::RtabmapLabelErrorEventinlinevirtual
getCode() constUEventinline
id() const (defined in rtabmap::RtabmapLabelErrorEvent)rtabmap::RtabmapLabelErrorEventinline
label() const (defined in rtabmap::RtabmapLabelErrorEvent)rtabmap::RtabmapLabelErrorEventinline
RtabmapLabelErrorEvent(int id, const std::string &label) (defined in rtabmap::RtabmapLabelErrorEvent)rtabmap::RtabmapLabelErrorEventinline
UEvent(int code=0)UEventinlineprotected
~RtabmapLabelErrorEvent() (defined in rtabmap::RtabmapLabelErrorEvent)rtabmap::RtabmapLabelErrorEventinlinevirtual
~UEvent() (defined in UEvent)UEventinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent.html new file mode 100644 index 00000000..1e1dfa5f --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapLabelErrorEvent.html @@ -0,0 +1,290 @@ + + + + + + + + +RTAB-Map: rtabmap::RtabmapLabelErrorEvent Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
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rtabmap::RtabmapLabelErrorEvent Class Reference
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+Inheritance diagram for rtabmap::RtabmapLabelErrorEvent:
+
+
Inheritance graph
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+Collaboration diagram for rtabmap::RtabmapLabelErrorEvent:
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+ + + + + + + + + + + + + +

+Public Member Functions

 RtabmapLabelErrorEvent (int id, const std::string &label)
 
int id () const
 
const std::string & label () const
 
virtual std::string getClassName () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+
+

Definition at line 237 of file RtabmapEvent.h.

+

Constructor & Destructor Documentation

+ +

◆ RtabmapLabelErrorEvent()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
rtabmap::RtabmapLabelErrorEvent::RtabmapLabelErrorEvent (int id,
const std::string & label 
)
+ 		+inline
+
+ +

Definition at line 240 of file RtabmapEvent.h.

+ +
+
+ +

◆ ~RtabmapLabelErrorEvent()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::RtabmapLabelErrorEvent::~RtabmapLabelErrorEvent ()
+ 		+inlinevirtual
+
+ +

Definition at line 244 of file RtabmapEvent.h.

+ +
+
+

Member Function Documentation

+ +

◆ id()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::RtabmapLabelErrorEvent::id () const
+ 		+inline
+
+ +

Definition at line 245 of file RtabmapEvent.h.

+ +
+
+ +

◆ label()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::RtabmapLabelErrorEvent::label () const
+ 		+inline
+
+ +

Definition at line 246 of file RtabmapEvent.h.

+ +
+
+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::RtabmapLabelErrorEvent::getClassName () const
+ 		+inlinevirtual
+
+

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns
the class name
+ +

Implements UEvent.

+ +

Definition at line 247 of file RtabmapEvent.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::RtabmapThread Member List
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This is the complete list of members for rtabmap::RtabmapThread, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
clearBufferedData() (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
close(bool databaseSaved, const std::string &databasePath="")rtabmap::RtabmapThread
Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
createIntermediateNodes(bool enabled) (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
currentThreadId() (defined in UThread)UThreadinlinestatic
Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
getCreateIntermediateNodes() const (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThreadinline
getDataBufferSize() const (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThreadinline
getDetectorRate() const (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThreadinline
getThreadHandle() const (defined in UThread)UThreadinline
getThreadId() const (defined in UThread)UThreadinline
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handle typedef (defined in UThreadC< void >)UThreadC< void >
handleEvent(UEvent *anEvent)rtabmap::RtabmapThreadprotectedvirtual
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
isCreating() constUThread
isIdle() constUThread
isKilled() constUThread
isRunning() constUThread
join(bool killFirst=false)UThread
Join(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kill()UThread
Kill(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kPAboveNormal enum value (defined in UThread)UThread
kPBelowNormal enum value (defined in UThread)UThread
kPLow enum value (defined in UThread)UThread
kPNormal enum value (defined in UThread)UThread
kPRealTime enum value (defined in UThread)UThread
kStateDetecting enum value (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
kStateProcessCommand enum value (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
post(UEvent *event, bool async=true) constUEventsSenderprotected
Priority enum nameUThread
registerToEventsManager() (defined in UEventsHandler)UEventsHandler
RtabmapThread(Rtabmap *rtabmap) (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
setAffinity(int cpu=0)UThread
setDataBufferSize(unsigned int bufferSize) (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
setDetectorRate(float rate) (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
setPriority(Priority priority)UThread
start()UThread
State enum name (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThread
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
UEventsHandler()UEventsHandlerinlineprotected
UEventsSender() (defined in UEventsSender)UEventsSenderinline
unregisterFromEventsManager() (defined in UEventsHandler)UEventsHandler
UThread(Priority priority=kPNormal)UThread
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
~RtabmapThread() (defined in rtabmap::RtabmapThread)rtabmap::RtabmapThreadvirtual
~UEventsHandler()UEventsHandlerprotectedvirtual
~UEventsSender() (defined in UEventsSender)UEventsSendervirtual
~UThread()UThreadvirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread.html b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread.html new file mode 100644 index 00000000..14f95c55 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1RtabmapThread.html @@ -0,0 +1,443 @@ + + + + + + + + +RTAB-Map: rtabmap::RtabmapThread Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+Public Types | +Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::RtabmapThread Class Reference
+
+
+
+Inheritance diagram for rtabmap::RtabmapThread:
+
+
Inheritance graph
+ + + + + + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::RtabmapThread:
+
+
Collaboration graph
+ + + + + + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + +

+Public Types

enum  State { kStateDetecting +, kStateProcessCommand + }
 
- Public Types inherited from UThread
enum  Priority {
+  kPLow +, kPBelowNormal +, kPNormal +, kPAboveNormal +,
+  kPRealTime +
+ }
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ RtabmapThread (Rtabmap *rtabmap)
 
+void clearBufferedData ()
 
+void setDetectorRate (float rate)
 
+void setDataBufferSize (unsigned int bufferSize)
 
+void createIntermediateNodes (bool enabled)
 
float getDetectorRate () const
 
unsigned int getDataBufferSize () const
 
bool getCreateIntermediateNodes () const
 
void close (bool databaseSaved, const std::string &databasePath="")
 
- Public Member Functions inherited from UThread
 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
void start ()
 
void kill ()
 
void join (bool killFirst=false)
 
void setPriority (Priority priority)
 
void setAffinity (int cpu=0)
 
bool isCreating () const
 
bool isRunning () const
 
bool isIdle () const
 
bool isKilled () const
 
Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
- Public Member Functions inherited from UEventsHandler
+void registerToEventsManager ()
 
+void unregisterFromEventsManager ()
 
+ + + + + + + + + + + +

+Protected Member Functions

virtual bool handleEvent (UEvent *anEvent)
 
- Protected Member Functions inherited from UEventsHandler
 UEventsHandler ()
 
virtual ~UEventsHandler ()
 
- Protected Member Functions inherited from UEventsSender
void post (UEvent *event, bool async=true) const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Static Public Member Functions inherited from UThread
static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+

Detailed Description

+
+

Definition at line 51 of file RtabmapThread.h.

+

Member Enumeration Documentation

+ +

◆ State

+ +
+
+ + + + +
enum rtabmap::RtabmapThread::State
+
+ +

Definition at line 56 of file RtabmapThread.h.

+ +
+
+

Member Function Documentation

+ +

◆ getDetectorRate()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::RtabmapThread::getDetectorRate () const
+ 		+inline
+
+ +

Definition at line 71 of file RtabmapThread.h.

+ +
+
+ +

◆ getDataBufferSize()

+ +
+
+ + + + + +
+ + + + + + + +
unsigned int rtabmap::RtabmapThread::getDataBufferSize () const
+ 		+inline
+
+ +

Definition at line 72 of file RtabmapThread.h.

+ +
+
+ +

◆ getCreateIntermediateNodes()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::RtabmapThread::getCreateIntermediateNodes () const
+ 		+inline
+
+ +

Definition at line 73 of file RtabmapThread.h.

+ +
+
+ +

◆ close()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::RtabmapThread::close (bool databaseSaved,
const std::string & databasePath = "" 
)
+
+

Close rtabmap. This will delete rtabmap object if set.

Parameters
+ + + +
databaseSavedtrue=database saved, false=database discarded.
databasePathoutput database file name, ignored if Db/Sqlite3InMemory=false (opened database is then overwritten).
+
+
+ +
+
+ +

◆ handleEvent()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual bool rtabmap::RtabmapThread::handleEvent (UEvent * event)
+ 		+protectedvirtual
+
+

Method called by the UEventsManager to handle an event. Important : this method must do a minimum of work because the faster the dispatching loop is done; the faster the events are received. If a handling function takes too much time, the events list can grow faster than it is emptied. The event can be modified.

Returns
"true" to notify UEventsManager that this handler took ownership of the event (meaning it must delete it). The event will not be dispatched to next handlers.
+
+"false" to let event be dispatched to next handlers (default behavior). UEventsManager will take care of deleting the event.
+ +

Implements UEventsHandler.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::RvlCodec Member List
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This is the complete list of members for rtabmap::RvlCodec, including all inherited members.

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CompressRVL(const uint16_t *input, unsigned char *output, int numPixels) (defined in rtabmap::RvlCodec)rtabmap::RvlCodec
DecompressRVL(const unsigned char *input, uint16_t *output, int numPixels) (defined in rtabmap::RvlCodec)rtabmap::RvlCodec
RvlCodec() (defined in rtabmap::RvlCodec)rtabmap::RvlCodec
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rtabmap::RvlCodec Class Reference
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+Public Member Functions

+int CompressRVL (const uint16_t *input, unsigned char *output, int numPixels)
 
+void DecompressRVL (const unsigned char *input, uint16_t *output, int numPixels)
 
+

Detailed Description

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+

Definition at line 14 of file rvl_codec.h.

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The documentation for this class was generated from the following file: +
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computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::SIFT)rtabmap::SIFTinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::SIFTvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::SIFT)rtabmap::SIFTvirtual
SIFT(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::SIFT)rtabmap::SIFT
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~SIFT() (defined in rtabmap::SIFT)rtabmap::SIFTvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SIFT.html b/preview/pr-1492/api/latest/classrtabmap_1_1SIFT.html new file mode 100644 index 00000000..b70492f0 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SIFT.html @@ -0,0 +1,343 @@ + + + + + + + + +RTAB-Map: rtabmap::SIFT Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
+
rtabmap::SIFT Class Reference
+
+
+ +

SIFT detector and descriptor (optional GPU / CudaSift). + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::SIFT:
+
+
Inheritance graph
+ + + + + +
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+
+Collaboration diagram for rtabmap::SIFT:
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ SIFT (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

SIFT detector and descriptor (optional GPU / CudaSift).

+ +

Definition at line 348 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::SIFT::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::SIFT::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 355 of file Features2d.h.

+ +
+
+ +

◆ isGpuAvailable()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::SIFT::isGpuAvailable () const
+ 		+overridevirtual
+
+ +

Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.

+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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zkS!e@Cz1?N%3ZGbEw8R_8F2M_TLaKH(rMF|o0Vf0bn^B(z)Y@3Q{tYHDIN zdlx4R$S(x$KC=oOB2E$@+-sCao?K|z5@mKxpxzJ=)OmUGU` z%zWW)7hd>Zh8*lsz;ys!>jg);!rt%SFLQHKQc}1B0s?k-cYpo+@AtsQ!}f$z;^_Jicobo1Q}nXz#bh4Lmh@+iZi$ZTqLwY$^`Cn+yK53~%F zHkwLx)7RH8`;19V)ejC>uqZSM1XoSFte~o9gYZ5cm)KC$5EEm+WU9>Lqb9V z({9FsCWN8d6S;cUSTjpYFJHTMZI9aesq}%znH)19ls|^0;+%6CgBg{s7az*1D*s + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::SURF Member List
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This is the complete list of members for rtabmap::SURF, including all inherited members.

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computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::SURF)rtabmap::SURFinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::SURFvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::SURF)rtabmap::SURFvirtual
SURF(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::SURF)rtabmap::SURF
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~SURF() (defined in rtabmap::SURF)rtabmap::SURFvirtual
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rtabmap::SURF Class Reference
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+ +

SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build). + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::SURF:
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Inheritance graph
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+Collaboration diagram for rtabmap::SURF:
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+Public Member Functions

+ SURF (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build).

+ +

Definition at line 320 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::SURF::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::SURF::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 327 of file Features2d.h.

+ +
+
+ +

◆ isGpuAvailable()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::SURF::isGpuAvailable () const
+ 		+overridevirtual
+
+ +

Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.

+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SURF__DAISY-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1SURF__DAISY-members.html new file mode 100644 index 00000000..3f234102 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SURF__DAISY-members.html @@ -0,0 +1,147 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
+
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rtabmap::SURF_DAISY Member List
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This is the complete list of members for rtabmap::SURF_DAISY, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::SURF_DAISY)rtabmap::SURF_DAISYinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::SURFvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::SURF_DAISY)rtabmap::SURF_DAISYvirtual
SURF(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::SURF)rtabmap::SURF
SURF_DAISY(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::SURF_DAISY)rtabmap::SURF_DAISY
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~SURF() (defined in rtabmap::SURF)rtabmap::SURFvirtual
~SURF_DAISY() (defined in rtabmap::SURF_DAISY)rtabmap::SURF_DAISYvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SURF__DAISY.html b/preview/pr-1492/api/latest/classrtabmap_1_1SURF__DAISY.html new file mode 100644 index 00000000..6a3d11ef --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SURF__DAISY.html @@ -0,0 +1,322 @@ + + + + + + + + +RTAB-Map: rtabmap::SURF_DAISY Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
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+Public Member Functions | +List of all members
+
rtabmap::SURF_DAISY Class Reference
+
+
+ +

SURF detector + DAISY descriptors (OpenCV 3+ xfeatures2d). + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::SURF_DAISY:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+
+Collaboration diagram for rtabmap::SURF_DAISY:
+
+
Collaboration graph
+ + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ SURF_DAISY (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
- Public Member Functions inherited from rtabmap::SURF
+ SURF (const ParametersMap &parameters=ParametersMap())
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

SURF detector + DAISY descriptors (OpenCV 3+ xfeatures2d).

+ +

Definition at line 747 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::SURF_DAISY::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::SURF.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::SURF_DAISY::getType () const
+ 		+inlineoverridevirtual
+
+ +

Reimplemented from rtabmap::SURF.

+ +

Definition at line 754 of file Features2d.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::SURF_FREAK Member List
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This is the complete list of members for rtabmap::SURF_FREAK, including all inherited members.

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computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::SURF_FREAK)rtabmap::SURF_FREAKinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::SURFvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::SURF_FREAK)rtabmap::SURF_FREAKvirtual
SURF(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::SURF)rtabmap::SURF
SURF_FREAK(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::SURF_FREAK)rtabmap::SURF_FREAK
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~SURF() (defined in rtabmap::SURF)rtabmap::SURFvirtual
~SURF_FREAK() (defined in rtabmap::SURF_FREAK)rtabmap::SURF_FREAKvirtual
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rtabmap::SURF_FREAK Class Reference
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SURF detector + FREAK descriptors. + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::SURF_FREAK:
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Inheritance graph
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+Collaboration diagram for rtabmap::SURF_FREAK:
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+Public Member Functions

+ SURF_FREAK (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
- Public Member Functions inherited from rtabmap::SURF
+ SURF (const ParametersMap &parameters=ParametersMap())
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

SURF detector + FREAK descriptors.

+ +

Definition at line 559 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::SURF_FREAK::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::SURF.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::SURF_FREAK::getType () const
+ 		+inlineoverridevirtual
+
+ +

Reimplemented from rtabmap::SURF.

+ +

Definition at line 566 of file Features2d.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SURF__FREAK__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1SURF__FREAK__coll__graph.map new file mode 100644 index 00000000..442aca12 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SURF__FREAK__coll__graph.map @@ -0,0 +1,7 @@ + + + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SURF__FREAK__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1SURF__FREAK__coll__graph.md5 new file mode 100644 index 00000000..269b5b41 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SURF__FREAK__coll__graph.md5 @@ -0,0 +1 @@ +420b9b70d686f5fdea869302f8c06b14 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SURF__FREAK__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1SURF__FREAK__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..e71a30dfd99b35c2217472f26e1afab01656c130 GIT binary patch literal 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rtabmap::SensorCapture Member List
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This is the complete list of members for rtabmap::SensorCapture, including all inherited members.

+ + + + + + + + + + + + + + + +
captureData(SensorCaptureInfo *info=0)=0rtabmap::SensorCaptureprotectedpure virtual
getFrameRate() constrtabmap::SensorCaptureinline
getLocalTransform() constrtabmap::SensorCaptureinline
getNextSeqID()rtabmap::SensorCaptureinlineprotected
getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)rtabmap::SensorCaptureinlinevirtual
getSerial() const =0rtabmap::SensorCapturepure virtual
init(const std::string &calibrationFolder=".", const std::string &cameraName="")=0rtabmap::SensorCapturepure virtual
odomProvided() constrtabmap::SensorCaptureinlinevirtual
resetTimer()rtabmap::SensorCapture
SensorCapture(float frameRate=0, const Transform &localTransform=Transform::getIdentity())rtabmap::SensorCaptureprotected
setFrameRate(float frameRate)rtabmap::SensorCaptureinline
setLocalTransform(const Transform &localTransform)rtabmap::SensorCaptureinline
takeData(SensorCaptureInfo *info=0)rtabmap::SensorCapture
~SensorCapture()rtabmap::SensorCapturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SensorCapture.html b/preview/pr-1492/api/latest/classrtabmap_1_1SensorCapture.html new file mode 100644 index 00000000..a68c03f6 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SensorCapture.html @@ -0,0 +1,748 @@ + + + + + + + + +RTAB-Map: rtabmap::SensorCapture Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::SensorCapture Class Referenceabstract
+
+
+ +

Abstract base class for sensor data capture (cameras, lidars, etc.) + More...

+ +

#include <SensorCapture.h>

+
+Inheritance diagram for rtabmap::SensorCapture:
+
+
Inheritance graph
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+virtual ~SensorCapture ()
 Virtual destructor.
 
SensorData takeData (SensorCaptureInfo *info=0)
 Captures sensor data with frame rate control.
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")=0
 Initializes the sensor.
 
virtual std::string getSerial () const =0
 Returns the sensor's serial number or unique identifier.
 
virtual bool odomProvided () const
 Checks if the sensor provides odometry poses.
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 Gets the sensor's pose estimate at a specific timestamp.
 
float getFrameRate () const
 Returns the target frame rate.
 
const Transform & getLocalTransform () const
 Returns the local transform from base frame to sensor frame.
 
void setFrameRate (float frameRate)
 Sets the target frame rate.
 
void setLocalTransform (const Transform &localTransform)
 Sets the local transform from base frame to sensor frame.
 
void resetTimer ()
 Resets the frame rate timer.
 
+ + + + + + + + + + +

+Protected Member Functions

 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 Protected constructor.
 
virtual SensorData captureData (SensorCaptureInfo *info=0)=0
 Pure virtual method to capture sensor data.
 
int getNextSeqID ()
 Gets the next sequence ID.
 
+

Detailed Description

+

Abstract base class for sensor data capture (cameras, lidars, etc.)

+

SensorCapture provides a unified interface for capturing sensor data from various sensor types including cameras (RGB-D, stereo, mono) and lidars. It handles frame rate control, local transform management, and provides a common API for sensor initialization and data capture.

+

The class implements the Template Method pattern:

    +
  • takeData() handles frame rate control and timing, then calls the pure virtual captureData() method implemented by derived classes
    • +
  • Derived classes must implement captureData() to perform the actual sensor capture
    • +
+

Key features:

    +
  • Frame rate control: Automatic throttling to maintain target frame rate
    • +
  • Local transform: Transform from robot base frame to sensor frame
    • +
  • Capture timing: Tracks capture time and provides it via SensorCaptureInfo
    • +
  • Sequence IDs: Automatic sequence number generation for captured data
    • +
+

Derived classes include:

    +
  • Camera: Base class for all camera types (RGB-D, stereo, mono, file readers, etc.)
    • +
  • Lidar: Base class for lidar sensors
    • +
+
Note
This is an abstract class. Use concrete implementations like CameraRGBD, CameraStereo, LidarVLP16, etc., or create custom derived classes.
+
See also
Camera
+
+Lidar
+
+SensorData
+
+SensorCaptureInfo
+
+SensorCaptureThread
+ +

Definition at line 78 of file SensorCapture.h.

+

Constructor & Destructor Documentation

+ +

◆ SensorCapture()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
rtabmap::SensorCapture::SensorCapture (float frameRate = 0,
const Transform & localTransform = Transform::getIdentity() 
)
+ 		+protected
+
+ +

Protected constructor.

+

Creates a SensorCapture instance with the specified frame rate and local transform. This constructor is protected because SensorCapture is an abstract base class and should not be instantiated directly.

+
Parameters
+ + + +
frameRateTarget frame rate in Hz (0 = unlimited, capture as fast as possible)
localTransformTransform from base frame to sensor frame (default: identity)
+
+
+ +
+
+

Member Function Documentation

+ +

◆ takeData()

+ +
+
+ + + + + + + + +
SensorData rtabmap::SensorCapture::takeData (SensorCaptureInfo * info = 0)
+
+ +

Captures sensor data with frame rate control.

+

This method handles frame rate throttling and timing, then calls the pure virtual captureData() method to perform the actual capture.

+

The method:

    +
  • Enforces the target frame rate by sleeping if necessary
    • +
  • Measures capture time and stores it in SensorCaptureInfo
    • +
  • Assigns sequence IDs to captured data
    • +
  • Warns if the target frame rate cannot be reached
    • +
+
Parameters
+ + +
infoOptional pointer to SensorCaptureInfo to fill with capture metadata (ID, timestamp, capture time). If null, no info is filled.
+
+
+
Returns
SensorData containing the captured sensor data
+
Note
If frame rate is 0, data is captured as fast as possible without throttling.
+
+The returned SensorData should have rectified images if calibration was loaded.
+
See also
captureData()
+ +
+
+ +

◆ init()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::SensorCapture::init (const std::string & calibrationFolder = ".",
const std::string & cameraName = "" 
)
+ 		+pure virtual
+
+ +

Initializes the sensor.

+

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

    +
  • Opening device connections or file streams
    • +
  • Loading camera calibration parameters
    • +
  • Configuring sensor settings
    • +
+
Parameters
+ + + +
calibrationFolderDirectory path where calibration files are located (default: current directory ".")
cameraNameBase name of the camera for loading calibration files (default: empty string)
+
+
+
Returns
True if initialization was successful, false otherwise
+
Note
Must be called before calling takeData() or captureData()
+ +

Implemented in rtabmap::CameraDepthAI, rtabmap::CameraFreenect, rtabmap::CameraFreenect2, rtabmap::CameraImages, rtabmap::CameraK4A, rtabmap::CameraK4W2, rtabmap::CameraMyntEye, rtabmap::CameraOpenni, rtabmap::CameraOpenNI2, rtabmap::CameraOpenNICV, rtabmap::CameraOrbbecSDK, rtabmap::CameraRealSense, rtabmap::CameraRealSense2, rtabmap::CameraRGBDImages, rtabmap::CameraSeerSense, rtabmap::CameraStereoDC1394, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraStereoImages, rtabmap::CameraStereoTara, rtabmap::CameraStereoVideo, rtabmap::CameraStereoZed, rtabmap::CameraStereoZedOC, rtabmap::CameraVideo, rtabmap::DBReader, and rtabmap::LidarVLP16.

+ +
+
+ +

◆ getSerial()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::SensorCapture::getSerial () const
+ 		+pure virtual
+
+ +

Returns the sensor's serial number or unique identifier.

+

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

+
Returns
String identifier for the sensor
+ +

Implemented in rtabmap::CameraDepthAI, rtabmap::CameraFreenect, rtabmap::CameraFreenect2, rtabmap::CameraImages, rtabmap::CameraK4A, rtabmap::CameraK4W2, rtabmap::CameraMyntEye, rtabmap::CameraOpenni, rtabmap::CameraOpenNI2, rtabmap::CameraOpenNICV, rtabmap::CameraOrbbecSDK, rtabmap::CameraRealSense, rtabmap::CameraRealSense2, rtabmap::CameraSeerSense, rtabmap::CameraStereoDC1394, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraStereoImages, rtabmap::CameraStereoTara, rtabmap::CameraStereoVideo, rtabmap::CameraStereoZed, rtabmap::CameraStereoZedOC, rtabmap::CameraVideo, rtabmap::DBReader, and rtabmap::LidarVLP16.

+ +
+
+ +

◆ odomProvided()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::SensorCapture::odomProvided () const
+ 		+inlinevirtual
+
+ +

Checks if the sensor provides odometry poses.

+

Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.

+
Returns
True if the sensor provides odometry poses, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
getPose()
+ +

Reimplemented in rtabmap::CameraImages, rtabmap::CameraMyntEye, rtabmap::CameraRealSense, rtabmap::CameraRealSense2, rtabmap::CameraSeerSense, rtabmap::CameraStereoZed, and rtabmap::DBReader.

+ +

Definition at line 152 of file SensorCapture.h.

+ +
+
+ +

◆ getPose()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual bool rtabmap::SensorCapture::getPose (double stamp,
Transform & pose,
cv::Mat & covariance,
double maxWaitTime = 0.06 
)
+ 		+inlinevirtual
+
+ +

Gets the sensor's pose estimate at a specific timestamp.

+

Queries the sensor for its pose estimate at the given timestamp. This is typically used for sensors that provide visual-inertial odometry or other pose estimation capabilities.

+
Parameters
+ + + + + +
stampTimestamp in seconds for which to query the pose
[out]poseOutput transform representing the sensor pose
[out]covarianceOutput covariance matrix (6x6) representing twist uncertainty
maxWaitTimeMaximum time in seconds to wait for pose data (default: 0.06)
+
+
+
Returns
True if pose was successfully retrieved, false otherwise
+
Note
Default implementation returns false. Derived classes should override if they support pose estimation.
+
See also
odomProvided()
+ +

Reimplemented in rtabmap::CameraSeerSense, rtabmap::CameraStereoZed, rtabmap::CameraRealSense2, and rtabmap::DBReader.

+ +

Definition at line 172 of file SensorCapture.h.

+ +
+
+ +

◆ getFrameRate()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::SensorCapture::getFrameRate () const
+ 		+inline
+
+ +

Returns the target frame rate.

+
Returns
Frame rate in Hz (0 = unlimited, capture as fast as possible)
+ +

Definition at line 180 of file SensorCapture.h.

+ +
+
+ +

◆ getLocalTransform()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::SensorCapture::getLocalTransform () const
+ 		+inline
+
+ +

Returns the local transform from base frame to sensor frame.

+
Returns
Const reference to the local transform
+ +

Definition at line 186 of file SensorCapture.h.

+ +
+
+ +

◆ setFrameRate()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorCapture::setFrameRate (float frameRate)
+ 		+inline
+
+ +

Sets the target frame rate.

+

Controls how often takeData() will capture data. The method will throttle captures to maintain the target rate.

+
Parameters
+ + +
frameRateTarget frame rate in Hz (0 = unlimited, capture as fast as possible)
+
+
+
Note
Setting frame rate to 0 disables throttling and captures as fast as possible.
+ +

Definition at line 200 of file SensorCapture.h.

+ +
+
+ +

◆ setLocalTransform()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorCapture::setLocalTransform (const Transform & localTransform)
+ 		+inline
+
+ +

Sets the local transform from base frame to sensor frame.

+

The local transform represents the pose of the sensor relative to the robot's base frame. This is used to transform sensor data into the robot's coordinate system.

+
Parameters
+ + +
localTransformTransform from base frame to sensor frame
+
+
+ +

Definition at line 210 of file SensorCapture.h.

+ +
+
+ +

◆ resetTimer()

+ +
+
+ + + + + + + +
void rtabmap::SensorCapture::resetTimer ()
+
+ +

Resets the frame rate timer.

+

Resets the internal timer used for frame rate control. This is useful when starting a new capture session or after a pause.

+ +
+
+ +

◆ captureData()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual SensorData rtabmap::SensorCapture::captureData (SensorCaptureInfo * info = 0)
+ 		+protectedpure virtual
+
+ +

Pure virtual method to capture sensor data.

+

This method must be implemented by derived classes to perform the actual sensor data capture. It is called by takeData() after frame rate throttling.

+

The returned SensorData should:

    +
  • Have rectified images if calibration was loaded during init()
    • +
  • Include proper timestamps
    • +
  • Contain valid sensor data (images, depth, laser scans, etc.)
    • +
+
Parameters
+ + +
infoOptional pointer to SensorCaptureInfo to fill with capture metadata. The base class will fill ID, timestamp, and capture time, but derived classes can add additional information.
+
+
+
Returns
SensorData containing the captured sensor data
+
Note
If capture fails, return an empty SensorData (id=0, stamp=0.0).
+
+RGB and depth images should be already rectified if calibration was loaded.
+
See also
takeData()
+ +

Implemented in rtabmap::LidarVLP16.

+ +
+
+ +

◆ getNextSeqID()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::SensorCapture::getNextSeqID ()
+ 		+inlineprotected
+
+ +

Gets the next sequence ID.

+

Returns and increments the internal sequence counter. This is used to assign unique sequence numbers to captured data.

+
Returns
Next sequence ID (starts at 1, increments with each call)
+ +

Definition at line 264 of file SensorCapture.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo-members.html new file mode 100644 index 00000000..1f532b2e --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo-members.html @@ -0,0 +1,111 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::SensorCaptureInfo Member List
+
+
+ +

This is the complete list of members for rtabmap::SensorCaptureInfo, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + +
cameraNamertabmap::SensorCaptureInfo
idrtabmap::SensorCaptureInfo
odomCovariancertabmap::SensorCaptureInfo
odomPosertabmap::SensorCaptureInfo
odomVelocityrtabmap::SensorCaptureInfo
SensorCaptureInfo()rtabmap::SensorCaptureInfoinline
stamprtabmap::SensorCaptureInfo
timeBilateralFilteringrtabmap::SensorCaptureInfo
timeCapturertabmap::SensorCaptureInfo
timeDeskewingrtabmap::SensorCaptureInfo
timeDisparityrtabmap::SensorCaptureInfo
timeHistogramEqualizationrtabmap::SensorCaptureInfo
timeImageDecimationrtabmap::SensorCaptureInfo
timeMirroringrtabmap::SensorCaptureInfo
timeScanFromDepthrtabmap::SensorCaptureInfo
timeStereoExposureCompensationrtabmap::SensorCaptureInfo
timeTotalrtabmap::SensorCaptureInfo
timeUndistortDepthrtabmap::SensorCaptureInfo
~SensorCaptureInfo()rtabmap::SensorCaptureInfoinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo.html b/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo.html new file mode 100644 index 00000000..1f7eb361 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo.html @@ -0,0 +1,572 @@ + + + + + + + + +RTAB-Map: rtabmap::SensorCaptureInfo Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
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+Public Member Functions | +Public Attributes | +List of all members
+
rtabmap::SensorCaptureInfo Class Reference
+
+
+ +

Metadata structure for sensor data capture and processing. + More...

+ +

#include <SensorCaptureInfo.h>

+
+Collaboration diagram for rtabmap::SensorCaptureInfo:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + +

+Public Member Functions

 SensorCaptureInfo ()
 Default constructor.
 
virtual ~SensorCaptureInfo ()
 Virtual destructor.
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Attributes

std::string cameraName
 Camera/sensor name identifier.
 
int id
 Capture ID (typically matches SensorData ID)
 
double stamp
 Timestamp in seconds (typically matches SensorData stamp)
 
float timeCapture
 Time to capture data from the sensor (seconds)
 
float timeDeskewing
 Time for laser scan deskewing (seconds)
 
float timeDisparity
 Time to compute stereo disparity (seconds)
 
float timeMirroring
 Time for image mirroring/flipping (seconds)
 
float timeStereoExposureCompensation
 Time for stereo exposure compensation (seconds)
 
float timeImageDecimation
 Time for image decimation/downsampling (seconds)
 
float timeHistogramEqualization
 Time for histogram equalization (seconds)
 
float timeScanFromDepth
 Time to convert depth image to laser scan (seconds)
 
float timeUndistortDepth
 Time to undistort depth image (seconds)
 
float timeBilateralFiltering
 Time for bilateral filtering of depth (seconds)
 
float timeTotal
 Total processing time (seconds)
 
Transform odomPose
 Odometry pose at the time of capture (in odometry coordinate frame)
 
cv::Mat odomCovariance
 Odometry twist covariance matrix (6x6, CV_64FC1). Default: identity matrix.
 
std::vector< float > odomVelocity
 6DOF odometry velocity [vx, vy, vz, vroll, vpitch, vyaw] (m/s, rad/s)
 
+

Detailed Description

+

Metadata structure for sensor data capture and processing.

+

SensorCaptureInfo contains metadata about sensor data capture, including timing information for various processing steps, camera identification, and odometry information. This information is typically attached to SensorEvent objects to provide context about how the sensor data was captured and processed.

+

The class tracks timing for various processing stages:

    +
  • Capture: Time to capture data from the sensor
    • +
  • Processing: Time for various image processing steps (deskewing, disparity, mirroring, exposure compensation, decimation, histogram equalization, etc.)
    • +
  • Depth processing: Time for depth-related operations (scan from depth, undistort depth, bilateral filtering)
    • +
  • Total: Total processing time
    • +
+

Odometry information includes:

    +
  • Pose: The odometry pose at the time of capture
    • +
  • Covariance: Uncertainty of the odometry twist (6x6 matrix)
    • +
  • Velocity: 6DOF velocity vector [vx, vy, vz, vroll, vpitch, vyaw]
    • +
+
Note
All timing values are in seconds (float).
+
+The odometry covariance matrix is initialized to identity by default.
+
See also
SensorEvent
+
+SensorData
+ +

Definition at line 64 of file SensorCaptureInfo.h.

+

Constructor & Destructor Documentation

+ +

◆ SensorCaptureInfo()

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::SensorCaptureInfo::SensorCaptureInfo ()
+ 		+inline
+
+ +

Default constructor.

+

Initializes all fields to default values:

    +
  • cameraName: empty string
    • +
  • id: 0
    • +
  • stamp: 0.0
    • +
  • All timing fields: 0.0f
    • +
  • odomPose: null transform
    • +
  • odomCovariance: 6x6 identity matrix
    • +
  • odomVelocity: empty vector
    • +
+ +

Definition at line 80 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ ~SensorCaptureInfo()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::SensorCaptureInfo::~SensorCaptureInfo ()
+ 		+inlinevirtual
+
+ +

Virtual destructor.

+ +

Definition at line 102 of file SensorCaptureInfo.h.

+ +
+
+

Member Data Documentation

+ +

◆ cameraName

+ +
+
+ + + + +
std::string rtabmap::SensorCaptureInfo::cameraName
+
+ +

Camera/sensor name identifier.

+ +

Definition at line 104 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ id

+ +
+
+ + + + +
int rtabmap::SensorCaptureInfo::id
+
+ +

Capture ID (typically matches SensorData ID)

+ +

Definition at line 105 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ stamp

+ +
+
+ + + + +
double rtabmap::SensorCaptureInfo::stamp
+
+ +

Timestamp in seconds (typically matches SensorData stamp)

+ +

Definition at line 106 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ timeCapture

+ +
+
+ + + + +
float rtabmap::SensorCaptureInfo::timeCapture
+
+ +

Time to capture data from the sensor (seconds)

+ +

Definition at line 109 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ timeDeskewing

+ +
+
+ + + + +
float rtabmap::SensorCaptureInfo::timeDeskewing
+
+ +

Time for laser scan deskewing (seconds)

+ +

Definition at line 110 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ timeDisparity

+ +
+
+ + + + +
float rtabmap::SensorCaptureInfo::timeDisparity
+
+ +

Time to compute stereo disparity (seconds)

+ +

Definition at line 111 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ timeMirroring

+ +
+
+ + + + +
float rtabmap::SensorCaptureInfo::timeMirroring
+
+ +

Time for image mirroring/flipping (seconds)

+ +

Definition at line 112 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ timeStereoExposureCompensation

+ +
+
+ + + + +
float rtabmap::SensorCaptureInfo::timeStereoExposureCompensation
+
+ +

Time for stereo exposure compensation (seconds)

+ +

Definition at line 113 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ timeImageDecimation

+ +
+
+ + + + +
float rtabmap::SensorCaptureInfo::timeImageDecimation
+
+ +

Time for image decimation/downsampling (seconds)

+ +

Definition at line 114 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ timeHistogramEqualization

+ +
+
+ + + + +
float rtabmap::SensorCaptureInfo::timeHistogramEqualization
+
+ +

Time for histogram equalization (seconds)

+ +

Definition at line 115 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ timeScanFromDepth

+ +
+
+ + + + +
float rtabmap::SensorCaptureInfo::timeScanFromDepth
+
+ +

Time to convert depth image to laser scan (seconds)

+ +

Definition at line 116 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ timeUndistortDepth

+ +
+
+ + + + +
float rtabmap::SensorCaptureInfo::timeUndistortDepth
+
+ +

Time to undistort depth image (seconds)

+ +

Definition at line 117 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ timeBilateralFiltering

+ +
+
+ + + + +
float rtabmap::SensorCaptureInfo::timeBilateralFiltering
+
+ +

Time for bilateral filtering of depth (seconds)

+ +

Definition at line 118 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ timeTotal

+ +
+
+ + + + +
float rtabmap::SensorCaptureInfo::timeTotal
+
+ +

Total processing time (seconds)

+ +

Definition at line 119 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ odomPose

+ +
+
+ + + + +
Transform rtabmap::SensorCaptureInfo::odomPose
+
+ +

Odometry pose at the time of capture (in odometry coordinate frame)

+ +

Definition at line 122 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ odomCovariance

+ +
+
+ + + + +
cv::Mat rtabmap::SensorCaptureInfo::odomCovariance
+
+ +

Odometry twist covariance matrix (6x6, CV_64FC1). Default: identity matrix.

+ +

Definition at line 123 of file SensorCaptureInfo.h.

+ +
+
+ +

◆ odomVelocity

+ +
+
+ + + + +
std::vector<float> rtabmap::SensorCaptureInfo::odomVelocity
+
+ +

6DOF odometry velocity [vx, vy, vz, vroll, vpitch, vyaw] (m/s, rad/s)

+ +

Definition at line 124 of file SensorCaptureInfo.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo__coll__graph.map new file mode 100644 index 00000000..d534dd64 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo__coll__graph.md5 new file mode 100644 index 00000000..3f7b9e08 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo__coll__graph.md5 @@ -0,0 +1 @@ +42df1b3b486aff70ed73c08ec3cc7905 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1SensorCaptureInfo__coll__graph.png new file mode 100644 index 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rtabmap::SensorCaptureThread Member List
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This is the complete list of members for rtabmap::SensorCaptureThread, including all inherited members.

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camera()rtabmap::SensorCaptureThreadinline
Create(const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Create(unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const (defined in UThreadC< void >)UThreadC< void >inline
currentThreadId() (defined in UThread)UThreadinlinestatic
Detach(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
disableBilateralFiltering()rtabmap::SensorCaptureThreadinline
disableFeatureDetection()rtabmap::SensorCaptureThread
disableIMUFiltering()rtabmap::SensorCaptureThread
enableBilateralFiltering(float sigmaS, float sigmaR)rtabmap::SensorCaptureThread
enableFeatureDetection(const ParametersMap &parameters=ParametersMap())rtabmap::SensorCaptureThread
enableIMUFiltering(int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)rtabmap::SensorCaptureThread
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Exit() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
getThreadHandle() const (defined in UThread)UThreadinline
getThreadId() const (defined in UThread)UThreadinline
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handle typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
Handler typedef (defined in UThreadC< void >)UThreadC< void >
isCapturing() constrtabmap::SensorCaptureThreadinline
isCreating() constUThread
isIdle() constUThread
isKilled() constUThread
isPaused() constrtabmap::SensorCaptureThreadinline
isRunning() constUThread
join(bool killFirst=false)UThread
Join(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
Kill(const Handle &H) (defined in UThreadC< void >)UThreadC< void >inlinestatic
kill()UThread
kPAboveNormal enum value (defined in UThread)UThread
kPBelowNormal enum value (defined in UThread)UThread
kPLow enum value (defined in UThread)UThread
kPNormal enum value (defined in UThread)UThread
kPRealTime enum value (defined in UThread)UThread
lidar()rtabmap::SensorCaptureThreadinline
odomProvided() constrtabmap::SensorCaptureThread
odomSensor()rtabmap::SensorCaptureThreadinline
post(UEvent *event, bool async=true) constUEventsSenderprotected
postUpdate(SensorData *data, SensorCaptureInfo *info=0) constrtabmap::SensorCaptureThread
Priority enum nameUThread
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
Self() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
SensorCaptureThread(Camera *camera, const ParametersMap &parameters=ParametersMap())rtabmap::SensorCaptureThread
SensorCaptureThread(Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())rtabmap::SensorCaptureThread
SensorCaptureThread(Lidar *lidar, const ParametersMap &parameters=ParametersMap())rtabmap::SensorCaptureThread
SensorCaptureThread(Lidar *lidar, Camera *camera, const ParametersMap &parameters=ParametersMap())rtabmap::SensorCaptureThread
SensorCaptureThread(Lidar *lidar, SensorCapture *odomSensor, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())rtabmap::SensorCaptureThread
SensorCaptureThread(Lidar *lidar, Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())rtabmap::SensorCaptureThread
setAffinity(int cpu=0)UThread
setColorOnly(bool colorOnly)rtabmap::SensorCaptureThreadinline
setDistortionModel(const std::string &path)rtabmap::SensorCaptureThread
setFrameRate(float frameRate)rtabmap::SensorCaptureThread
setHistogramMethod(int histogramMethod)rtabmap::SensorCaptureThreadinline
setImageDecimation(int decimation)rtabmap::SensorCaptureThreadinline
setImageRate(float frameRate)rtabmap::SensorCaptureThreadinline
setMirroringEnabled(bool enabled)rtabmap::SensorCaptureThreadinline
setOdomAsGroundTruth(bool enabled)rtabmap::SensorCaptureThreadinline
setPriority(Priority priority)UThread
setScanParameters(bool fromDepth, int downsampleStep, float rangeMin, float rangeMax, float voxelSize, int normalsK, float normalsRadius, bool forceGroundNormalsUp, bool deskewing)rtabmap::SensorCaptureThread
setScanParameters(bool fromDepth, int downsampleStep=1, float rangeMin=0.0f, float rangeMax=0.0f, float voxelSize=0.0f, int normalsK=0, float normalsRadius=0.0f, float groundNormalsUp=0.0f, bool deskewing=false)rtabmap::SensorCaptureThread
setStereoExposureCompensation(bool enabled)rtabmap::SensorCaptureThreadinline
setStereoToDepth(bool enabled)rtabmap::SensorCaptureThreadinline
start()UThread
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
TestCancel() (defined in UThreadC< void >)UThreadC< void >inlineprotectedstatic
UEventsSender() (defined in UEventsSender)UEventsSenderinline
UThread(Priority priority=kPNormal)UThread
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
UThreadC() (defined in UThreadC< void >)UThreadC< void >inlineprotected
~SensorCaptureThread()rtabmap::SensorCaptureThreadvirtual
~UEventsSender() (defined in UEventsSender)UEventsSendervirtual
~UThread()UThreadvirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
~UThreadC() (defined in UThreadC< void >)UThreadC< void >inlinevirtual
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rtabmap::SensorCaptureThread Class Reference
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Thread-based sensor data capture and event posting for RTAB-Map. + More...

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#include <SensorCaptureThread.h>

+
+Inheritance diagram for rtabmap::SensorCaptureThread:
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Inheritance graph
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+Collaboration diagram for rtabmap::SensorCaptureThread:
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+Public Member Functions

 SensorCaptureThread (Camera *camera, const ParametersMap &parameters=ParametersMap())
 Constructor for camera-only capture.
 
 SensorCaptureThread (Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
 Constructor for camera with odometry sensor.
 
 SensorCaptureThread (Lidar *lidar, const ParametersMap &parameters=ParametersMap())
 Constructor for lidar-only capture.
 
 SensorCaptureThread (Lidar *lidar, Camera *camera, const ParametersMap &parameters=ParametersMap())
 Constructor for lidar with camera.
 
 SensorCaptureThread (Lidar *lidar, SensorCapture *odomSensor, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
 Constructor for lidar with odometry sensor.
 
 SensorCaptureThread (Lidar *lidar, Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
 Constructor for lidar with camera and odometry sensor.
 
virtual ~SensorCaptureThread ()
 Virtual destructor.
 
void setMirroringEnabled (bool enabled)
 Enables or disables image mirroring (horizontal flip)
 
void setStereoExposureCompensation (bool enabled)
 Enables or disables stereo exposure compensation.
 
void setColorOnly (bool colorOnly)
 Sets whether to capture color images only (skip depth)
 
void setImageDecimation (int decimation)
 Sets image decimation factor.
 
void setHistogramMethod (int histogramMethod)
 Sets histogram equalization method.
 
void setStereoToDepth (bool enabled)
 Enables or disables stereo-to-depth conversion.
 
void setFrameRate (float frameRate)
 Sets the target frame rate for capture.
 
RTABMAP_DEPRECATED void setImageRate (float frameRate)
 Sets the target image capture rate (deprecated)
 
void setDistortionModel (const std::string &path)
 Sets the depth distortion model file path.
 
void setOdomAsGroundTruth (bool enabled)
 Sets whether odometry poses should be treated as ground truth.
 
void enableBilateralFiltering (float sigmaS, float sigmaR)
 Enables bilateral filtering for depth images.
 
void disableBilateralFiltering ()
 Disables bilateral filtering.
 
void enableIMUFiltering (int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
 Enables IMU data filtering.
 
+void disableIMUFiltering ()
 Disables IMU data filtering.
 
void enableFeatureDetection (const ParametersMap &parameters=ParametersMap())
 Enables automatic feature detection on captured images.
 
+void disableFeatureDetection ()
 Disables automatic feature detection.
 
RTABMAP_DEPRECATED void setScanParameters (bool fromDepth, int downsampleStep, float rangeMin, float rangeMax, float voxelSize, int normalsK, float normalsRadius, bool forceGroundNormalsUp, bool deskewing)
 Sets lidar scan processing parameters (deprecated)
 
void setScanParameters (bool fromDepth, int downsampleStep=1, float rangeMin=0.0f, float rangeMax=0.0f, float voxelSize=0.0f, int normalsK=0, float normalsRadius=0.0f, float groundNormalsUp=0.0f, bool deskewing=false)
 Sets lidar scan processing parameters.
 
void postUpdate (SensorData *data, SensorCaptureInfo *info=0) const
 Post-processing hook called before posting SensorEvent.
 
bool isPaused () const
 Checks if the capture thread is paused.
 
bool isCapturing () const
 Checks if the capture thread is actively capturing.
 
bool odomProvided () const
 Checks if odometry is provided by the sensors.
 
Camera * camera ()
 Returns the camera pointer.
 
SensorCapture * odomSensor ()
 Returns the odometry sensor pointer.
 
Lidar * lidar ()
 Returns the lidar pointer.
 
- Public Member Functions inherited from UThread
 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
void start ()
 
void kill ()
 
void join (bool killFirst=false)
 
void setPriority (Priority priority)
 
void setAffinity (int cpu=0)
 
bool isCreating () const
 
bool isRunning () const
 
bool isIdle () const
 
bool isKilled () const
 
Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from UThread
enum  Priority {
+  kPLow +, kPBelowNormal +, kPNormal +, kPAboveNormal +,
+  kPRealTime +
+ }
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
- Static Public Member Functions inherited from UThread
static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (Handle H)
 
static int Kill (Handle H)
 
static int Detach (Handle H)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Join (const Handle &H)
 
static int Kill (const Handle &H)
 
static int Detach (const Handle &H)
 
- Protected Member Functions inherited from UEventsSender
void post (UEvent *event, bool async=true) const
 
- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void TestCancel ()
 
static Handle Self ()
 
static void Exit ()
 
static void TestCancel ()
 
static int Self ()
 
+

Detailed Description

+

Thread-based sensor data capture and event posting for RTAB-Map.

+

SensorCaptureThread is a multi-threaded class that continuously captures sensor data from cameras and/or lidars in a background thread. It processes the data, optionally applies filtering and transformations, and posts SensorEvent events to registered handlers through RTAB-Map's event system.

+

The class supports various sensor configurations:

    +
  • Camera-only: Single or multiple cameras for RGB-D or stereo imaging
    • +
  • Lidar-only: Single lidar for 3D point cloud capture
    • +
  • Camera + Lidar: Combined visual and range sensing
    • +
  • With odometry: Optional odometry sensor for pose estimation and deskewing
    • +
+

Key features:

    +
  • Automatic data synchronization: Synchronizes camera and lidar data by timestamp
    • +
  • Deskewing: Corrects lidar scans using odometry poses
    • +
  • Image processing: Supports mirroring, decimation, histogram equalization, stereo-to-depth conversion
    • +
  • Depth filtering: Optional bilateral filtering for depth images
    • +
  • IMU filtering: Optional IMU data filtering and fusion
    • +
  • Feature detection: Optional automatic feature detection on captured images
    • +
  • Frame rate control: Configurable capture rate
    • +
  • Event-driven architecture: Posts SensorEvent events for downstream processing
    • +
+

The class inherits from UThread (for threading) and UEventsSender (for event posting).

+
Note
Ownership of Camera, Lidar, and SensorCapture pointers is transferred to this class.
+
+The thread must be started with start() and stopped with kill() or join().
+
Warning
Thread Safety: All configuration parameters (setters) should be called before starting the thread with start(). Changing configuration after the thread is started is not thread-safe and may lead to race conditions or undefined behavior. If you need to change parameters at runtime, stop the thread first, modify the configuration, then restart it.
+
See also
Camera
+
+Lidar
+
+SensorCapture
+
+SensorEvent
+
+SensorData
+
+UThread
+
+UEventsSender
+ +

Definition at line 97 of file SensorCaptureThread.h.

+

Constructor & Destructor Documentation

+ +

◆ SensorCaptureThread() [1/6]

+ +
+
+ + + + + + + + + + + + + + + + + + +
rtabmap::SensorCaptureThread::SensorCaptureThread (Camera * camera,
const ParametersMap & parameters = ParametersMap() 
)
+
+ +

Constructor for camera-only capture.

+

Creates a SensorCaptureThread that captures images from a single camera. The camera can be RGB-D, stereo, or mono.

+
Parameters
+ + + +
cameraPointer to the camera to capture from (ownership transferred)
parametersOptional parameters map for configuration
+
+
+
Note
The camera pointer is owned by this class and will be deleted on destruction.
+ +
+
+ +

◆ SensorCaptureThread() [2/6]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::SensorCaptureThread::SensorCaptureThread (Camera * camera,
SensorCapture * odomSensor,
const Transform & extrinsics,
double poseTimeOffset = 0.0,
float poseScaleFactor = 1.0f,
double poseWaitTime = 0.1,
const ParametersMap & parameters = ParametersMap() 
)
+
+ +

Constructor for camera with odometry sensor.

+

Creates a SensorCaptureThread that captures images from a camera and uses an odometry sensor for pose estimation. The odometry sensor can be the same as the camera or a different sensor.

+
Parameters
+ + + + + + + + +
cameraPointer to the camera to capture images from (ownership transferred)
odomSensorPointer to the odometry sensor for pose estimation (can be the same as camera)
extrinsicsStatic transform from odometry sensor's left lens frame to camera's left lens frame (without optical rotation applied)
poseTimeOffsetTime offset in seconds to add to data timestamp when querying pose (default: 0.0)
poseScaleFactorScale factor to apply to pose translation (default: 1.0, no scaling)
poseWaitTimeMaximum time in seconds to wait for pose data (default: 0.1)
parametersOptional parameters map for configuration
+
+
+
Note
If odomAsGt is set to true via setOdomAsGroundTruth(), the odometry pose will be used as ground truth instead of odometry.
+ +
+
+ +

◆ SensorCaptureThread() [3/6]

+ +
+
+ + + + + + + + + + + + + + + + + + +
rtabmap::SensorCaptureThread::SensorCaptureThread (Lidar * lidar,
const ParametersMap & parameters = ParametersMap() 
)
+
+ +

Constructor for lidar-only capture.

+

Creates a SensorCaptureThread that captures 3D point clouds from a lidar.

+
Parameters
+ + + +
lidarPointer to the lidar to capture scans from (ownership transferred)
parametersOptional parameters map for configuration
+
+
+
Note
The lidar pointer is owned by this class and will be deleted on destruction.
+ +
+
+ +

◆ SensorCaptureThread() [4/6]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::SensorCaptureThread::SensorCaptureThread (Lidar * lidar,
Camera * camera,
const ParametersMap & parameters = ParametersMap() 
)
+
+ +

Constructor for lidar with camera.

+

Creates a SensorCaptureThread that captures both lidar scans and camera images. If the camera provides pose information, it can be used for deskewing lidar scans.

+
Parameters
+ + + + +
lidarPointer to the lidar to capture scans from (ownership transferred)
cameraPointer to the camera to capture images from (ownership transferred). If the camera provides pose, it can be used for deskewing.
parametersOptional parameters map for configuration
+
+
+ +
+
+ +

◆ SensorCaptureThread() [5/6]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::SensorCaptureThread::SensorCaptureThread (Lidar * lidar,
SensorCapture * odomSensor,
double poseTimeOffset = 0.0,
float poseScaleFactor = 1.0f,
double poseWaitTime = 0.1,
const ParametersMap & parameters = ParametersMap() 
)
+
+ +

Constructor for lidar with odometry sensor.

+

Creates a SensorCaptureThread that captures lidar scans and uses an odometry sensor for pose estimation and deskewing. The odometry sensor can be the same as the lidar or a different sensor.

+
Parameters
+ + + + + + + +
lidarPointer to the lidar to capture scans from (ownership transferred)
odomSensorPointer to the odometry sensor for pose estimation and deskewing (can be the same as lidar)
poseTimeOffsetTime offset in seconds to add to data timestamp when querying pose (default: 0.0)
poseScaleFactorScale factor to apply to pose translation (default: 1.0, no scaling)
poseWaitTimeMaximum time in seconds to wait for pose data (default: 0.1)
parametersOptional parameters map for configuration
+
+
+
Note
Deskewing is enabled by default when an odometry sensor is provided. Use setScanParameters() to configure deskewing behavior.
+
+The lidar's local transform should be set as the extrinsics between odometry sensor's frame and lidar's frame.
+ +
+
+ +

◆ SensorCaptureThread() [6/6]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::SensorCaptureThread::SensorCaptureThread (Lidar * lidar,
Camera * camera,
SensorCapture * odomSensor,
const Transform & extrinsics,
double poseTimeOffset = 0.0,
float poseScaleFactor = 1.0f,
double poseWaitTime = 0.1,
const ParametersMap & parameters = ParametersMap() 
)
+
+ +

Constructor for lidar with camera and odometry sensor.

+

Creates a SensorCaptureThread that captures both lidar scans and camera images, and uses an odometry sensor for pose estimation and deskewing. This is the most comprehensive configuration, supporting multi-modal sensing with pose correction.

+
Parameters
+ + + + + + + + + +
lidarPointer to the lidar to capture scans from (ownership transferred)
cameraPointer to the camera to capture images from (ownership transferred)
odomSensorPointer to the odometry sensor for pose estimation and deskewing (can be the same as camera or lidar)
extrinsicsStatic transform from odometry frame to camera frame (without optical rotation applied)
poseTimeOffsetTime offset in seconds to add to data timestamp when querying pose (default: 0.0)
poseScaleFactorScale factor to apply to pose translation (default: 1.0, no scaling)
poseWaitTimeMaximum time in seconds to wait for pose data (default: 0.1)
parametersOptional parameters map for configuration
+
+
+
Note
The camera and lidar data are synchronized by timestamp, with the camera frame being at least as recent as the lidar frame.
+
+The lidar's local transform should be set as the extrinsics between odometry sensor's frame and lidar's frame.
+ +
+
+ +

◆ ~SensorCaptureThread()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::SensorCaptureThread::~SensorCaptureThread ()
+ 		+virtual
+
+ +

Virtual destructor.

+

Stops the capture thread if running and deletes owned sensor pointers.

+ +
+
+

Member Function Documentation

+ +

◆ setMirroringEnabled()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorCaptureThread::setMirroringEnabled (bool enabled)
+ 		+inline
+
+ +

Enables or disables image mirroring (horizontal flip)

+
Parameters
+ + +
enabledTrue to enable mirroring, false to disable
+
+
+ +

Definition at line 245 of file SensorCaptureThread.h.

+ +
+
+ +

◆ setStereoExposureCompensation()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorCaptureThread::setStereoExposureCompensation (bool enabled)
+ 		+inline
+
+ +

Enables or disables stereo exposure compensation.

+

When enabled, adjusts exposure between left and right stereo cameras to improve matching quality.

+
Parameters
+ + +
enabledTrue to enable exposure compensation, false to disable
+
+
+ +

Definition at line 255 of file SensorCaptureThread.h.

+ +
+
+ +

◆ setColorOnly()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorCaptureThread::setColorOnly (bool colorOnly)
+ 		+inline
+
+ +

Sets whether to capture color images only (skip depth)

+
Parameters
+ + +
colorOnlyTrue to capture color only, false to capture both color and depth
+
+
+ +

Definition at line 261 of file SensorCaptureThread.h.

+ +
+
+ +

◆ setImageDecimation()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorCaptureThread::setImageDecimation (int decimation)
+ 		+inline
+
+ +

Sets image decimation factor.

+

Decimation reduces image resolution by skipping pixels. A decimation of N means every Nth pixel is kept (e.g., 2 = half resolution, 4 = quarter resolution).

+
Parameters
+ + +
decimationDecimation factor (1 = no decimation, 2 = half resolution, etc.)
+
+
+ +

Definition at line 271 of file SensorCaptureThread.h.

+ +
+
+ +

◆ setHistogramMethod()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorCaptureThread::setHistogramMethod (int histogramMethod)
+ 		+inline
+
+ +

Sets histogram equalization method.

+

Controls the type of histogram equalization applied to captured images. Histogram equalization improves image contrast by redistributing pixel intensities.

+
Parameters
+ + +
histogramMethodHistogram equalization method:
    +
  • 0 = None (disabled)
    • +
  • 1 = Standard histogram equalization (cv::equalizeHist)
    • +
  • 2 = CLAHE - Contrast Limited Adaptive Histogram Equalization (cv::createCLAHE)
    • +
+
+
+
+
Note
For color images, histogram equalization is applied only to the luminance channel (Y in YCrCb color space).
+
+For stereo images, histogram equalization is applied to both left and right images.
+ +

Definition at line 287 of file SensorCaptureThread.h.

+ +
+
+ +

◆ setStereoToDepth()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorCaptureThread::setStereoToDepth (bool enabled)
+ 		+inline
+
+ +

Enables or disables stereo-to-depth conversion.

+

When enabled, converts stereo images to depth images using dense stereo matching.

+
Parameters
+ + +
enabledTrue to enable stereo-to-depth conversion, false to disable
+
+
+ +

Definition at line 296 of file SensorCaptureThread.h.

+ +
+
+ +

◆ setFrameRate()

+ +
+
+ + + + + + + + +
void rtabmap::SensorCaptureThread::setFrameRate (float frameRate)
+
+ +

Sets the target frame rate for capture.

+

Controls how often the capture loop runs. A frame rate of 0 means capture as fast as possible.

+
Parameters
+ + +
frameRateTarget frame rate in Hz (0 = unlimited)
+
+
+ +
+
+ +

◆ setImageRate()

+ +
+
+ + + + + +
+ + + + + + + + +
RTABMAP_DEPRECATED void rtabmap::SensorCaptureThread::setImageRate (float frameRate)
+ 		+inline
+
+ +

Sets the target image capture rate (deprecated)

+
Deprecated:
Use setFrameRate() instead
+ +

Definition at line 312 of file SensorCaptureThread.h.

+ +
+
+ +

◆ setDistortionModel()

+ +
+
+ + + + + + + + +
void rtabmap::SensorCaptureThread::setDistortionModel (const std::string & path)
+
+ +

Sets the depth distortion model file path.

+

Loads a discrete depth distortion model from the specified file path. This is used to correct systematic depth errors at longer ranges using the CLAMS (Calibration, Localization, And Mapping System) approach.

+

The distortion model is typically created using RTAB-Map's depth calibration tool, which uses visual odometry and 3D mapping to generate ground truth depth for calibration.

+
Parameters
+ + +
pathPath to the distortion model file
+
+
+
See also
https://github.com/introlab/rtabmap/wiki/Depth-Calibration for detailed instructions on how to create and use depth distortion models
+ +
+
+ +

◆ setOdomAsGroundTruth()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorCaptureThread::setOdomAsGroundTruth (bool enabled)
+ 		+inline
+
+ +

Sets whether odometry poses should be treated as ground truth.

+

When enabled, odometry poses from the odometry sensor are stored as ground truth poses instead of odometry poses in the SensorData.

+
Parameters
+ + +
enabledTrue to use odometry as ground truth, false to use as odometry
+
+
+ +

Definition at line 340 of file SensorCaptureThread.h.

+ +
+
+ +

◆ enableBilateralFiltering()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::SensorCaptureThread::enableBilateralFiltering (float sigmaS,
float sigmaR 
)
+
+ +

Enables bilateral filtering for depth images.

+

Bilateral filtering reduces noise in depth images while preserving edges.

+
Parameters
+ + + +
sigmaSSpatial standard deviation (pixels)
sigmaRRange standard deviation (depth units)
+
+
+ +
+
+ +

◆ disableBilateralFiltering()

+ +
+
+ + + + + +
+ + + + + + + +
void rtabmap::SensorCaptureThread::disableBilateralFiltering ()
+ 		+inline
+
+ +

Disables bilateral filtering.

+ +

Definition at line 355 of file SensorCaptureThread.h.

+ +
+
+ +

◆ enableIMUFiltering()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::SensorCaptureThread::enableIMUFiltering (int filteringStrategy = 1,
const ParametersMap & parameters = ParametersMap(),
bool baseFrameConversion = false 
)
+
+ +

Enables IMU data filtering.

+

Enables filtering and fusion of IMU data from the sensor. The filtering strategy determines how IMU data is processed to estimate orientation.

+
Parameters
+ + + + +
filteringStrategyFiltering strategy:
    +
  • 0 = Madgwick filter (requires RTAB-Map built with RTABMAP_MADGWICK option)
    • +
  • 1 = Complementary filter (default)
    • +
+
parametersOptional parameters map for IMU filter configuration
baseFrameConversionIf true, converts IMU data to base frame
+
+
+
Note
If Madgwick filter is requested but RTAB-Map is not built with the option enabled, the Complementary filter will be used instead.
+
See also
IMUFilter
+ +
+
+ +

◆ enableFeatureDetection()

+ +
+
+ + + + + + + + +
void rtabmap::SensorCaptureThread::enableFeatureDetection (const ParametersMap & parameters = ParametersMap())
+
+ +

Enables automatic feature detection on captured images.

+

When enabled, automatically detects and extracts visual features (keypoints, descriptors) from captured images.

+
Parameters
+ + +
parametersOptional parameters map for feature detector configuration. Parameters from the "Vis/" group (e.g., Vis/FeatureType, Vis/MaxFeatures) are automatically converted to "Kp/" parameters internally. If both Vis/ and Kp/ parameters are provided, Vis/ parameters take precedence.
+
+
+
Note
The function converts Vis/ parameters to Kp/ parameters before creating the Feature2D detector.
+ +
+
+ +

◆ setScanParameters() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
RTABMAP_DEPRECATED void rtabmap::SensorCaptureThread::setScanParameters (bool fromDepth,
int downsampleStep,
float rangeMin,
float rangeMax,
float voxelSize,
int normalsK,
float normalsRadius,
bool forceGroundNormalsUp,
bool deskewing 
)
+
+ +

Sets lidar scan processing parameters (deprecated)

+
Deprecated:
Use the new version with groundNormalsUp parameter instead
+

Use the new version with groundNormalsUp parameter:

    +
  • groundNormalsUp=0.8 for forceGroundNormalsUp=True
    • +
  • groundNormalsUp=0.0 for forceGroundNormalsUp=False
    • +
+ +
+
+ +

◆ setScanParameters() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::SensorCaptureThread::setScanParameters (bool fromDepth,
int downsampleStep = 1,
float rangeMin = 0.0f,
float rangeMax = 0.0f,
float voxelSize = 0.0f,
int normalsK = 0,
float normalsRadius = 0.0f,
float groundNormalsUp = 0.0f,
bool deskewing = false 
)
+
+ +

Sets lidar scan processing parameters.

+

Configures how lidar scans are processed, including conversion from depth images, filtering, normal estimation, and deskewing.

+
Parameters
+ + + + + + + + + + +
fromDepthIf true, generate scans from depth images instead of raw lidar data
downsampleStepDownsampling step:
    +
  • If fromDepth is true: Image decimation step for depth images (1 = no decimation, 2 = every other pixel in both dimensions, etc.)
    • +
  • If fromDepth is false: Point skipping step for laser scan data (1 = no skipping, 2 = every other point, etc.)
    • +
+
rangeMinMinimum range in meters (points closer are filtered out, 0 = no minimum)
rangeMaxMaximum range in meters (points farther are filtered out, 0 = no maximum)
voxelSizeVoxel size in meters for downsampling (0 = no voxelization)
normalsKNumber of neighbors for K-nearest neighbors normal estimation (0 = no normals)
normalsRadiusRadius in meters for radius-based normal estimation (0 = use K-nearest)
groundNormalsUpThreshold for forcing ground normals upward (0.0-1.0, 0.8 = strong, 0.0 = disabled)
deskewingIf true, apply deskewing using odometry poses
+
+
+ +
+
+ +

◆ postUpdate()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::SensorCaptureThread::postUpdate (SensorData * data,
SensorCaptureInfo * info = 0 
) const
+
+ +

Post-processing hook called before posting SensorEvent.

+

This method is called after all processing is complete but before the SensorEvent is posted. Derived classes can override this to perform additional processing or modifications to the data.

+
Parameters
+ + + +
dataPointer to the processed sensor data (can be modified)
infoPointer to the sensor capture info (can be modified, may be null)
+
+
+ +
+
+ +

◆ isPaused()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::SensorCaptureThread::isPaused () const
+ 		+inline
+
+ +

Checks if the capture thread is paused.

+
Returns
True if paused (not running), false if running
+ +

Definition at line 469 of file SensorCaptureThread.h.

+ +
+
+ +

◆ isCapturing()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::SensorCaptureThread::isCapturing () const
+ 		+inline
+
+ +

Checks if the capture thread is actively capturing.

+
Returns
True if capturing (running), false if not running
+ +

Definition at line 475 of file SensorCaptureThread.h.

+ +
+
+ +

◆ odomProvided()

+ +
+
+ + + + + + + +
bool rtabmap::SensorCaptureThread::odomProvided () const
+
+ +

Checks if odometry is provided by the sensors.

+
Returns
True if an odometry sensor is configured, false otherwise
+ +
+
+ +

◆ camera()

+ +
+
+ + + + + +
+ + + + + + + +
Camera * rtabmap::SensorCaptureThread::camera ()
+ 		+inline
+
+ +

Returns the camera pointer.

+
Returns
Pointer to the camera (null if not set). Valid until SensorCaptureThread is deleted.
+ +

Definition at line 487 of file SensorCaptureThread.h.

+ +
+
+ +

◆ odomSensor()

+ +
+
+ + + + + +
+ + + + + + + +
SensorCapture * rtabmap::SensorCaptureThread::odomSensor ()
+ 		+inline
+
+ +

Returns the odometry sensor pointer.

+
Returns
Pointer to the odometry sensor (null if not set). Valid until SensorCaptureThread is deleted.
+ +

Definition at line 493 of file SensorCaptureThread.h.

+ +
+
+ +

◆ lidar()

+ +
+
+ + + + + +
+ + + + + + + +
Lidar * rtabmap::SensorCaptureThread::lidar ()
+ 		+inline
+
+ +

Returns the lidar pointer.

+
Returns
Pointer to the lidar (null if not set). Valid until SensorCaptureThread is deleted.
+ +

Definition at line 499 of file SensorCaptureThread.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::SensorData Member List
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This is the complete list of members for rtabmap::SensorData, including all inherited members.

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addEnvSensor(const EnvSensor &sensor)rtabmap::SensorDatainline
addGlobalDescriptor(const GlobalDescriptor &descriptor)rtabmap::SensorDatainline
cameraModels() constrtabmap::SensorDatainline
clearCompressedData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)rtabmap::SensorData
clearGlobalDescriptors()rtabmap::SensorDatainline
clearRawData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)rtabmap::SensorData
depthConfidenceCompressed() constrtabmap::SensorDatainline
depthConfidenceRaw() constrtabmap::SensorDatainline
depthOrRightCompressed() constrtabmap::SensorDatainline
depthOrRightRaw() constrtabmap::SensorDatainline
depthRaw() constrtabmap::SensorDatainline
descriptors() constrtabmap::SensorDatainline
envSensors() constrtabmap::SensorDatainline
getMemoryUsed() constrtabmap::SensorData
globalDescriptors() constrtabmap::SensorDatainline
globalPose() constrtabmap::SensorDatainline
globalPoseCovariance() constrtabmap::SensorDatainline
gps() constrtabmap::SensorDatainline
gridCellSize() constrtabmap::SensorDatainline
gridEmptyCellsCompressed() constrtabmap::SensorDatainline
gridEmptyCellsRaw() constrtabmap::SensorDatainline
gridGroundCellsCompressed() constrtabmap::SensorDatainline
gridGroundCellsRaw() constrtabmap::SensorDatainline
gridObstacleCellsCompressed() constrtabmap::SensorDatainline
gridObstacleCellsRaw() constrtabmap::SensorDatainline
gridViewPoint() constrtabmap::SensorDatainline
groundTruth() constrtabmap::SensorDatainline
id() constrtabmap::SensorDatainline
imageCompressed() constrtabmap::SensorDatainline
imageRaw() constrtabmap::SensorDatainline
imu() constrtabmap::SensorDatainline
isPointVisibleFromCameras(const cv::Point3f &pt) constrtabmap::SensorData
isValid() constrtabmap::SensorDatainline
keypoints() constrtabmap::SensorDatainline
keypoints3D() constrtabmap::SensorDatainline
landmarks() constrtabmap::SensorDatainline
laserScanCompressed() constrtabmap::SensorDatainline
laserScanRaw() constrtabmap::SensorDatainline
rightRaw() constrtabmap::SensorDatainline
SensorData()rtabmap::SensorData
SensorData(const cv::Mat &image, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const cv::Mat &image, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depth_confidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())rtabmap::SensorData
SensorData(const IMU &imu, int id=0, double stamp=0.0)rtabmap::SensorData
setCameraModel(const CameraModel &model)rtabmap::SensorDatainline
setCameraModels(const std::vector< CameraModel > &models)rtabmap::SensorDatainline
setDepthOrRightRaw(const cv::Mat &image) (defined in rtabmap::SensorData)rtabmap::SensorData
setEnvSensors(const EnvSensors &sensors)rtabmap::SensorDatainline
setFeatures(const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &keypoints3D, const cv::Mat &descriptors)rtabmap::SensorData
setGlobalDescriptors(const std::vector< GlobalDescriptor > &descriptors)rtabmap::SensorDatainline
setGlobalPose(const Transform &pose, const cv::Mat &covariance)rtabmap::SensorDatainline
setGPS(const GPS &gps)rtabmap::SensorDatainline
setGroundTruth(const Transform &pose)rtabmap::SensorDatainline
setId(int id)rtabmap::SensorDatainline
setImageRaw(const cv::Mat &image) (defined in rtabmap::SensorData)rtabmap::SensorData
setIMU(const IMU &imu)rtabmap::SensorData
setLandmarks(const Landmarks &landmarks)rtabmap::SensorDatainline
setLaserScan(const LaserScan &laserScan, bool clearPreviousData=true)rtabmap::SensorData
setLaserScanRaw(const LaserScan &scan) (defined in rtabmap::SensorData)rtabmap::SensorData
setOccupancyGrid(const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint)rtabmap::SensorData
setRGBDImage(const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &model, bool clearPreviousData=true)rtabmap::SensorData
setRGBDImage(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depth_confidence, const CameraModel &model, bool clearPreviousData=true) (defined in rtabmap::SensorData)rtabmap::SensorData
setRGBDImage(const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &models, bool clearPreviousData=true) (defined in rtabmap::SensorData)rtabmap::SensorData
setRGBDImage(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depth_confidence, const std::vector< CameraModel > &models, bool clearPreviousData=true) (defined in rtabmap::SensorData)rtabmap::SensorData
setStamp(double stamp)rtabmap::SensorDatainline
setStereoCameraModel(const StereoCameraModel &stereoCameraModel)rtabmap::SensorDatainline
setStereoCameraModels(const std::vector< StereoCameraModel > &stereoCameraModels)rtabmap::SensorDatainline
setStereoImage(const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &stereoCameraModel, bool clearPreviousData=true) (defined in rtabmap::SensorData)rtabmap::SensorData
setStereoImage(const cv::Mat &left, const cv::Mat &right, const std::vector< StereoCameraModel > &stereoCameraModels, bool clearPreviousData=true) (defined in rtabmap::SensorData)rtabmap::SensorData
setUserData(const cv::Mat &userData, bool clearPreviousData=true)rtabmap::SensorData
setUserDataRaw(const cv::Mat &data) (defined in rtabmap::SensorData)rtabmap::SensorData
stamp() constrtabmap::SensorDatainline
stereoCameraModels() constrtabmap::SensorDatainline
uncompressData()rtabmap::SensorData
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)rtabmap::SensorData
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) constrtabmap::SensorData
userDataCompressed() const (defined in rtabmap::SensorData)rtabmap::SensorDatainline
userDataRaw() const (defined in rtabmap::SensorData)rtabmap::SensorDatainline
~SensorData()rtabmap::SensorDatavirtual
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+Public Member Functions | +List of all members
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rtabmap::SensorData Class Reference
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+ +

Container class for all sensor data captured at a specific time. + More...

+ +

#include <SensorData.h>

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+Public Member Functions

 SensorData ()
 Default constructor.
 
 SensorData (const cv::Mat &image, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 Appearance-only constructor.
 
 SensorData (const cv::Mat &image, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 Mono camera constructor.
 
 SensorData (const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 RGB-D constructor.
 
 SensorData (const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depth_confidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 RGB-D constructor with depth confidence.
 
 SensorData (const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 RGB-D constructor with laser scan.
 
 SensorData (const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 RGB-D constructor with depth confidence and laser scan.
 
 SensorData (const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 Multi-camera RGB-D constructor.
 
 SensorData (const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 Multi-camera RGB-D constructor with depth confidence.
 
 SensorData (const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 Multi-camera RGB-D constructor with laser scan.
 
 SensorData (const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 Multi-camera RGB-D constructor with depth confidence and laser scan.
 
 SensorData (const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 Stereo camera constructor.
 
 SensorData (const LaserScan &laserScan, const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 Stereo camera constructor with laser scan.
 
 SensorData (const cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 Multi-camera stereo constructor.
 
 SensorData (const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
 Multi-camera stereo constructor with laser scan.
 
 SensorData (const IMU &imu, int id=0, double stamp=0.0)
 IMU-only constructor.
 
+virtual ~SensorData ()
 Virtual destructor.
 
bool isValid () const
 Checks if the sensor data is valid.
 
int id () const
 Returns the sensor data ID.
 
void setId (int id)
 Sets the sensor data ID.
 
double stamp () const
 Returns the timestamp.
 
void setStamp (double stamp)
 Sets the timestamp.
 
const cv::Mat & imageCompressed () const
 Returns the compressed RGB/grayscale image.
 
const cv::Mat & depthOrRightCompressed () const
 Returns the compressed depth or right stereo image.
 
const cv::Mat & depthConfidenceCompressed () const
 Returns the compressed depth confidence map.
 
const LaserScan & laserScanCompressed () const
 Returns the compressed laser scan.
 
const cv::Mat & imageRaw () const
 Returns the raw RGB/grayscale image.
 
const cv::Mat & depthOrRightRaw () const
 Returns the raw depth or right stereo image.
 
const cv::Mat & depthConfidenceRaw () const
 Returns the raw depth confidence map.
 
const LaserScan & laserScanRaw () const
 Returns the raw laser scan.
 
void setRGBDImage (const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &model, bool clearPreviousData=true)
 
+void setRGBDImage (const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depth_confidence, const CameraModel &model, bool clearPreviousData=true)
 
+void setRGBDImage (const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &models, bool clearPreviousData=true)
 
+void setRGBDImage (const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depth_confidence, const std::vector< CameraModel > &models, bool clearPreviousData=true)
 
+void setStereoImage (const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &stereoCameraModel, bool clearPreviousData=true)
 
+void setStereoImage (const cv::Mat &left, const cv::Mat &right, const std::vector< StereoCameraModel > &stereoCameraModels, bool clearPreviousData=true)
 
void setLaserScan (const LaserScan &laserScan, bool clearPreviousData=true)
 
void setCameraModel (const CameraModel &model)
 Sets a single camera model (clears previous models)
 
void setCameraModels (const std::vector< CameraModel > &models)
 Sets multiple camera models.
 
void setStereoCameraModel (const StereoCameraModel &stereoCameraModel)
 Sets a single stereo camera model (clears previous models)
 
void setStereoCameraModels (const std::vector< StereoCameraModel > &stereoCameraModels)
 Sets multiple stereo camera models.
 
cv::Mat depthRaw () const
 Returns the depth image (convenience method)
 
cv::Mat rightRaw () const
 Returns the right stereo image (convenience method)
 
+RTABMAP_DEPRECATED void setImageRaw (const cv::Mat &image)
 
+RTABMAP_DEPRECATED void setDepthOrRightRaw (const cv::Mat &image)
 
+RTABMAP_DEPRECATED void setLaserScanRaw (const LaserScan &scan)
 
+RTABMAP_DEPRECATED void setUserDataRaw (const cv::Mat &data)
 
void uncompressData ()
 Uncompresses all compressed data in-place.
 
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)
 Uncompresses compressed data into provided output buffers.
 
void uncompressDataConst (cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0, cv::Mat *depthConfidenceRaw=0) const
 Uncompresses compressed data into provided output buffers (const version)
 
const std::vector< CameraModel > & cameraModels () const
 Returns the camera models.
 
const std::vector< StereoCameraModel > & stereoCameraModels () const
 Returns the stereo camera models.
 
void setUserData (const cv::Mat &userData, bool clearPreviousData=true)
 
const cv::Mat & userDataRaw () const
 
const cv::Mat & userDataCompressed () const
 
void setOccupancyGrid (const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint)
 Sets occupancy grid data.
 
const cv::Mat & gridGroundCellsRaw () const
 Returns raw ground cells.
 
const cv::Mat & gridGroundCellsCompressed () const
 Returns compressed ground cells.
 
const cv::Mat & gridObstacleCellsRaw () const
 Returns raw obstacle cells.
 
const cv::Mat & gridObstacleCellsCompressed () const
 Returns compressed obstacle cells.
 
const cv::Mat & gridEmptyCellsRaw () const
 Returns raw empty cells.
 
const cv::Mat & gridEmptyCellsCompressed () const
 Returns compressed empty cells.
 
float gridCellSize () const
 Returns the occupancy grid cell size.
 
const cv::Point3f & gridViewPoint () const
 Returns the occupancy grid viewpoint.
 
void setFeatures (const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &keypoints3D, const cv::Mat &descriptors)
 Sets visual features (keypoints, 3D points, descriptors)
 
const std::vector< cv::KeyPoint > & keypoints () const
 Returns the 2D keypoints.
 
const std::vector< cv::Point3f > & keypoints3D () const
 Returns the 3D keypoints.
 
const cv::Mat & descriptors () const
 Returns the feature descriptors.
 
void addGlobalDescriptor (const GlobalDescriptor &descriptor)
 Adds a global descriptor.
 
void setGlobalDescriptors (const std::vector< GlobalDescriptor > &descriptors)
 Sets all global descriptors.
 
void clearGlobalDescriptors ()
 Clears all global descriptors.
 
const std::vector< GlobalDescriptor > & globalDescriptors () const
 Returns all global descriptors.
 
void setGroundTruth (const Transform &pose)
 Sets the ground truth pose.
 
const Transform & groundTruth () const
 Returns the ground truth pose.
 
void setGlobalPose (const Transform &pose, const cv::Mat &covariance)
 Sets the global pose with covariance.
 
const Transform & globalPose () const
 Returns the global pose.
 
const cv::Mat & globalPoseCovariance () const
 Returns the global pose covariance.
 
void setGPS (const GPS &gps)
 Sets GPS data.
 
const GPS & gps () const
 Returns GPS data.
 
void setIMU (const IMU &imu)
 Sets IMU data.
 
const IMU & imu () const
 Returns IMU data.
 
void setEnvSensors (const EnvSensors &sensors)
 Sets all environmental sensors.
 
void addEnvSensor (const EnvSensor &sensor)
 Adds a single environmental sensor.
 
const EnvSensors & envSensors () const
 Returns all environmental sensors.
 
void setLandmarks (const Landmarks &landmarks)
 Sets landmarks.
 
const Landmarks & landmarks () const
 Returns landmarks.
 
unsigned long getMemoryUsed () const
 Computes the memory usage of this sensor data.
 
void clearCompressedData (bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)
 
void clearRawData (bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)
 
int isPointVisibleFromCameras (const cv::Point3f &pt) const
 Checks if a 3D point is visible from any camera.
 
+

Detailed Description

+

Container class for all sensor data captured at a specific time.

+

SensorData is a comprehensive container class that holds all types of sensor data captured at a specific timestamp, including:

+
    +
  • Visual data: RGB images, depth images, stereo image pairs (left/right)
    • +
  • 3D data: Laser scans, 3D point clouds
    • +
  • Camera models: Mono camera models, stereo camera models (single or multiple)
    • +
  • Features: Keypoints, 3D keypoints, descriptors
    • +
  • Global descriptors: Scene-level descriptors for place recognition
    • +
  • Sensor fusion: IMU data, GPS data, environmental sensors
    • +
  • Metadata: Ground truth poses, global poses with covariance, landmarks
    • +
  • User data: Custom data matrices
    • +
  • Occupancy grids: Ground, obstacle, and empty cells
    • +
+

The class supports both raw and compressed data formats:

    +
  • Raw data: Uncompressed images, depth maps, laser scans
    • +
  • Compressed data: JPEG-compressed images, compressed depth, compressed scans
    • +
+

Data compression is automatically detected when setting data:

    +
  • A matrix of type CV_8UC1 with 1 row is considered compressed
    • +
  • Use uncompressData() to decompress compressed data
    • +
+

The class supports multiple sensor configurations:

    +
  • Appearance-only: Single RGB image
    • +
  • Mono: RGB image with camera model
    • +
  • RGB-D: RGB + depth with camera model(s)
    • +
  • Stereo: Left + right images with stereo camera model(s)
    • +
  • IMU-only: IMU data without images
    • +
  • Multi-camera: Multiple camera models (RGB-D or stereo)
    • +
  • Combined: Any combination with laser scans, IMU, GPS, etc.
    • +
+
Note
If id=0 is provided to constructors, an ID is automatically generated.
+
+The class manages memory efficiently by storing either raw or compressed data (or both), allowing for memory optimization in large datasets.
+
See also
CameraModel
+
+StereoCameraModel
+
+LaserScan
+
+IMU
+
+GPS
+
+SensorEvent
+ +

Definition at line 96 of file SensorData.h.

+

Constructor & Destructor Documentation

+ +

◆ SensorData() [1/16]

+ +
+
+ + + + + + + +
rtabmap::SensorData::SensorData ()
+
+ +

Default constructor.

+

Creates an empty SensorData object with all fields initialized to default values. The ID will be 0 (invalid), and no sensor data will be present.

+ +
+
+ +

◆ SensorData() [2/16]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::SensorData::SensorData (const cv::Mat & image,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

Appearance-only constructor.

+

Creates a SensorData object with a single RGB or grayscale image. No camera model is provided, so this is suitable for appearance-based place recognition without 3D reconstruction.

+
Parameters
+ + + + + +
imageRGB or grayscale image (CV_8UC1 or CV_8UC3)
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+ +
+
+ +

◆ SensorData() [3/16]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::SensorData::SensorData (const cv::Mat & image,
const CameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

Mono camera constructor.

+

Creates a SensorData object with a single RGB or grayscale image and a mono camera model for 3D projection.

+
Parameters
+ + + + + + +
imageRGB or grayscale image (CV_8UC1 or CV_8UC3)
cameraModelCamera model for the image
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+ +
+
+ +

◆ SensorData() [4/16]

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rtabmap::SensorData::SensorData (const cv::Mat & rgb,
const cv::Mat & depth,
const CameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

RGB-D constructor.

+

Creates a SensorData object with RGB and depth images and a camera model.

+
Parameters
+ + + + + + + +
rgbRGB or grayscale image (CV_8UC1 or CV_8UC3)
depthDepth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
cameraModelCamera model for RGB-D projection
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+ +
+
+ +

◆ SensorData() [5/16]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::SensorData::SensorData (const cv::Mat & rgb,
const cv::Mat & depth,
const cv::Mat & depth_confidence,
const CameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

RGB-D constructor with depth confidence.

+

Creates a SensorData object with RGB, depth, and depth confidence images.

+
Parameters
+ + + + + + + + +
rgbRGB or grayscale image (CV_8UC1 or CV_8UC3)
depthDepth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
depth_confidenceDepth confidence map (CV_8UC1, typically 0-100)
cameraModelCamera model for RGB-D projection
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+ +
+
+ +

◆ SensorData() [6/16]

+ +
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rtabmap::SensorData::SensorData (const LaserScan & laserScan,
const cv::Mat & rgb,
const cv::Mat & depth,
const CameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

RGB-D constructor with laser scan.

+

Creates a SensorData object with RGB, depth, camera model, and laser scan.

+
Parameters
+ + + + + + + + +
laserScan2D or 3D laser scan
rgbRGB or grayscale image (CV_8UC1 or CV_8UC3)
depthDepth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
cameraModelCamera model for RGB-D projection
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+ +
+
+ +

◆ SensorData() [7/16]

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rtabmap::SensorData::SensorData (const LaserScan & laserScan,
const cv::Mat & rgb,
const cv::Mat & depth,
const cv::Mat & depthConfidence,
const CameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

RGB-D constructor with depth confidence and laser scan.

+

Creates a SensorData object with RGB, depth, depth confidence, camera model, and laser scan.

+
Parameters
+ + + + + + + + + +
laserScan2D or 3D laser scan
rgbRGB or grayscale image (CV_8UC1 or CV_8UC3)
depthDepth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
depthConfidenceDepth confidence map (CV_8UC1)
cameraModelCamera model for RGB-D projection
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+ +
+
+ +

◆ SensorData() [8/16]

+ +
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+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::SensorData::SensorData (const cv::Mat & rgb,
const cv::Mat & depth,
const std::vector< CameraModel > & cameraModels,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

Multi-camera RGB-D constructor.

+

Creates a SensorData object with RGB, depth, and multiple camera models. rgb and depth images should contain stitched images from multiple cameras. All stitched images should have the same resolution.

+
Parameters
+ + + + + + + +
rgbRGB or grayscale image (CV_8UC1 or CV_8UC3)
depthDepth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
cameraModelsVector of camera models
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+
Example: Stitching two camera images horizontally
#include <rtabmap/core/Camera.h>
+
#include <opencv2/imgproc/imgproc.hpp>
+
+
// Assume camera1 and camera2 are Camera* instances
+
Camera* camera1 = ...; // First camera
+
Camera* camera2 = ...; // Second camera
+
+
// Capture SensorData from both cameras
+
SensorData data1 = camera1->takeImage();
+
SensorData data2 = camera2->takeImage();
+
+
// Extract images and depth
+
cv::Mat image1 = data1.imageRaw(); // 640x480
+
cv::Mat depth1 = data1.depthOrRightRaw(); // 640x480
+
cv::Mat image2 = data2.imageRaw(); // 640x480
+
cv::Mat depth2 = data2.depthOrRightRaw(); // 640x480
+
+
// Stitch images horizontally
+
cv::Mat stitchedRgb;
+
cv::hconcat(image1, image2, stitchedRgb); // Result: 1280x480
+
+
cv::Mat stitchedDepth;
+
cv::hconcat(depth1, depth2, stitchedDepth); // Result: 1280x480
+
+
// Get camera models from both SensorData objects
+
std::vector<CameraModel> models = data1.cameraModels();
+
std::vector<CameraModel> models2 = data2.cameraModels();
+
models.insert(models.end(), models2.begin(), models2.end());
+
+
// Create SensorData with stitched images
+
SensorData stitchedData(stitchedRgb, stitchedDepth, models, 0, data1.stamp());
+ +
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
+
rtabmap::SensorData::depthOrRightRaw
const cv::Mat & depthOrRightRaw() const
Returns the raw depth or right stereo image.
Definition SensorData.h:573
+
rtabmap::SensorData::stamp
double stamp() const
Returns the timestamp.
Definition SensorData.h:527
+
rtabmap::SensorData::cameraModels
const std::vector< CameraModel > & cameraModels() const
Returns the camera models.
Definition SensorData.h:724
+
rtabmap::SensorData::imageRaw
const cv::Mat & imageRaw() const
Returns the raw RGB/grayscale image.
Definition SensorData.h:566
+
+ +
+
+ +

◆ SensorData() [9/16]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::SensorData::SensorData (const cv::Mat & rgb,
const cv::Mat & depth,
const cv::Mat & depthConfidence,
const std::vector< CameraModel > & cameraModels,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

Multi-camera RGB-D constructor with depth confidence.

+

Creates a SensorData object with RGB, depth, depth confidence, and multiple camera models.

+
Parameters
+ + + + + + + + +
rgbRGB or grayscale image (CV_8UC1 or CV_8UC3)
depthDepth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
depthConfidenceDepth confidence map (CV_8UC1)
cameraModelsVector of camera models
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+
See also
SensorData(const cv::Mat&, const cv::Mat&, const std::vector<CameraModel>&, int, double, const cv::Mat&) for an example of stitching images from multiple cameras.
+ +
+
+ +

◆ SensorData() [10/16]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::SensorData::SensorData (const LaserScan & laserScan,
const cv::Mat & rgb,
const cv::Mat & depth,
const std::vector< CameraModel > & cameraModels,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

Multi-camera RGB-D constructor with laser scan.

+

Creates a SensorData object with RGB, depth, multiple camera models, and laser scan.

+
Parameters
+ + + + + + + + +
laserScan2D or 3D laser scan
rgbRGB or grayscale image (CV_8UC1 or CV_8UC3)
depthDepth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
cameraModelsVector of camera models
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+
See also
SensorData(const cv::Mat&, const cv::Mat&, const std::vector<CameraModel>&, int, double, const cv::Mat&) for an example of stitching images from multiple cameras.
+ +
+
+ +

◆ SensorData() [11/16]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::SensorData::SensorData (const LaserScan & laserScan,
const cv::Mat & rgb,
const cv::Mat & depth,
const cv::Mat & depthConfidence,
const std::vector< CameraModel > & cameraModels,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

Multi-camera RGB-D constructor with depth confidence and laser scan.

+

Creates a SensorData object with RGB, depth, depth confidence, multiple camera models, and laser scan.

+
Parameters
+ + + + + + + + + +
laserScan2D or 3D laser scan
rgbRGB or grayscale image (CV_8UC1 or CV_8UC3)
depthDepth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
depthConfidenceDepth confidence map (CV_8UC1)
cameraModelsVector of camera models
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+
See also
SensorData(const cv::Mat&, const cv::Mat&, const std::vector<CameraModel>&, int, double, const cv::Mat&) for an example of stitching images from multiple cameras.
+ +
+
+ +

◆ SensorData() [12/16]

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rtabmap::SensorData::SensorData (const cv::Mat & left,
const cv::Mat & right,
const StereoCameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

Stereo camera constructor.

+

Creates a SensorData object with left and right stereo images and a stereo camera model.

+
Parameters
+ + + + + + + +
leftLeft stereo image (CV_8UC1 or CV_8UC3)
rightRight stereo image (CV_8UC1 or CV_8UC3)
cameraModelStereo camera model for disparity computation
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+ +
+
+ +

◆ SensorData() [13/16]

+ +
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rtabmap::SensorData::SensorData (const LaserScan & laserScan,
const cv::Mat & left,
const cv::Mat & right,
const StereoCameraModel & cameraModel,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

Stereo camera constructor with laser scan.

+

Creates a SensorData object with left and right stereo images, stereo camera model, and laser scan.

+
Parameters
+ + + + + + + + +
laserScan2D or 3D laser scan
leftLeft stereo image (CV_8UC1 or CV_8UC3)
rightRight stereo image (CV_8UC1 or CV_8UC3)
cameraModelStereo camera model for disparity computation
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+ +
+
+ +

◆ SensorData() [14/16]

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+
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rtabmap::SensorData::SensorData (const cv::Mat & rgb,
const cv::Mat & depth,
const std::vector< StereoCameraModel > & cameraModels,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

Multi-camera stereo constructor.

+

Creates a SensorData object with left and right stereo images and multiple stereo camera models.

+
Parameters
+ + + + + + + +
rgbLeft stereo image (CV_8UC1 or CV_8UC3)
depthRight stereo image (CV_8UC1 or CV_8UC3)
cameraModelsVector of stereo camera models
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
+
See also
SensorData(const cv::Mat&, const cv::Mat&, const std::vector<CameraModel>&, int, double, const cv::Mat&) for an example of stitching images from multiple cameras.
+ +
+
+ +

◆ SensorData() [15/16]

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rtabmap::SensorData::SensorData (const LaserScan & laserScan,
const cv::Mat & rgb,
const cv::Mat & depth,
const std::vector< StereoCameraModel > & cameraModels,
int id = 0,
double stamp = 0.0,
const cv::Mat & userData = cv::Mat() 
)
+
+ +

Multi-camera stereo constructor with laser scan.

+

Creates a SensorData object with left and right stereo images, multiple stereo camera models, and laser scan.

+
Parameters
+ + + + + + + + +
laserScan2D or 3D laser scan
rgbLeft stereo image (CV_8UC1 or CV_8UC3)
depthRight stereo image (CV_8UC1 or CV_8UC3)
cameraModelsVector of stereo camera models
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
userDataOptional user-defined data matrix
+
+
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+
+ +

◆ SensorData() [16/16]

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rtabmap::SensorData::SensorData (const IMU & imu,
int id = 0,
double stamp = 0.0 
)
+
+ +

IMU-only constructor.

+

Creates a SensorData object with only IMU data (no images). Useful for IMU-only odometry or sensor fusion scenarios.

+
Parameters
+ + + + +
imuIMU data (accelerometer, gyroscope, orientation)
idSensor data ID (0 to auto-generate)
stampTimestamp in seconds
+
+
+ +
+
+

Member Function Documentation

+ +

◆ isValid()

+ +
+
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+ + + + + + + +
bool rtabmap::SensorData::isValid () const
+ 		+inline
+
+ +

Checks if the sensor data is valid.

+

Returns true if the sensor data contains at least one of:

    +
  • Valid ID (> 0) or non-zero stamp
    • +
  • Images (raw or compressed)
    • +
  • Depth/right images (raw or compressed)
    • +
  • Depth confidence (raw or compressed)
    • +
  • Laser scan (raw or compressed)
    • +
  • Camera models (mono or stereo)
    • +
  • User data (raw or compressed)
    • +
  • Keypoints and descriptors
    • +
  • IMU data
    • +
+
Returns
True if the sensor data contains any valid information, false otherwise
+ +

Definition at line 485 of file SensorData.h.

+ +
+
+ +

◆ id()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::SensorData::id () const
+ 		+inline
+
+ +

Returns the sensor data ID.

+
Returns
The unique sensor data ID (0 if invalid/uninitialized)
+ +

Definition at line 515 of file SensorData.h.

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+ +

◆ setId()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::setId (int id)
+ 		+inline
+
+ +

Sets the sensor data ID.

+
Parameters
+ + +
idThe unique sensor data ID
+
+
+ +

Definition at line 521 of file SensorData.h.

+ +
+
+ +

◆ stamp()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::SensorData::stamp () const
+ 		+inline
+
+ +

Returns the timestamp.

+
Returns
Timestamp in seconds (typically seconds since epoch)
+ +

Definition at line 527 of file SensorData.h.

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+
+ +

◆ setStamp()

+ +
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+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::setStamp (double stamp)
+ 		+inline
+
+ +

Sets the timestamp.

+
Parameters
+ + +
stampTimestamp in seconds
+
+
+ +

Definition at line 533 of file SensorData.h.

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+ +

◆ imageCompressed()

+ +
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const cv::Mat & rtabmap::SensorData::imageCompressed () const
+ 		+inline
+
+ +

Returns the compressed RGB/grayscale image.

+
Returns
Compressed image (CV_8UC1 with 1 row, JPEG/PNG-compressed bytes)
+
Note
Use Compression::uncompressImage() to uncompress the image.
+ +

Definition at line 540 of file SensorData.h.

+ +
+
+ +

◆ depthOrRightCompressed()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::depthOrRightCompressed () const
+ 		+inline
+
+ +

Returns the compressed depth or right stereo image.

+
Returns
Compressed depth/right image (CV_8UC1 with 1 row, compressed bytes)
+
Note
Use Compression::uncompressImage() to uncompress the image.
+ +

Definition at line 547 of file SensorData.h.

+ +
+
+ +

◆ depthConfidenceCompressed()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::depthConfidenceCompressed () const
+ 		+inline
+
+ +

Returns the compressed depth confidence map.

+
Returns
Compressed depth confidence (CV_8UC1 with 1 row, compressed bytes)
+
Note
Use Compression::uncompressData() to uncompress the data.
+ +

Definition at line 554 of file SensorData.h.

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+
+ +

◆ laserScanCompressed()

+ +
+
+ + + + + +
+ + + + + + + +
const LaserScan & rtabmap::SensorData::laserScanCompressed () const
+ 		+inline
+
+ +

Returns the compressed laser scan.

+
Returns
Compressed laser scan
+ +

Definition at line 560 of file SensorData.h.

+ +
+
+ +

◆ imageRaw()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::imageRaw () const
+ 		+inline
+
+ +

Returns the raw RGB/grayscale image.

+
Returns
Raw image (CV_8UC1 for grayscale or CV_8UC3 for RGB)
+ +

Definition at line 566 of file SensorData.h.

+ +
+
+ +

◆ depthOrRightRaw()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::depthOrRightRaw () const
+ 		+inline
+
+ +

Returns the raw depth or right stereo image.

+
Returns
Raw depth (CV_16UC1 for millimeters or CV_32FC1 for meters) or right stereo image (CV_8UC1 or CV_8UC3)
+ +

Definition at line 573 of file SensorData.h.

+ +
+
+ +

◆ depthConfidenceRaw()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::depthConfidenceRaw () const
+ 		+inline
+
+ +

Returns the raw depth confidence map.

+
Returns
Raw depth confidence (CV_8UC1, typically 0-100)
+ +

Definition at line 579 of file SensorData.h.

+ +
+
+ +

◆ laserScanRaw()

+ +
+
+ + + + + +
+ + + + + + + +
const LaserScan & rtabmap::SensorData::laserScanRaw () const
+ 		+inline
+
+ +

Returns the raw laser scan.

+
Returns
Raw laser scan (2D or 3D)
+ +

Definition at line 585 of file SensorData.h.

+ +
+
+ +

◆ setRGBDImage()

+ +
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void rtabmap::SensorData::setRGBDImage (const cv::Mat & rgb,
const cv::Mat & depth,
const CameraModel & model,
bool clearPreviousData = true 
)
+
+

Set image data. Detect automatically if raw or compressed. A matrix of type CV_8UC1 with 1 row is considered as compressed.

Parameters
+ + +
clearPreviousData,clearprevious raw and compressed images before setting the new ones.
+
+
+ +
+
+ +

◆ setLaserScan()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::SensorData::setLaserScan (const LaserScan & laserScan,
bool clearPreviousData = true 
)
+
+

Set laser scan data. Detect automatically if raw or compressed. A matrix of type CV_8UC1 with 1 row is considered as compressed.

Parameters
+ + +
clearPreviousData,clearprevious raw and compressed scans before setting the new one.
+
+
+ +
+
+ +

◆ setCameraModel()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::setCameraModel (const CameraModel & model)
+ 		+inline
+
+ +

Sets a single camera model (clears previous models)

+
Parameters
+ + +
modelCamera model to set
+
+
+ +

Definition at line 610 of file SensorData.h.

+ +
+
+ +

◆ setCameraModels()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::setCameraModels (const std::vector< CameraModel > & models)
+ 		+inline
+
+ +

Sets multiple camera models.

+
Parameters
+ + +
modelsVector of camera models
+
+
+ +

Definition at line 616 of file SensorData.h.

+ +
+
+ +

◆ setStereoCameraModel()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::setStereoCameraModel (const StereoCameraModel & stereoCameraModel)
+ 		+inline
+
+ +

Sets a single stereo camera model (clears previous models)

+
Parameters
+ + +
stereoCameraModelStereo camera model to set
+
+
+ +

Definition at line 622 of file SensorData.h.

+ +
+
+ +

◆ setStereoCameraModels()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::setStereoCameraModels (const std::vector< StereoCameraModel > & stereoCameraModels)
+ 		+inline
+
+ +

Sets multiple stereo camera models.

+
Parameters
+ + +
stereoCameraModelsVector of stereo camera models
+
+
+ +

Definition at line 628 of file SensorData.h.

+ +
+
+ +

◆ depthRaw()

+ +
+
+ + + + + +
+ + + + + + + +
cv::Mat rtabmap::SensorData::depthRaw () const
+ 		+inline
+
+ +

Returns the depth image (convenience method)

+

Returns the depth image if _depthOrRightRaw 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.

+
Returns
Depth image if available, empty Mat if right stereo image or empty
+ +

Definition at line 639 of file SensorData.h.

+ +
+
+ +

◆ rightRaw()

+ +
+
+ + + + + +
+ + + + + + + +
cv::Mat rtabmap::SensorData::rightRaw () const
+ 		+inline
+
+ +

Returns the right stereo image (convenience method)

+

Returns the right stereo image if _depthOrRightRaw 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.

+
Returns
Right stereo image if available, empty Mat if depth image or empty
+ +

Definition at line 650 of file SensorData.h.

+ +
+
+ +

◆ uncompressData() [1/2]

+ +
+
+ + + + + + + +
void rtabmap::SensorData::uncompressData ()
+
+ +

Uncompresses all compressed data in-place.

+

Decompresses all compressed images, depth, laser scans, and user data, storing the results in the raw data members. This modifies the object.

+ +
+
+ +

◆ uncompressData() [2/2]

+ +
+
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void rtabmap::SensorData::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 
)
+
+ +

Uncompresses compressed data into provided output buffers.

+

Decompresses compressed data and stores results in the provided output buffers. If a buffer pointer is null, that data type is skipped. The raw fields of the object is updated with the uncompressed data so that consecutive calls with same field should not trigger a uncompression again.

+
Parameters
+ + + + + + + + + +
imageRawOutput buffer for uncompressed RGB/grayscale image
depthOrRightRawOutput buffer for uncompressed depth or right stereo image
laserScanRawOutput buffer for uncompressed laser scan
userDataRawOutput buffer for uncompressed user data
groundCellsRawOutput buffer for uncompressed ground occupancy grid cells
obstacleCellsRawOutput buffer for uncompressed obstacle occupancy grid cells
emptyCellsRawOutput buffer for uncompressed empty occupancy grid cells
depthConfidenceRawOutput buffer for uncompressed depth confidence
+
+
+ +
+
+ +

◆ uncompressDataConst()

+ +
+
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void rtabmap::SensorData::uncompressDataConst (cv::Mat * imageRaw,
cv::Mat * depthOrRightRaw,
LaserScan * laserScanRaw = 0,
cv::Mat * userDataRaw = 0,
cv::Mat * groundCellsRaw = 0,
cv::Mat * obstacleCellsRaw = 0,
cv::Mat * emptyCellsRaw = 0,
cv::Mat * depthConfidenceRaw = 0 
) const
+
+ +

Uncompresses compressed data into provided output buffers (const version)

+

Same as uncompressData() but does not modify the object's internal state.

+
Parameters
+ + + + + + + + + +
imageRawOutput buffer for uncompressed RGB/grayscale image
depthOrRightRawOutput buffer for uncompressed depth or right stereo image
laserScanRawOutput buffer for uncompressed laser scan
userDataRawOutput buffer for uncompressed user data
groundCellsRawOutput buffer for uncompressed ground occupancy grid cells
obstacleCellsRawOutput buffer for uncompressed obstacle occupancy grid cells
emptyCellsRawOutput buffer for uncompressed empty occupancy grid cells
depthConfidenceRawOutput buffer for uncompressed depth confidence
+
+
+ +
+
+ +

◆ cameraModels()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< CameraModel > & rtabmap::SensorData::cameraModels () const
+ 		+inline
+
+ +

Returns the camera models.

+
Returns
Const reference to vector of mono camera models
+ +

Definition at line 724 of file SensorData.h.

+ +
+
+ +

◆ stereoCameraModels()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< StereoCameraModel > & rtabmap::SensorData::stereoCameraModels () const
+ 		+inline
+
+ +

Returns the stereo camera models.

+
Returns
Const reference to vector of stereo camera models
+ +

Definition at line 730 of file SensorData.h.

+ +
+
+ +

◆ setUserData()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::SensorData::setUserData (const cv::Mat & userData,
bool clearPreviousData = true 
)
+
+

Set user data. Detect automatically if raw or compressed. If raw, the data is compressed too. A matrix of type CV_8UC1 with 1 row is considered as compressed. If you have one dimension unsigned 8 bits raw data, make sure to transpose it (to have multiple rows instead of multiple columns) in order to be detected as not compressed.

Parameters
+ + +
clearPreviousData,clearprevious raw and compressed user data before setting the new one.
+
+
+ +
+
+ +

◆ userDataRaw()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::userDataRaw () const
+ 		+inline
+
+ +

Definition at line 741 of file SensorData.h.

+ +
+
+ +

◆ userDataCompressed()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::userDataCompressed () const
+ 		+inline
+
+ +

Definition at line 742 of file SensorData.h.

+ +
+
+ +

◆ setOccupancyGrid()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::SensorData::setOccupancyGrid (const cv::Mat & ground,
const cv::Mat & obstacles,
const cv::Mat & empty,
float cellSize,
const cv::Point3f & viewPoint 
)
+
+ +

Sets occupancy grid data.

+

Sets the occupancy grid with ground, obstacle, and empty cells. The data is automatically detected as raw or compressed. If raw, it will be compressed automatically.

+
Parameters
+ + + + + + +
groundGround cells matrix
obstaclesObstacle cells matrix
emptyEmpty cells matrix
cellSizeSize of each grid cell in meters
viewPointViewpoint/origin of the occupancy grid (3D point)
+
+
+ +
+
+ +

◆ gridGroundCellsRaw()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::gridGroundCellsRaw () const
+ 		+inline
+
+ +

Returns raw ground cells.

+
Returns
Const reference to raw ground cells matrix
+ +

Definition at line 767 of file SensorData.h.

+ +
+
+ +

◆ gridGroundCellsCompressed()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::gridGroundCellsCompressed () const
+ 		+inline
+
+ +

Returns compressed ground cells.

+
Returns
Const reference to compressed ground cells matrix
+
Note
Use Compression::uncompressData() to uncompress the data.
+ +

Definition at line 774 of file SensorData.h.

+ +
+
+ +

◆ gridObstacleCellsRaw()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::gridObstacleCellsRaw () const
+ 		+inline
+
+ +

Returns raw obstacle cells.

+
Returns
Const reference to raw obstacle cells matrix
+ +

Definition at line 780 of file SensorData.h.

+ +
+
+ +

◆ gridObstacleCellsCompressed()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::gridObstacleCellsCompressed () const
+ 		+inline
+
+ +

Returns compressed obstacle cells.

+
Returns
Const reference to compressed obstacle cells matrix
+
Note
Use Compression::uncompressData() to uncompress the data.
+ +

Definition at line 787 of file SensorData.h.

+ +
+
+ +

◆ gridEmptyCellsRaw()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::gridEmptyCellsRaw () const
+ 		+inline
+
+ +

Returns raw empty cells.

+
Returns
Const reference to raw empty cells matrix
+ +

Definition at line 793 of file SensorData.h.

+ +
+
+ +

◆ gridEmptyCellsCompressed()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::gridEmptyCellsCompressed () const
+ 		+inline
+
+ +

Returns compressed empty cells.

+
Returns
Const reference to compressed empty cells matrix
+
Note
Use Compression::uncompressData() to uncompress the data.
+ +

Definition at line 800 of file SensorData.h.

+ +
+
+ +

◆ gridCellSize()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::SensorData::gridCellSize () const
+ 		+inline
+
+ +

Returns the occupancy grid cell size.

+
Returns
Cell size in meters
+ +

Definition at line 806 of file SensorData.h.

+ +
+
+ +

◆ gridViewPoint()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Point3f & rtabmap::SensorData::gridViewPoint () const
+ 		+inline
+
+ +

Returns the occupancy grid viewpoint.

+
Returns
Const reference to viewpoint/origin 3D point
+ +

Definition at line 812 of file SensorData.h.

+ +
+
+ +

◆ setFeatures()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::SensorData::setFeatures (const std::vector< cv::KeyPoint > & keypoints,
const std::vector< cv::Point3f > & keypoints3D,
const cv::Mat & descriptors 
)
+
+ +

Sets visual features (keypoints, 3D points, descriptors)

+

Sets the visual features extracted from the images. All arrays must have matching sizes (one keypoint per 3D point and descriptor).

+
Parameters
+ + + + +
keypoints2D keypoints in image coordinates
keypoints3D3D points corresponding to keypoints (in base_link frame)
descriptorsFeature descriptors matrix (one row per keypoint)
+
+
+ +
+
+ +

◆ keypoints()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< cv::KeyPoint > & rtabmap::SensorData::keypoints () const
+ 		+inline
+
+ +

Returns the 2D keypoints.

+
Returns
Const reference to vector of 2D keypoints
+ +

Definition at line 830 of file SensorData.h.

+ +
+
+ +

◆ keypoints3D()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< cv::Point3f > & rtabmap::SensorData::keypoints3D () const
+ 		+inline
+
+ +

Returns the 3D keypoints.

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

Definition at line 836 of file SensorData.h.

+ +
+
+ +

◆ descriptors()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::descriptors () const
+ 		+inline
+
+ +

Returns the feature descriptors.

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

Definition at line 842 of file SensorData.h.

+ +
+
+ +

◆ addGlobalDescriptor()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::addGlobalDescriptor (const GlobalDescriptor & descriptor)
+ 		+inline
+
+ +

Adds a global descriptor.

+
Parameters
+ + +
descriptorGlobal descriptor to add
+
+
+ +

Definition at line 848 of file SensorData.h.

+ +
+
+ +

◆ setGlobalDescriptors()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::setGlobalDescriptors (const std::vector< GlobalDescriptor > & descriptors)
+ 		+inline
+
+ +

Sets all global descriptors.

+
Parameters
+ + +
descriptorsVector of global descriptors
+
+
+ +

Definition at line 854 of file SensorData.h.

+ +
+
+ +

◆ clearGlobalDescriptors()

+ +
+
+ + + + + +
+ + + + + + + +
void rtabmap::SensorData::clearGlobalDescriptors ()
+ 		+inline
+
+ +

Clears all global descriptors.

+ +

Definition at line 859 of file SensorData.h.

+ +
+
+ +

◆ globalDescriptors()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< GlobalDescriptor > & rtabmap::SensorData::globalDescriptors () const
+ 		+inline
+
+ +

Returns all global descriptors.

+
Returns
Const reference to vector of global descriptors
+ +

Definition at line 865 of file SensorData.h.

+ +
+
+ +

◆ setGroundTruth()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::setGroundTruth (const Transform & pose)
+ 		+inline
+
+ +

Sets the ground truth pose.

+
Parameters
+ + +
poseGround truth transform (for evaluation purposes)
+
+
+ +

Definition at line 871 of file SensorData.h.

+ +
+
+ +

◆ groundTruth()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::SensorData::groundTruth () const
+ 		+inline
+
+ +

Returns the ground truth pose.

+
Returns
Const reference to ground truth transform
+ +

Definition at line 877 of file SensorData.h.

+ +
+
+ +

◆ setGlobalPose()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
void rtabmap::SensorData::setGlobalPose (const Transform & pose,
const cv::Mat & covariance 
)
+ 		+inline
+
+ +

Sets the global pose with covariance.

+
Parameters
+ + + +
poseGlobal pose transform
covariancePose covariance matrix (6x6, CV_64FC1)
+
+
+ +

Definition at line 884 of file SensorData.h.

+ +
+
+ +

◆ globalPose()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::SensorData::globalPose () const
+ 		+inline
+
+ +

Returns the global pose.

+
Returns
Const reference to global pose transform
+ +

Definition at line 890 of file SensorData.h.

+ +
+
+ +

◆ globalPoseCovariance()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::SensorData::globalPoseCovariance () const
+ 		+inline
+
+ +

Returns the global pose covariance.

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

Definition at line 896 of file SensorData.h.

+ +
+
+ +

◆ setGPS()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::setGPS (const GPS & gps)
+ 		+inline
+
+ +

Sets GPS data.

+
Parameters
+ + +
gpsGPS data (latitude, longitude, altitude, etc.)
+
+
+ +

Definition at line 902 of file SensorData.h.

+ +
+
+ +

◆ gps()

+ +
+
+ + + + + +
+ + + + + + + +
const GPS & rtabmap::SensorData::gps () const
+ 		+inline
+
+ +

Returns GPS data.

+
Returns
Const reference to GPS data
+ +

Definition at line 908 of file SensorData.h.

+ +
+
+ +

◆ setIMU()

+ +
+
+ + + + + + + + +
void rtabmap::SensorData::setIMU (const IMU & imu)
+
+ +

Sets IMU data.

+
Parameters
+ + +
imuIMU data (accelerometer, gyroscope, orientation)
+
+
+
Warning
Asserts that all orientation, angular velocity and linear acceleration values are finite.
+ +
+
+ +

◆ imu()

+ +
+
+ + + + + +
+ + + + + + + +
const IMU & rtabmap::SensorData::imu () const
+ 		+inline
+
+ +

Returns IMU data.

+
Returns
Const reference to IMU data
+ +

Definition at line 922 of file SensorData.h.

+ +
+
+ +

◆ setEnvSensors()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::setEnvSensors (const EnvSensors & sensors)
+ 		+inline
+
+ +

Sets all environmental sensors.

+
Parameters
+ + +
sensorsMap of environmental sensor types to sensor data
+
+
+ +

Definition at line 928 of file SensorData.h.

+ +
+
+ +

◆ addEnvSensor()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::addEnvSensor (const EnvSensor & sensor)
+ 		+inline
+
+ +

Adds a single environmental sensor.

+
Parameters
+ + +
sensorEnvironmental sensor to add
+
+
+ +

Definition at line 934 of file SensorData.h.

+ +
+
+ +

◆ envSensors()

+ +
+
+ + + + + +
+ + + + + + + +
const EnvSensors & rtabmap::SensorData::envSensors () const
+ 		+inline
+
+ +

Returns all environmental sensors.

+
Returns
Const reference to map of environmental sensors
+ +

Definition at line 940 of file SensorData.h.

+ +
+
+ +

◆ setLandmarks()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::SensorData::setLandmarks (const Landmarks & landmarks)
+ 		+inline
+
+ +

Sets landmarks.

+
Parameters
+ + +
landmarksMap of landmark IDs to landmark data
+
+
+
Note
Landmark IDs should be positive and non-zero.
+ +

Definition at line 947 of file SensorData.h.

+ +
+
+ +

◆ landmarks()

+ +
+
+ + + + + +
+ + + + + + + +
const Landmarks & rtabmap::SensorData::landmarks () const
+ 		+inline
+
+ +

Returns landmarks.

+
Returns
Const reference to map of landmarks
+ +

Definition at line 953 of file SensorData.h.

+ +
+
+ +

◆ getMemoryUsed()

+ +
+
+ + + + + + + +
unsigned long rtabmap::SensorData::getMemoryUsed () const
+
+ +

Computes the memory usage of this sensor data.

+

Calculates the approximate memory footprint including all images, laser scans, features, descriptors, and other data structures.

+
Returns
Memory usage in bytes
+ +
+
+ +

◆ clearCompressedData()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::SensorData::clearCompressedData (bool images = true,
bool scan = true,
bool userData = true,
bool occupancyGrid = true 
)
+
+

Clear compressed rgb/depth (left/right) images, compressed laser scan and compressed user data. Raw data are kept is set.

+ +
+
+ +

◆ clearRawData()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::SensorData::clearRawData (bool images = true,
bool scan = true,
bool userData = true,
bool occupancyGrid = true 
)
+
+

Clear raw rgb/depth (left/right) images, raw laser scan and raw user data. Compressed data are kept is set.

+ +
+
+ +

◆ isPointVisibleFromCameras()

+ +
+
+ + + + + + + + +
int rtabmap::SensorData::isPointVisibleFromCameras (const cv::Point3f & pt) const
+
+ +

Checks if a 3D point is visible from any camera.

+

Projects the 3D point into all camera models and checks if it falls within the image bounds.

+
Parameters
+ + +
pt3D point in robot frame (base_link)
+
+
+
Returns
Camera index (>=0) of the first camera found with the point visible, -1 if the point is not visible by any camera.
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SensorEvent-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1SensorEvent-members.html new file mode 100644 index 00000000..6db3c50a --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SensorEvent-members.html @@ -0,0 +1,108 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
+
+
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+
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+ + +
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+
rtabmap::SensorEvent Member List
+
+
+ +

This is the complete list of members for rtabmap::SensorEvent, including all inherited members.

+ + + + + + + + + + + + + + + + + +
cameraName() constrtabmap::SensorEventinline
Code enum namertabmap::SensorEvent
data() constrtabmap::SensorEventinline
getClassName() constrtabmap::SensorEventinlinevirtual
getCode() constUEventinline
info() constrtabmap::SensorEventinline
kCodeData enum valuertabmap::SensorEvent
kCodeNoMoreImages enum valuertabmap::SensorEvent
SensorEvent(const cv::Mat &image, int seq=0, double stamp=0.0, const std::string &cameraName=std::string())rtabmap::SensorEventinline
SensorEvent()rtabmap::SensorEventinline
SensorEvent(const SensorData &data)rtabmap::SensorEventinline
SensorEvent(const SensorData &data, const std::string &cameraName)rtabmap::SensorEventinline
SensorEvent(const SensorData &data, const SensorCaptureInfo &sensorCaptureInfo)rtabmap::SensorEventinline
UEvent(int code=0)UEventinlineprotected
~SensorEvent()rtabmap::SensorEventinlinevirtual
~UEvent() (defined in UEvent)UEventinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SensorEvent.html b/preview/pr-1492/api/latest/classrtabmap_1_1SensorEvent.html new file mode 100644 index 00000000..65cba588 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SensorEvent.html @@ -0,0 +1,603 @@ + + + + + + + + +RTAB-Map: rtabmap::SensorEvent Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+Public Types | +Public Member Functions | +List of all members
+
rtabmap::SensorEvent Class Reference
+
+
+ +

Event class for sensor data communication in RTAB-Map's event system. + More...

+ +

#include <SensorEvent.h>

+
+Inheritance diagram for rtabmap::SensorEvent:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::SensorEvent:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + +

+Public Types

enum  Code { kCodeData +, kCodeNoMoreImages + }
 Event codes for SensorEvent. More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 SensorEvent (const cv::Mat &image, int seq=0, double stamp=0.0, const std::string &cameraName=std::string())
 Constructor from a single image.
 
 SensorEvent ()
 Constructor for end-of-stream event.
 
 SensorEvent (const SensorData &data)
 Constructor from SensorData.
 
 SensorEvent (const SensorData &data, const std::string &cameraName)
 Constructor from SensorData with camera name.
 
 SensorEvent (const SensorData &data, const SensorCaptureInfo &sensorCaptureInfo)
 Constructor from SensorData with full capture info.
 
const SensorData & data () const
 Returns the sensor data contained in this event.
 
const std::string & cameraName () const
 Returns the camera name.
 
const SensorCaptureInfo & info () const
 Returns the sensor capture information.
 
virtual ~SensorEvent ()
 Virtual destructor.
 
virtual std::string getClassName () const
 Returns the class name for event identification.
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+

Event class for sensor data communication in RTAB-Map's event system.

+

SensorEvent is an event class that extends UEvent and is used to communicate sensor data (images, depth, laser scans, etc.) through RTAB-Map's event-driven architecture. It is typically posted by sensor capture threads and handled by event handlers (e.g., RtabmapThread, DataRecorder, CalibrationDialog).

+

The class supports two event codes:

    +
  • kCodeData: Indicates that new sensor data is available
    • +
  • kCodeNoMoreImages: Indicates that the sensor stream has ended (end of file, camera disconnected, etc.)
    • +
+

SensorEvent carries:

    +
  • SensorData: The actual sensor data (images, depth, scans, camera models, etc.)
    • +
  • SensorCaptureInfo: Metadata about the capture (camera name, timing information, odometry pose, etc.)
    • +
+
Note
This class is part of RTAB-Map's event system. Handlers should check the event code and class name before processing the event.
+
See also
UEvent
+
+SensorData
+
+SensorCaptureInfo
+
+UEventsHandler
+
+UEventsManager
+ +

Definition at line 63 of file SensorEvent.h.

+

Member Enumeration Documentation

+ +

◆ Code

+ +
+
+ + + + +
enum rtabmap::SensorEvent::Code
+
+ +

Event codes for SensorEvent.

+ + + +
Enumerator
kCodeData 

Event code indicating new sensor data is available.

+
kCodeNoMoreImages 

Event code indicating the sensor stream has ended.

+
+ +

Definition at line 71 of file SensorEvent.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ SensorEvent() [1/5]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::SensorEvent::SensorEvent (const cv::Mat & image,
int seq = 0,
double stamp = 0.0,
const std::string & cameraName = std::string() 
)
+ 		+inline
+
+ +

Constructor from a single image.

+

Creates a SensorEvent with kCodeData containing a single image. This is a convenience constructor for simple image-only sensor data.

+
Parameters
+ + + + + +
imageThe image to include in the sensor data
seqSequence number (default: 0)
stampTimestamp in seconds (default: 0.0)
cameraNameOptional camera name identifier (default: empty)
+
+
+ +

Definition at line 88 of file SensorEvent.h.

+ +
+
+ +

◆ SensorEvent() [2/5]

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::SensorEvent::SensorEvent ()
+ 		+inline
+
+ +

Constructor for end-of-stream event.

+

Creates a SensorEvent with kCodeNoMoreImages to signal that the sensor stream has ended (e.g., end of file, camera disconnected).

+
Note
This constructor does not include any sensor data.
+ +

Definition at line 103 of file SensorEvent.h.

+ +
+
+ +

◆ SensorEvent() [3/5]

+ +
+
+ + + + + +
+ + + + + + + + +
rtabmap::SensorEvent::SensorEvent (const SensorData & data)
+ 		+inline
+
+ +

Constructor from SensorData.

+

Creates a SensorEvent with kCodeData containing the provided SensorData.

+
Parameters
+ + +
dataThe sensor data to include in the event
+
+
+ +

Definition at line 115 of file SensorEvent.h.

+ +
+
+ +

◆ SensorEvent() [4/5]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
rtabmap::SensorEvent::SensorEvent (const SensorData & data,
const std::string & cameraName 
)
+ 		+inline
+
+ +

Constructor from SensorData with camera name.

+

Creates a SensorEvent with kCodeData containing the provided SensorData and camera name.

+
Parameters
+ + + +
dataThe sensor data to include in the event
cameraNameCamera name identifier
+
+
+ +

Definition at line 130 of file SensorEvent.h.

+ +
+
+ +

◆ SensorEvent() [5/5]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
rtabmap::SensorEvent::SensorEvent (const SensorData & data,
const SensorCaptureInfo & sensorCaptureInfo 
)
+ 		+inline
+
+ +

Constructor from SensorData with full capture info.

+

Creates a SensorEvent with kCodeData containing the provided SensorData and complete sensor capture information (camera name, timing, odometry, etc.).

+
Parameters
+ + + +
dataThe sensor data to include in the event
sensorCaptureInfoComplete sensor capture information
+
+
+ +

Definition at line 146 of file SensorEvent.h.

+ +
+
+ +

◆ ~SensorEvent()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::SensorEvent::~SensorEvent ()
+ 		+inlinevirtual
+
+ +

Virtual destructor.

+ +

Definition at line 185 of file SensorEvent.h.

+ +
+
+

Member Function Documentation

+ +

◆ data()

+ +
+
+ + + + + +
+ + + + + + + +
const SensorData & rtabmap::SensorEvent::data () const
+ 		+inline
+
+ +

Returns the sensor data contained in this event.

+

Returns the SensorData object containing images, depth, laser scans, camera models, and other sensor information.

+
Returns
Const reference to the sensor data
+ +

Definition at line 161 of file SensorEvent.h.

+ +
+
+ +

◆ cameraName()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::SensorEvent::cameraName () const
+ 		+inline
+
+ +

Returns the camera name.

+

Returns the camera name identifier from the sensor capture info.

+
Returns
Const reference to the camera name string
+ +

Definition at line 170 of file SensorEvent.h.

+ +
+
+ +

◆ info()

+ +
+
+ + + + + +
+ + + + + + + +
const SensorCaptureInfo & rtabmap::SensorEvent::info () const
+ 		+inline
+
+ +

Returns the sensor capture information.

+

Returns the complete sensor capture information including camera name, timing information, odometry pose, covariance, and other metadata.

+
Returns
Const reference to the sensor capture info
+ +

Definition at line 180 of file SensorEvent.h.

+ +
+
+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::SensorEvent::getClassName () const
+ 		+inlinevirtual
+
+ +

Returns the class name for event identification.

+

Returns "SensorEvent" to allow event handlers to identify this event type.

+
Returns
Class name string "SensorEvent"
+ +

Implements UEvent.

+ +

Definition at line 194 of file SensorEvent.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::Signature Member List
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This is the complete list of members for rtabmap::Signature, including all inherited members.

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addLandmark(const Link &landmark)rtabmap::Signature
addLink(const Link &link)rtabmap::Signature
addLinks(const std::list< Link > &links)rtabmap::Signature
addLinks(const std::map< int, Link > &links)rtabmap::Signature
changeLinkIds(int idFrom, int idTo)rtabmap::Signature
changeWordsRef(int oldWordId, int activeWordId)rtabmap::Signature
compareTo(const Signature &signature) constrtabmap::Signature
getGroundTruthPose() constrtabmap::Signatureinline
getInvalidWordsCount() constrtabmap::Signatureinline
getLabel() constrtabmap::Signatureinline
getLandmarks() constrtabmap::Signatureinline
getLinks() constrtabmap::Signatureinline
getMemoryUsed(bool withSensorData=true) constrtabmap::Signature
getPose() constrtabmap::Signatureinline
getPoseCovariance() constrtabmap::Signature
getStamp() constrtabmap::Signatureinline
getVelocity() constrtabmap::Signatureinline
getWeight() constrtabmap::Signatureinline
getWords() constrtabmap::Signatureinline
getWords3() constrtabmap::Signatureinline
getWordsChanged() constrtabmap::Signatureinline
getWordsDescriptors() constrtabmap::Signatureinline
getWordsKpts() constrtabmap::Signatureinline
hasLink(int idTo, Link::Type type=Link::kUndef) constrtabmap::Signature
id() constrtabmap::Signatureinline
isBadSignature() constrtabmap::Signature
isEnabled() constrtabmap::Signatureinline
isLinksModified() constrtabmap::Signatureinline
isModified() constrtabmap::Signatureinline
isSaved() constrtabmap::Signatureinline
mapId() constrtabmap::Signatureinline
removeAllWords()rtabmap::Signature
removeLandmark(int landmarkId)rtabmap::Signature
removeLandmarks()rtabmap::Signature
removeLink(int idTo)rtabmap::Signature
removeLinks(bool keepSelfReferringLinks=false)rtabmap::Signature
removeVirtualLinks()rtabmap::Signature
sensorData()rtabmap::Signatureinline
sensorData() constrtabmap::Signatureinline
setEnabled(bool enabled)rtabmap::Signatureinline
setGroundTruthPose(const Transform &pose)rtabmap::Signatureinline
setLabel(const std::string &label)rtabmap::Signatureinline
setModified(bool modified)rtabmap::Signatureinline
setPose(const Transform &pose)rtabmap::Signatureinline
setSaved(bool saved)rtabmap::Signatureinline
setVelocity(float vx, float vy, float vz, float vroll, float vpitch, float vyaw)rtabmap::Signatureinline
setWeight(int weight)rtabmap::Signatureinline
setWords(const std::multimap< int, int > &words, const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &words3, const cv::Mat &descriptors)rtabmap::Signature
setWordsDescriptors(const cv::Mat &descriptors)rtabmap::Signature
Signature()rtabmap::Signature
Signature(int id, int mapId=-1, int weight=0, double stamp=0.0, const std::string &label=std::string(), const Transform &pose=Transform(), const Transform &groundTruthPose=Transform(), const SensorData &sensorData=SensorData())rtabmap::Signature
Signature(const SensorData &data)rtabmap::Signature
~Signature()rtabmap::Signaturevirtual
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+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Signature.html b/preview/pr-1492/api/latest/classrtabmap_1_1Signature.html new file mode 100644 index 00000000..87ff9372 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Signature.html @@ -0,0 +1,1980 @@ + + + + + + + + +RTAB-Map: rtabmap::Signature Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
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rtabmap::Signature Class Reference
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+ +

Represents a node in RTAB-Map's pose graph. + More...

+ +

#include <Signature.h>

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+Public Member Functions

 Signature ()
 Default constructor.
 
 Signature (int id, int mapId=-1, int weight=0, double stamp=0.0, const std::string &label=std::string(), const Transform &pose=Transform(), const Transform &groundTruthPose=Transform(), const SensorData &sensorData=SensorData())
 Constructor with explicit parameters.
 
 Signature (const SensorData &data)
 Constructor from sensor data.
 
+virtual ~Signature ()
 Virtual destructor.
 
float compareTo (const Signature &signature) const
 Compares this signature to another signature.
 
bool isBadSignature () const
 Checks if this signature is considered "bad".
 
int id () const
 Returns the signature ID.
 
int mapId () const
 Returns the map ID.
 
void setWeight (int weight)
 Sets the weight/importance of this signature.
 
int getWeight () const
 Returns the weight/importance of this signature.
 
void setLabel (const std::string &label)
 Sets a label/name for this signature.
 
const std::string & getLabel () const
 Returns the label/name of this signature.
 
double getStamp () const
 Returns the timestamp of this signature.
 
void addLinks (const std::list< Link > &links)
 Adds multiple links from a list.
 
void addLinks (const std::map< int, Link > &links)
 Adds multiple links from a map.
 
void addLink (const Link &link)
 Adds a single link to this signature.
 
bool hasLink (int idTo, Link::Type type=Link::kUndef) const
 Checks if this signature has a link to a target signature.
 
void changeLinkIds (int idFrom, int idTo)
 Changes all link target IDs from one value to another.
 
void removeLinks (bool keepSelfReferringLinks=false)
 Removes all links from this signature.
 
void removeLink (int idTo)
 Removes a specific link to a target signature.
 
void removeVirtualLinks ()
 Removes all virtual links from this signature.
 
void addLandmark (const Link &landmark)
 Adds a landmark observation to this signature.
 
const std::map< int, Link > & getLandmarks () const
 Returns all landmark observations.
 
+void removeLandmarks ()
 Removes all landmark observations.
 
void removeLandmark (int landmarkId)
 Removes a specific landmark observation.
 
void setSaved (bool saved)
 Sets whether this signature has been saved to the database.
 
void setModified (bool modified)
 Sets the modification flag for this signature.
 
const std::multimap< int, Link > & getLinks () const
 Returns all links from this signature.
 
bool isSaved () const
 Checks if this signature has been saved to the database.
 
bool isModified () const
 Checks if this signature has been modified.
 
bool isLinksModified () const
 Checks if the links have been modified.
 
void removeAllWords ()
 Removes all visual words from this signature.
 
void changeWordsRef (int oldWordId, int activeWordId)
 Changes visual word references from one word ID to another.
 
void setWords (const std::multimap< int, int > &words, const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &words3, const cv::Mat &descriptors)
 Sets all visual words for this signature.
 
bool isEnabled () const
 Checks if this signature is enabled.
 
void setEnabled (bool enabled)
 Sets whether this signature is enabled.
 
const std::multimap< int, int > & getWords () const
 Returns the visual words map.
 
const std::vector< cv::KeyPoint > & getWordsKpts () const
 Returns the keypoints associated with visual words.
 
int getInvalidWordsCount () const
 Returns the count of invalid visual words.
 
const std::map< int, int > & getWordsChanged () const
 Returns the word ID change mapping.
 
const cv::Mat & getWordsDescriptors () const
 Returns the feature descriptors for visual words.
 
void setWordsDescriptors (const cv::Mat &descriptors)
 Sets the feature descriptors for visual words.
 
void setPose (const Transform &pose)
 Sets the pose of this signature.
 
void setGroundTruthPose (const Transform &pose)
 Sets the ground truth pose for evaluation.
 
void setVelocity (float vx, float vy, float vz, float vroll, float vpitch, float vyaw)
 Sets the velocity of this signature.
 
const std::vector< cv::Point3f > & getWords3 () const
 Returns the 3D points of visual words.
 
const Transform & getPose () const
 Returns the pose of this signature.
 
cv::Mat getPoseCovariance () const
 Gets the pose covariance matrix.
 
const Transform & getGroundTruthPose () const
 Returns the ground truth pose.
 
const std::vector< float > & getVelocity () const
 Returns the velocity of this signature.
 
SensorData & sensorData ()
 Returns mutable access to the sensor data.
 
const SensorData & sensorData () const
 Returns const access to the sensor data.
 
unsigned long getMemoryUsed (bool withSensorData=true) const
 Computes the memory usage of this signature.
 
+

Detailed Description

+

Represents a node in RTAB-Map's pose graph.

+

The Signature class is a fundamental building block of RTAB-Map's graph-based mapping system. Each signature represents a unique location or pose in the map and contains:

+
    +
  • Visual words: Bag-of-words representation using visual features (keypoints, descriptors, 3D points) for place recognition
    • +
  • Links: Connections to other signatures (neighbors, loop closures, landmarks)
    • +
  • Pose information: Current pose, ground truth pose, velocity
    • +
  • Sensor data: Images, depth, laser scans, etc. captured at this location
    • +
  • Metadata: ID, map ID, timestamp, label, weight, modification flags
    • +
+

Signatures are used for:

    +
  • Place recognition: Comparing signatures to detect loop closures
    • +
  • Graph construction: Building the pose graph through links
    • +
  • Localization: Matching current observations to stored signatures
    • +
  • Mapping: Storing sensor data, visual features and local occupancy grid for each location
    • +
+

The class tracks modification state to optimize database updates, and provides methods to manage visual words, links, landmarks, and pose information.

+
Note
Signatures are typically managed by the Memory class, which handles storage, retrieval, and graph operations.
+
See also
Link
+
+SensorData
+
+Memory
+ +

Definition at line 83 of file Signature.h.

+

Constructor & Destructor Documentation

+ +

◆ Signature() [1/3]

+ +
+
+ + + + + + + +
rtabmap::Signature::Signature ()
+
+ +

Default constructor.

+

Creates an empty signature with invalid ID (0), default map ID (-1), and all fields initialized to default values.

+ +
+
+ +

◆ Signature() [2/3]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::Signature::Signature (int id,
int mapId = -1,
int weight = 0,
double stamp = 0.0,
const std::string & label = std::string(),
const Transform & pose = Transform(),
const Transform & groundTruthPose = Transform(),
const SensorData & sensorData = SensorData() 
)
+
+ +

Constructor with explicit parameters.

+

Creates a signature with the specified parameters. The sensor data ID will be automatically set to match the signature ID if not already set.

+
Parameters
+ + + + + + + + + +
idUnique signature ID (must be > 0 for valid signature)
mapIdMap ID this signature belongs to (default: -1 for no map)
weightWeight/importance of this signature (default: 0)
stampTimestamp in seconds (default: 0.0)
labelOptional label/name for this signature (default: empty)
poseCurrent pose of the signature (default: identity null transform)
groundTruthPoseGround truth pose for evaluation (default: null transform)
sensorDataSensor data captured at this location (default: empty)
+
+
+
Note
The signature is marked as modified and not saved by default.
+ +
+
+ +

◆ Signature() [3/3]

+ +
+
+ + + + + + + + +
rtabmap::Signature::Signature (const SensorData & data)
+
+ +

Constructor from sensor data.

+

Creates a signature from sensor data. The signature ID is taken from the sensor data ID, and the ground truth pose is extracted from the sensor data if available.

+
Parameters
+ + +
dataSensor data to create signature from
+
+
+
Note
The signature pose is initialized to identity transform.
+ +
+
+

Member Function Documentation

+ +

◆ compareTo()

+ +
+
+ + + + + + + + +
float rtabmap::Signature::compareTo (const Signature & signature) const
+
+ +

Compares this signature to another signature.

+

Computes a similarity score between this signature and another signature based on their visual words. The comparison uses bag-of-words matching to determine how similar the two locations are.

+
Parameters
+ + +
signatureThe signature to compare against
+
+
+
Returns
Similarity score between 0.0 and 1.0, where 1.0 means 100% similarity
+
Note
This method is used for loop closure detection and place recognition.
+ +
+
+ +

◆ isBadSignature()

+ +
+
+ + + + + + + +
bool rtabmap::Signature::isBadSignature () const
+
+ +

Checks if this signature is considered "bad".

+

A signature is considered bad if it has no valid visual words (all words are invalid or the signature has no words at all). Bad signatures cannot be used for place recognition.

+
Returns
True if the signature has no valid visual words, false otherwise
+ +
+
+ +

◆ id()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Signature::id () const
+ 		+inline
+
+ +

Returns the signature ID.

+
Returns
The unique signature ID (0 if invalid/uninitialized)
+ +

Definition at line 168 of file Signature.h.

+ +
+
+ +

◆ mapId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Signature::mapId () const
+ 		+inline
+
+ +

Returns the map ID.

+
Returns
The map ID this signature belongs to (-1 if no map assigned)
+ +

Definition at line 174 of file Signature.h.

+ +
+
+ +

◆ setWeight()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Signature::setWeight (int weight)
+ 		+inline
+
+ +

Sets the weight/importance of this signature.

+

The weight represents the importance or priority of this signature, typically set by Rehearsal mechanism (see Memory::rehearsal). Higher weights may be used to prioritize certain signatures during memory management or loop closure detection.

+
Parameters
+ + +
weightThe weight value
+
+
+
Note
Marks the signature as modified if the weight changes. A signature already flagged as modified stays modified.
+ +

Definition at line 189 of file Signature.h.

+ +
+
+ +

◆ getWeight()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Signature::getWeight () const
+ 		+inline
+
+ +

Returns the weight/importance of this signature.

+
Returns
The weight value
+ +

Definition at line 195 of file Signature.h.

+ +
+
+ +

◆ setLabel()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Signature::setLabel (const std::string & label)
+ 		+inline
+
+ +

Sets a label/name for this signature.

+

Labels are optional text identifiers that can be used to tag or categorize signatures (e.g., "room1", "corridor", "entrance").

+
Parameters
+ + +
labelThe label string
+
+
+
Note
Marks the signature as modified if the label changes. A signature already flagged as modified stays modified.
+ +

Definition at line 208 of file Signature.h.

+ +
+
+ +

◆ getLabel()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::Signature::getLabel () const
+ 		+inline
+
+ +

Returns the label/name of this signature.

+
Returns
The label string (empty if not set)
+ +

Definition at line 214 of file Signature.h.

+ +
+
+ +

◆ getStamp()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::Signature::getStamp () const
+ 		+inline
+
+ +

Returns the timestamp of this signature.

+
Returns
Timestamp in seconds (typically seconds since epoch)
+ +

Definition at line 220 of file Signature.h.

+ +
+
+ +

◆ addLinks() [1/2]

+ +
+
+ + + + + + + + +
void rtabmap::Signature::addLinks (const std::list< Link > & links)
+
+ +

Adds multiple links from a list.

+

Adds all links from the provided list to this signature's link collection.

+
Parameters
+ + +
linksList of links to add
+
+
+
Note
Each link must have from() equal to this signature's ID.
+
+Automatically marks links as modified.
+
See also
addLink()
+ +
+
+ +

◆ addLinks() [2/2]

+ +
+
+ + + + + + + + +
void rtabmap::Signature::addLinks (const std::map< int, Link > & links)
+
+ +

Adds multiple links from a map.

+

Adds all links from the provided map to this signature's link collection.

+
Parameters
+ + +
linksMap of target IDs to links
+
+
+
Note
Each link must have from() equal to this signature's ID.
+
+The map's keys are the target IDs (to() values of the links).
+
+Automatically marks links as modified.
+
See also
addLink()
+ +
+
+ +

◆ addLink()

+ +
+
+ + + + + + + + +
void rtabmap::Signature::addLink (const Link & link)
+
+ +

Adds a single link to this signature.

+

Adds a link connecting this signature to another signature. The link represents a constraint in the pose graph (e.g., neighbor, loop closure).

+
Parameters
+ + +
linkThe link to add
+
+
+
Note
The link's from() must equal this signature's ID.
+
+The link's to() must be different from this signature's ID (except for self-referring links like pose priors or gravity).
+
+Duplicate links to the same target are not allowed (assertion failure).
+
+Automatically marks links as modified.
+ +
+
+ +

◆ hasLink()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::Signature::hasLink (int idTo,
Link::Type type = Link::kUndef 
) const
+
+ +

Checks if this signature has a link to a target signature.

+
Parameters
+ + + +
idToTarget signature ID (0 to check for any link of the specified type)
typeLink type to check for (default: Link::kUndef to check any type)
+
+
+
Returns
True if a matching link exists, false otherwise
+ +
+
+ +

◆ changeLinkIds()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::Signature::changeLinkIds (int idFrom,
int idTo 
)
+
+ +

Changes all link target IDs from one value to another.

+

Updates all links that point to idFrom to point to idTo instead. This is useful when merging or reorganizing the graph.

+
Parameters
+ + + +
idFromOriginal target ID
idToNew target ID
+
+
+
Note
Automatically marks links as modified.
+ +
+
+ +

◆ removeLinks()

+ +
+
+ + + + + + + + +
void rtabmap::Signature::removeLinks (bool keepSelfReferringLinks = false)
+
+ +

Removes all links from this signature.

+
Parameters
+ + +
keepSelfReferringLinksIf true, preserves self-referring links (pose priors, gravity) that have from() == to()
+
+
+
Note
Automatically marks links as modified.
+ +
+
+ +

◆ removeLink()

+ +
+
+ + + + + + + + +
void rtabmap::Signature::removeLink (int idTo)
+
+ +

Removes a specific link to a target signature.

+
Parameters
+ + +
idToTarget signature ID of the link to remove
+
+
+
Note
Automatically marks links as modified.
+ +
+
+ +

◆ removeVirtualLinks()

+ +
+
+ + + + + + + +
void rtabmap::Signature::removeVirtualLinks ()
+
+ +

Removes all virtual links from this signature.

+

Virtual links are links of type Link::kVirtualClosure.

+
Note
Automatically marks links as modified.
+ +
+
+ +

◆ addLandmark()

+ +
+
+ + + + + + + + +
void rtabmap::Signature::addLandmark (const Link & landmark)
+
+ +

Adds a landmark observation to this signature.

+

Landmarks are persistent features in the environment that can be observed from multiple locations. This method adds a link representing the observation of a landmark from this signature's location.

+
Parameters
+ + +
landmarkLink representing the landmark observation
+
+
+
Note
Landmark IDs are typically negative to distinguish them from regular nodes.
+ +
+
+ +

◆ getLandmarks()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, Link > & rtabmap::Signature::getLandmarks () const
+ 		+inline
+
+ +

Returns all landmark observations.

+
Returns
Const reference to the map of landmark IDs to landmark links
+ +

Definition at line 332 of file Signature.h.

+ +
+
+ +

◆ removeLandmark()

+ +
+
+ + + + + + + + +
void rtabmap::Signature::removeLandmark (int landmarkId)
+
+ +

Removes a specific landmark observation.

+
Parameters
+ + +
landmarkIdThe landmark ID to remove
+
+
+ +
+
+ +

◆ setSaved()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Signature::setSaved (bool saved)
+ 		+inline
+
+ +

Sets whether this signature has been saved to the database.

+
Parameters
+ + +
savedTrue if saved, false otherwise
+
+
+ +

Definition at line 349 of file Signature.h.

+ +
+
+ +

◆ setModified()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Signature::setModified (bool modified)
+ 		+inline
+
+ +

Sets the modification flag for this signature.

+

Marks the signature as modified (or unmodified). When set to true, also marks links as modified.

+
Parameters
+ + +
modifiedTrue if modified, false otherwise
+
+
+ +

Definition at line 359 of file Signature.h.

+ +
+
+ +

◆ getLinks()

+ +
+
+ + + + + +
+ + + + + + + +
const std::multimap< int, Link > & rtabmap::Signature::getLinks () const
+ 		+inline
+
+ +

Returns all links from this signature.

+
Returns
Const reference to the multimap of target IDs to links
+ +

Definition at line 365 of file Signature.h.

+ +
+
+ +

◆ isSaved()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Signature::isSaved () const
+ 		+inline
+
+ +

Checks if this signature has been saved to the database.

+
Returns
True if saved, false otherwise
+ +

Definition at line 371 of file Signature.h.

+ +
+
+ +

◆ isModified()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Signature::isModified () const
+ 		+inline
+
+ +

Checks if this signature has been modified.

+

Returns true if either the signature data or links have been modified.

+
Returns
True if modified, false otherwise
+ +

Definition at line 380 of file Signature.h.

+ +
+
+ +

◆ isLinksModified()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Signature::isLinksModified () const
+ 		+inline
+
+ +

Checks if the links have been modified.

+
Returns
True if links are modified, false otherwise
+ +

Definition at line 386 of file Signature.h.

+ +
+
+ +

◆ removeAllWords()

+ +
+
+ + + + + + + +
void rtabmap::Signature::removeAllWords ()
+
+ +

Removes all visual words from this signature.

+

Clears all visual words, keypoints, 3D points, and descriptors. The signature will be disabled after this operation.

+ +
+
+ +

◆ changeWordsRef()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::Signature::changeWordsRef (int oldWordId,
int activeWordId 
)
+
+ +

Changes visual word references from one word ID to another.

+

Updates all occurrences of oldWordId to activeWordId in the visual words. This is used when words are merged or reorganized in the dictionary.

+
Parameters
+ + + +
oldWordIdThe original word ID to replace
activeWordIdThe new word ID to use
+
+
+
Note
Tracks word ID changes in _wordsChanged for reference.
+ +
+
+ +

◆ setWords()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Signature::setWords (const std::multimap< int, int > & words,
const std::vector< cv::KeyPoint > & keypoints,
const std::vector< cv::Point3f > & words3,
const cv::Mat & descriptors 
)
+
+ +

Sets all visual words for this signature.

+

Sets the complete visual word representation including word IDs, keypoints, 3D points, and descriptors. All arrays must have matching sizes.

+
Parameters
+ + + + + +
wordsMultimap of word IDs to keypoint indices (allows duplicate words). The keypoint indices match the keypoints, points and descriptors.
keypointsVector of 2D keypoints in image coordinates. The keypoints must be in the same order as the words.
words3Vector of 3D points in base_link frame (with localTransform applied). The points must be in the same order as the words.
descriptorsFeature descriptors matrix (one row per word). The descriptors must be in the same order as the words.
+
+
+
Note
The signature is disabled after setting words (must be explicitly enabled).
+
+Invalid words (ID <= 0) are counted in _invalidWordsCount.
+
+All arrays must have the same size (number of words).
+ +
+
+ +

◆ isEnabled()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Signature::isEnabled () const
+ 		+inline
+
+ +

Checks if this signature is enabled.

+

Enabled signatures can be used for place recognition and loop closure detection. More explicitly, it means that the signature is registered to the VWDictionary (see Memory::enableWordsRef).

+
Returns
True if enabled, false otherwise
+ +

Definition at line 436 of file Signature.h.

+ +
+
+ +

◆ setEnabled()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Signature::setEnabled (bool enabled)
+ 		+inline
+
+ +

Sets whether this signature is enabled.

+
Parameters
+ + +
enabledTrue to enable, false to disable
+
+
+ +

Definition at line 442 of file Signature.h.

+ +
+
+ +

◆ getWords()

+ +
+
+ + + + + +
+ + + + + + + +
const std::multimap< int, int > & rtabmap::Signature::getWords () const
+ 		+inline
+
+ +

Returns the visual words map.

+

Returns a multimap of word IDs to keypoint indices. The multimap allows duplicate word IDs (a word can appear multiple times in the signature).

+
Returns
Const reference to the words multimap
+ +

Definition at line 452 of file Signature.h.

+ +
+
+ +

◆ getWordsKpts()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< cv::KeyPoint > & rtabmap::Signature::getWordsKpts () const
+ 		+inline
+
+ +

Returns the keypoints associated with visual words.

+
Returns
Const reference to the vector of 2D keypoints
+ +

Definition at line 458 of file Signature.h.

+ +
+
+ +

◆ getInvalidWordsCount()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Signature::getInvalidWordsCount () const
+ 		+inline
+
+ +

Returns the count of invalid visual words.

+

Invalid words are those with ID <= 0. These words cannot be used for place recognition. However, they are still used for transform estimation after loop closures are detected with the valid words.

+
Returns
Number of invalid words
+ +

Definition at line 469 of file Signature.h.

+ +
+
+ +

◆ getWordsChanged()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, int > & rtabmap::Signature::getWordsChanged () const
+ 		+inline
+
+ +

Returns the word ID change mapping.

+

Returns a map of old word IDs to new word IDs, tracking changes made through changeWordsRef().

+
Returns
Const reference to the word ID change map
+ +

Definition at line 479 of file Signature.h.

+ +
+
+ +

◆ getWordsDescriptors()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::Signature::getWordsDescriptors () const
+ 		+inline
+
+ +

Returns the feature descriptors for visual words.

+
Returns
Const reference to the descriptors matrix (one row per word)
+ +

Definition at line 485 of file Signature.h.

+ +
+
+ +

◆ setWordsDescriptors()

+ +
+
+ + + + + + + + +
void rtabmap::Signature::setWordsDescriptors (const cv::Mat & descriptors)
+
+ +

Sets the feature descriptors for visual words.

+

Updates the descriptors matrix. The number of rows must match the number of visual words.

+
Parameters
+ + +
descriptorsDescriptors matrix (one row per word)
+
+
+ +
+
+ +

◆ setPose()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Signature::setPose (const Transform & pose)
+ 		+inline
+
+ +

Sets the pose of this signature.

+

The pose represents the position and orientation of this signature in the odometry coordinate frame. To get the pose in map coordinate frame, use the map correction transform computed by graph optimization and apply it to this pose.

+
Parameters
+ + +
poseThe transform representing the pose in the odometry coordinate frame.
+
+
+
// Get pose in map coordinate frame
+
Statistics stats;
+
Transform poseInMapFrame = stats.mapCorrection() * signature.getPose();
+
// poseInMapFrame is the pose in map coordinate frame
+
// signature.getPose() returns the pose in odometry coordinate frame
+
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
+
rtabmap::Statistics::mapCorrection
const Transform & mapCorrection() const
Returns the map correction transform.
Definition Statistics.h:657
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+
See also
Statistics::mapCorrection()
+
+getPose()
+ +

Definition at line 519 of file Signature.h.

+ +
+
+ +

◆ setGroundTruthPose()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Signature::setGroundTruthPose (const Transform & pose)
+ 		+inline
+
+ +

Sets the ground truth pose for evaluation.

+

Ground truth poses are used for evaluating localization accuracy and comparing against the estimated pose.

+
Parameters
+ + +
poseThe ground truth transform
+
+
+ +

Definition at line 529 of file Signature.h.

+ +
+
+ +

◆ setVelocity()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
void rtabmap::Signature::setVelocity (float vx,
float vy,
float vz,
float vroll,
float vpitch,
float vyaw 
)
+ 		+inline
+
+ +

Sets the velocity of this signature.

+

Sets the 6DOF velocity (linear and angular) at the time this signature was captured.

+
Parameters
+ + + + + + + +
vxLinear velocity in x direction (m/s)
vyLinear velocity in y direction (m/s)
vzLinear velocity in z direction (m/s)
vrollAngular velocity around x axis (rad/s)
vpitchAngular velocity around y axis (rad/s)
vyawAngular velocity around z axis (rad/s)
+
+
+ +

Definition at line 544 of file Signature.h.

+ +
+
+ +

◆ getWords3()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< cv::Point3f > & rtabmap::Signature::getWords3 () const
+ 		+inline
+
+ +

Returns the 3D points of visual words.

+

Returns the 3D coordinates of visual words in the base_link frame (with localTransform applied).

+
Returns
Const reference to the vector of 3D points
+ +

Definition at line 562 of file Signature.h.

+ +
+
+ +

◆ getPose()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::Signature::getPose () const
+ 		+inline
+
+ +

Returns the pose of this signature.

+
Returns
Const reference to the pose transform in the odometry coordinate frame.
+
See also
setPose() for an example of how to get the pose in map coordinate frame.
+ +

Definition at line 569 of file Signature.h.

+ +
+
+ +

◆ getPoseCovariance()

+ +
+
+ + + + + + + +
cv::Mat rtabmap::Signature::getPoseCovariance () const
+
+ +

Gets the pose covariance matrix.

+

Gets the covariance matrix representing the uncertainty between the current pose and the previous pose (e.g, from the odometry link with the previous signature).

+
Returns
6x6 covariance matrix (3x3 for translation, 3x3 for rotation)
+ +
+
+ +

◆ getGroundTruthPose()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::Signature::getGroundTruthPose () const
+ 		+inline
+
+ +

Returns the ground truth pose.

+
Returns
Const reference to the ground truth transform
+ +

Definition at line 585 of file Signature.h.

+ +
+
+ +

◆ getVelocity()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< float > & rtabmap::Signature::getVelocity () const
+ 		+inline
+
+ +

Returns the velocity of this signature.

+
Returns
Const reference to the velocity vector [vx, vy, vz, vroll, vpitch, vyaw]
+ +

Definition at line 591 of file Signature.h.

+ +
+
+ +

◆ sensorData() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
SensorData & rtabmap::Signature::sensorData ()
+ 		+inline
+
+ +

Returns mutable access to the sensor data.

+
Returns
Reference to the sensor data
+ +

Definition at line 597 of file Signature.h.

+ +
+
+ +

◆ sensorData() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
const SensorData & rtabmap::Signature::sensorData () const
+ 		+inline
+
+ +

Returns const access to the sensor data.

+
Returns
Const reference to the sensor data
+ +

Definition at line 603 of file Signature.h.

+ +
+
+ +

◆ getMemoryUsed()

+ +
+
+ + + + + + + + +
unsigned long rtabmap::Signature::getMemoryUsed (bool withSensorData = true) const
+
+ +

Computes the memory usage of this signature.

+

Calculates the approximate memory footprint of this signature, including visual words, links, sensor data, and other internal structures.

+
Parameters
+ + +
withSensorDataIf true, includes sensor data in the calculation
+
+
+
Returns
Memory usage in bytes
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Statistics-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Statistics-members.html new file mode 100644 index 00000000..ee8c7c7a --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Statistics-members.html @@ -0,0 +1,152 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::Statistics Member List
+
+
+ +

This is the complete list of members for rtabmap::Statistics, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
addSignatureData(const Signature &data)rtabmap::Statisticsinline
addStatistic(const std::string &name, float value)rtabmap::Statistics
constraints() constrtabmap::Statisticsinline
currentGoalId() constrtabmap::Statisticsinline
data() constrtabmap::Statisticsinline
defaultData()rtabmap::Statisticsstatic
deserializeData(const std::string &data)rtabmap::Statisticsstatic
extended() constrtabmap::Statisticsinline
getLastSignatureData() constrtabmap::Statisticsinline
getSignaturesData() constrtabmap::Statisticsinline
labels() constrtabmap::Statisticsinline
likelihood() constrtabmap::Statisticsinline
localizationCovariance() constrtabmap::Statisticsinline
localPath() constrtabmap::Statisticsinline
loopClosureId() constrtabmap::Statisticsinline
loopClosureMapId() constrtabmap::Statisticsinline
loopClosureTransform() constrtabmap::Statisticsinline
mapCorrection() constrtabmap::Statisticsinline
odomCacheConstraints() constrtabmap::Statisticsinline
odomCachePoses() constrtabmap::Statisticsinline
poses() constrtabmap::Statisticsinline
posterior() constrtabmap::Statisticsinline
proximityDetectionId() constrtabmap::Statisticsinline
proximityDetectionMapId() constrtabmap::Statisticsinline
rawLikelihood() constrtabmap::Statisticsinline
reducedIds() constrtabmap::Statisticsinline
refImageId() constrtabmap::Statisticsinline
refImageMapId() constrtabmap::Statisticsinline
serializeData(const std::map< std::string, float > &data)rtabmap::Statisticsstatic
setConstraints(const std::multimap< int, Link > &constraints)rtabmap::Statisticsinline
setCurrentGoalId(int goal)rtabmap::Statisticsinline
setExtended(bool extended)rtabmap::Statisticsinline
setLabels(const std::map< int, std::string > &labels)rtabmap::Statisticsinline
setLastSignatureData(const Signature &data)rtabmap::Statistics
setLikelihood(const std::map< int, float > &likelihood)rtabmap::Statisticsinline
setLocalizationCovariance(const cv::Mat &covariance)rtabmap::Statisticsinline
setLocalPath(const std::vector< int > &localPath)rtabmap::Statisticsinline
setLoopClosureId(int id)rtabmap::Statisticsinline
setLoopClosureMapId(int id)rtabmap::Statisticsinline
setLoopClosureTransform(const Transform &loopClosureTransform)rtabmap::Statisticsinline
setMapCorrection(const Transform &mapCorrection)rtabmap::Statisticsinline
setOdomCacheConstraints(const std::multimap< int, Link > &constraints)rtabmap::Statisticsinline
setOdomCachePoses(const std::map< int, Transform > &poses)rtabmap::Statisticsinline
setPoses(const std::map< int, Transform > &poses)rtabmap::Statisticsinline
setPosterior(const std::map< int, float > &posterior)rtabmap::Statisticsinline
setProximityDetectionId(int id)rtabmap::Statisticsinline
setProximityDetectionMapId(int id)rtabmap::Statisticsinline
setRawLikelihood(const std::map< int, float > &rawLikelihood)rtabmap::Statisticsinline
setReducedIds(const std::map< int, int > &reducedIds)rtabmap::Statisticsinline
setRefImageId(int id)rtabmap::Statisticsinline
setRefImageMapId(int id)rtabmap::Statisticsinline
setSignaturesData(const std::map< int, Signature > &data)rtabmap::Statisticsinline
setStamp(double stamp)rtabmap::Statisticsinline
setWeights(const std::map< int, int > &weights)rtabmap::Statisticsinline
setWmState(const std::vector< int > &state)rtabmap::Statisticsinline
stamp() constrtabmap::Statisticsinline
Statistics()rtabmap::Statistics
weights() constrtabmap::Statisticsinline
wmState() constrtabmap::Statisticsinline
~Statistics()rtabmap::Statisticsvirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Statistics.html b/preview/pr-1492/api/latest/classrtabmap_1_1Statistics.html new file mode 100644 index 00000000..a10f804a --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Statistics.html @@ -0,0 +1,2266 @@ + + + + + + + + +RTAB-Map: rtabmap::Statistics Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +List of all members
+
rtabmap::Statistics Class Reference
+
+
+ +

Collects and manages runtime statistics for RTAB-Map. + More...

+ +

#include <Statistics.h>

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 Statistics ()
 Default constructor.
 
+virtual ~Statistics ()
 Virtual destructor.
 
void addStatistic (const std::string &name, float value)
 Adds a statistic value to the data map.
 
void setExtended (bool extended)
 Sets whether extended statistics mode is enabled.
 
void setRefImageId (int id)
 Sets the reference image ID (current/last processed signature ID)
 
void setRefImageMapId (int id)
 Sets the reference image map ID.
 
void setLoopClosureId (int id)
 Sets the loop closure detection ID.
 
void setLoopClosureMapId (int id)
 Sets the loop closure map ID.
 
void setProximityDetectionId (int id)
 Sets the proximity detection ID.
 
void setProximityDetectionMapId (int id)
 Sets the proximity detection map ID.
 
void setStamp (double stamp)
 Sets the timestamp for these statistics.
 
RTABMAP_DEPRECATED void setLastSignatureData (const Signature &data)
 Sets the last signature data (deprecated)
 
void addSignatureData (const Signature &data)
 Adds signature data to the statistics.
 
void setSignaturesData (const std::map< int, Signature > &data)
 Sets all signature data at once.
 
void setPoses (const std::map< int, Transform > &poses)
 Sets the pose graph (node poses)
 
void setConstraints (const std::multimap< int, Link > &constraints)
 Sets the constraint graph (links between nodes)
 
void setMapCorrection (const Transform &mapCorrection)
 Sets the map correction transform.
 
void setLoopClosureTransform (const Transform &loopClosureTransform)
 Sets the loop closure transform.
 
void setLocalizationCovariance (const cv::Mat &covariance)
 Sets the localization covariance matrix.
 
void setLabels (const std::map< int, std::string > &labels)
 Sets node labels.
 
void setWeights (const std::map< int, int > &weights)
 Sets node weights.
 
void setPosterior (const std::map< int, float > &posterior)
 Sets posterior probabilities for loop closure hypotheses.
 
void setLikelihood (const std::map< int, float > &likelihood)
 Sets likelihood values for loop closure hypotheses.
 
void setRawLikelihood (const std::map< int, float > &rawLikelihood)
 Sets raw likelihood values (before normalization)
 
void setLocalPath (const std::vector< int > &localPath)
 Sets the local path (sequence of node IDs)
 
void setCurrentGoalId (int goal)
 Sets the current goal node ID.
 
void setReducedIds (const std::map< int, int > &reducedIds)
 Sets the reduced IDs mapping.
 
void setWmState (const std::vector< int > &state)
 Sets the working memory state.
 
void setOdomCachePoses (const std::map< int, Transform > &poses)
 Sets odometry cache poses.
 
void setOdomCacheConstraints (const std::multimap< int, Link > &constraints)
 Sets odometry cache constraints.
 
bool extended () const
 Returns whether extended statistics mode is enabled.
 
int refImageId () const
 Returns the reference image ID.
 
int refImageMapId () const
 Returns the reference image map ID.
 
int loopClosureId () const
 Returns the loop closure detection ID.
 
int loopClosureMapId () const
 Returns the loop closure map ID.
 
int proximityDetectionId () const
 Returns the proximity detection ID.
 
int proximityDetectionMapId () const
 Returns the proximity detection map ID.
 
double stamp () const
 Returns the timestamp.
 
const Signature & getLastSignatureData () const
 Returns the last signature data.
 
const std::map< int, Signature > & getSignaturesData () const
 Returns all signature data.
 
const std::map< int, Transform > & poses () const
 Returns the pose graph.
 
const std::multimap< int, Link > & constraints () const
 Returns the constraint graph.
 
const Transform & mapCorrection () const
 Returns the map correction transform.
 
const Transform & loopClosureTransform () const
 Returns the loop closure transform.
 
const cv::Mat & localizationCovariance () const
 Returns the localization covariance matrix.
 
const std::map< int, std::string > & labels () const
 Returns node labels.
 
const std::map< int, int > & weights () const
 Returns node weights.
 
const std::map< int, float > & posterior () const
 Returns posterior probabilities.
 
const std::map< int, float > & likelihood () const
 Returns likelihood values.
 
const std::map< int, float > & rawLikelihood () const
 Returns raw likelihood values.
 
const std::vector< int > & localPath () const
 Returns the local path.
 
int currentGoalId () const
 Returns the current goal node ID.
 
const std::map< int, int > & reducedIds () const
 Returns the reduced IDs mapping.
 
const std::vector< int > & wmState () const
 Returns the working memory state.
 
const std::map< int, Transform > & odomCachePoses () const
 Returns odometry cache poses.
 
const std::multimap< int, Link > & odomCacheConstraints () const
 Returns odometry cache constraints.
 
const std::map< std::string, float > & data () const
 Returns the statistics data map.
 
+ + + + + + + + + + +

+Static Public Member Functions

static const std::map< std::string, float > & defaultData ()
 Returns the default statistics data map.
 
static std::string serializeData (const std::map< std::string, float > &data)
 Serializes a statistics data map to a string.
 
static std::map< std::string, float > deserializeData (const std::string &data)
 Deserializes a statistics data map from a string.
 
+

Detailed Description

+

Collects and manages runtime statistics for RTAB-Map.

+

The Statistics class provides a comprehensive system for collecting, storing, and managing various runtime statistics about RTAB-Map's operation. Statistics are organized into groups such as:

    +
  • Loop: Loop closure detection, hypothesis validation, optimization errors
    • +
  • Proximity: Proximity-based detection statistics
    • +
  • Memory: Working memory size, database usage, signature management
    • +
  • Timing: Performance measurements for various operations
    • +
  • Keypoint: Visual word dictionary and feature statistics
    • +
  • Gt: Ground truth comparison statistics
    • +
+

Statistics are stored in a map with keys in the format "Group/Name/Unit" (e.g., "Timing/Total time/ms"). This hierarchical naming allows for easy categorization and plotting.

+

The class supports two modes:

    +
  • Basic mode (extended() == false): Only stores loop closure and last signature ID fields
    • +
  • Extended mode (extended() == true): Stores all available statistics including poses, constraints, likelihoods, posteriors, and detailed timing information
    • +
+

Statistics can be serialized to/from strings for storage in databases or transmission over networks.

+
Note
Statistics are typically created by RTAB-Map's core components (Rtabmap, Memory, etc.) and can be retrieved for analysis, visualization, or debugging purposes.
+ +

Definition at line 107 of file Statistics.h.

+

Constructor & Destructor Documentation

+ +

◆ Statistics()

+ +
+
+ + + + + + + +
rtabmap::Statistics::Statistics ()
+
+ +

Default constructor.

+

Creates a new Statistics object in basic mode (extended = false). Initializes all ID fields to 0 or -1, and timestamp to 0.0.

+
Note
The first Statistics object constructed will initialize the default data map.
+ +
+
+

Member Function Documentation

+ +

◆ defaultData()

+ +
+
+ + + + + +
+ + + + + + + +
static const std::map< std::string, float > & rtabmap::Statistics::defaultData ()
+ 		+static
+
+ +

Returns the default statistics data map.

+

Returns a map containing all predefined statistics with their default values (0.0). This map is initialized when the first Statistics object is constructed.

+
Returns
Const reference to the default statistics data map
+ +
+
+ +

◆ serializeData()

+ +
+
+ + + + + +
+ + + + + + + + +
static std::string rtabmap::Statistics::serializeData (const std::map< std::string, float > & data)
+ 		+static
+
+ +

Serializes a statistics data map to a string.

+

Converts a statistics data map into a serialized string format suitable for storage or transmission. The format is: "key1:value1;key2:value2;..." where values are formatted as numbers with dots (not commas) as decimal separators (independent of the system's locale).

+
Parameters
+ + +
dataThe statistics data map to serialize
+
+
+
Returns
Serialized string representation of the data
+
Note
Empty maps result in empty strings
+
See also
deserializeData()
+ +
+
+ +

◆ deserializeData()

+ +
+
+ + + + + +
+ + + + + + + + +
static std::map< std::string, float > rtabmap::Statistics::deserializeData (const std::string & data)
+ 		+static
+
+ +

Deserializes a statistics data map from a string.

+

Parses a serialized statistics string back into a data map. The string format should be: "key1:value1;key2:value2;..." as produced by serializeData().

+
Parameters
+ + +
dataThe serialized string to parse
+
+
+
Returns
Deserialized statistics data map
+
Note
Invalid entries (missing colons, malformed values) are silently skipped
+
See also
serializeData()
+ +
+
+ +

◆ addStatistic()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::Statistics::addStatistic (const std::string & name,
float value 
)
+
+ +

Adds a statistic value to the data map.

+

Adds or updates a statistic in the internal data map. The name should follow the format "Group/Name/Unit" (e.g., "Timing/Total time/ms").

+
Parameters
+ + + +
nameThe statistic name in the format "Group/Name/Unit"
valueThe statistic value to store
+
+
+
Note
If a statistic with the same name already exists, it will be overwritten.
+
+Use the static methods generated by RTABMAP_STATS() to get standardized names:
statistics.addStatistic(Statistics::kTimingTotal(), 500.0f);
+
+ +
+
+ +

◆ setExtended()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setExtended (bool extended)
+ 		+inline
+
+ +

Sets whether extended statistics mode is enabled.

+

In basic mode (extended = false), only loop closure and last signature ID fields are filled. In extended mode (extended = true), all available statistics including poses, constraints, likelihoods, posteriors, and detailed timing information are stored.

+
Parameters
+ + +
extendedTrue to enable extended mode, false for basic mode
+
+
+ +

Definition at line 367 of file Statistics.h.

+ +
+
+ +

◆ setRefImageId()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setRefImageId (int id)
+ 		+inline
+
+ +

Sets the reference image ID (current/last processed signature ID)

+
Parameters
+ + +
idThe signature ID
+
+
+ +

Definition at line 373 of file Statistics.h.

+ +
+
+ +

◆ setRefImageMapId()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setRefImageMapId (int id)
+ 		+inline
+
+ +

Sets the reference image map ID.

+
Parameters
+ + +
idThe map ID associated with the reference image
+
+
+ +

Definition at line 379 of file Statistics.h.

+ +
+
+ +

◆ setLoopClosureId()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setLoopClosureId (int id)
+ 		+inline
+
+ +

Sets the loop closure detection ID.

+
Parameters
+ + +
idThe signature ID where a loop closure was detected (0 if none)
+
+
+ +

Definition at line 385 of file Statistics.h.

+ +
+
+ +

◆ setLoopClosureMapId()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setLoopClosureMapId (int id)
+ 		+inline
+
+ +

Sets the loop closure map ID.

+
Parameters
+ + +
idThe map ID associated with the loop closure
+
+
+ +

Definition at line 391 of file Statistics.h.

+ +
+
+ +

◆ setProximityDetectionId()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setProximityDetectionId (int id)
+ 		+inline
+
+ +

Sets the proximity detection ID.

+
Parameters
+ + +
idThe signature ID where proximity was detected (0 if none)
+
+
+ +

Definition at line 397 of file Statistics.h.

+ +
+
+ +

◆ setProximityDetectionMapId()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setProximityDetectionMapId (int id)
+ 		+inline
+
+ +

Sets the proximity detection map ID.

+
Parameters
+ + +
idThe map ID associated with the proximity detection
+
+
+ +

Definition at line 403 of file Statistics.h.

+ +
+
+ +

◆ setStamp()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setStamp (double stamp)
+ 		+inline
+
+ +

Sets the timestamp for these statistics.

+
Parameters
+ + +
stampThe timestamp (typically in seconds since epoch)
+
+
+ +

Definition at line 409 of file Statistics.h.

+ +
+
+ +

◆ setLastSignatureData()

+ +
+
+ + + + + + + + +
RTABMAP_DEPRECATED void rtabmap::Statistics::setLastSignatureData (const Signature & data)
+
+ +

Sets the last signature data (deprecated)

+
Deprecated:
Use addSignatureData() instead
+

This method is deprecated. Use addSignatureData() instead, which allows storing multiple signatures.

+ +
+
+ +

◆ addSignatureData()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::addSignatureData (const Signature & data)
+ 		+inline
+
+ +

Adds signature data to the statistics.

+

Adds a signature to the internal signatures data map. Multiple signatures can be stored, indexed by their ID.

+
Parameters
+ + +
dataThe signature to add
+
+
+
Note
If a signature with the same ID already exists, it will be overwritten.
+ +

Definition at line 430 of file Statistics.h.

+ +
+
+ +

◆ setSignaturesData()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setSignaturesData (const std::map< int, Signature > & data)
+ 		+inline
+
+ +

Sets all signature data at once.

+
Parameters
+ + +
dataMap of signature IDs to Signature objects
+
+
+ +

Definition at line 436 of file Statistics.h.

+ +
+
+ +

◆ setPoses()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setPoses (const std::map< int, Transform > & poses)
+ 		+inline
+
+ +

Sets the pose graph (node poses)

+

Sets the complete pose graph, mapping node IDs to their Transform poses. Used in extended mode for visualization and analysis.

+
Parameters
+ + +
posesMap of node IDs to their poses
+
+
+ +

Definition at line 446 of file Statistics.h.

+ +
+
+ +

◆ setConstraints()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setConstraints (const std::multimap< int, Link > & constraints)
+ 		+inline
+
+ +

Sets the constraint graph (links between nodes)

+

Sets the complete constraint graph, mapping node IDs to their Link constraints. Used in extended mode for visualization and analysis.

+
Parameters
+ + +
constraintsMultimap of node IDs to their links (a node can have multiple links)
+
+
+ +

Definition at line 456 of file Statistics.h.

+ +
+
+ +

◆ setMapCorrection()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setMapCorrection (const Transform & mapCorrection)
+ 		+inline
+
+ +

Sets the map correction transform.

+

The map correction transform represents the transformation from the map fixed frame to the odometry fixed frame. This transform is typically updated after graph optimization to transform the odometry pose in map frame.

+
Parameters
+ + +
mapCorrectionThe pose of odometry frame in map coordinate system
+
+
+ +

Definition at line 467 of file Statistics.h.

+ +
+
+ +

◆ setLoopClosureTransform()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setLoopClosureTransform (const Transform & loopClosureTransform)
+ 		+inline
+
+ +

Sets the loop closure transform.

+

The transform between the current pose and the loop closure pose.

+
Parameters
+ + +
loopClosureTransformThe loop closure transform
+
+
+ +

Definition at line 476 of file Statistics.h.

+ +
+
+ +

◆ setLocalizationCovariance()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setLocalizationCovariance (const cv::Mat & covariance)
+ 		+inline
+
+ +

Sets the localization covariance matrix.

+

The covariance matrix representing the uncertainty in the current localization estimate.

+
Parameters
+ + +
covarianceThe covariance matrix (typically 6x6 for 3D pose)
+
+
+ +

Definition at line 485 of file Statistics.h.

+ +
+
+ +

◆ setLabels()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setLabels (const std::map< int, std::string > & labels)
+ 		+inline
+
+ +

Sets node labels.

+
Parameters
+ + +
labelsMap of node IDs to their string labels
+
+
+ +

Definition at line 491 of file Statistics.h.

+ +
+
+ +

◆ setWeights()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setWeights (const std::map< int, int > & weights)
+ 		+inline
+
+ +

Sets node weights.

+
Parameters
+ + +
weightsMap of node IDs to their integer weights
+
+
+ +

Definition at line 497 of file Statistics.h.

+ +
+
+ +

◆ setPosterior()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setPosterior (const std::map< int, float > & posterior)
+ 		+inline
+
+ +

Sets posterior probabilities for loop closure hypotheses.

+
Parameters
+ + +
posteriorMap of node IDs to their posterior probabilities
+
+
+ +

Definition at line 504 of file Statistics.h.

+ +
+
+ +

◆ setLikelihood()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setLikelihood (const std::map< int, float > & likelihood)
+ 		+inline
+
+ +

Sets likelihood values for loop closure hypotheses.

+

Likelihood values represent how well each hypothesis matches the current observation.

+
Parameters
+ + +
likelihoodMap of node IDs to their likelihood values
+
+
+ +

Definition at line 513 of file Statistics.h.

+ +
+
+ +

◆ setRawLikelihood()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setRawLikelihood (const std::map< int, float > & rawLikelihood)
+ 		+inline
+
+ +

Sets raw likelihood values (before normalization)

+
Parameters
+ + +
rawLikelihoodMap of node IDs to their raw likelihood values
+
+
+ +

Definition at line 519 of file Statistics.h.

+ +
+
+ +

◆ setLocalPath()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setLocalPath (const std::vector< int > & localPath)
+ 		+inline
+
+ +

Sets the local path (sequence of node IDs)

+

The local path represents the sequence of next nodes to visit for path planning.

+
Parameters
+ + +
localPathVector of node IDs in order of next nodes to visit
+
+
+ +

Definition at line 528 of file Statistics.h.

+ +
+
+ +

◆ setCurrentGoalId()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setCurrentGoalId (int goal)
+ 		+inline
+
+ +

Sets the current goal node ID.

+
Parameters
+ + +
goalThe goal node ID (0 if no goal)
+
+
+ +

Definition at line 534 of file Statistics.h.

+ +
+
+ +

◆ setReducedIds()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setReducedIds (const std::map< int, int > & reducedIds)
+ 		+inline
+
+ +

Sets the reduced IDs mapping.

+

Maps original node IDs to reduced IDs, used for memory optimization.

+
Parameters
+ + +
reducedIdsMap of original IDs to reduced IDs
+
+
+ +

Definition at line 543 of file Statistics.h.

+ +
+
+ +

◆ setWmState()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setWmState (const std::vector< int > & state)
+ 		+inline
+
+ +

Sets the working memory state.

+

The working memory state is a vector of node IDs currently in working memory.

+
Parameters
+ + +
stateVector of node IDs in working memory
+
+
+ +

Definition at line 552 of file Statistics.h.

+ +
+
+ +

◆ setOdomCachePoses()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setOdomCachePoses (const std::map< int, Transform > & poses)
+ 		+inline
+
+ +

Sets odometry cache poses.

+

Cached odometry poses during localization mode.

+
Parameters
+ + +
posesMap of node IDs to their cached odometry poses
+
+
+ +

Definition at line 561 of file Statistics.h.

+ +
+
+ +

◆ setOdomCacheConstraints()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::Statistics::setOdomCacheConstraints (const std::multimap< int, Link > & constraints)
+ 		+inline
+
+ +

Sets odometry cache constraints.

+

Cached odometry constraints (links) between nodes.

+
Parameters
+ + +
constraintsMultimap of node IDs to their cached odometry links
+
+
+ +

Definition at line 570 of file Statistics.h.

+ +
+
+ +

◆ extended()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Statistics::extended () const
+ 		+inline
+
+ +

Returns whether extended statistics mode is enabled.

+
Returns
True if extended mode, false if basic mode
+ +

Definition at line 578 of file Statistics.h.

+ +
+
+ +

◆ refImageId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Statistics::refImageId () const
+ 		+inline
+
+ +

Returns the reference image ID.

+
Returns
The signature ID (0 if not set)
+ +

Definition at line 584 of file Statistics.h.

+ +
+
+ +

◆ refImageMapId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Statistics::refImageMapId () const
+ 		+inline
+
+ +

Returns the reference image map ID.

+
Returns
The map ID (-1 if not set)
+ +

Definition at line 590 of file Statistics.h.

+ +
+
+ +

◆ loopClosureId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Statistics::loopClosureId () const
+ 		+inline
+
+ +

Returns the loop closure detection ID.

+
Returns
The signature ID where loop closure was detected (0 if none)
+ +

Definition at line 596 of file Statistics.h.

+ +
+
+ +

◆ loopClosureMapId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Statistics::loopClosureMapId () const
+ 		+inline
+
+ +

Returns the loop closure map ID.

+
Returns
The map ID associated with the loop closure (-1 if not set)
+ +

Definition at line 602 of file Statistics.h.

+ +
+
+ +

◆ proximityDetectionId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Statistics::proximityDetectionId () const
+ 		+inline
+
+ +

Returns the proximity detection ID.

+
Returns
The signature ID where proximity was detected (0 if none)
+ +

Definition at line 608 of file Statistics.h.

+ +
+
+ +

◆ proximityDetectionMapId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Statistics::proximityDetectionMapId () const
+ 		+inline
+
+ +

Returns the proximity detection map ID.

+
Returns
The map ID associated with the proximity detection (-1 if not set)
+ +

Definition at line 614 of file Statistics.h.

+ +
+
+ +

◆ stamp()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::Statistics::stamp () const
+ 		+inline
+
+ +

Returns the timestamp.

+
Returns
The timestamp (0.0 if not set)
+ +

Definition at line 620 of file Statistics.h.

+ +
+
+ +

◆ getLastSignatureData()

+ +
+
+ + + + + +
+ + + + + + + +
const Signature & rtabmap::Statistics::getLastSignatureData () const
+ 		+inline
+
+ +

Returns the last signature data.

+

Returns the most recently added signature (by ID). If no signatures are stored, returns a dummy empty signature.

+
Returns
Reference to the last signature data
+ +

Definition at line 630 of file Statistics.h.

+ +
+
+ +

◆ getSignaturesData()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, Signature > & rtabmap::Statistics::getSignaturesData () const
+ 		+inline
+
+ +

Returns all signature data.

+
Returns
Const reference to the map of signature IDs to Signature objects
+ +

Definition at line 636 of file Statistics.h.

+ +
+
+ +

◆ poses()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, Transform > & rtabmap::Statistics::poses () const
+ 		+inline
+
+ +

Returns the pose graph.

+
Returns
Const reference to the map of node IDs to poses
+ +

Definition at line 642 of file Statistics.h.

+ +
+
+ +

◆ constraints()

+ +
+
+ + + + + +
+ + + + + + + +
const std::multimap< int, Link > & rtabmap::Statistics::constraints () const
+ 		+inline
+
+ +

Returns the constraint graph.

+
Returns
Const reference to the multimap of node IDs to links
+ +

Definition at line 648 of file Statistics.h.

+ +
+
+ +

◆ mapCorrection()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::Statistics::mapCorrection () const
+ 		+inline
+
+ +

Returns the map correction transform.

+

Returns the transform from the map fixed frame to the odometry fixed frame.

+
Returns
Const reference to the map correction transform
+ +

Definition at line 657 of file Statistics.h.

+ +
+
+ +

◆ loopClosureTransform()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::Statistics::loopClosureTransform () const
+ 		+inline
+
+ +

Returns the loop closure transform.

+
Returns
Const reference to the loop closure transform
+ +

Definition at line 663 of file Statistics.h.

+ +
+
+ +

◆ localizationCovariance()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::Statistics::localizationCovariance () const
+ 		+inline
+
+ +

Returns the localization covariance matrix.

+
Returns
Const reference to the covariance matrix (may be empty)
+ +

Definition at line 669 of file Statistics.h.

+ +
+
+ +

◆ labels()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, std::string > & rtabmap::Statistics::labels () const
+ 		+inline
+
+ +

Returns node labels.

+
Returns
Const reference to the map of node IDs to labels
+ +

Definition at line 675 of file Statistics.h.

+ +
+
+ +

◆ weights()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, int > & rtabmap::Statistics::weights () const
+ 		+inline
+
+ +

Returns node weights.

+
Returns
Const reference to the map of node IDs to weights
+ +

Definition at line 681 of file Statistics.h.

+ +
+
+ +

◆ posterior()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, float > & rtabmap::Statistics::posterior () const
+ 		+inline
+
+ +

Returns posterior probabilities.

+
Returns
Const reference to the map of node IDs to posterior probabilities
+ +

Definition at line 687 of file Statistics.h.

+ +
+
+ +

◆ likelihood()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, float > & rtabmap::Statistics::likelihood () const
+ 		+inline
+
+ +

Returns likelihood values.

+
Returns
Const reference to the map of node IDs to likelihood values
+ +

Definition at line 693 of file Statistics.h.

+ +
+
+ +

◆ rawLikelihood()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, float > & rtabmap::Statistics::rawLikelihood () const
+ 		+inline
+
+ +

Returns raw likelihood values.

+
Returns
Const reference to the map of node IDs to raw likelihood values
+ +

Definition at line 699 of file Statistics.h.

+ +
+
+ +

◆ localPath()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< int > & rtabmap::Statistics::localPath () const
+ 		+inline
+
+ +

Returns the local path.

+
Returns
Const reference to the vector of node IDs
+ +

Definition at line 705 of file Statistics.h.

+ +
+
+ +

◆ currentGoalId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Statistics::currentGoalId () const
+ 		+inline
+
+ +

Returns the current goal node ID.

+
Returns
The goal node ID (0 if no goal)
+ +

Definition at line 711 of file Statistics.h.

+ +
+
+ +

◆ reducedIds()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, int > & rtabmap::Statistics::reducedIds () const
+ 		+inline
+
+ +

Returns the reduced IDs mapping.

+
Returns
Const reference to the map of original IDs to reduced IDs
+ +

Definition at line 717 of file Statistics.h.

+ +
+
+ +

◆ wmState()

+ +
+
+ + + + + +
+ + + + + + + +
const std::vector< int > & rtabmap::Statistics::wmState () const
+ 		+inline
+
+ +

Returns the working memory state.

+
Returns
Const reference to the vector of node IDs in working memory
+ +

Definition at line 723 of file Statistics.h.

+ +
+
+ +

◆ odomCachePoses()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, Transform > & rtabmap::Statistics::odomCachePoses () const
+ 		+inline
+
+ +

Returns odometry cache poses.

+
Returns
Const reference to the map of node IDs to cached odometry poses
+ +

Definition at line 729 of file Statistics.h.

+ +
+
+ +

◆ odomCacheConstraints()

+ +
+
+ + + + + +
+ + + + + + + +
const std::multimap< int, Link > & rtabmap::Statistics::odomCacheConstraints () const
+ 		+inline
+
+ +

Returns odometry cache constraints.

+
Returns
Const reference to the multimap of node IDs to cached odometry links
+ +

Definition at line 735 of file Statistics.h.

+ +
+
+ +

◆ data()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< std::string, float > & rtabmap::Statistics::data () const
+ 		+inline
+
+ +

Returns the statistics data map.

+

Returns the map containing all plottable statistics in the format "Group/Name/Unit" -> value. This is the main data structure for storing numeric statistics.

+
Returns
Const reference to the statistics data map
+
Note
Use addStatistic() to add values to this map
+
+Use serializeData() to convert this map to a string for storage
+ +

Definition at line 748 of file Statistics.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Stereo-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1Stereo-members.html new file mode 100644 index 00000000..ff9de8b5 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Stereo-members.html @@ -0,0 +1,104 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
+
+ + + + + + +
+
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+
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+
rtabmap::Stereo Member List
+
+
+ +

This is the complete list of members for rtabmap::Stereo, including all inherited members.

+ + + + + + + + + + + + + +
computeCorrespondences(const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) constrtabmap::Stereovirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Stereostatic
isGpuEnabled() constrtabmap::Stereoinlinevirtual
iterations() constrtabmap::Stereoinline
maxDisparity() constrtabmap::Stereoinline
maxLevel() constrtabmap::Stereoinline
minDisparity() constrtabmap::Stereoinline
parseParameters(const ParametersMap &parameters)rtabmap::Stereovirtual
Stereo(const ParametersMap &parameters=ParametersMap())rtabmap::Stereo
winSize() constrtabmap::Stereoinline
winSSD() constrtabmap::Stereoinline
~Stereo()rtabmap::Stereoinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Stereo.html b/preview/pr-1492/api/latest/classrtabmap_1_1Stereo.html new file mode 100644 index 00000000..c21533cf --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Stereo.html @@ -0,0 +1,581 @@ + + + + + + + + +RTAB-Map: rtabmap::Stereo Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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+
+ + + + + + + + +
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+Public Member Functions | +Static Public Member Functions | +List of all members
+
rtabmap::Stereo Class Reference
+
+
+ +

Sparse stereo matching using block matching. + More...

+ +

#include <Stereo.h>

+
+Inheritance diagram for rtabmap::Stereo:
+
+
Inheritance graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 Stereo (const ParametersMap &parameters=ParametersMap())
 Constructor.
 
virtual ~Stereo ()
 Virtual destructor.
 
virtual void parseParameters (const ParametersMap &parameters)
 Parse parameters from a parameters map.
 
virtual std::vector< cv::Point2f > computeCorrespondences (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const
 Compute stereo correspondences using block matching.
 
cv::Size winSize () const
 Get the search window size.
 
int iterations () const
 Get the number of iterations.
 
int maxLevel () const
 Get the maximum pyramid level.
 
float minDisparity () const
 Get the minimum disparity value.
 
float maxDisparity () const
 Get the maximum disparity value.
 
bool winSSD () const
 Check if SSD (Sum of Squared Differences) is used.
 
virtual bool isGpuEnabled () const
 Check if GPU acceleration is enabled.
 
+ + + + +

+Static Public Member Functions

static Stereo * create (const ParametersMap &parameters=ParametersMap())
 Factory method to create a Stereo instance.
 
+

Detailed Description

+

Sparse stereo matching using block matching.

+

This class implements sparse stereo matching to find corresponding feature points between stereo image pairs using block matching with a search window. Unlike dense stereo matching, this class works with sparse feature points rather than computing disparity for every pixel.

+

The algorithm uses a pyramidal approach for efficiency, searching for correspondences within a specified disparity range using either SAD (Sum of Absolute Differences) or SSD (Sum of Squared Differences) as the matching cost.

+
Note
Input images must be grayscale (CV_8UC1).
+
See also
StereoOpticalFlow for an alternative implementation using optical flow
+
+StereoDense for dense stereo matching
+ +

Definition at line 55 of file Stereo.h.

+

Constructor & Destructor Documentation

+ +

◆ Stereo()

+ +
+
+ + + + + + + + +
rtabmap::Stereo::Stereo (const ParametersMap & parameters = ParametersMap())
+
+ +

Constructor.

+

Initializes a Stereo instance with default parameter values and then parses the provided parameters map to override defaults.

+
Parameters
+ + +
parametersOptional parameters map containing configuration values. If empty, default values are used.
+
+
+ +
+
+ +

◆ ~Stereo()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::Stereo::~Stereo ()
+ 		+inlinevirtual
+
+ +

Virtual destructor.

+ +

Definition at line 87 of file Stereo.h.

+ +
+
+

Member Function Documentation

+ +

◆ create()

+ +
+
+ + + + + +
+ + + + + + + + +
static Stereo * rtabmap::Stereo::create (const ParametersMap & parameters = ParametersMap())
+ 		+static
+
+ +

Factory method to create a Stereo instance.

+

Creates a Stereo instance based on the stereo optical flow parameter in the provided parameters map. If optical flow is enabled, creates a StereoOpticalFlow instance; otherwise, creates a standard Stereo instance.

+
Parameters
+ + +
parametersParameters map containing configuration values. The Parameters::kStereoOpticalFlow() parameter determines which implementation to create.
+
+
+
Returns
Pointer to the created Stereo instance (caller owns the memory). Returns StereoOpticalFlow if optical flow is enabled, otherwise Stereo.
+ +
+
+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::Stereo::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Parse parameters from a parameters map.

+

Updates the algorithm's configuration based on the provided parameters map. Supported parameters:

    +
  • Parameters::kStereoWinWidth() - Search window width
    • +
  • Parameters::kStereoWinHeight() - Search window height
    • +
  • Parameters::kStereoIterations() - Number of iterations
    • +
  • Parameters::kStereoMaxLevel() - Maximum pyramid level
    • +
  • Parameters::kStereoMinDisparity() - Minimum disparity value
    • +
  • Parameters::kStereoMaxDisparity() - Maximum disparity value
    • +
  • Parameters::kStereoSSD() - Use SSD instead of SAD
    • +
+
Parameters
+ + +
parametersParameters map containing configuration values
+
+
+ +

Reimplemented in rtabmap::StereoOpticalFlow.

+ +
+
+ +

◆ computeCorrespondences()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
virtual std::vector< cv::Point2f > rtabmap::Stereo::computeCorrespondences (const cv::Mat & leftImage,
const cv::Mat & rightImage,
const std::vector< cv::Point2f > & leftCorners,
std::vector< unsigned char > & status 
) const
+ 		+virtual
+
+ +

Compute stereo correspondences using block matching.

+

Finds corresponding points in the right stereo image for the given points in the left stereo image using block matching with a search window. The algorithm uses a pyramidal approach for efficiency.

+
Parameters
+ + + + + +
leftImageLeft stereo image (must be CV_8UC1 grayscale)
rightImageRight stereo image (must be CV_8UC1 grayscale)
leftCornersInput vector of feature points in the left image
statusOutput vector indicating which correspondences are valid (1) or invalid (0). The size matches leftCorners.size().
+
+
+
Returns
Vector of corresponding points in the right image. The size matches leftCorners.size(). Invalid correspondences may have coordinates outside the image bounds.
+
Note
Both input images must be grayscale (CV_8UC1).
+
+The algorithm searches for correspondences within the disparity range [minDisparity(), maxDisparity()] and uses a search window of size winSize().
+ +

Reimplemented in rtabmap::StereoOpticalFlow.

+ +
+
+ +

◆ winSize()

+ +
+
+ + + + + +
+ + + + + + + +
cv::Size rtabmap::Stereo::winSize () const
+ 		+inline
+
+ +

Get the search window size.

+
Returns
Search window size as cv::Size(winWidth_, winHeight_)
+ +

Definition at line 154 of file Stereo.h.

+ +
+
+ +

◆ iterations()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Stereo::iterations () const
+ 		+inline
+
+ +

Get the number of iterations.

+
Returns
Number of iterations for the matching algorithm
+ +

Definition at line 160 of file Stereo.h.

+ +
+
+ +

◆ maxLevel()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Stereo::maxLevel () const
+ 		+inline
+
+ +

Get the maximum pyramid level.

+
Returns
Maximum pyramid level used in the pyramidal approach
+ +

Definition at line 166 of file Stereo.h.

+ +
+
+ +

◆ minDisparity()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Stereo::minDisparity () const
+ 		+inline
+
+ +

Get the minimum disparity value.

+
Returns
Minimum disparity value to search (in pixels)
+ +

Definition at line 172 of file Stereo.h.

+ +
+
+ +

◆ maxDisparity()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Stereo::maxDisparity () const
+ 		+inline
+
+ +

Get the maximum disparity value.

+
Returns
Maximum disparity value to search (in pixels)
+ +

Definition at line 178 of file Stereo.h.

+ +
+
+ +

◆ winSSD()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::Stereo::winSSD () const
+ 		+inline
+
+ +

Check if SSD (Sum of Squared Differences) is used.

+
Returns
true if SSD is used, false if SAD (Sum of Absolute Differences) is used
+ +

Definition at line 184 of file Stereo.h.

+ +
+
+ +

◆ isGpuEnabled()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::Stereo::isGpuEnabled () const
+ 		+inlinevirtual
+
+ +

Check if GPU acceleration is enabled.

+
Returns
Always returns false for the base Stereo class
+ +

Reimplemented in rtabmap::StereoOpticalFlow.

+ +

Definition at line 190 of file Stereo.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/Stereo.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1StereoBM-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1StereoBM-members.html new file mode 100644 index 00000000..3b113004 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1StereoBM-members.html @@ -0,0 +1,104 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+
rtabmap::StereoBM Member List
+
+
+ +

This is the complete list of members for rtabmap::StereoBM, including all inherited members.

+ + + + + + + + + + + + + +
computeDisparity(const cv::Mat &leftImage, const cv::Mat &rightImage) constrtabmap::StereoBMvirtual
create(const ParametersMap &parameters)rtabmap::StereoDensestatic
create(StereoDense::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::StereoDensestatic
kTypeBM enum valuertabmap::StereoDense
kTypeSGBM enum valuertabmap::StereoDense
parseParameters(const ParametersMap &parameters)rtabmap::StereoBMvirtual
StereoBM(int blockSize, int numDisparities)rtabmap::StereoBM
StereoBM(const ParametersMap &parameters=ParametersMap())rtabmap::StereoBM
StereoDense(const ParametersMap &parameters=ParametersMap())rtabmap::StereoDenseinlineprotected
Type enum namertabmap::StereoDense
~StereoBM()rtabmap::StereoBMinlinevirtual
~StereoDense()rtabmap::StereoDenseinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1StereoBM.html b/preview/pr-1492/api/latest/classrtabmap_1_1StereoBM.html new file mode 100644 index 00000000..be6d1484 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1StereoBM.html @@ -0,0 +1,363 @@ + + + + + + + + +RTAB-Map: rtabmap::StereoBM Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
+
rtabmap::StereoBM Class Reference
+
+
+ +

Block Matching algorithm for dense stereo matching. + More...

+ +

#include <StereoBM.h>

+
+Inheritance diagram for rtabmap::StereoBM:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::StereoBM:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 StereoBM (int blockSize, int numDisparities)
 Constructor with explicit block size and number of disparities.
 
 StereoBM (const ParametersMap &parameters=ParametersMap())
 Constructor with parameters map.
 
virtual ~StereoBM ()
 Virtual destructor.
 
virtual void parseParameters (const ParametersMap &parameters)
 Parse parameters from a parameters map.
 
virtual cv::Mat computeDisparity (const cv::Mat &leftImage, const cv::Mat &rightImage) const
 Compute disparity map from stereo image pair.
 
- Public Member Functions inherited from rtabmap::StereoDense
virtual ~StereoDense ()
 Virtual destructor.
 
+ + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::StereoDense
enum  Type { kTypeBM = 0 +, kTypeSGBM = 1 + }
 Enumeration of available stereo matching algorithm types. More...
 
- Static Public Member Functions inherited from rtabmap::StereoDense
static StereoDense * create (const ParametersMap &parameters)
 Factory method to create a StereoDense instance from parameters.
 
static StereoDense * create (StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
 Factory method to create a StereoDense instance of a specific type.
 
- Protected Member Functions inherited from rtabmap::StereoDense
 StereoDense (const ParametersMap &parameters=ParametersMap())
 Protected constructor.
 
+

Detailed Description

+

Block Matching algorithm for dense stereo matching.

+

This class implements the Block Matching (BM) algorithm for computing disparity maps from stereo image pairs.

+
Note
This class wraps OpenCV's cv::StereoBM implementation.
+
See also
StereoSGBM for a more accurate but slower alternative
+ +

Definition at line 47 of file StereoBM.h.

+

Constructor & Destructor Documentation

+ +

◆ StereoBM() [1/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
rtabmap::StereoBM::StereoBM (int blockSize,
int numDisparities 
)
+
+ +

Constructor with explicit block size and number of disparities.

+
Parameters
+ + + +
blockSizeSize of the block window for matching (must be odd, typically 5-21)
numDisparitiesNumber of disparity levels to search (must be divisible by 16)
+
+
+ +
+
+ +

◆ StereoBM() [2/2]

+ +
+
+ + + + + + + + +
rtabmap::StereoBM::StereoBM (const ParametersMap & parameters = ParametersMap())
+
+ +

Constructor with parameters map.

+

Creates a StereoBM instance and initializes it from the provided parameters map.

+
Parameters
+ + +
parametersParameters map containing configuration values
+
+
+ +
+
+ +

◆ ~StereoBM()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::StereoBM::~StereoBM ()
+ 		+inlinevirtual
+
+ +

Virtual destructor.

+ +

Definition at line 69 of file StereoBM.h.

+ +
+
+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::StereoBM::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Parse parameters from a parameters map.

+

Updates the algorithm's configuration based on the provided parameters map. Supported parameters:

    +
  • Parameters::kStereoBMBlockSize()
    • +
  • Parameters::kStereoBMMinDisparity()
    • +
  • Parameters::kStereoBMNumDisparities()
    • +
  • Parameters::kStereoBMPreFilterSize()
    • +
  • Parameters::kStereoBMPreFilterCap()
    • +
  • Parameters::kStereoBMUniquenessRatio()
    • +
  • Parameters::kStereoBMTextureThreshold()
    • +
  • Parameters::kStereoBMSpeckleWindowSize()
    • +
  • Parameters::kStereoBMSpeckleRange()
    • +
  • Parameters::kStereoBMDisp12MaxDiff()
    • +
+
Parameters
+ + +
parametersParameters map containing configuration values
+
+
+ +

Reimplemented from rtabmap::StereoDense.

+ +
+
+ +

◆ computeDisparity()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual cv::Mat rtabmap::StereoBM::computeDisparity (const cv::Mat & leftImage,
const cv::Mat & rightImage 
) const
+ 		+virtual
+
+ +

Compute disparity map from stereo image pair.

+

Computes a disparity map using the Block Matching algorithm. The images must have the same size and be either grayscale (CV_8UC1) or color (CV_8UC3). Color images are automatically converted to grayscale.

+
Parameters
+ + + +
leftImageLeft stereo image (CV_8UC1 or CV_8UC3)
rightImageRight stereo image (CV_8UC1 or CV_8UC3), must have same size as leftImage
+
+
+
Returns
Disparity map as a 16-bit signed integer image (CV_16SC1)
+
Note
The disparity values are stored as fixed-point numbers with 4 fractional bits. To get the actual disparity, divide by 16.
+ +

Implements rtabmap::StereoDense.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/stereo/StereoBM.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::StereoCameraModel Member List
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This is the complete list of members for rtabmap::StereoCameraModel, including all inherited members.

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baseline() constrtabmap::StereoCameraModelinline
computeDepth(float disparity) constrtabmap::StereoCameraModel
computeDisparity(float depth) constrtabmap::StereoCameraModel
computeDisparity(unsigned short depth) constrtabmap::StereoCameraModel
deserialize(const std::vector< unsigned char > &data)rtabmap::StereoCameraModel
deserialize(const unsigned char *data, unsigned int dataSize)rtabmap::StereoCameraModel
E() constrtabmap::StereoCameraModelinline
F() constrtabmap::StereoCameraModelinline
getLeftSuffix() constrtabmap::StereoCameraModelinline
getRightSuffix() constrtabmap::StereoCameraModelinline
initRectificationMap()rtabmap::StereoCameraModelinline
isRectificationMapInitialized() constrtabmap::StereoCameraModelinline
isValidForProjection() constrtabmap::StereoCameraModelinline
isValidForRectification() constrtabmap::StereoCameraModelinline
left() constrtabmap::StereoCameraModelinline
load(const std::string &directory, const std::string &cameraName, bool ignoreStereoTransform=true, bool initRectificationMaps=true)rtabmap::StereoCameraModel
localTransform() constrtabmap::StereoCameraModelinline
name() constrtabmap::StereoCameraModelinline
R() constrtabmap::StereoCameraModelinline
right() constrtabmap::StereoCameraModelinline
roi(const cv::Rect &roi)rtabmap::StereoCameraModel
save(const std::string &directory, bool ignoreStereoTransform=true) constrtabmap::StereoCameraModel
saveStereoTransform(const std::string &directory) constrtabmap::StereoCameraModel
scale(double scale)rtabmap::StereoCameraModel
serialize() constrtabmap::StereoCameraModel
setImageSize(const cv::Size &size)rtabmap::StereoCameraModelinline
setLocalTransform(const Transform &transform)rtabmap::StereoCameraModelinline
setName(const std::string &name, const std::string &leftSuffix="left", const std::string &rightSuffix="right")rtabmap::StereoCameraModel
StereoCameraModel()rtabmap::StereoCameraModelinline
StereoCameraModel(const std::string &name, const cv::Size &imageSize1, const cv::Mat &K1, const cv::Mat &D1, const cv::Mat &R1, const cv::Mat &P1, const cv::Size &imageSize2, const cv::Mat &K2, const cv::Mat &D2, const cv::Mat &R2, const cv::Mat &P2, const cv::Mat &R, const cv::Mat &T, const cv::Mat &E, const cv::Mat &F, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0))rtabmap::StereoCameraModel
StereoCameraModel(const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const cv::Mat &R=cv::Mat(), const cv::Mat &T=cv::Mat(), const cv::Mat &E=cv::Mat(), const cv::Mat &F=cv::Mat())rtabmap::StereoCameraModel
StereoCameraModel(const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const Transform &extrinsics)rtabmap::StereoCameraModel
StereoCameraModel(double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0), const cv::Size &imageSize=cv::Size(0, 0))rtabmap::StereoCameraModel
StereoCameraModel(const std::string &name, double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0), const cv::Size &imageSize=cv::Size(0, 0))rtabmap::StereoCameraModel
stereoTransform() constrtabmap::StereoCameraModel
T() constrtabmap::StereoCameraModelinline
~StereoCameraModel()rtabmap::StereoCameraModelinlinevirtual
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rtabmap::StereoCameraModel Class Reference
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A class representing a calibrated stereo camera system. + More...

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#include <StereoCameraModel.h>

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+Public Member Functions

 StereoCameraModel ()
 Default constructor. Creates an empty stereo model with default suffixes ("left", "right").
 
 StereoCameraModel (const std::string &name, const cv::Size &imageSize1, const cv::Mat &K1, const cv::Mat &D1, const cv::Mat &R1, const cv::Mat &P1, const cv::Size &imageSize2, const cv::Mat &K2, const cv::Mat &D2, const cv::Mat &R2, const cv::Mat &P2, const cv::Mat &R, const cv::Mat &T, const cv::Mat &E, const cv::Mat &F, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0))
 Constructs a StereoCameraModel from detailed intrinsic and extrinsic parameters for both cameras.
 
 StereoCameraModel (const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const cv::Mat &R=cv::Mat(), const cv::Mat &T=cv::Mat(), const cv::Mat &E=cv::Mat(), const cv::Mat &F=cv::Mat())
 Constructs a StereoCameraModel from two individual camera models and optional stereo extrinsic parameters.
 
 StereoCameraModel (const std::string &name, const CameraModel &leftCameraModel, const CameraModel &rightCameraModel, const Transform &extrinsics)
 Constructs a StereoCameraModel from two camera models and an extrinsic Transform between them.
 
 StereoCameraModel (double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0), const cv::Size &imageSize=cv::Size(0, 0))
 Minimal constructor using focal lengths and baseline only.
 
 StereoCameraModel (const std::string &name, double fx, double fy, double cx, double cy, double baseline, const Transform &localTransform=Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0), const cv::Size &imageSize=cv::Size(0, 0))
 Minimal constructor that also sets a name, required if we want to save it to a file.
 
virtual ~StereoCameraModel ()
 Destructor.
 
bool isValidForProjection () const
 Returns true if both left and right models are valid for projection and the baseline is positive.
 
bool isValidForRectification () const
 Returns true if both left and right models are valid for rectification.
 
void initRectificationMap ()
 Initializes the rectification maps for both cameras.
 
bool isRectificationMapInitialized () const
 Returns true if rectification maps are initialized.
 
void setName (const std::string &name, const std::string &leftSuffix="left", const std::string &rightSuffix="right")
 Sets the camera name and optional image suffixes for the left and right cameras.
 
const std::string & name () const
 Gets the camera name.
 
void setImageSize (const cv::Size &size)
 Sets the image size for both left and right cameras.
 
bool load (const std::string &directory, const std::string &cameraName, bool ignoreStereoTransform=true, bool initRectificationMaps=true)
 Loads stereo camera calibration data from disk.
 
bool save (const std::string &directory, bool ignoreStereoTransform=true) const
 Saves stereo camera calibration data to disk.
 
bool saveStereoTransform (const std::string &directory) const
 Saves stereo extrinsic parameters to a YAML file in ROS format.
 
std::vector< unsigned char > serialize () const
 Serializes the stereo camera model into a byte vector.
 
unsigned int deserialize (const std::vector< unsigned char > &data)
 Deserializes stereo camera model data from a byte vector.
 
unsigned int deserialize (const unsigned char *data, unsigned int dataSize)
 Deserializes stereo camera model data from a raw byte array.
 
double baseline () const
 Returns the stereo baseline in meters.
 
float computeDepth (float disparity) const
 Computes the depth (Z coordinate) from a given disparity value.
 
float computeDisparity (float depth) const
 Computes the disparity value from a given depth.
 
float computeDisparity (unsigned short depth) const
 Computes the disparity value from a depth given in unsigned short format (millimeters).
 
const cv::Mat & R () const
 Stereo extrinsic rotation matrix.
 
const cv::Mat & T () const
 Stereo extrinsic translation vector.
 
const cv::Mat & E () const
 Essential matrix.
 
const cv::Mat & F () const
 Fundamental matrix.
 
void scale (double scale)
 Scales both cameras' calibration by a factor.
 
void roi (const cv::Rect &roi)
 Applies region-of-interest (ROI) cropping to both cameras.
 
void setLocalTransform (const Transform &transform)
 Sets the local transform from left camera to robot base.
 
const Transform & localTransform () const
 Gets the local transform from left camera to robot base.
 
Transform stereoTransform () const
 Returns the stereo transform (left camera relative to right camera coordinate system).
 
const CameraModel & left () const
 Returns the left camera model.
 
const CameraModel & right () const
 Returns the right camera model.
 
const std::string & getLeftSuffix () const
 Gets the suffix used for the left camera calibration file.
 
const std::string & getRightSuffix () const
 Gets the suffix used for the right camera calibration file.
 
+

Detailed Description

+

A class representing a calibrated stereo camera system.

+

This class encapsulates the calibration data and operations associated with a stereo camera setup, including intrinsic and extrinsic parameters for both left and right cameras, stereo rectification, and methods for computing depth or disparity from stereo images.

+

It relies internally on two CameraModel instances for the left and right cameras.

+

Typical uses include:

    +
  • Stereo rectification
    • +
  • Stereo disparity-to-depth conversion
    • +
  • Saving and loading stereo camera calibration data
    • +
  • Projecting or reprojecting points
    • +
+
See also
CameraModel
+ +

Definition at line 53 of file StereoCameraModel.h.

+

Constructor & Destructor Documentation

+ +

◆ StereoCameraModel() [1/6]

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::StereoCameraModel::StereoCameraModel ()
+ 		+inline
+
+ +

Default constructor. Creates an empty stereo model with default suffixes ("left", "right").

+ +

Definition at line 59 of file StereoCameraModel.h.

+ +
+
+ +

◆ StereoCameraModel() [2/6]

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rtabmap::StereoCameraModel::StereoCameraModel (const std::string & name,
const cv::Size & imageSize1,
const cv::Mat & K1,
const cv::Mat & D1,
const cv::Mat & R1,
const cv::Mat & P1,
const cv::Size & imageSize2,
const cv::Mat & K2,
const cv::Mat & D2,
const cv::Mat & R2,
const cv::Mat & P2,
const cv::Mat & R,
const cv::Mat & T,
const cv::Mat & E,
const cv::Mat & F,
const Transform & localTransform = Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0) 
)
+
+ +

Constructs a StereoCameraModel from detailed intrinsic and extrinsic parameters for both cameras.

+

Initializes the stereo camera model by specifying the calibration parameters for the left and right cameras, along with the stereo extrinsic parameters.

+
Parameters
+ + + + + + + + + + + + + + + + + +
nameName identifier for the stereo camera.
imageSize1Image size (width, height) of the left camera.
K1Intrinsic camera matrix (3x3, CV_64FC1) for the left camera.
D1Distortion coefficients for the left camera.
R1Rectification matrix (3x3, CV_64FC1) for the left camera.
P1Projection matrix (3x4, CV_64FC1) for the left camera.
imageSize2Image size (width, height) of the right camera.
K2Intrinsic camera matrix (3x3, CV_64FC1) for the right camera.
D2Distortion coefficients for the right camera.
R2Rectification matrix (3x3, CV_64FC1) for the right camera.
P2Projection matrix (3x4, CV_64FC1) for the right camera.
RRotation matrix (3x3, CV_64FC1) representing the rotation from left to right camera coordinate system. Can be empty if unknown.
TTranslation vector (3x1, CV_64FC1) representing the translation from left to right camera coordinate system. Can be empty if unknown.
EEssential matrix (3x3, CV_64FC1) encoding the stereo camera epipolar geometry. Can be empty if unknown.
FFundamental matrix (3x3, CV_64FC1) encoding the stereo camera epipolar constraints. Can be empty if unknown.
localTransformThe local transform associated with the stereo camera model.
+
+
+
Note
All matrices must have correct sizes and types as specified. The rectification and projection matrices (R1, P1, R2, P2) are used to define the stereo rectification parameters. The rotation and translation (R, T) define the relative pose between the cameras.
+ +
+
+ +

◆ StereoCameraModel() [3/6]

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rtabmap::StereoCameraModel::StereoCameraModel (const std::string & name,
const CameraModel & leftCameraModel,
const CameraModel & rightCameraModel,
const cv::Mat & R = cv::Mat(),
const cv::Mat & T = cv::Mat(),
const cv::Mat & E = cv::Mat(),
const cv::Mat & F = cv::Mat() 
)
+
+ +

Constructs a StereoCameraModel from two individual camera models and optional stereo extrinsic parameters.

+

This constructor initializes the stereo camera model by assigning the provided left and right camera models. If the stereo extrinsics (R, T) are provided and valid, stereo rectification will be attempted—provided both cameras are valid for rectification and their image dimensions match.

+

Each camera model will automatically have its name updated using the name parameter and default suffixes ("left", "right").

+
Parameters
+ + + + + + + + +
nameThe base name for the stereo camera model.
leftCameraModelThe camera model representing the left camera.
rightCameraModelThe camera model representing the right camera.
R(Optional) Rotation matrix of the left camera relative to the right camera coordinate system (3x3, CV_64FC1).
T(Optional) Translation vector of the left camera relative to the right camera coordinate system (3x1, CV_64FC1).
E(Optional) Essential matrix between the two cameras (3x3, CV_64FC1).
F(Optional) Fundamental matrix between the two cameras (3x3, CV_64FC1).
+
+
+
Exceptions
+ + + +
UExceptionif any of the provided matrices (R, T, E, F) are non-empty and not of the expected type/shape.
UExceptionif R and T are provided but the camera models are not valid for rectification.
+
+
+
Note
Stereo rectification is only attempted if both R and T are non-empty, the cameras are valid, and their image sizes match.
+
See also
updateStereoRectification()
+ +
+
+ +

◆ StereoCameraModel() [4/6]

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rtabmap::StereoCameraModel::StereoCameraModel (const std::string & name,
const CameraModel & leftCameraModel,
const CameraModel & rightCameraModel,
const Transform & extrinsics 
)
+
+ +

Constructs a StereoCameraModel from two camera models and an extrinsic Transform between them.

+

This constructor sets up a stereo camera model using the given left and right camera models along with an optional 3D transform (extrinsics) representing the pose of the left camera relative to the right camera coordinate system.

+

If a valid (non-null) transform is provided, the corresponding rotation and translation matrices are extracted and stored as the stereo extrinsic parameters. Stereo rectification will be attempted if both camera models are valid for rectification and their image sizes match.

+

Each camera model will be renamed using the provided name and default suffixes ("left", "right").

+
Parameters
+ + + + + +
nameBase name for the stereo camera model.
leftCameraModelCamera model for the left camera.
rightCameraModelCamera model for the right camera.
extrinsics(Optional) Transform of the left camera relative to the right camera coordinate system. If null, no extrinsics are used.
+
+
+
Exceptions
+ + +
UExceptionif extrinsics is not null and either camera model is not valid for rectification.
+
+
+
Note
Stereo rectification is performed only when extrinsics is valid and both camera models are rectifiable with matching image dimensions.
+
See also
updateStereoRectification()
+ +
+
+ +

◆ StereoCameraModel() [5/6]

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rtabmap::StereoCameraModel::StereoCameraModel (double fx,
double fy,
double cx,
double cy,
double baseline,
const Transform & localTransform = Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0),
const cv::Size & imageSize = cv::Size(0, 0) 
)
+
+ +

Minimal constructor using focal lengths and baseline only.

+

Creates a simplified stereo camera model using only the essential intrinsic parameters and baseline. This constructor assumes the images are already rectified and both cameras have the same intrinsic parameters.

+
Parameters
+ + + + + + + + +
fxFocal length in x direction (pixels).
fyFocal length in y direction (pixels).
cxPrincipal point x coordinate (pixels).
cyPrincipal point y coordinate (pixels).
baselineStereo baseline distance in meters.
localTransformLocal transform from camera to robot base frame (default: optical rotation).
imageSizeImage size (width, height). Optional, can be set later.
+
+
+
Note
This constructor creates a simplified model suitable for rectified stereo pairs. For full calibration with distortion, use the constructors that accept camera matrices.
+ +
+
+ +

◆ StereoCameraModel() [6/6]

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rtabmap::StereoCameraModel::StereoCameraModel (const std::string & name,
double fx,
double fy,
double cx,
double cy,
double baseline,
const Transform & localTransform = Transform(0, 0, 1, 0, -1, 0, 0, 0, 0,-1, 0, 0),
const cv::Size & imageSize = cv::Size(0, 0) 
)
+
+ +

Minimal constructor that also sets a name, required if we want to save it to a file.

+

Same as the minimal constructor but also sets the camera name, which is required when saving the calibration to disk.

+
Parameters
+ + + + + + + + + +
nameCamera name identifier (used for saving calibration files).
fxFocal length in x direction (pixels).
fyFocal length in y direction (pixels).
cxPrincipal point x coordinate (pixels).
cyPrincipal point y coordinate (pixels).
baselineStereo baseline distance in meters.
localTransformLocal transform from camera to robot base frame (default: optical rotation).
imageSizeImage size (width, height). Optional, can be set later.
+
+
+
Note
Use this constructor when you plan to save the calibration to a file.
+ +
+
+ +

◆ ~StereoCameraModel()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::StereoCameraModel::~StereoCameraModel ()
+ 		+inlinevirtual
+
+ +

Destructor.

+ +

Definition at line 219 of file StereoCameraModel.h.

+ +
+
+

Member Function Documentation

+ +

◆ isValidForProjection()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::StereoCameraModel::isValidForProjection () const
+ 		+inline
+
+ +

Returns true if both left and right models are valid for projection and the baseline is positive.

+ +

Definition at line 224 of file StereoCameraModel.h.

+ +
+
+ +

◆ isValidForRectification()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::StereoCameraModel::isValidForRectification () const
+ 		+inline
+
+ +

Returns true if both left and right models are valid for rectification.

+ +

Definition at line 229 of file StereoCameraModel.h.

+ +
+
+ +

◆ initRectificationMap()

+ +
+
+ + + + + +
+ + + + + + + +
void rtabmap::StereoCameraModel::initRectificationMap ()
+ 		+inline
+
+ +

Initializes the rectification maps for both cameras.

+ +

Definition at line 234 of file StereoCameraModel.h.

+ +
+
+ +

◆ isRectificationMapInitialized()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::StereoCameraModel::isRectificationMapInitialized () const
+ 		+inline
+
+ +

Returns true if rectification maps are initialized.

+ +

Definition at line 239 of file StereoCameraModel.h.

+ +
+
+ +

◆ setName()

+ +
+
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void rtabmap::StereoCameraModel::setName (const std::string & name,
const std::string & leftSuffix = "left",
const std::string & rightSuffix = "right" 
)
+
+ +

Sets the camera name and optional image suffixes for the left and right cameras.

+

Updates the stereo camera model name and the suffixes used for identifying left and right camera calibration files. The suffixes are used when loading/saving calibration data from disk.

+
Parameters
+ + + + +
nameBase name for the stereo camera model.
leftSuffixSuffix for the left camera (default: "left"). Used in filenames like "cameraName_left.yaml".
rightSuffixSuffix for the right camera (default: "right"). Used in filenames like "cameraName_right.yaml".
+
+
+
Note
The suffixes are used by load() and save() methods to construct filenames for each camera.
+ +
+
+ +

◆ name()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::StereoCameraModel::name () const
+ 		+inline
+
+ +

Gets the camera name.

+ +

Definition at line 258 of file StereoCameraModel.h.

+ +
+
+ +

◆ setImageSize()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::StereoCameraModel::setImageSize (const cv::Size & size)
+ 		+inline
+
+ +

Sets the image size for both left and right cameras.

+ +

Definition at line 263 of file StereoCameraModel.h.

+ +
+
+ +

◆ load()

+ +
+
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bool rtabmap::StereoCameraModel::load (const std::string & directory,
const std::string & cameraName,
bool ignoreStereoTransform = true,
bool initRectificationMaps = true 
)
+
+ +

Loads stereo camera calibration data from disk.

+

This method loads the intrinsic parameters for both the left and right cameras from files in the specified directory, using the provided camera name and internal suffixes. If ignoreStereoTransform is false, it also attempts to load the stereo extrinsic parameters (rotation, translation, essential, and fundamental matrices) from a YAML file.

+

The stereo extrinsics are expected in the file: directory/cameraName_pose.yaml, following the ROS calibration format.

+
Parameters
+ + + + + +
directoryThe directory where the calibration files are located.
cameraNameThe base name of the stereo camera (used to derive filenames).
ignoreStereoTransformIf true, skips loading stereo extrinsic parameters.
initRectificationMapsSet to false to skip building the (potentially large) left/right rectification maps when rectification won't be used (saves time and memory).
+
+
+
Returns
true if loading is successful, false otherwise.
+
See also
save(), saveStereoTransform(), CameraModel::initRectificationMap()
+ +
+
+ +

◆ save()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::StereoCameraModel::save (const std::string & directory,
bool ignoreStereoTransform = true 
) const
+
+ +

Saves stereo camera calibration data to disk.

+

This method saves the intrinsic parameters of both left and right cameras to the specified directory. If ignoreStereoTransform is false, it also saves the stereo extrinsic parameters (rotation, translation, essential, and fundamental matrices) in a ROS-compatible YAML file named cameraName_pose.yaml.

+
Parameters
+ + + +
directoryThe directory where calibration files should be saved.
ignoreStereoTransformIf true, skips saving stereo extrinsic parameters.
+
+
+
Returns
true if saving was successful, false otherwise.
+
See also
load(), saveStereoTransform()
+ +
+
+ +

◆ saveStereoTransform()

+ +
+
+ + + + + + + + +
bool rtabmap::StereoCameraModel::saveStereoTransform (const std::string & directory) const
+
+ +

Saves stereo extrinsic parameters to a YAML file in ROS format.

+

This method exports the stereo transform, including rotation, translation, essential, and fundamental matrices, into a YAML file named cameraName_pose.yaml located in the specified directory. The file format is compatible with ROS camera calibration tools.

+
Parameters
+ + +
directoryThe target directory for saving the calibration file.
+
+
+
Returns
true if saving was successful, false if required matrices are missing or invalid.
+
Warning
If extrinsics (R_, T_, E_, F_) are empty or invalid, nothing will be saved and a warning is printed.
+
See also
load(), save()
+ +
+
+ +

◆ serialize()

+ +
+
+ + + + + + + +
std::vector< unsigned char > rtabmap::StereoCameraModel::serialize () const
+
+ +

Serializes the stereo camera model into a byte vector.

+

This method serializes the left and right camera models along with the stereo extrinsic parameters (rotation matrix R_, translation vector T_, essential matrix E_, and fundamental matrix F_) into a contiguous byte array. The serialization format starts with a fixed-size integer header containing version info, stereo type, matrix sizes, and serialized data sizes, followed by the actual matrices and serialized camera data.

+

The serialized data can later be restored using the corresponding deserialize() method.

+
Returns
A vector of unsigned char containing the serialized stereo camera data.
+ +
+
+ +

◆ deserialize() [1/2]

+ +
+
+ + + + + + + + +
unsigned int rtabmap::StereoCameraModel::deserialize (const std::vector< unsigned char > & data)
+
+ +

Deserializes stereo camera model data from a byte vector.

+

This method wraps the pointer-based deserialize() and attempts to restore the stereo camera model from the given serialized byte vector.

+
Parameters
+ + +
dataThe vector of bytes containing previously serialized stereo camera model data.
+
+
+
Returns
The number of bytes read from the data if successful, 0 otherwise.
+
See also
deserialize(const unsigned char*, unsigned int)
+ +
+
+ +

◆ deserialize() [2/2]

+ +
+
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unsigned int rtabmap::StereoCameraModel::deserialize (const unsigned char * data,
unsigned int dataSize 
)
+
+ +

Deserializes stereo camera model data from a raw byte array.

+

This method reconstructs the stereo camera model from the provided serialized data buffer. It expects the data format to match the one produced by serialize(), including a header with version info, matrix sizes, and data sizes, followed by the serialized extrinsic matrices and serialized left and right camera data.

+

The method performs various sanity checks on data sizes and matrix dimensions and will fail if the data format or sizes are inconsistent.

+
Parameters
+ + + +
dataPointer to the raw serialized data buffer.
dataSizeSize in bytes of the data buffer.
+
+
+
Returns
The number of bytes consumed during deserialization if successful, or 0 on failure.
+
Warning
The stereo camera model is reset to a default empty state before deserialization.
+
+If the serialized data type is not stereo (type != 1), deserialization will fail.
+
See also
serialize()
+ +
+
+ +

◆ baseline()

+ +
+
+ + + + + +
+ + + + + + + +
double rtabmap::StereoCameraModel::baseline () const
+ 		+inline
+
+ +

Returns the stereo baseline in meters.

+

Computes the baseline distance between the left and right cameras using the projection matrices. The baseline is calculated as the difference in x-translation (Tx) normalized by the focal length.

+
Returns
The baseline distance in meters. Returns 0.0 if focal lengths are invalid or zero.
+
Note
The baseline is a physical distance and is essential for depth computation from disparity.
+ +

Definition at line 378 of file StereoCameraModel.h.

+ +
+
+ +

◆ computeDepth()

+ +
+
+ + + + + + + + +
float rtabmap::StereoCameraModel::computeDepth (float disparity) const
+
+ +

Computes the depth (Z coordinate) from a given disparity value.

+

Uses the stereo camera model parameters to convert disparity to depth using the formula:

+\[ + \text{depth} = \frac{\text{baseline} \times f_x}{\text{disparity} + (c_{x_{right}} - c_{x_{left}})} +\] +

+

where ( f_x ) is the focal length of the left camera and ( c_x ) are principal points.

+
Parameters
+ + +
disparityThe disparity value (difference in pixel coordinates between left and right images).
+
+
+
Returns
The computed depth in the same unit as the baseline (typically meters). Returns 0 if disparity is zero or if the model is not valid for projection.
+
Note
This function requires the stereo camera to be valid for projection (i.e., calibrated and rectified).
+ +
+
+ +

◆ computeDisparity() [1/2]

+ +
+
+ + + + + + + + +
float rtabmap::StereoCameraModel::computeDisparity (float depth) const
+
+ +

Computes the disparity value from a given depth.

+

Converts depth back to disparity using the inverse formula:

+\[ + \text{disparity} = \frac{\text{baseline} \times f_x}{\text{depth}} - (c_{x_{right}} - c_{x_{left}}) +\] +

+
Parameters
+ + +
depthDepth value in the same unit as the baseline (typically meters).
+
+
+
Returns
The computed disparity in pixels. Returns 0 if depth is zero or if the model is not valid for projection.
+
Note
This function requires the stereo camera to be valid for projection (i.e., calibrated and rectified).
+ +
+
+ +

◆ computeDisparity() [2/2]

+ +
+
+ + + + + + + + +
float rtabmap::StereoCameraModel::computeDisparity (unsigned short depth) const
+
+ +

Computes the disparity value from a depth given in unsigned short format (millimeters).

+

Converts depth expressed as an unsigned short (in millimeters) to disparity. The depth is first converted to meters before computing disparity using the formula:

+\[ + \text{disparity} = \frac{\text{baseline} \times f_x}{\text{depth (meters)}} - (c_{x_{right}} - c_{x_{left}}) +\] +

+
Parameters
+ + +
depthDepth value in millimeters as an unsigned short.
+
+
+
Returns
The computed disparity in pixels. Returns 0 if depth is zero or if the model is not valid for projection.
+
Note
This function requires the stereo camera to be valid for projection (i.e., calibrated and rectified).
+ +
+
+ +

◆ R()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::StereoCameraModel::R () const
+ 		+inline
+
+ +

Stereo extrinsic rotation matrix.

+ +

Definition at line 430 of file StereoCameraModel.h.

+ +
+
+ +

◆ T()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::StereoCameraModel::T () const
+ 		+inline
+
+ +

Stereo extrinsic translation vector.

+ +

Definition at line 431 of file StereoCameraModel.h.

+ +
+
+ +

◆ E()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::StereoCameraModel::E () const
+ 		+inline
+
+ +

Essential matrix.

+ +

Definition at line 432 of file StereoCameraModel.h.

+ +
+
+ +

◆ F()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::StereoCameraModel::F () const
+ 		+inline
+
+ +

Fundamental matrix.

+ +

Definition at line 433 of file StereoCameraModel.h.

+ +
+
+ +

◆ scale()

+ +
+
+ + + + + + + + +
void rtabmap::StereoCameraModel::scale (double scale)
+
+ +

Scales both cameras' calibration by a factor.

+

Scales the intrinsic parameters (focal lengths, principal points) and image sizes of both left and right cameras by the given scale factor. This is useful when working with downscaled or upscaled images.

+
Parameters
+ + +
scaleScaling factor (> 0). For example, use 0.5 to downscale or 2.0 to upscale.
+
+
+
Note
The baseline is not scaled, as it represents a physical distance between cameras.
+
+Only valid camera models are scaled. Invalid models are left unchanged.
+ +
+
+ +

◆ roi()

+ +
+
+ + + + + + + + +
void rtabmap::StereoCameraModel::roi (const cv::Rect & roi)
+
+ +

Applies region-of-interest (ROI) cropping to both cameras.

+

Adjusts both camera models for a region of interest by shifting the principal points and updating the image sizes. This is useful when working with cropped or subwindowed images.

+
Parameters
+ + +
roiRegion of interest rectangle. The top-left corner defines the offset for principal points.
+
+
+
Note
The principal points (cx, cy) are adjusted by subtracting the ROI's top-left coordinates.
+
+The image size is set to the ROI size.
+
+Only valid camera models are adjusted. Invalid models are left unchanged.
+ +
+
+ +

◆ setLocalTransform()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::StereoCameraModel::setLocalTransform (const Transform & transform)
+ 		+inline
+
+ +

Sets the local transform from left camera to robot base.

+ +

Definition at line 466 of file StereoCameraModel.h.

+ +
+
+ +

◆ localTransform()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::StereoCameraModel::localTransform () const
+ 		+inline
+
+ +

Gets the local transform from left camera to robot base.

+ +

Definition at line 471 of file StereoCameraModel.h.

+ +
+
+ +

◆ stereoTransform()

+ +
+
+ + + + + + + +
Transform rtabmap::StereoCameraModel::stereoTransform () const
+
+ +

Returns the stereo transform (left camera relative to right camera coordinate system).

+

The stereo transform brings points given in the first (left) camera's coordinate system to points in the second (right) camera's coordinate system. In more technical terms, it performs a change of basis from the first camera's coordinate system to the second camera's coordinate system. Due to its duality, it is equivalent to the position of the first camera with respect to the second camera coordinate system.

+
Returns
Transform from left camera to right camera coordinate system. Returns identity if R_ or T_ are empty.
+
Note
The transform is constructed from the stereo extrinsic parameters R_ and T_.
+
Example:
For a stereo camera with a baseline of 15 cm, where the right camera is positioned to the right of the left camera, the x value of the returned Transform would be -0.15 (negative because it represents the position of the left camera in the right camera's coordinate system).
StereoCameraModel stereo(...);
+
Transform transform = stereo.stereoTransform();
+
// If baseline is 0.15 m, transform.x() would be approximately -0.15
+
rtabmap::StereoCameraModel
A class representing a calibrated stereo camera system.
Definition StereoCameraModel.h:54
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+
+ +
+
+ +

◆ left()

+ +
+
+ + + + + +
+ + + + + + + +
const CameraModel & rtabmap::StereoCameraModel::left () const
+ 		+inline
+
+ +

Returns the left camera model.

+ +

Definition at line 502 of file StereoCameraModel.h.

+ +
+
+ +

◆ right()

+ +
+
+ + + + + +
+ + + + + + + +
const CameraModel & rtabmap::StereoCameraModel::right () const
+ 		+inline
+
+ +

Returns the right camera model.

+ +

Definition at line 506 of file StereoCameraModel.h.

+ +
+
+ +

◆ getLeftSuffix()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::StereoCameraModel::getLeftSuffix () const
+ 		+inline
+
+ +

Gets the suffix used for the left camera calibration file.

+ +

Definition at line 511 of file StereoCameraModel.h.

+ +
+
+ +

◆ getRightSuffix()

+ +
+
+ + + + + +
+ + + + + + + +
const std::string & rtabmap::StereoCameraModel::getRightSuffix () const
+ 		+inline
+
+ +

Gets the suffix used for the right camera calibration file.

+ +

Definition at line 515 of file StereoCameraModel.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1StereoDense-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1StereoDense-members.html new file mode 100644 index 00000000..ef4ce3a3 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1StereoDense-members.html @@ -0,0 +1,101 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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+
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rtabmap::StereoDense Member List
+
+
+ +

This is the complete list of members for rtabmap::StereoDense, including all inherited members.

+ + + + + + + + + + +
computeDisparity(const cv::Mat &leftImage, const cv::Mat &rightImage) const =0rtabmap::StereoDensepure virtual
create(const ParametersMap &parameters)rtabmap::StereoDensestatic
create(StereoDense::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::StereoDensestatic
kTypeBM enum valuertabmap::StereoDense
kTypeSGBM enum valuertabmap::StereoDense
parseParameters(const ParametersMap &parameters)rtabmap::StereoDenseinlinevirtual
StereoDense(const ParametersMap &parameters=ParametersMap())rtabmap::StereoDenseinlineprotected
Type enum namertabmap::StereoDense
~StereoDense()rtabmap::StereoDenseinlinevirtual
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1StereoDense.html b/preview/pr-1492/api/latest/classrtabmap_1_1StereoDense.html new file mode 100644 index 00000000..6a3b764c --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1StereoDense.html @@ -0,0 +1,426 @@ + + + + + + + + +RTAB-Map: rtabmap::StereoDense Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
+
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Protected Member Functions | +List of all members
+
rtabmap::StereoDense Class Referenceabstract
+
+
+ +

Abstract base class for dense stereo matching algorithms. + More...

+ +

#include <StereoDense.h>

+
+Inheritance diagram for rtabmap::StereoDense:
+
+
Inheritance graph
+ + + + + + + +
[legend]
+ + + + + +

+Public Types

enum  Type { kTypeBM = 0 +, kTypeSGBM = 1 + }
 Enumeration of available stereo matching algorithm types. More...
 
+ + + + + + + + + + +

+Public Member Functions

virtual ~StereoDense ()
 Virtual destructor.
 
virtual void parseParameters (const ParametersMap &parameters)
 Parse parameters from a parameters map.
 
virtual cv::Mat computeDisparity (const cv::Mat &leftImage, const cv::Mat &rightImage) const =0
 Compute disparity map from stereo image pair.
 
+ + + + + + + +

+Static Public Member Functions

static StereoDense * create (const ParametersMap &parameters)
 Factory method to create a StereoDense instance from parameters.
 
static StereoDense * create (StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
 Factory method to create a StereoDense instance of a specific type.
 
+ + + + +

+Protected Member Functions

 StereoDense (const ParametersMap &parameters=ParametersMap())
 Protected constructor.
 
+

Detailed Description

+

Abstract base class for dense stereo matching algorithms.

+

This class provides the interface for dense stereo matching algorithms that compute disparity maps from stereo image pairs. It uses a factory pattern to create specific implementations (Block Matching or Semi-Global Block Matching).

+

The disparity map is a 16-bit signed integer image (CV_16SC1) where each pixel value represents the horizontal displacement between corresponding pixels in the left and right stereo images. Higher disparity values indicate closer objects.

+
Note
Both input images must have the same size and be either grayscale (CV_8UC1) or color (CV_8UC3). Color images are automatically converted to grayscale.
+ +

Definition at line 53 of file StereoDense.h.

+

Member Enumeration Documentation

+ +

◆ Type

+ +
+
+ + + + +
enum rtabmap::StereoDense::Type
+
+ +

Enumeration of available stereo matching algorithm types.

+ + + +
Enumerator
kTypeBM 

Block Matching algorithm (faster, less accurate)

+
kTypeSGBM 

Semi-Global Block Matching algorithm (slower, more accurate)

+
+ +

Definition at line 59 of file StereoDense.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ ~StereoDense()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::StereoDense::~StereoDense ()
+ 		+inlinevirtual
+
+ +

Virtual destructor.

+ +

Definition at line 93 of file StereoDense.h.

+ +
+
+ +

◆ StereoDense()

+ +
+
+ + + + + +
+ + + + + + + + +
rtabmap::StereoDense::StereoDense (const ParametersMap & parameters = ParametersMap())
+ 		+inlineprotected
+
+ +

Protected constructor.

+
Parameters
+ + +
parametersOptional parameters map for initialization
+
+
+ +

Definition at line 129 of file StereoDense.h.

+ +
+
+

Member Function Documentation

+ +

◆ create() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
static StereoDense * rtabmap::StereoDense::create (const ParametersMap & parameters)
+ 		+static
+
+ +

Factory method to create a StereoDense instance from parameters.

+

Creates a StereoDense instance based on the stereo dense strategy parameter in the provided parameters map. The strategy is determined by the Parameters::kStereoDenseStrategy() parameter.

+
Parameters
+ + +
parametersParameters map containing configuration values
+
+
+
Returns
Pointer to the created StereoDense instance (caller owns the memory)
+
See also
create(Type, const ParametersMap&)
+ +
+
+ +

◆ create() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
static StereoDense * rtabmap::StereoDense::create (StereoDense::Type type,
const ParametersMap & parameters = ParametersMap() 
)
+ 		+static
+
+ +

Factory method to create a StereoDense instance of a specific type.

+

Creates a StereoDense instance of the specified type with the given parameters.

+
Parameters
+ + + +
typeThe type of stereo matching algorithm to create
parametersOptional parameters map containing configuration values
+
+
+
Returns
Pointer to the created StereoDense instance (caller owns the memory)
+
See also
create(const ParametersMap&)
+ +
+
+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::StereoDense::parseParameters (const ParametersMap & parameters)
+ 		+inlinevirtual
+
+ +

Parse parameters from a parameters map.

+

Updates the algorithm's configuration based on the provided parameters map. Derived classes should override this method to parse their specific parameters.

+
Parameters
+ + +
parametersParameters map containing configuration values
+
+
+ +

Reimplemented in rtabmap::StereoBM, and rtabmap::StereoSGBM.

+ +

Definition at line 103 of file StereoDense.h.

+ +
+
+ +

◆ computeDisparity()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual cv::Mat rtabmap::StereoDense::computeDisparity (const cv::Mat & leftImage,
const cv::Mat & rightImage 
) const
+ 		+pure virtual
+
+ +

Compute disparity map from stereo image pair.

+

Computes a disparity map from the given left and right stereo images. The images must have the same size and be either grayscale (CV_8UC1) or color (CV_8UC3). Color images are automatically converted to grayscale.

+
Parameters
+ + + +
leftImageLeft stereo image (CV_8UC1 or CV_8UC3)
rightImageRight stereo image (CV_8UC1 or CV_8UC3), must have same size as leftImage
+
+
+
Returns
Disparity map as a 16-bit signed integer image (CV_16SC1)
+
Note
The disparity values are stored as fixed-point numbers with 4 fractional bits. To get the actual disparity, divide by 16.
+
+Invalid disparities are typically represented by negative values or zero.
+ +

Implemented in rtabmap::StereoBM, and rtabmap::StereoSGBM.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::StereoOpticalFlow Member List
+
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+ +

This is the complete list of members for rtabmap::StereoOpticalFlow, including all inherited members.

+ + + + + + + + + + + + + + + + + + + +
computeCorrespondences(const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) constrtabmap::StereoOpticalFlowvirtual
create(const ParametersMap &parameters=ParametersMap())rtabmap::Stereostatic
epsilon() constrtabmap::StereoOpticalFlowinline
errorThreshold() const (defined in rtabmap::StereoOpticalFlow)rtabmap::StereoOpticalFlowinline
isGpuEnabled() constrtabmap::StereoOpticalFlowvirtual
iterations() constrtabmap::Stereoinline
maxDisparity() constrtabmap::Stereoinline
maxLevel() constrtabmap::Stereoinline
minDisparity() constrtabmap::Stereoinline
minEigThreshold() const (defined in rtabmap::StereoOpticalFlow)rtabmap::StereoOpticalFlowinline
parseParameters(const ParametersMap &parameters)rtabmap::StereoOpticalFlowvirtual
Stereo(const ParametersMap &parameters=ParametersMap())rtabmap::Stereo
StereoOpticalFlow(const ParametersMap &parameters=ParametersMap())rtabmap::StereoOpticalFlow
usingMinEigenVals() const (defined in rtabmap::StereoOpticalFlow)rtabmap::StereoOpticalFlowinline
winSize() constrtabmap::Stereoinline
winSSD() constrtabmap::Stereoinline
~Stereo()rtabmap::Stereoinlinevirtual
~StereoOpticalFlow()rtabmap::StereoOpticalFlowinlinevirtual
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+Public Member Functions | +List of all members
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rtabmap::StereoOpticalFlow Class Reference
+
+
+ +

Sparse stereo matching using optical flow. + More...

+ +

#include <Stereo.h>

+
+Inheritance diagram for rtabmap::StereoOpticalFlow:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::StereoOpticalFlow:
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+Public Member Functions

 StereoOpticalFlow (const ParametersMap &parameters=ParametersMap())
 Constructor.
 
virtual ~StereoOpticalFlow ()
 Virtual destructor.
 
virtual void parseParameters (const ParametersMap &parameters)
 Parse parameters from a parameters map.
 
virtual std::vector< cv::Point2f > computeCorrespondences (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status) const
 Compute stereo correspondences using optical flow.
 
float epsilon () const
 Get the convergence threshold (epsilon)
 
virtual bool isGpuEnabled () const
 Check if GPU acceleration is enabled.
 
bool usingMinEigenVals () const
 
float minEigThreshold () const
 
float errorThreshold () const
 
- Public Member Functions inherited from rtabmap::Stereo
 Stereo (const ParametersMap &parameters=ParametersMap())
 Constructor.
 
virtual ~Stereo ()
 Virtual destructor.
 
cv::Size winSize () const
 Get the search window size.
 
int iterations () const
 Get the number of iterations.
 
int maxLevel () const
 Get the maximum pyramid level.
 
float minDisparity () const
 Get the minimum disparity value.
 
float maxDisparity () const
 Get the maximum disparity value.
 
bool winSSD () const
 Check if SSD (Sum of Squared Differences) is used.
 
+ + + + + +

+Additional Inherited Members

- Static Public Member Functions inherited from rtabmap::Stereo
static Stereo * create (const ParametersMap &parameters=ParametersMap())
 Factory method to create a Stereo instance.
 
+

Detailed Description

+

Sparse stereo matching using optical flow.

+

This class implements sparse stereo matching using optical flow (Lucas-Kanade) to find corresponding feature points between stereo image pairs. It extends the base Stereo class with optical flow-based matching, which can be more robust than simple block matching, especially for textured regions.

+

The algorithm uses pyramidal Lucas-Kanade optical flow to track feature points from the left image to the right image, then filters the results based on disparity constraints.

+
Note
Input images must be grayscale (CV_8UC1).
+
+GPU acceleration is available if RTAB-Map is built with OpenCV CUDA support.
+
See also
Stereo for block matching-based implementation
+ +

Definition at line 219 of file Stereo.h.

+

Constructor & Destructor Documentation

+ +

◆ StereoOpticalFlow()

+ +
+
+ + + + + + + + +
rtabmap::StereoOpticalFlow::StereoOpticalFlow (const ParametersMap & parameters = ParametersMap())
+
+ +

Constructor.

+

Initializes a StereoOpticalFlow instance with default parameter values and then parses the provided parameters map to override defaults.

+
Parameters
+ + +
parametersOptional parameters map containing configuration values. If empty, default values are used.
+
+
+ +
+
+ +

◆ ~StereoOpticalFlow()

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virtual rtabmap::StereoOpticalFlow::~StereoOpticalFlow ()
+ 		+inlinevirtual
+
+ +

Virtual destructor.

+ +

Definition at line 235 of file Stereo.h.

+ +
+
+

Member Function Documentation

+ +

◆ parseParameters()

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+ + + + + + + + +
virtual void rtabmap::StereoOpticalFlow::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Parse parameters from a parameters map.

+

Updates the algorithm's configuration based on the provided parameters map. First calls the base class parseParameters(), then parses optical flow-specific parameters:

    +
  • Parameters::kStereoEps() - Convergence threshold for optical flow
    • +
  • Parameters::kStereoGpu() - Enable GPU acceleration (requires OpenCV CUDA)
    • +
+
Parameters
+ + +
parametersParameters map containing configuration values
+
+
+
Note
If GPU is enabled but RTAB-Map is not built with OpenCV CUDA support, GPU will be automatically disabled and an error message will be logged.
+ +

Reimplemented from rtabmap::Stereo.

+ +
+
+ +

◆ computeCorrespondences()

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virtual std::vector< cv::Point2f > rtabmap::StereoOpticalFlow::computeCorrespondences (const cv::Mat & leftImage,
const cv::Mat & rightImage,
const std::vector< cv::Point2f > & leftCorners,
std::vector< unsigned char > & status 
) const
+ 		+virtual
+
+ +

Compute stereo correspondences using optical flow.

+

Finds corresponding points in the right stereo image for the given points in the left stereo image using pyramidal Lucas-Kanade optical flow. The results are filtered based on disparity constraints (minDisparity to maxDisparity).

+
Parameters
+ + + + + +
leftImageLeft stereo image (must be CV_8UC1 grayscale)
rightImageRight stereo image (must be CV_8UC1 grayscale)
leftCornersInput vector of feature points in the left image
statusOutput vector indicating which correspondences are valid (1) or invalid (0). The size matches leftCorners.size().
+
+
+
Returns
Vector of corresponding points in the right image. The size matches leftCorners.size(). Invalid correspondences may have coordinates outside the image bounds.
+
Note
Both input images must be grayscale (CV_8UC1).
+
+If GPU is enabled, the GPU version of this method is called automatically.
+ +

Reimplemented from rtabmap::Stereo.

+ +
+
+ +

◆ epsilon()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::StereoOpticalFlow::epsilon () const
+ 		+inline
+
+ +

Get the convergence threshold (epsilon)

+
Returns
Convergence threshold for optical flow iteration termination
+ +

Definition at line 302 of file Stereo.h.

+ +
+
+ +

◆ isGpuEnabled()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::StereoOpticalFlow::isGpuEnabled () const
+ 		+virtual
+
+ +

Check if GPU acceleration is enabled.

+

Returns whether GPU acceleration is currently enabled for optical flow computation. GPU acceleration requires OpenCV CUDA support to be compiled in.

+
Returns
true if GPU is enabled and available, false otherwise
+ +

Reimplemented from rtabmap::Stereo.

+ +
+
+ +

◆ usingMinEigenVals()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::StereoOpticalFlow::usingMinEigenVals () const
+ 		+inline
+
+ +

Definition at line 314 of file Stereo.h.

+ +
+
+ +

◆ minEigThreshold()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::StereoOpticalFlow::minEigThreshold () const
+ 		+inline
+
+ +

Definition at line 315 of file Stereo.h.

+ +
+
+ +

◆ errorThreshold()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::StereoOpticalFlow::errorThreshold () const
+ 		+inline
+
+ +

Definition at line 316 of file Stereo.h.

+ +
+
+
The documentation for this class was generated from the following file:
    +
  • corelib/include/rtabmap/core/Stereo.h
    • +
+
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::StereoSGBM Member List
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This is the complete list of members for rtabmap::StereoSGBM, including all inherited members.

+ + + + + + + + + + + + +
computeDisparity(const cv::Mat &leftImage, const cv::Mat &rightImage) constrtabmap::StereoSGBMvirtual
create(const ParametersMap &parameters)rtabmap::StereoDensestatic
create(StereoDense::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::StereoDensestatic
kTypeBM enum valuertabmap::StereoDense
kTypeSGBM enum valuertabmap::StereoDense
parseParameters(const ParametersMap &parameters)rtabmap::StereoSGBMvirtual
StereoDense(const ParametersMap &parameters=ParametersMap())rtabmap::StereoDenseinlineprotected
StereoSGBM(const ParametersMap &parameters=ParametersMap())rtabmap::StereoSGBM
Type enum namertabmap::StereoDense
~StereoDense()rtabmap::StereoDenseinlinevirtual
~StereoSGBM()rtabmap::StereoSGBMinlinevirtual
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+Public Member Functions | +List of all members
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rtabmap::StereoSGBM Class Reference
+
+
+ +

Semi-Global Block Matching algorithm for dense stereo matching. + More...

+ +

#include <StereoSGBM.h>

+
+Inheritance diagram for rtabmap::StereoSGBM:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::StereoSGBM:
+
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Collaboration graph
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[legend]
+ + + + + + + + + + + + + + + + + + +

+Public Member Functions

 StereoSGBM (const ParametersMap &parameters=ParametersMap())
 Constructor with parameters map.
 
virtual ~StereoSGBM ()
 Virtual destructor.
 
virtual void parseParameters (const ParametersMap &parameters)
 Parse parameters from a parameters map.
 
virtual cv::Mat computeDisparity (const cv::Mat &leftImage, const cv::Mat &rightImage) const
 Compute disparity map from stereo image pair.
 
- Public Member Functions inherited from rtabmap::StereoDense
virtual ~StereoDense ()
 Virtual destructor.
 
+ + + + + + + + + + + + + + + + +

+Additional Inherited Members

- Public Types inherited from rtabmap::StereoDense
enum  Type { kTypeBM = 0 +, kTypeSGBM = 1 + }
 Enumeration of available stereo matching algorithm types. More...
 
- Static Public Member Functions inherited from rtabmap::StereoDense
static StereoDense * create (const ParametersMap &parameters)
 Factory method to create a StereoDense instance from parameters.
 
static StereoDense * create (StereoDense::Type type, const ParametersMap &parameters=ParametersMap())
 Factory method to create a StereoDense instance of a specific type.
 
- Protected Member Functions inherited from rtabmap::StereoDense
 StereoDense (const ParametersMap &parameters=ParametersMap())
 Protected constructor.
 
+

Detailed Description

+

Semi-Global Block Matching algorithm for dense stereo matching.

+

This class implements the Semi-Global Block Matching (SGBM) algorithm for computing disparity maps from stereo image pairs.

+

SGBM generally produces more accurate results than Block Matching, especially in textureless regions and areas with repetitive patterns, but is computationally more expensive.

+
Note
This class wraps OpenCV's cv::StereoSGBM implementation.
+
See also
StereoBM for a faster but less accurate alternative
+ +

Definition at line 51 of file StereoSGBM.h.

+

Constructor & Destructor Documentation

+ +

◆ StereoSGBM()

+ +
+
+ + + + + + + + +
rtabmap::StereoSGBM::StereoSGBM (const ParametersMap & parameters = ParametersMap())
+
+ +

Constructor with parameters map.

+

Creates a StereoSGBM instance and initializes it from the provided parameters map.

+
Parameters
+ + +
parametersParameters map containing configuration values
+
+
+ +
+
+ +

◆ ~StereoSGBM()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::StereoSGBM::~StereoSGBM ()
+ 		+inlinevirtual
+
+ +

Virtual destructor.

+ +

Definition at line 65 of file StereoSGBM.h.

+ +
+
+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::StereoSGBM::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Parse parameters from a parameters map.

+

Updates the algorithm's configuration based on the provided parameters map. Supported parameters:

    +
  • Parameters::kStereoSGBMBlockSize()
    • +
  • Parameters::kStereoSGBMMinDisparity()
    • +
  • Parameters::kStereoSGBMNumDisparities()
    • +
  • Parameters::kStereoSGBMPreFilterCap()
    • +
  • Parameters::kStereoSGBMUniquenessRatio()
    • +
  • Parameters::kStereoSGBMSpeckleWindowSize()
    • +
  • Parameters::kStereoSGBMSpeckleRange()
    • +
  • Parameters::kStereoSGBMP1()
    • +
  • Parameters::kStereoSGBMP2()
    • +
  • Parameters::kStereoSGBMDisp12MaxDiff()
    • +
  • Parameters::kStereoSGBMMode()
    • +
+
Parameters
+ + +
parametersParameters map containing configuration values
+
+
+ +

Reimplemented from rtabmap::StereoDense.

+ +
+
+ +

◆ computeDisparity()

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virtual cv::Mat rtabmap::StereoSGBM::computeDisparity (const cv::Mat & leftImage,
const cv::Mat & rightImage 
) const
+ 		+virtual
+
+ +

Compute disparity map from stereo image pair.

+

Computes a disparity map using the Semi-Global Block Matching algorithm. The images must have the same size and be either grayscale (CV_8UC1) or color (CV_8UC3). Color images are automatically converted to grayscale.

+
Parameters
+ + + +
leftImageLeft stereo image (CV_8UC1 or CV_8UC3)
rightImageRight stereo image (CV_8UC1 or CV_8UC3), must have same size as leftImage
+
+
+
Returns
Disparity map as a 16-bit signed integer image (CV_16SC1)
+
Note
The disparity values are stored as fixed-point numbers with 4 fractional bits. To get the actual disparity, divide by 16.
+ +

Implements rtabmap::StereoDense.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
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rtabmap::SuperPointRpautrat Member List
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This is the complete list of members for rtabmap::SuperPointRpautrat, including all inherited members.

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computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::SuperPointRpautrat)rtabmap::SuperPointRpautratinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::SuperPointRpautratvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::SuperPointRpautrat)rtabmap::SuperPointRpautratvirtual
SuperPointRpautrat(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::SuperPointRpautrat)rtabmap::SuperPointRpautrat
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~SuperPointRpautrat() (defined in rtabmap::SuperPointRpautrat)rtabmap::SuperPointRpautratvirtual
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rtabmap::SuperPointRpautrat Class Reference
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SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support). + More...

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#include <Features2d.h>

+
+Inheritance diagram for rtabmap::SuperPointRpautrat:
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Inheritance graph
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+Collaboration diagram for rtabmap::SuperPointRpautrat:
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+Public Member Functions

+ SuperPointRpautrat (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support).

+ +

Definition at line 697 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::SuperPointRpautrat::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::SuperPointRpautrat::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 704 of file Features2d.h.

+ +
+
+ +

◆ isGpuAvailable()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::SuperPointRpautrat::isGpuAvailable () const
+ 		+overridevirtual
+
+ +

Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.

+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointRpautrat__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointRpautrat__coll__graph.map new file mode 100644 index 00000000..59dc9f43 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointRpautrat__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointRpautrat__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointRpautrat__coll__graph.md5 new file mode 100644 index 00000000..fca65446 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointRpautrat__coll__graph.md5 @@ -0,0 +1 @@ +26051ec20215e946edc293df79292fcb \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointRpautrat__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointRpautrat__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..2136e49d14a283103137440864f9a296f2c41886 GIT binary patch literal 5178 zcmc(jbyU<{wD;jL03{R;8Y&#P5$e>&)I~@BQ7MeZq9KR7md7-oeAeBT-XT)C13X@Np)* z4Zhh(Z6M%r+e$-45%2o%E2|+t9uJRVPfbz&h3Ds;c^{n@YxB(qd&Wp}Gn+V^l9K$; z*S#$U{97ys!QF4hek<{@1{ZX-rD&#GD9>u<**tlh>N?_}StO6pv~qHq`O5BGjMNIX z7EKNh3m>Bl<(+&GmsUDAhznUsuod7XtSgeud}uFY56fKG^U63{{=Bx$|KSl~;QxCs zqFIeNhFDlwtcy|5d%KWw-b`utb)8z&kxrdd03(8x!NY^J#Sg-;?_Oh=nC6 zIhn>N|M6Uiu!x9xdf>k+n>TO%l4l9my7yU=GX0Un^bJdQ+{xZr)uaW~gSO>{jpDqj z>!<8&=H0p4<;^D_3A+3Y+zCkOv%Y)@V32!%35ZYfwXCNe65sCW?Ui(2k1f~ErAGWXv zv#cMj;GVUS5%u`^xbM~3TK&agZ#{0euE?~;WeQ5q?_&DbolYC!Ut3$fh5Gq|v{97Q z)T6`0@_KsYcpTapzely@R++AXJ6Lqqv zV-k6OZS6w=0RcBC^k9E~F<#r;39B zGjrhSspq$E-v~)as%APXE1$p*A}mW?mz5d){^$k<2A<35C_k#<`vJmOUQuD(1b@1* zu@TAmbY^Kpwb)R^|H?NoC-ZDf__;HX)(7 ziwoa8t#ox=-TO_KJCNye+q;8LPv|p!4~f9BDJm(Ic^%nN30U+E!m%PRxE}~Ko-#jc z5{d{9_r&eg7&mxVjVDJ%MfsksAS`5Vv2pn22AFrbhXnov;XDsWO)w!PYzSJi2cBm*^~Ip3q?3~+J2{z zUtHWMIy6+!kwZ$#WOs8@5Bv1&cf6aOUEZN5IP1fgP-q3O8sg$70TU+(J&5zSrzIp50e!i9g_U!yz&(c!PM(EhPVcOPU!TCdM z?7i~x@`Rm(9Im?_tv*lUHU3vm z4`J-@6la?f9DG|jhVkjTnR$P4gjTVbwk3kM=}8&<(i`N!-voif;R#4&d`1Qkf)KaZ zWB%lf9Sl-(Vy3DZ!fB1|oJiFwnT$_ORd;eKn!W-iNGGIK!3)RVN=ZxiV@1WqO=a>! 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rtabmap::SuperPointTorch Member List
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This is the complete list of members for rtabmap::SuperPointTorch, including all inherited members.

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computeRoi(const cv::Mat &image, const std::string &roiRatios)rtabmap::Feature2Dstatic
computeRoi(const cv::Mat &image, const std::vector< float > &roiRatios) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
create(const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
create(Feature2D::Type type, const ParametersMap &parameters=ParametersMap())rtabmap::Feature2Dstatic
Feature2D(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::Feature2D)rtabmap::Feature2Dprotected
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDepth(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)rtabmap::Feature2Dstatic
filterKeypointsByDisparity(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
generateDescriptors(const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
generateKeypoints(const cv::Mat &image, const cv::Mat &mask=cv::Mat())rtabmap::Feature2D
generateKeypoints3D(const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) constrtabmap::Feature2D
getGridCols() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getGridRows() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMaxFeatures() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getMinDepth() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getParameters() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinlinevirtual
getSSC() const (defined in rtabmap::Feature2D)rtabmap::Feature2Dinline
getType() const override (defined in rtabmap::SuperPointTorch)rtabmap::SuperPointTorchinlinevirtual
isAvailable(Feature2D::Type type)rtabmap::Feature2Dstatic
isGpuAvailable() const overridertabmap::SuperPointTorchvirtual
kFeatureBrisk enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureEnd enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureFastFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttBrief enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureGfttOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureKaze enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrb enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureOrbOctree enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeaturePyDetector enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSift enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointRpautrat enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSuperPointTorch enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurf enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfDaisy enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureSurfFreak enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
kFeatureUndef enum value (defined in rtabmap::Feature2D)rtabmap::Feature2D
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
limitKeypoints(const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false) (defined in rtabmap::Feature2D)rtabmap::Feature2Dstatic
parseParameters(const ParametersMap &parameters) override (defined in rtabmap::SuperPointTorch)rtabmap::SuperPointTorchvirtual
SuperPointTorch(const ParametersMap &parameters=ParametersMap()) (defined in rtabmap::SuperPointTorch)rtabmap::SuperPointTorch
Type enum namertabmap::Feature2D
typeName(Type type)rtabmap::Feature2Dinlinestatic
~Feature2D() (defined in rtabmap::Feature2D)rtabmap::Feature2Dvirtual
~SuperPointTorch() (defined in rtabmap::SuperPointTorch)rtabmap::SuperPointTorchvirtual
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rtabmap::SuperPointTorch Class Reference
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SuperPoint via LibTorch (RTAB-Map must be built with libtorch support). + More...

+ +

#include <Features2d.h>

+
+Inheritance diagram for rtabmap::SuperPointTorch:
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Inheritance graph
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+Collaboration diagram for rtabmap::SuperPointTorch:
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+Public Member Functions

+ SuperPointTorch (const ParametersMap &parameters=ParametersMap())
 
virtual void parseParameters (const ParametersMap &parameters) override
 
virtual Feature2D::Type getType () const override
 
virtual bool isGpuAvailable () const override
 Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.
 
- Public Member Functions inherited from rtabmap::Feature2D
int getMaxFeatures () const
 
bool getSSC () const
 
float getMinDepth () const
 
float getMaxDepth () const
 
int getGridRows () const
 
int getGridCols () const
 
+std::vector< cv::KeyPoint > generateKeypoints (const cv::Mat &image, const cv::Mat &mask=cv::Mat())
 Detects keypoints in a grayscale image (CV_8UC1); optional depth or 8U mask.
 
+cv::Mat generateDescriptors (const cv::Mat &image, std::vector< cv::KeyPoint > &keypoints) const
 Computes descriptors for keypoints (may shrink the list in some detectors).
 
+std::vector< cv::Point3f > generateKeypoints3D (const SensorData &data, const std::vector< cv::KeyPoint > &keypoints) const
 Back-projects keypoints to 3D using depth or stereo in data.
 
virtual const ParametersMap & getParameters () const
 
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+Additional Inherited Members

- Public Types inherited from rtabmap::Feature2D
enum  Type {
+  kFeatureUndef =-1 +, kFeatureSurf =0 +, kFeatureSift =1 +, kFeatureOrb =2 +,
+  kFeatureFastFreak =3 +, kFeatureFastBrief =4 +, kFeatureGfttFreak =5 +, kFeatureGfttBrief =6 +,
+  kFeatureBrisk =7 +, kFeatureGfttOrb =8 +, kFeatureKaze =9 +, kFeatureOrbOctree =10 +,
+  kFeatureSuperPointTorch =11 +, kFeatureSurfFreak =12 +, kFeatureGfttDaisy =13 +, kFeatureSurfDaisy =14 +,
+  kFeaturePyDetector =15 +, kFeatureSuperPointRpautrat =16 +, kFeatureEnd +
+ }
 Built-in detector/descriptor strategy (Kp/DetectorStrategy). More...
 
- Static Public Member Functions inherited from rtabmap::Feature2D
static std::string typeName (Type type)
 
+static Feature2D * create (const ParametersMap &parameters=ParametersMap())
 Creates a detector from Kp/DetectorStrategy in parameters. Caller owns the pointer.
 
+static Feature2D * create (Feature2D::Type type, const ParametersMap &parameters=ParametersMap())
 Creates a detector of the given type. Caller owns the pointer.
 
+static bool isAvailable (Feature2D::Type type)
 Returns true if type is available (RTAB-Map is built with it).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &depth, float minDepth, float maxDepth)
 Keeps keypoints whose depth at (u,v) is in (minDepth, maxDepth).
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &depth, float minDepth, float maxDepth)
 
+static void filterKeypointsByDepth (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, std::vector< cv::Point3f > &keypoints3D, float minDepth, float maxDepth)
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, float minDisparity)
 Keeps keypoints with stereo disparity ≥ minDisparity.
 
+static void filterKeypointsByDisparity (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, const cv::Mat &disparity, float minDisparity)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 Reduces keypoint count (by response or SSC spatial distribution).
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (std::vector< cv::KeyPoint > &keypoints, std::vector< cv::Point3f > &keypoints3D, cv::Mat &descriptors, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize=cv::Size(), bool ssc=false)
 
+static void limitKeypoints (const std::vector< cv::KeyPoint > &keypoints, std::vector< bool > &inliers, int maxKeypoints, const cv::Size &imageSize, int gridRows, int gridCols, bool ssc=false)
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::string &roiRatios)
 ROI from Kp/RoiRatios string ("left top right bottom" fractions).
 
+static cv::Rect computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 
- Protected Member Functions inherited from rtabmap::Feature2D
+ Feature2D (const ParametersMap &parameters=ParametersMap())
 
+

Detailed Description

+

SuperPoint via LibTorch (RTAB-Map must be built with libtorch support).

+ +

Definition at line 673 of file Features2d.h.

+

Member Function Documentation

+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::SuperPointTorch::parseParameters (const ParametersMap & parameters)
+ 		+overridevirtual
+
+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+ +

◆ getType()

+ +
+
+ + + + + +
+ + + + + + + +
virtual Feature2D::Type rtabmap::SuperPointTorch::getType () const
+ 		+inlineoverridevirtual
+
+ +

Implements rtabmap::Feature2D.

+ +

Definition at line 680 of file Features2d.h.

+ +
+
+ +

◆ isGpuAvailable()

+ +
+
+ + + + + +
+ + + + + + + +
virtual bool rtabmap::SuperPointTorch::isGpuAvailable () const
+ 		+overridevirtual
+
+ +

Returns true when a GPU/CUDA code path could be used by this detector on this host: i.e. the build was compiled with the matching GPU support AND a CUDA-capable device is detected at runtime. This is a capability probe – it does NOT reflect whether the current instance is actually configured to run on GPU (that depends on per-detector parameters like SURF/GpuVersion). Defaults to false; subclasses with a GPU backend override it.

+ +

Reimplemented from rtabmap::Feature2D.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointTorch__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointTorch__coll__graph.map new file mode 100644 index 00000000..465e50a6 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointTorch__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointTorch__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointTorch__coll__graph.md5 new file mode 100644 index 00000000..da5b6595 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointTorch__coll__graph.md5 @@ -0,0 +1 @@ +63d2a3cb047db0eda916333705f15cbb \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointTorch__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1SuperPointTorch__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..caca382cc96ce61dfaaefe5ed7626b199778ca6f GIT binary patch literal 5094 zcmcgwhc{ebxE-R`Nd%+CAVi{3oRVm3B$siC2{t2b+Bjn0DLy&0+^DuFCMbSpBV@B;iJz3g3nfzbjCVi9d3}xarK4!q}sTP$3 z+c`;idGp{y*4`F~rA=x~GkF{8l_A|KHpA{}p>( zInD`xDk_rIYU@Bm%v6~?v9aOeH)##)2_@#>KQ+FgzES^QmMuf{UrelAA$#J3e ztyd~78R7YQs+nV)y1F{~`C8J8*>+#->_5uUvt!v(EMrbTDhy2qw2G%{!@>w`#4`IY zal7cj6n+!?Y1UznmpVEe>8h5N1+V;BeEEzTHR|I1I&w}=Pitq)f);F+cIVoCMZm=8 z-}+gx=iYLJ_`%`f;kCbiJEml24&(kT3`1&m(M|R9^TuA6XKx2!mS8NexOnO%4(;;0 zVaC+bz9D0w#RDbe)g&*-K4!kmW#4Ru*$(;JH_kUin-Y zDb1|MxXhr}-^I~IpH<2t?b1FmR#C8HPEO7btnx;~I5H(Dftc@s)y;(iX;2G>i+TRi zYP6f;Lb*$UsHFd;e;VU?^sB61 zSN?F8YCJ^a*D`lUL=X`L)6&zc-%CwP8|u8o84b)XBxNQgaX1U`@>($u)*c+VyPboa z>Dw*Wt3+B@SZF{A1`N(olS@mv>l+(5HH`t7l=mOzwt&;R<_>I~V!nC2>>0PZni}-_ zCeZ%4-xlCJ9*c`dpZ{5COSKbaM7h^Lj)&8c)SeGpy_;VV*`n9beh=m6inA>4mcH#ijJ*Yi3{$Mi$CQ*W=7Qb5y}kMKe^Bc!uJ_}q%-)@H%3ka}xwtz2OCT1xri5G;rG0#SmOG9YLwn3?evTjXI*Bq` zh%&D1>^L+z8P)np+IRyxi0HPsB~Ogu_W7!Ldx@$i3wrn260t;QBWjA^pnN;YT|&(dS;K zjSmnAhV}JzTPG)FB$E9O4ULfVyo7O!JE3rT1$y2w)Cnr9|Cr{d#c}Va-zvh#ck$Guo_#s=$TaiDtprz$B z2kSGDChwm}$snvW--NA`$&|*wgsYhNv7sH_%2Nx5gJ32Z78B9V=O~2Wk zf|kO7Z2PCPb8)*&UrQ@^r5D8kheIIuEq_c;_l%EITU%Qv46mCY@plRHwYUZCzjJ2} z1Ev81jDb~)fLV8Ds(Y=3*`%fC?O$^wXLbk?1V=@Y{W|gsL!k=t^YOq0J{S9gPH`{2 zeZPPIzI<_tH962L)x})uy?ZB1pa2k96r*U(9Iy_s#2{Jr#lWb}`)g^eKydQs3a=I3w{Lyh)tLj}6joguRlXUugmjv1T zk+9NcBW6gbOUvySt^6F5A!MIi)RfN;%UI&|23C5mgn1`9Y@^nZ>h9_15E^H^z0bzu z5-`T?mFv}jG4oBWN%CJzef>nRM11)QjB&u+4pPCjf!|QEz;!&_93H z_#ZpF87V6h`sAp(x(Y&qH&3th;Vk-4Z*Ok^-!u&_SgeY!o*rgLd9;OmRX z$jIn+W7d5{dvST`)c8g?UF+2=!l0laAP~Ji6lig485)wBnVFrOoIoID<>eN_>4LTs z@Nym>Zy`SPXWIJ4#v1~{jED245-P}hd5PJKW`vjO6yrl;R5%U}4*FK3qoROJr6|-U z&AUVwm6VWhsKh|Vu?qvlkO7#zy}h|0?B=<+xOki8(!P)Eqeo=e&2eJL-Me>}cdENo ztgP<8fBzl=c@NJkD5@Y8^YMkp$Hz-FrU*Ua;aS<;r3A}_1e;d>b+6K| zGJe>YoSse!N;t1+yMgfoTC`qJdwY8~>D8p!(){85!9IsmkdAg6vcol!>F!C3sH(MElQt3kThB6fF-F3WY!<{BgWq zyFaHnn{p;Bbt*D47(W#kN3)JJILvsZBS*8P^e^gxpV`a}ifeC|E*}GF30`;tibr+V z)fZLPz_7hN*RZfKh;5g)m6cWZ=qTm+@!vt9vul0!k$wIB3Q&Ry!+Ih@LP9k)wO@&8 z0MXl(_`}u$0s=}ZD(q5HOm1#&FiB7D&#x{J_coJr34N%Smz%RM({NMxl1Up|oJKE7huVOHL zTSJkzIRqVN1&v!hpYkT8rNP{y@~7>4u+m6NOT5qHE+{INC?ITc1|z?I*(#~3-e@k< zS|s6E79up7UI25rHC0klA`h$;Fh1tTy+6`BPHquV1Zx)e{+_GvXEH0){*aPF_c1j! 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rtabmap::Transform Member List
+
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+ +

This is the complete list of members for rtabmap::Transform, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
canParseString(const std::string &string)rtabmap::Transformstatic
clone() constrtabmap::Transform
data() constrtabmap::Transforminline
data() (defined in rtabmap::Transform)rtabmap::Transforminline
dataMatrix() constrtabmap::Transforminline
fromEigen3d(const Eigen::Affine3d &matrix) (defined in rtabmap::Transform)rtabmap::Transformstatic
fromEigen3d(const Eigen::Isometry3d &matrix) (defined in rtabmap::Transform)rtabmap::Transformstatic
fromEigen3d(const Eigen::Matrix< double, 3, 4 > &matrix) (defined in rtabmap::Transform)rtabmap::Transformstatic
fromEigen3f(const Eigen::Affine3f &matrix) (defined in rtabmap::Transform)rtabmap::Transformstatic
fromEigen3f(const Eigen::Isometry3f &matrix) (defined in rtabmap::Transform)rtabmap::Transformstatic
fromEigen3f(const Eigen::Matrix< float, 3, 4 > &matrix) (defined in rtabmap::Transform)rtabmap::Transformstatic
fromEigen4d(const Eigen::Matrix4d &matrix) (defined in rtabmap::Transform)rtabmap::Transformstatic
fromEigen4f(const Eigen::Matrix4f &matrix)rtabmap::Transformstatic
fromString(const std::string &string)rtabmap::Transformstatic
getAngle(const Transform &t) constrtabmap::Transform
getClosestTransform(const std::map< double, Transform > &tfBuffer, const double &stamp, double *stampDiff)rtabmap::Transformstatic
getDistance(const Transform &t) constrtabmap::Transform
getDistanceSquared(const Transform &t) constrtabmap::Transform
getEulerAngles(float &roll, float &pitch, float &yaw) constrtabmap::Transform
getIdentity()rtabmap::Transformstatic
getNorm() constrtabmap::Transform
getNormSquared() constrtabmap::Transform
getQuaterniond() const (defined in rtabmap::Transform)rtabmap::Transform
getQuaternionf() const (defined in rtabmap::Transform)rtabmap::Transform
getTransform(const std::map< double, Transform > &tfBuffer, const double &stamp)rtabmap::Transformstatic
getTranslation(float &x, float &y, float &z) constrtabmap::Transform
getTranslationAndEulerAngles(float &x, float &y, float &z, float &roll, float &pitch, float &yaw) constrtabmap::Transform
interpolate(float t, const Transform &other) constrtabmap::Transform
inverse() constrtabmap::Transform
is3DoF() constrtabmap::Transform
is4DoF() constrtabmap::Transform
isIdentity() constrtabmap::Transform
isInvertible() constrtabmap::Transform
isNull() constrtabmap::Transform
normalizeRotation()rtabmap::Transform
o14() constrtabmap::Transforminline
o24() constrtabmap::Transforminline
o34() constrtabmap::Transforminline
opengl_T_rtabmap()rtabmap::Transforminlinestatic
operator!=(const Transform &t) const (defined in rtabmap::Transform)rtabmap::Transform
operator()(int row, int col) (defined in rtabmap::Transform)rtabmap::Transforminline
operator()(int row, int col) const (defined in rtabmap::Transform)rtabmap::Transforminline
operator*(const Transform &t) constrtabmap::Transform
operator*=(const Transform &t) (defined in rtabmap::Transform)rtabmap::Transform
operator==(const Transform &t) const (defined in rtabmap::Transform)rtabmap::Transform
operator[](int index) (defined in rtabmap::Transform)rtabmap::Transforminline
operator[](int index) const (defined in rtabmap::Transform)rtabmap::Transforminline
prettyPrint() constrtabmap::Transform
r11() constrtabmap::Transforminline
r12() const (defined in rtabmap::Transform)rtabmap::Transforminline
r13() const (defined in rtabmap::Transform)rtabmap::Transforminline
r21() const (defined in rtabmap::Transform)rtabmap::Transforminline
r22() const (defined in rtabmap::Transform)rtabmap::Transforminline
r23() const (defined in rtabmap::Transform)rtabmap::Transforminline
r31() const (defined in rtabmap::Transform)rtabmap::Transforminline
r32() const (defined in rtabmap::Transform)rtabmap::Transforminline
r33() const (defined in rtabmap::Transform)rtabmap::Transforminline
rotation() constrtabmap::Transform
rotationMatrix() constrtabmap::Transform
rtabmap_T_opengl()rtabmap::Transforminlinestatic
setIdentity()rtabmap::Transform
setNull()rtabmap::Transform
size() constrtabmap::Transforminline
theta() constrtabmap::Transform
to3DoF() constrtabmap::Transform
to4DoF() constrtabmap::Transform
toEigen3d() const (defined in rtabmap::Transform)rtabmap::Transform
toEigen3f() const (defined in rtabmap::Transform)rtabmap::Transform
toEigen4d() const (defined in rtabmap::Transform)rtabmap::Transform
toEigen4f() const (defined in rtabmap::Transform)rtabmap::Transform
Transform()rtabmap::Transform
Transform(float r11, float r12, float r13, float o14, float r21, float r22, float r23, float o24, float r31, float r32, float r33, float o34)rtabmap::Transform
Transform(const cv::Mat &transformationMatrix)rtabmap::Transform
Transform(float x, float y, float z, float roll, float pitch, float yaw)rtabmap::Transform
Transform(float x, float y, float z, float qx, float qy, float qz, float qw)rtabmap::Transform
Transform(float x, float y, float theta)rtabmap::Transform
translation() constrtabmap::Transform
translationMatrix() constrtabmap::Transform
x()rtabmap::Transforminline
x() const (defined in rtabmap::Transform)rtabmap::Transforminline
y()rtabmap::Transforminline
y() const (defined in rtabmap::Transform)rtabmap::Transforminline
z()rtabmap::Transforminline
z() const (defined in rtabmap::Transform)rtabmap::Transforminline
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1Transform.html b/preview/pr-1492/api/latest/classrtabmap_1_1Transform.html new file mode 100644 index 00000000..bd41e9e7 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1Transform.html @@ -0,0 +1,1610 @@ + + + + + + + + +RTAB-Map: rtabmap::Transform Class Reference + + + + + + + + + + + + +
+
+ + + + + + +
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+Public Member Functions | +Static Public Member Functions | +List of all members
+
rtabmap::Transform Class Reference
+
+
+ +

Represents a 3D rigid body transformation (rotation + translation). + More...

+ +

#include <Transform.h>

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

+ Transform ()
 Default constructor. Initializes to a null (all zeros) transform.
 
 Transform (float r11, float r12, float r13, float o14, float r21, float r22, float r23, float o24, float r31, float r32, float r33, float o34)
 Constructor from rotation matrix elements and translation components.
 
 Transform (const cv::Mat &transformationMatrix)
 Constructs a Transform from a 3x4 OpenCV matrix.
 
 Transform (float x, float y, float z, float roll, float pitch, float yaw)
 Constructs a Transform from position and Euler angles (in radians).
 
 Transform (float x, float y, float z, float qx, float qy, float qz, float qw)
 Constructs a Transform from position and quaternion.
 
+ Transform (float x, float y, float theta)
 Constructs a 2D Transform (x, y, theta).
 
+Transform clone () const
 Returns a deep copy of the transform.
 
float r11 () const
 Rotation matrix element at row 1, col 1.
 
float r12 () const
 
float r13 () const
 
float r21 () const
 
float r22 () const
 
float r23 () const
 
float r31 () const
 
float r32 () const
 
float r33 () const
 
float o14 () const
 Translation x.
 
float o24 () const
 Translation y.
 
float o34 () const
 Translation z.
 
float & operator[] (int index)
 
const float & operator[] (int index) const
 
float & operator() (int row, int col)
 
const float & operator() (int row, int col) const
 
+bool isNull () const
 Checks whether the transform is null (all zeros).
 
+bool isIdentity () const
 Checks whether the transform is identity.
 
+void setNull ()
 Sets the transform to null (zero matrix).
 
+void setIdentity ()
 Sets the transform to the identity transform.
 
const cv::Mat & dataMatrix () const
 Returns the internal OpenCV matrix (3x4).
 
const float * data () const
 Returns a pointer to the raw data (12 floats).
 
float * data ()
 
int size () const
 Returns the number of float elements (always 12).
 
float & x ()
 Translation getters/setters.
 
float & y ()
 Translation y.
 
float & z ()
 Translation z.
 
const float & x () const
 
const float & y () const
 
const float & z () const
 
+float theta () const
 Returns 2D orientation (theta) in radians.
 
+bool isInvertible () const
 Returns whether the transform is invertible.
 
+Transform inverse () const
 Returns the inverse of the transform.
 
+Transform rotation () const
 Returns only the rotation component.
 
+Transform translation () const
 Returns only the translation component.
 
+Transform to3DoF () const
 Converts to 3 DoF (x, y, theta).
 
+Transform to4DoF () const
 Converts to 4 DoF (x, y, z, yaw).
 
+bool is3DoF () const
 Checks if the transform is 3 DoF (no pitch/roll).
 
+bool is4DoF () const
 Checks if the transform is 4 DoF (no pitch).
 
+cv::Mat rotationMatrix () const
 Returns the 3x3 rotation matrix (cv::Mat).
 
+cv::Mat translationMatrix () const
 Returns the 3x1 translation matrix (cv::Mat).
 
+void getTranslationAndEulerAngles (float &x, float &y, float &z, float &roll, float &pitch, float &yaw) const
 Extracts translation and Euler angles (radians).
 
+void getEulerAngles (float &roll, float &pitch, float &yaw) const
 Extracts Euler angles (roll, pitch, yaw).
 
+void getTranslation (float &x, float &y, float &z) const
 Extracts translation only.
 
+float getAngle (const Transform &t) const
 Returns angular difference (in radians) with another transform.
 
+float getNorm () const
 Returns the Euclidean norm of the translation vector.
 
+float getNormSquared () const
 Returns the squared norm of the translation vector.
 
+float getDistance (const Transform &t) const
 Returns the Euclidean distance to another transform.
 
+float getDistanceSquared (const Transform &t) const
 Returns the squared distance to another transform.
 
Transform interpolate (float t, const Transform &other) const
 Interpolates between this and another transform.
 
+void normalizeRotation ()
 Normalizes the rotation matrix.
 
+std::string prettyPrint () const
 Returns a string representation of the transform.
 
+Transform operator* (const Transform &t) const
 Operator overloads.
 
+Transform & operator*= (const Transform &t)
 
+bool operator== (const Transform &t) const
 
+bool operator!= (const Transform &t) const
 
+Eigen::Matrix4f toEigen4f () const
 
+Eigen::Matrix4d toEigen4d () const
 
+Eigen::Affine3f toEigen3f () const
 
+Eigen::Affine3d toEigen3d () const
 
+Eigen::Quaternionf getQuaternionf () const
 
+Eigen::Quaterniond getQuaterniond () const
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Static Public Member Functions

+static Transform getIdentity ()
 Returns identity transform.
 
+static Transform fromEigen4f (const Eigen::Matrix4f &matrix)
 Converts from Eigen representations.
 
+static Transform fromEigen4d (const Eigen::Matrix4d &matrix)
 
+static Transform fromEigen3f (const Eigen::Affine3f &matrix)
 
+static Transform fromEigen3d (const Eigen::Affine3d &matrix)
 
+static Transform fromEigen3f (const Eigen::Isometry3f &matrix)
 
+static Transform fromEigen3d (const Eigen::Isometry3d &matrix)
 
+static Transform fromEigen3f (const Eigen::Matrix< float, 3, 4 > &matrix)
 
+static Transform fromEigen3d (const Eigen::Matrix< double, 3, 4 > &matrix)
 
static Transform opengl_T_rtabmap ()
 Returns the transform from RTAB-Map to OpenGL coordinate system.
 
static Transform rtabmap_T_opengl ()
 Returns the transform from OpenGL to RTAB-Map coordinate system.
 
static Transform fromString (const std::string &string)
 Parses a transform from a string representation. Supported formats:
 
+static bool canParseString (const std::string &string)
 Checks if a string can be parsed into a transform.
 
static Transform getTransform (const std::map< double, Transform > &tfBuffer, const double &stamp)
 Retrieves the transform to a given timestamp.
 
static RTABMAP_DEPRECATED Transform getClosestTransform (const std::map< double, Transform > &tfBuffer, const double &stamp, double *stampDiff)
 
+

Detailed Description

+

Represents a 3D rigid body transformation (rotation + translation).

+

This class provides an abstraction over 3D transformations using a 3x4 matrix representation, with utilities for conversion to/from Eigen and OpenCV formats, interpolation, inversion, DoF reduction, and distance calculations. It is fundamental to pose estimation and motion handling within the RTAB-Map framework.

+

The underlying data is stored in a cv::Mat (3x4, CV_32FC1), representing a rotation matrix and translation vector.

+ +

Definition at line 52 of file Transform.h.

+

Constructor & Destructor Documentation

+ +

◆ Transform() [1/4]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::Transform::Transform (float r11,
float r12,
float r13,
float o14,
float r21,
float r22,
float r23,
float o24,
float r31,
float r32,
float r33,
float o34 
)
+
+ +

Constructor from rotation matrix elements and translation components.

+
Parameters
+ + + +
r11...r33Rotation matrix components.
o14,o24,o34Translation vector components.
+
+
+ +
+
+ +

◆ Transform() [2/4]

+ +
+
+ + + + + + + + +
rtabmap::Transform::Transform (const cv::Mat & transformationMatrix)
+
+ +

Constructs a Transform from a 3x4 OpenCV matrix.

+
Parameters
+ + +
transformationMatrixA 3x4 CV_32FC1 matrix.
+
+
+ +
+
+ +

◆ Transform() [3/4]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::Transform::Transform (float x,
float y,
float z,
float roll,
float pitch,
float yaw 
)
+
+ +

Constructs a Transform from position and Euler angles (in radians).

+
Parameters
+ + + +
x,y,zTranslation components.
roll,pitch,yawEuler rotation angles (ZYX-convention).
+
+
+ +
+
+ +

◆ Transform() [4/4]

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::Transform::Transform (float x,
float y,
float z,
float qx,
float qy,
float qz,
float qw 
)
+
+ +

Constructs a Transform from position and quaternion.

+
Parameters
+ + + +
x,y,zTranslation components.
qx,qy,qz,qwQuaternion rotation components.
+
+
+ +
+
+

Member Function Documentation

+ +

◆ r11()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Transform::r11 () const
+ 		+inline
+
+ +

Rotation matrix element at row 1, col 1.

+ +

Definition at line 96 of file Transform.h.

+ +
+
+ +

◆ r12()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Transform::r12 () const
+ 		+inline
+
+ +

Definition at line 97 of file Transform.h.

+ +
+
+ +

◆ r13()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Transform::r13 () const
+ 		+inline
+
+ +

Definition at line 98 of file Transform.h.

+ +
+
+ +

◆ r21()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Transform::r21 () const
+ 		+inline
+
+ +

Definition at line 99 of file Transform.h.

+ +
+
+ +

◆ r22()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Transform::r22 () const
+ 		+inline
+
+ +

Definition at line 100 of file Transform.h.

+ +
+
+ +

◆ r23()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Transform::r23 () const
+ 		+inline
+
+ +

Definition at line 101 of file Transform.h.

+ +
+
+ +

◆ r31()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Transform::r31 () const
+ 		+inline
+
+ +

Definition at line 102 of file Transform.h.

+ +
+
+ +

◆ r32()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Transform::r32 () const
+ 		+inline
+
+ +

Definition at line 103 of file Transform.h.

+ +
+
+ +

◆ r33()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Transform::r33 () const
+ 		+inline
+
+ +

Definition at line 104 of file Transform.h.

+ +
+
+ +

◆ o14()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Transform::o14 () const
+ 		+inline
+
+ +

Translation x.

+ +

Definition at line 106 of file Transform.h.

+ +
+
+ +

◆ o24()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Transform::o24 () const
+ 		+inline
+
+ +

Translation y.

+ +

Definition at line 107 of file Transform.h.

+ +
+
+ +

◆ o34()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::Transform::o34 () const
+ 		+inline
+
+ +

Translation z.

+ +

Definition at line 108 of file Transform.h.

+ +
+
+ +

◆ operator[]() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + +
float & rtabmap::Transform::operator[] (int index)
+ 		+inline
+
+ +

Definition at line 110 of file Transform.h.

+ +
+
+ +

◆ operator[]() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + +
const float & rtabmap::Transform::operator[] (int index) const
+ 		+inline
+
+ +

Definition at line 111 of file Transform.h.

+ +
+
+ +

◆ operator()() [1/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
float & rtabmap::Transform::operator() (int row,
int col 
)
+ 		+inline
+
+ +

Definition at line 112 of file Transform.h.

+ +
+
+ +

◆ operator()() [2/2]

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
const float & rtabmap::Transform::operator() (int row,
int col 
) const
+ 		+inline
+
+ +

Definition at line 113 of file Transform.h.

+ +
+
+ +

◆ dataMatrix()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::Transform::dataMatrix () const
+ 		+inline
+
+ +

Returns the internal OpenCV matrix (3x4).

+ +

Definition at line 136 of file Transform.h.

+ +
+
+ +

◆ data() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
const float * rtabmap::Transform::data () const
+ 		+inline
+
+ +

Returns a pointer to the raw data (12 floats).

+ +

Definition at line 140 of file Transform.h.

+ +
+
+ +

◆ data() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
float * rtabmap::Transform::data ()
+ 		+inline
+
+ +

Definition at line 141 of file Transform.h.

+ +
+
+ +

◆ size()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::Transform::size () const
+ 		+inline
+
+ +

Returns the number of float elements (always 12).

+ +

Definition at line 146 of file Transform.h.

+ +
+
+ +

◆ x() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
float & rtabmap::Transform::x ()
+ 		+inline
+
+ +

Translation getters/setters.

+

Translation x

+ +

Definition at line 149 of file Transform.h.

+ +
+
+ +

◆ y() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
float & rtabmap::Transform::y ()
+ 		+inline
+
+ +

Translation y.

+ +

Definition at line 150 of file Transform.h.

+ +
+
+ +

◆ z() [1/2]

+ +
+
+ + + + + +
+ + + + + + + +
float & rtabmap::Transform::z ()
+ 		+inline
+
+ +

Translation z.

+ +

Definition at line 151 of file Transform.h.

+ +
+
+ +

◆ x() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
const float & rtabmap::Transform::x () const
+ 		+inline
+
+ +

Definition at line 152 of file Transform.h.

+ +
+
+ +

◆ y() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
const float & rtabmap::Transform::y () const
+ 		+inline
+
+ +

Definition at line 153 of file Transform.h.

+ +
+
+ +

◆ z() [2/2]

+ +
+
+ + + + + +
+ + + + + + + +
const float & rtabmap::Transform::z () const
+ 		+inline
+
+ +

Definition at line 154 of file Transform.h.

+ +
+
+ +

◆ interpolate()

+ +
+
+ + + + + + + + + + + + + + + + + + +
Transform rtabmap::Transform::interpolate (float t,
const Transform & other 
) const
+
+ +

Interpolates between this and another transform.

+
Parameters
+ + + +
tInterpolation factor [0, 1].
otherTarget transform.
+
+
+ +
+
+ +

◆ opengl_T_rtabmap()

+ +
+
+ + + + + +
+ + + + + + + +
static Transform rtabmap::Transform::opengl_T_rtabmap ()
+ 		+inlinestatic
+
+ +

Returns the transform from RTAB-Map to OpenGL coordinate system.

+
Note
Coordinate systems:
    +
  • OpenGL: x → right, y → up, z → out of the screen (toward viewer).
    • +
  • RTAB-Map: x → forward, y → left, z → up.
    • +
+
+ +

Definition at line 289 of file Transform.h.

+ +
+
+ +

◆ rtabmap_T_opengl()

+ +
+
+ + + + + +
+ + + + + + + +
static Transform rtabmap::Transform::rtabmap_T_opengl ()
+ 		+inlinestatic
+
+ +

Returns the transform from OpenGL to RTAB-Map coordinate system.

+
Note
Coordinate systems:
    +
  • OpenGL: x → right, y → up, z → out of the screen (toward viewer).
    • +
  • RTAB-Map: x → forward, y → left, z → up.
    • +
+
+ +

Definition at line 299 of file Transform.h.

+ +
+
+ +

◆ fromString()

+ +
+
+ + + + + +
+ + + + + + + + +
static Transform rtabmap::Transform::fromString (const std::string & string)
+ 		+static
+
+ +

Parses a transform from a string representation. Supported formats:

+
    +
  • (3 values) "x y z"
    • +
  • (6 values) "x y z roll pitch yaw" (ZYX-Euler convention)
    • +
  • (7 values) "x y z qx qy qz qw"
    • +
  • (9 values, 3x3 rotation) "r11 r12 r13 r21 r22 r23 r31 r32 r33"
    • +
+

(12 values, 3x4 rotation) "r11 r12 r13 tx r21 r22 r23 ty r31 r32 r33 tz"

+ +
+
+ +

◆ getTransform()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
static Transform rtabmap::Transform::getTransform (const std::map< double, Transform > & tfBuffer,
const double & stamp 
)
+ 		+static
+
+ +

Retrieves the transform to a given timestamp.

+
Parameters
+ + + +
tfBufferBuffer of timestamped transforms.
stampRequested timestamp.
+
+
+
Returns
transform at the requested timestamp, interpolated if it doesn't fall on a transform with the exact same timestamp in the buffer. If the timestamp is older than the oldest timestamp or newer than the latest timestamp in the buffer, a null transform is returned and a warning message is generated.
+ +
+
+ +

◆ getClosestTransform()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + +
static RTABMAP_DEPRECATED Transform rtabmap::Transform::getClosestTransform (const std::map< double, Transform > & tfBuffer,
const double & stamp,
double * stampDiff 
)
+ 		+static
+
+
Deprecated:
Use getTransform() instead.
+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1TransformStamped-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1TransformStamped-members.html new file mode 100644 index 00000000..b845eafc --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1TransformStamped-members.html @@ -0,0 +1,95 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::TransformStamped Member List
+
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+ +

This is the complete list of members for rtabmap::TransformStamped, including all inherited members.

+ + + + +
stamp() const (defined in rtabmap::TransformStamped)rtabmap::TransformStampedinline
transform() const (defined in rtabmap::TransformStamped)rtabmap::TransformStampedinline
TransformStamped(const Transform &transform, const double &stamp) (defined in rtabmap::TransformStamped)rtabmap::TransformStampedinline
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1TransformStamped.html b/preview/pr-1492/api/latest/classrtabmap_1_1TransformStamped.html new file mode 100644 index 00000000..a92716e2 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1TransformStamped.html @@ -0,0 +1,208 @@ + + + + + + + + +RTAB-Map: rtabmap::TransformStamped Class Reference + + + + + + + + + + + + +
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rtabmap::TransformStamped Class Reference
+
+
+ +

Associates a transform with a timestamp. + More...

+ +

#include <Transform.h>

+ + + + + + + + +

+Public Member Functions

 TransformStamped (const Transform &transform, const double &stamp)
 
const Transform & transform () const
 
const double & stamp () const
 
+

Detailed Description

+

Associates a transform with a timestamp.

+ +

Definition at line 352 of file Transform.h.

+

Constructor & Destructor Documentation

+ +

◆ TransformStamped()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
rtabmap::TransformStamped::TransformStamped (const Transform & transform,
const double & stamp 
)
+ 		+inline
+
+ +

Definition at line 355 of file Transform.h.

+ +
+
+

Member Function Documentation

+ +

◆ transform()

+ +
+
+ + + + + +
+ + + + + + + +
const Transform & rtabmap::TransformStamped::transform () const
+ 		+inline
+
+ +

Definition at line 359 of file Transform.h.

+ +
+
+ +

◆ stamp()

+ +
+
+ + + + + +
+ + + + + + + +
const double & rtabmap::TransformStamped::stamp () const
+ 		+inline
+
+ +

Definition at line 360 of file Transform.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1UserDataEvent-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1UserDataEvent-members.html new file mode 100644 index 00000000..7859e4c1 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1UserDataEvent-members.html @@ -0,0 +1,99 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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This is the complete list of members for rtabmap::UserDataEvent, including all inherited members.

+ + + + + + + + +
data() const (defined in rtabmap::UserDataEvent)rtabmap::UserDataEventinline
getClassName() constrtabmap::UserDataEventinlinevirtual
getCode() constUEventinline
UEvent(int code=0)UEventinlineprotected
UserDataEvent(const cv::Mat &data) (defined in rtabmap::UserDataEvent)rtabmap::UserDataEventinline
~UEvent() (defined in UEvent)UEventinlinevirtual
~UserDataEvent() (defined in rtabmap::UserDataEvent)rtabmap::UserDataEventinline
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rtabmap::UserDataEvent Class Reference
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+ +

#include <UserDataEvent.h>

+
+Inheritance diagram for rtabmap::UserDataEvent:
+
+
Inheritance graph
+ + + + + +
[legend]
+
+Collaboration diagram for rtabmap::UserDataEvent:
+
+
Collaboration graph
+ + + + + +
[legend]
+ + + + + + + + + + + +

+Public Member Functions

 UserDataEvent (const cv::Mat &data)
 
virtual std::string getClassName () const
 
const cv::Mat & data () const
 
- Public Member Functions inherited from UEvent
int getCode () const
 
+ + + + +

+Additional Inherited Members

- Protected Member Functions inherited from UEvent
 UEvent (int code=0)
 
+

Detailed Description

+

The user data event.

+ +

Definition at line 40 of file UserDataEvent.h.

+

Constructor & Destructor Documentation

+ +

◆ UserDataEvent()

+ +
+
+ + + + + +
+ + + + + + + + +
rtabmap::UserDataEvent::UserDataEvent (const cv::Mat & data)
+ 		+inline
+
+ +

Definition at line 43 of file UserDataEvent.h.

+ +
+
+ +

◆ ~UserDataEvent()

+ +
+
+ + + + + +
+ + + + + + + +
rtabmap::UserDataEvent::~UserDataEvent ()
+ 		+inline
+
+ +

Definition at line 47 of file UserDataEvent.h.

+ +
+
+

Member Function Documentation

+ +

◆ getClassName()

+ +
+
+ + + + + +
+ + + + + + + +
virtual std::string rtabmap::UserDataEvent::getClassName () const
+ 		+inlinevirtual
+
+

This method is used to get the class name of the event. For example, if a class MouseEvent inherits from UEvent, it must return the "MouseEvent" string.

Returns
the class name
+ +

Implements UEvent.

+ +

Definition at line 48 of file UserDataEvent.h.

+ +
+
+ +

◆ data()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::UserDataEvent::data () const
+ 		+inline
+
+ +

Definition at line 50 of file UserDataEvent.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1UserDataEvent__coll__graph.map b/preview/pr-1492/api/latest/classrtabmap_1_1UserDataEvent__coll__graph.map new file mode 100644 index 00000000..2012223d --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1UserDataEvent__coll__graph.map @@ -0,0 +1,5 @@ + + + + + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1UserDataEvent__coll__graph.md5 b/preview/pr-1492/api/latest/classrtabmap_1_1UserDataEvent__coll__graph.md5 new file mode 100644 index 00000000..a22c3218 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1UserDataEvent__coll__graph.md5 @@ -0,0 +1 @@ +fbe4874b0beb1b671a3d9cf8f5a5b851 \ No newline at end of file diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1UserDataEvent__coll__graph.png b/preview/pr-1492/api/latest/classrtabmap_1_1UserDataEvent__coll__graph.png new file mode 100644 index 0000000000000000000000000000000000000000..21a37ba00527eafe10ccad5ac3cbf0c376cf6516 GIT binary 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rtabmap::VWDictionary Member List
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+ +

This is the complete list of members for rtabmap::VWDictionary, including all inherited members.

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
_totalActiveReferencesrtabmap::VWDictionaryprotected
_visualWordsrtabmap::VWDictionaryprotected
addNewWords(const cv::Mat &descriptors, int signatureId)rtabmap::VWDictionaryvirtual
addWord(VisualWord *vw)rtabmap::VWDictionaryvirtual
addWordRef(int wordId, int signatureId)rtabmap::VWDictionary
clear(bool printWarningsIfNotEmpty=true)rtabmap::VWDictionary
convert32FToBin(const cv::Mat &descriptorsIn, bool byteToFloat=true)rtabmap::VWDictionarystatic
convertBinTo32F(const cv::Mat &descriptorsIn, bool byteToFloat=true)rtabmap::VWDictionarystatic
deleteUnusedWords()rtabmap::VWDictionary
deserializeIndex(const std::vector< unsigned char > &data)rtabmap::VWDictionary
deserializeIndex(const unsigned char *data, size_t size)rtabmap::VWDictionary
exportDictionary(const char *fileNameReferences, const char *fileNameDescriptors) constrtabmap::VWDictionary
findNN(const std::list< VisualWord * > &vws) constrtabmap::VWDictionary
findNN(const cv::Mat &descriptors) constrtabmap::VWDictionary
getIndexedWordsCount() constrtabmap::VWDictionary
getIndexMemoryUsed() constrtabmap::VWDictionary
getLastIndexedWordId() constrtabmap::VWDictionary
getMemoryUsed() constrtabmap::VWDictionary
getNextId()rtabmap::VWDictionaryprotected
getNndrRatio() constrtabmap::VWDictionaryinline
getNNStrategy() constrtabmap::VWDictionaryinline
getNotIndexedWordsCount() constrtabmap::VWDictionaryinline
getTotalActiveReferences() constrtabmap::VWDictionaryinline
getUnusedWord(int id) constrtabmap::VWDictionary
getUnusedWordIds() constrtabmap::VWDictionary
getUnusedWords() constrtabmap::VWDictionary
getUnusedWordsSize() constrtabmap::VWDictionaryinline
getVisualWords() constrtabmap::VWDictionaryinline
getWord(int id) constrtabmap::VWDictionary
ID_INVALIDrtabmap::VWDictionarystatic
ID_STARTrtabmap::VWDictionarystatic
isIncremental() constrtabmap::VWDictionaryinline
isIncrementalFlann() constrtabmap::VWDictionaryinline
isModified() constrtabmap::VWDictionary
kNNBruteForce enum valuertabmap::VWDictionary
kNNBruteForceGPU enum valuertabmap::VWDictionary
kNNFlannKdTree enum valuertabmap::VWDictionary
kNNFlannLSH enum valuertabmap::VWDictionary
kNNFlannNaive enum valuertabmap::VWDictionary
kNNUndef enum valuertabmap::VWDictionary
NNStrategy enum namertabmap::VWDictionary
nnStrategyName(NNStrategy strategy)rtabmap::VWDictionaryinlinestatic
parseParameters(const ParametersMap &parameters)rtabmap::VWDictionaryvirtual
removeAllWordRef(int wordId, int signatureId)rtabmap::VWDictionary
removeWords(const std::vector< VisualWord * > &words)rtabmap::VWDictionary
serializeIndex() constrtabmap::VWDictionary
setFixedDictionary(const std::string &dictionaryPath)rtabmap::VWDictionary
setIncrementalDictionary()rtabmap::VWDictionary
setLastWordId(int id)rtabmap::VWDictionaryinline
setNNStrategy(NNStrategy strategy)rtabmap::VWDictionary
update()rtabmap::VWDictionaryvirtual
VWDictionary(const ParametersMap &parameters=ParametersMap())rtabmap::VWDictionary
~VWDictionary()rtabmap::VWDictionaryvirtual
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+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1VWDictionary.html b/preview/pr-1492/api/latest/classrtabmap_1_1VWDictionary.html new file mode 100644 index 00000000..c4fa87b2 --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1VWDictionary.html @@ -0,0 +1,1671 @@ + + + + + + + + +RTAB-Map: rtabmap::VWDictionary Class Reference + + + + + + + + + + + + +
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+Public Types | +Public Member Functions | +Static Public Member Functions | +Static Public Attributes | +Protected Member Functions | +Protected Attributes | +List of all members
+
rtabmap::VWDictionary Class Reference
+
+
+ +

Manages a dictionary of visual words for visual place recognition and loop closure detection. + More...

+ +

#include <VWDictionary.h>

+ + + + + +

+Public Types

enum  NNStrategy {
+  kNNFlannNaive +, kNNFlannKdTree +, kNNFlannLSH +, kNNBruteForce +,
+  kNNBruteForceGPU +, kNNUndef +
+ }
 Nearest neighbor search strategies for descriptor matching. More...
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 VWDictionary (const ParametersMap &parameters=ParametersMap())
 Constructor.
 
virtual ~VWDictionary ()
 Destructor.
 
virtual void parseParameters (const ParametersMap &parameters)
 Parse and apply parameters from a parameters map.
 
virtual void update ()
 Update the search index with newly added words.
 
virtual std::list< int > addNewWords (const cv::Mat &descriptors, int signatureId)
 Add new visual words from descriptors.
 
virtual void addWord (VisualWord *vw)
 Add an existing visual word to the dictionary.
 
std::vector< int > findNN (const std::list< VisualWord * > &vws) const
 Find nearest neighbor visual word IDs for a list of visual words.
 
std::vector< int > findNN (const cv::Mat &descriptors) const
 Find nearest neighbor visual word IDs for descriptors.
 
bool addWordRef (int wordId, int signatureId)
 Add a reference from a visual word to a signature.
 
void removeAllWordRef (int wordId, int signatureId)
 Remove all references from a visual word to a signature.
 
const VisualWord * getWord (int id) const
 Get a visual word by ID.
 
VisualWord * getUnusedWord (int id) const
 Get an unused visual word by ID.
 
void setLastWordId (int id)
 Set the last word ID (used when loading from database)
 
const std::map< int, VisualWord * > & getVisualWords () const
 Get all visual words.
 
float getNndrRatio () const
 Get the Nearest Neighbor Distance Ratio (NNDR) threshold.
 
unsigned int getNotIndexedWordsCount () const
 Get the count of words not yet indexed in the search tree.
 
int getLastIndexedWordId () const
 Get the ID of the last indexed word.
 
int getTotalActiveReferences () const
 Get the total number of active word-to-signature references.
 
unsigned int getIndexedWordsCount () const
 Get the count of words currently indexed in the search tree.
 
unsigned int getIndexMemoryUsed () const
 Get the memory used by the search index.
 
unsigned long getMemoryUsed () const
 Get the total memory used by the dictionary.
 
bool setNNStrategy (NNStrategy strategy)
 Set the nearest neighbor search strategy.
 
NNStrategy getNNStrategy () const
 Get the current nearest neighbor search strategy.
 
bool isIncremental () const
 Check if the dictionary is in incremental mode.
 
bool isIncrementalFlann () const
 Check if FLANN index is updated incrementally.
 
void setIncrementalDictionary ()
 Set the dictionary to incremental mode.
 
void setFixedDictionary (const std::string &dictionaryPath)
 Set the dictionary to fixed mode and load from file.
 
bool isModified () const
 Check if the dictionary has been modified since last save.
 
std::vector< unsigned char > serializeIndex () const
 Serialize the search index to a byte vector.
 
bool deserializeIndex (const std::vector< unsigned char > &data)
 Deserialize the search index from a byte vector.
 
bool deserializeIndex (const unsigned char *data, size_t size)
 Deserialize the search index from raw bytes.
 
void exportDictionary (const char *fileNameReferences, const char *fileNameDescriptors) const
 Export the dictionary to files.
 
void clear (bool printWarningsIfNotEmpty=true)
 Clear all visual words and reset the dictionary.
 
std::vector< VisualWord * > getUnusedWords () const
 Get all unused visual words.
 
std::vector< int > getUnusedWordIds () const
 Get IDs of all unused visual words.
 
unsigned int getUnusedWordsSize () const
 Get the count of unused visual words.
 
void removeWords (const std::vector< VisualWord * > &words)
 Remove words from the dictionary.
 
void deleteUnusedWords ()
 Delete all unused visual words.
 
+ + + + + + + + + + +

+Static Public Member Functions

static std::string nnStrategyName (NNStrategy strategy)
 Get the name of a nearest neighbor strategy.
 
static cv::Mat convertBinTo32F (const cv::Mat &descriptorsIn, bool byteToFloat=true)
 Convert binary descriptors to 32-bit float format.
 
static cv::Mat convert32FToBin (const cv::Mat &descriptorsIn, bool byteToFloat=true)
 Convert 32-bit float descriptors to binary format.
 
+ + + + + + + +

+Static Public Attributes

static const int ID_START
 Starting ID for visual words (typically 1)
 
static const int ID_INVALID
 Invalid visual word ID (typically 0)
 
+ + + + +

+Protected Member Functions

int getNextId ()
 Get the next available visual word ID.
 
+ + + + + + + +

+Protected Attributes

std::map< int, VisualWord * > _visualWords
 Map of visual word ID to VisualWord pointer.
 
int _totalActiveReferences
 Total count of active word-to-signature references.
 
+

Detailed Description

+

Manages a dictionary of visual words for visual place recognition and loop closure detection.

+

The VWDictionary class maintains a collection of visual words (feature descriptors) and provides efficient nearest neighbor search capabilities. It supports both incremental and fixed dictionary modes:

    +
  • Incremental mode: New visual words are added dynamically as new images are processed
    • +
  • Fixed mode: A pre-computed dictionary is loaded from a file
    • +
+

The class uses various nearest neighbor search strategies (FLANN, brute force, GPU-accelerated) to match descriptors efficiently. It tracks word references to signatures (images) and manages unused words for memory optimization.

+
Note
Visual words are identified by unique integer IDs starting from VWDictionary::ID_START
+ +

Definition at line 65 of file VWDictionary.h.

+

Member Enumeration Documentation

+ +

◆ NNStrategy

+ +
+
+ + + + +
enum rtabmap::VWDictionary::NNStrategy
+
+ +

Nearest neighbor search strategies for descriptor matching.

+ + + + + + + +
Enumerator
kNNFlannNaive 

FLANN naive search (exhaustive)

+
kNNFlannKdTree 

FLANN kd-tree index (fast for high-dimensional descriptors)

+
kNNFlannLSH 

FLANN Locality-Sensitive Hashing (ideal for binary descriptors)

+
kNNBruteForce 

Brute force CPU search.

+
kNNBruteForceGPU 

Brute force GPU-accelerated search (requires CUDA)

+
kNNUndef 

Undefined strategy.

+
+ +

Definition at line 72 of file VWDictionary.h.

+ +
+
+

Constructor & Destructor Documentation

+ +

◆ VWDictionary()

+ +
+
+ + + + + + + + +
rtabmap::VWDictionary::VWDictionary (const ParametersMap & parameters = ParametersMap())
+
+ +

Constructor.

+
Parameters
+ + +
parametersOptional parameters map to configure the dictionary
+
+
+ +
+
+ +

◆ ~VWDictionary()

+ +
+
+ + + + + +
+ + + + + + + +
virtual rtabmap::VWDictionary::~VWDictionary ()
+ 		+virtual
+
+ +

Destructor.

+

Clears all visual words and releases resources.

+ +
+
+

Member Function Documentation

+ +

◆ nnStrategyName()

+ +
+
+ + + + + +
+ + + + + + + + +
static std::string rtabmap::VWDictionary::nnStrategyName (NNStrategy strategy)
+ 		+inlinestatic
+
+ +

Get the name of a nearest neighbor strategy.

+
Parameters
+ + +
strategyThe strategy enum value
+
+
+
Returns
String representation of the strategy name
+ +

Definition at line 96 of file VWDictionary.h.

+ +
+
+ +

◆ parseParameters()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::VWDictionary::parseParameters (const ParametersMap & parameters)
+ 		+virtual
+
+ +

Parse and apply parameters from a parameters map.

+
Parameters
+ + +
parametersParameters map containing configuration values
+
+
+ +
+
+ +

◆ update()

+ +
+
+ + + + + +
+ + + + + + + +
virtual void rtabmap::VWDictionary::update ()
+ 		+virtual
+
+ +

Update the search index with newly added words.

+

This method rebuilds the nearest neighbor search index (FLANN, etc.) to include any words that were added but not yet indexed.

+ +
+
+ +

◆ addNewWords()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
virtual std::list< int > rtabmap::VWDictionary::addNewWords (const cv::Mat & descriptors,
int signatureId 
)
+ 		+virtual
+
+ +

Add new visual words from descriptors.

+
Parameters
+ + + +
descriptorsMatrix of descriptors (one row per descriptor)
signatureIdID of the signature (image) these descriptors belong to
+
+
+
Returns
List of visual word IDs that were added or matched
+

For each descriptor, either matches it to an existing visual word (using nearest neighbor search with NNDR ratio) or creates a new visual word.

+
Note
If the dictionary is not incremental (fixed), NNDR is not applied and the closest existing visual word ID is always returned. If the dictionary is incremental, a new visual word is created if NNDR validation passes; otherwise, a reference to an existing visual word is added.
+ +
+
+ +

◆ addWord()

+ +
+
+ + + + + +
+ + + + + + + + +
virtual void rtabmap::VWDictionary::addWord (VisualWord * vw)
+ 		+virtual
+
+ +

Add an existing visual word to the dictionary.

+
Parameters
+ + +
vwPointer to the visual word to add (ownership is transferred)
+
+
+
Note
The dictionary takes ownership of the VisualWord object
+ +
+
+ +

◆ findNN() [1/2]

+ +
+
+ + + + + + + + +
std::vector< int > rtabmap::VWDictionary::findNN (const std::list< VisualWord * > & vws) const
+
+ +

Find nearest neighbor visual word IDs for a list of visual words.

+
Parameters
+ + +
vwsList of visual words to match
+
+
+
Returns
Vector of visual word IDs (one per input visual word)
+
Note
If the dictionary is not incremental (fixed), NNDR is not applied and the closest visual word ID is always returned. If the dictionary is incremental, a valid visual word ID is returned only if NNDR validation passes.
+ +
+
+ +

◆ findNN() [2/2]

+ +
+
+ + + + + + + + +
std::vector< int > rtabmap::VWDictionary::findNN (const cv::Mat & descriptors) const
+
+ +

Find nearest neighbor visual word IDs for descriptors.

+
Parameters
+ + +
descriptorsMatrix of descriptors (one row per descriptor)
+
+
+
Returns
Vector of visual word IDs (one per descriptor)
+
Note
If the dictionary is not incremental (fixed), NNDR is not applied and the closest visual word ID is always returned. If the dictionary is incremental, a valid visual word ID is returned only if NNDR validation passes.
+ +
+
+ +

◆ addWordRef()

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::VWDictionary::addWordRef (int wordId,
int signatureId 
)
+
+ +

Add a reference from a visual word to a signature.

+
Parameters
+ + + +
wordIdID of the visual word
signatureIdID of the signature (image)
+
+
+
Returns
true if the word exists in the dictionary and the reference has been added, false otherwise
+

Tracks which signatures use which visual words. If the word was unused, it is removed from the unused words list.

+ +
+
+ +

◆ removeAllWordRef()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::VWDictionary::removeAllWordRef (int wordId,
int signatureId 
)
+
+ +

Remove all references from a visual word to a signature.

+
Parameters
+ + + +
wordIdID of the visual word
signatureIdID of the signature (image)
+
+
+

If the word has no more references after this operation, it is added to the unused words list.

+ +
+
+ +

◆ getWord()

+ +
+
+ + + + + + + + +
const VisualWord * rtabmap::VWDictionary::getWord (int id) const
+
+ +

Get a visual word by ID.

+
Parameters
+ + +
idVisual word ID
+
+
+
Returns
Pointer to the visual word, or nullptr if not found
+ +
+
+ +

◆ getUnusedWord()

+ +
+
+ + + + + + + + +
VisualWord * rtabmap::VWDictionary::getUnusedWord (int id) const
+
+ +

Get an unused visual word by ID.

+
Parameters
+ + +
idVisual word ID
+
+
+
Returns
Pointer to the unused visual word, or nullptr if not found or not unused
+
Note
Ownership of the returned visual word still belongs to the dictionary. To transfer ownership to the caller, removeWords() must be called on this word.
+ +
+
+ +

◆ setLastWordId()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::VWDictionary::setLastWordId (int id)
+ 		+inline
+
+ +

Set the last word ID (used when loading from database)

+
Parameters
+ + +
idLast word ID
+
+
+ +

Definition at line 232 of file VWDictionary.h.

+ +
+
+ +

◆ getVisualWords()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, VisualWord * > & rtabmap::VWDictionary::getVisualWords () const
+ 		+inline
+
+ +

Get all visual words.

+
Returns
Map of visual word ID to VisualWord pointer
+ +

Definition at line 238 of file VWDictionary.h.

+ +
+
+ +

◆ getNndrRatio()

+ +
+
+ + + + + +
+ + + + + + + +
float rtabmap::VWDictionary::getNndrRatio () const
+ 		+inline
+
+ +

Get the Nearest Neighbor Distance Ratio (NNDR) threshold.

+
Returns
NNDR ratio value
+

The NNDR ratio is used to determine if a descriptor matches an existing visual word. If the ratio of distances to the first and second nearest neighbors is below this threshold, a match is accepted.

+
Note
The NNDR method was introduced in "Distinctive Image Features +from Scale-Invariant Keypoints" by David Lowe (IJCV 2004).
+ +

Definition at line 251 of file VWDictionary.h.

+ +
+
+ +

◆ getNotIndexedWordsCount()

+ +
+
+ + + + + +
+ + + + + + + +
unsigned int rtabmap::VWDictionary::getNotIndexedWordsCount () const
+ 		+inline
+
+ +

Get the count of words not yet indexed in the search tree.

+
Returns
Number of words waiting to be indexed
+ +

Definition at line 257 of file VWDictionary.h.

+ +
+
+ +

◆ getLastIndexedWordId()

+ +
+
+ + + + + + + +
int rtabmap::VWDictionary::getLastIndexedWordId () const
+
+ +

Get the ID of the last indexed word.

+
Returns
Last indexed word ID, or 0 if no words are indexed
+ +
+
+ +

◆ getTotalActiveReferences()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::VWDictionary::getTotalActiveReferences () const
+ 		+inline
+
+ +

Get the total number of active word-to-signature references.

+
Returns
Total count of active references
+ +

Definition at line 269 of file VWDictionary.h.

+ +
+
+ +

◆ getIndexedWordsCount()

+ +
+
+ + + + + + + +
unsigned int rtabmap::VWDictionary::getIndexedWordsCount () const
+
+ +

Get the count of words currently indexed in the search tree.

+
Returns
Number of indexed words
+ +
+
+ +

◆ getIndexMemoryUsed()

+ +
+
+ + + + + + + +
unsigned int rtabmap::VWDictionary::getIndexMemoryUsed () const
+
+ +

Get the memory used by the search index.

+
Returns
Memory usage in kilobytes
+ +
+
+ +

◆ getMemoryUsed()

+ +
+
+ + + + + + + +
unsigned long rtabmap::VWDictionary::getMemoryUsed () const
+
+ +

Get the total memory used by the dictionary.

+
Returns
Memory usage in bytes
+ +
+
+ +

◆ setNNStrategy()

+ +
+
+ + + + + + + + +
bool rtabmap::VWDictionary::setNNStrategy (NNStrategy strategy)
+
+ +

Set the nearest neighbor search strategy.

+
Parameters
+ + +
strategyThe strategy to use
+
+
+
Returns
true if the search tree was re-initialized (strategy changed), false otherwise
+

Changing the strategy will rebuild the search index if words are already indexed.

+ +
+
+ +

◆ getNNStrategy()

+ +
+
+ + + + + +
+ + + + + + + +
NNStrategy rtabmap::VWDictionary::getNNStrategy () const
+ 		+inline
+
+ +

Get the current nearest neighbor search strategy.

+
Returns
The current NNStrategy
+ +

Definition at line 302 of file VWDictionary.h.

+ +
+
+ +

◆ isIncremental()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::VWDictionary::isIncremental () const
+ 		+inline
+
+ +

Check if the dictionary is in incremental mode.

+
Returns
true if incremental, false if fixed
+ +

Definition at line 308 of file VWDictionary.h.

+ +
+
+ +

◆ isIncrementalFlann()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::VWDictionary::isIncrementalFlann () const
+ 		+inline
+
+ +

Check if FLANN index is updated incrementally.

+
Returns
true if incremental FLANN updates are enabled
+ +

Definition at line 314 of file VWDictionary.h.

+ +
+
+ +

◆ setIncrementalDictionary()

+ +
+
+ + + + + + + +
void rtabmap::VWDictionary::setIncrementalDictionary ()
+
+ +

Set the dictionary to incremental mode.

+

In incremental mode, new visual words can be added dynamically. This cannot be called if a fixed dictionary is already loaded.

+ +
+
+ +

◆ setFixedDictionary()

+ +
+
+ + + + + + + + +
void rtabmap::VWDictionary::setFixedDictionary (const std::string & dictionaryPath)
+
+ +

Set the dictionary to fixed mode and load from file.

+
Parameters
+ + +
dictionaryPathPath to the dictionary file (.txt or .db format)
+
+
+

Loads a pre-computed dictionary from a file. The dictionary file format in txt format should be: one line per visual word, with word ID followed by descriptor values. This cannot be called if words are already in the dictionary.

+ +
+
+ +

◆ isModified()

+ +
+
+ + + + + + + +
bool rtabmap::VWDictionary::isModified () const
+
+ +

Check if the dictionary has been modified since last save.

+
Returns
true if modified, false otherwise
+ +
+
+ +

◆ serializeIndex()

+ +
+
+ + + + + + + +
std::vector< unsigned char > rtabmap::VWDictionary::serializeIndex () const
+
+ +

Serialize the search index to a byte vector.

+
Returns
Serialized index data
+ +
+
+ +

◆ deserializeIndex() [1/2]

+ +
+
+ + + + + + + + +
bool rtabmap::VWDictionary::deserializeIndex (const std::vector< unsigned char > & data)
+
+ +

Deserialize the search index from a byte vector.

+
Parameters
+ + +
dataSerialized index data
+
+
+
Returns
true if deserialization was successful, false otherwise
+ +
+
+ +

◆ deserializeIndex() [2/2]

+ +
+
+ + + + + + + + + + + + + + + + + + +
bool rtabmap::VWDictionary::deserializeIndex (const unsigned char * data,
size_t size 
)
+
+ +

Deserialize the search index from raw bytes.

+
Parameters
+ + + +
dataPointer to serialized index data
sizeSize of the data in bytes
+
+
+
Returns
true if deserialization was successful, false otherwise
+ +
+
+ +

◆ exportDictionary()

+ +
+
+ + + + + + + + + + + + + + + + + + +
void rtabmap::VWDictionary::exportDictionary (const char * fileNameReferences,
const char * fileNameDescriptors 
) const
+
+ +

Export the dictionary to files.

+
Parameters
+ + + +
fileNameReferencesPath to file for word-to-signature references
fileNameDescriptorsPath to file for visual word descriptors
+
+
+

Exports the dictionary in a format that can be loaded later.

+ +
+
+ +

◆ clear()

+ +
+
+ + + + + + + + +
void rtabmap::VWDictionary::clear (bool printWarningsIfNotEmpty = true)
+
+ +

Clear all visual words and reset the dictionary.

+
Parameters
+ + +
printWarningsIfNotEmptyIf true, print warnings if dictionary is not empty
+
+
+

Deletes all visual words and releases all resources.

+ +
+
+ +

◆ getUnusedWords()

+ +
+
+ + + + + + + +
std::vector< VisualWord * > rtabmap::VWDictionary::getUnusedWords () const
+
+ +

Get all unused visual words.

+
Returns
Vector of pointers to unused visual words
+

Unused words are visual words that have no references to any signatures.

+
Note
Ownership of the returned visual words still belongs to the dictionary. To transfer ownership to the caller, removeWords() must be called on these words.
+ +
+
+ +

◆ getUnusedWordIds()

+ +
+
+ + + + + + + +
std::vector< int > rtabmap::VWDictionary::getUnusedWordIds () const
+
+ +

Get IDs of all unused visual words.

+
Returns
Vector of unused word IDs
+ +
+
+ +

◆ getUnusedWordsSize()

+ +
+
+ + + + + +
+ + + + + + + +
unsigned int rtabmap::VWDictionary::getUnusedWordsSize () const
+ 		+inline
+
+ +

Get the count of unused visual words.

+
Returns
Number of unused words
+ +

Definition at line 399 of file VWDictionary.h.

+ +
+
+ +

◆ removeWords()

+ +
+
+ + + + + + + + +
void rtabmap::VWDictionary::removeWords (const std::vector< VisualWord * > & words)
+
+ +

Remove words from the dictionary.

+
Parameters
+ + +
wordsVector of visual word pointers to remove
+
+
+
Note
The caller is responsible for deleting the VisualWord objects
+ +
+
+ +

◆ deleteUnusedWords()

+ +
+
+ + + + + + + +
void rtabmap::VWDictionary::deleteUnusedWords ()
+
+ +

Delete all unused visual words.

+

Removes and deletes visual words that have no references to any signatures.

+ +
+
+ +

◆ convertBinTo32F()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
static cv::Mat rtabmap::VWDictionary::convertBinTo32F (const cv::Mat & descriptorsIn,
bool byteToFloat = true 
)
+ 		+static
+
+ +

Convert binary descriptors to 32-bit float format.

+
Parameters
+ + + +
descriptorsInInput descriptors (CV_8UC1 for binary, or CV_32FC1 for float)
byteToFloatConversion mode:
    +
  • If true: Simple type conversion from CV_8UC1 to CV_32FC1 using OpenCV's convertTo(). Each byte value becomes a float value (output dimensions unchanged).
    • +
  • If false: Bit-by-bit expansion for binary descriptors (e.g., ORB, BRIEF). Each input byte (8 bits) is expanded into 8 float values (0.0f or 1.0f), one per bit. Output has 8x the number of columns (e.g., 32 bytes -> 256 floats).
    • +
+
+
+
+
Returns
Descriptors in 32-bit float format (CV_32FC1)
+ +
+
+ +

◆ convert32FToBin()

+ +
+
+ + + + + +
+ + + + + + + + + + + + + + + + + + +
static cv::Mat rtabmap::VWDictionary::convert32FToBin (const cv::Mat & descriptorsIn,
bool byteToFloat = true 
)
+ 		+static
+
+ +

Convert 32-bit float descriptors to binary format.

+
Parameters
+ + + +
descriptorsInInput descriptors (CV_32FC1)
byteToFloatConversion mode:
    +
  • If true: Simple type conversion from CV_32FC1 to CV_8UC1 using OpenCV's convertTo(). Each float value becomes a byte value (output dimensions unchanged).
    • +
  • If false: Bit-by-bit packing for binary descriptors. Each group of 8 float values (0.0f or 1.0f) is packed into 1 byte (8 bits), one bit per float. Input must have columns divisible by 8. Output has 1/8 the number of columns (e.g., 256 floats -> 32 bytes).
    • +
+
+
+
+
Returns
Descriptors in binary format (CV_8UC1)
+ +
+
+ +

◆ getNextId()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::VWDictionary::getNextId ()
+ 		+protected
+
+ +

Get the next available visual word ID.

+
Returns
Next unique word ID
+ +
+
+

Member Data Documentation

+ +

◆ ID_START

+ +
+
+ + + + + +
+ + + + +
const int rtabmap::VWDictionary::ID_START
+ 		+static
+
+ +

Starting ID for visual words (typically 1)

+ +

Definition at line 84 of file VWDictionary.h.

+ +
+
+ +

◆ ID_INVALID

+ +
+
+ + + + + +
+ + + + +
const int rtabmap::VWDictionary::ID_INVALID
+ 		+static
+
+ +

Invalid visual word ID (typically 0)

+ +

Definition at line 89 of file VWDictionary.h.

+ +
+
+ +

◆ _visualWords

+ +
+
+ + + + + +
+ + + + +
std::map<int, VisualWord *> rtabmap::VWDictionary::_visualWords
+ 		+protected
+
+ +

Map of visual word ID to VisualWord pointer.

+
Note
All visual words (used and unused) are stored here
+ +

Definition at line 456 of file VWDictionary.h.

+ +
+
+ +

◆ _totalActiveReferences

+ +
+
+ + + + + +
+ + + + +
int rtabmap::VWDictionary::_totalActiveReferences
+ 		+protected
+
+ +

Total count of active word-to-signature references.

+
Note
Used to track all references for updating common signatures
+ +

Definition at line 462 of file VWDictionary.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord-members.html b/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord-members.html new file mode 100644 index 00000000..cc42eb1a --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord-members.html @@ -0,0 +1,103 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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rtabmap::VisualWord Member List
+
+
+ +

This is the complete list of members for rtabmap::VisualWord, including all inherited members.

+ + + + + + + + + + + + +
addRef(int signatureId)rtabmap::VisualWord
getDescriptor() constrtabmap::VisualWordinline
getMemoryUsed() constrtabmap::VisualWord
getReferences() constrtabmap::VisualWordinline
getTotalReferences() constrtabmap::VisualWordinline
id() constrtabmap::VisualWordinline
isSaved() constrtabmap::VisualWordinline
removeAllRef(int signatureId)rtabmap::VisualWord
setSaved(bool saved)rtabmap::VisualWordinline
VisualWord(int id, const cv::Mat &descriptor, int signatureId=0)rtabmap::VisualWord
~VisualWord()rtabmap::VisualWord
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord.html b/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord.html new file mode 100644 index 00000000..84244a2f --- /dev/null +++ b/preview/pr-1492/api/latest/classrtabmap_1_1VisualWord.html @@ -0,0 +1,449 @@ + + + + + + + + +RTAB-Map: rtabmap::VisualWord Class Reference + + + + + + + + + + + + +
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+Public Member Functions | +List of all members
+
rtabmap::VisualWord Class Reference
+
+
+ +

Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model. + More...

+ +

#include <VisualWord.h>

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Public Member Functions

 VisualWord (int id, const cv::Mat &descriptor, int signatureId=0)
 Constructor.
 
+ ~VisualWord ()
 Destructor.
 
void addRef (int signatureId)
 Adds a reference to this word for the given signature ID.
 
int removeAllRef (int signatureId)
 Removes all references to this word for the given signature ID.
 
unsigned long getMemoryUsed () const
 Estimates the memory used by this visual word in bytes.
 
int getTotalReferences () const
 Returns the total number of references (across all signatures).
 
int id () const
 Returns the ID of this visual word.
 
const cv::Mat & getDescriptor () const
 Returns the feature descriptor of this word.
 
const std::map< int, int > & getReferences () const
 Returns the references of this word.
 
bool isSaved () const
 Checks if the word has been saved to the database.
 
void setSaved (bool saved)
 Sets the saved flag for the word.
 
+

Detailed Description

+

Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model.

+

A VisualWord holds a unique identifier, its descriptor (usually a feature vector from an image), and a record of where (in which signatures/images) it was observed. This is a key component in loop closure detection and visual place recognition in RTAB-Map.

+

The word keeps track of references (signature IDs) where it appears, and how many times it was observed in each signature. It also tracks whether the word has been saved to a database.

+ +

Definition at line 49 of file VisualWord.h.

+

Constructor & Destructor Documentation

+ +

◆ VisualWord()

+ +
+
+ + + + + + + + + + + + + + + + + + + + + + + + +
rtabmap::VisualWord::VisualWord (int id,
const cv::Mat & descriptor,
int signatureId = 0 
)
+
+ +

Constructor.

+
Parameters
+ + + + +
idUnique ID of the visual word.
descriptorThe descriptor associated with the word (e.g., ORB, SIFT).
signatureIdOptional signature ID where the word is first observed.
+
+
+ +
+
+

Member Function Documentation

+ +

◆ addRef()

+ +
+
+ + + + + + + + +
void rtabmap::VisualWord::addRef (int signatureId)
+
+ +

Adds a reference to this word for the given signature ID.

+
Parameters
+ + +
signatureIdID of the signature in which this word is observed.
+
+
+ +
+
+ +

◆ removeAllRef()

+ +
+
+ + + + + + + + +
int rtabmap::VisualWord::removeAllRef (int signatureId)
+
+ +

Removes all references to this word for the given signature ID.

+
Parameters
+ + +
signatureIdID of the signature from which references will be removed.
+
+
+
Returns
Number of references removed.
+ +
+
+ +

◆ getMemoryUsed()

+ +
+
+ + + + + + + +
unsigned long rtabmap::VisualWord::getMemoryUsed () const
+
+ +

Estimates the memory used by this visual word in bytes.

+
Returns
Size in bytes.
+ +
+
+ +

◆ getTotalReferences()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::VisualWord::getTotalReferences () const
+ 		+inline
+
+ +

Returns the total number of references (across all signatures).

+
Returns
Number of total references.
+ +

Definition at line 88 of file VisualWord.h.

+ +
+
+ +

◆ id()

+ +
+
+ + + + + +
+ + + + + + + +
int rtabmap::VisualWord::id () const
+ 		+inline
+
+ +

Returns the ID of this visual word.

+
Returns
Word ID.
+ +

Definition at line 94 of file VisualWord.h.

+ +
+
+ +

◆ getDescriptor()

+ +
+
+ + + + + +
+ + + + + + + +
const cv::Mat & rtabmap::VisualWord::getDescriptor () const
+ 		+inline
+
+ +

Returns the feature descriptor of this word.

+
Returns
The OpenCV matrix descriptor.
+ +

Definition at line 100 of file VisualWord.h.

+ +
+
+ +

◆ getReferences()

+ +
+
+ + + + + +
+ + + + + + + +
const std::map< int, int > & rtabmap::VisualWord::getReferences () const
+ 		+inline
+
+ +

Returns the references of this word.

+
Returns
A map of (signature ID, occurrence count).
+ +

Definition at line 106 of file VisualWord.h.

+ +
+
+ +

◆ isSaved()

+ +
+
+ + + + + +
+ + + + + + + +
bool rtabmap::VisualWord::isSaved () const
+ 		+inline
+
+ +

Checks if the word has been saved to the database.

+
Returns
True if saved, false otherwise.
+ +

Definition at line 112 of file VisualWord.h.

+ +
+
+ +

◆ setSaved()

+ +
+
+ + + + + +
+ + + + + + + + +
void rtabmap::VisualWord::setSaved (bool saved)
+ 		+inline
+
+ +

Sets the saved flag for the word.

+
Parameters
+ + +
savedTrue if the word has been saved to the database.
+
+
+ +

Definition at line 118 of file VisualWord.h.

+ +
+
+
The documentation for this class was generated from the following file: +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/closed.png b/preview/pr-1492/api/latest/closed.png new file mode 100644 index 0000000000000000000000000000000000000000..98cc2c909da37a6df914fbf67780eebd99c597f5 GIT binary patch literal 132 zcmeAS@N?(olHy`uVBq!ia0vp^oFL4>1|%O$WD@{V-kvUwAr*{o@8{^CZMh(5KoB^r_<4^zF@3)Cp&&t3hdujKf f*?bjBoY!V+E))@{xMcbjXe@)LtDnm{r-UW|*e5JT literal 0 HcmV?d00001 diff --git a/preview/pr-1492/api/latest/deprecated.html b/preview/pr-1492/api/latest/deprecated.html new file mode 100644 index 00000000..2858463d --- /dev/null +++ b/preview/pr-1492/api/latest/deprecated.html @@ -0,0 +1,108 @@ + + + + + + + + +RTAB-Map: Deprecated List + + + + + + + + + + + + +
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Deprecated List
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+
Member rtabmap::CameraEvent
+
Use SensorEvent instead
+
Member rtabmap::CameraInfo
+
Use SensorCaptureInfo instead
+
Member rtabmap::CameraThread
+
Use SensorCaptureThread instead
+
Member rtabmap::LaserScan::LaserScan (const LaserScan &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const Transform &localTransform=Transform::getIdentity())
+
Use constructor without format argument.
+
Member rtabmap::LaserScan::LaserScan (const LaserScan &data, int maxPoints, float maxRange, Format format, const Transform &localTransform=Transform::getIdentity())
+
Use constructor without format argument.
+
Member rtabmap::Odometry::previousVelocityTransform () const
+
Use getVelocityGuess() instead.
+
Member rtabmap::SensorCaptureThread::setImageRate (float frameRate)
+
Use setFrameRate() instead
+
Member rtabmap::SensorCaptureThread::setScanParameters (bool fromDepth, int downsampleStep, float rangeMin, float rangeMax, float voxelSize, int normalsK, float normalsRadius, bool forceGroundNormalsUp, bool deskewing)
+
Use the new version with groundNormalsUp parameter instead
+
Member rtabmap::Statistics::setLastSignatureData (const Signature &data)
+
Use addSignatureData() instead
+
Member rtabmap::Transform::getClosestTransform (const std::map< double, Transform > &tfBuffer, const double &stamp, double *stampDiff)
+
Use getTransform() instead.
+
+
+
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core → utilite Relation

File in corelib/include/rtabmap/coreIncludes file in utilite
EpipolarGeometry.hinclude / rtabmap / utilite / UStl.h
Landmark.hinclude / rtabmap / utilite / UConversion.h
Landmark.hinclude / rtabmap / utilite / ULogger.h
Landmark.hinclude / rtabmap / utilite / UMath.h
Memory.hinclude / rtabmap / utilite / UStl.h
OdometryEvent.hinclude / rtabmap / utilite / ULogger.h
OdometryEvent.hinclude / rtabmap / utilite / UMath.h
Parameters.hinclude / rtabmap / utilite / UConversion.h
ParticleFilter.hinclude / rtabmap / utilite / ULogger.h
ParticleFilter.hinclude / rtabmap / utilite / UMath.h
ProgressState.hinclude / rtabmap / utilite / ULogger.h
RtabmapEvent.hinclude / rtabmap / utilite / UVariant.h
Statistics.hinclude / rtabmap / utilite / UStl.h
impl / LocalMapMaker.hppinclude / rtabmap / utilite / ULogger.h
impl / util3d_surface.hppinclude / rtabmap / utilite / UConversion.h
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impl → utilite Relation

File in corelib/include/rtabmap/core/implIncludes file in utilite
LocalMapMaker.hppinclude / rtabmap / utilite / ULogger.h
util3d_surface.hppinclude / rtabmap / utilite / UConversion.h
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include → utilite Relation

File in corelib/includeIncludes file in utilite
rtabmap / core / EpipolarGeometry.hinclude / rtabmap / utilite / UStl.h
rtabmap / core / Landmark.hinclude / rtabmap / utilite / UConversion.h
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rtabmap / core / Landmark.hinclude / rtabmap / utilite / UMath.h
rtabmap / core / impl / LocalMapMaker.hppinclude / rtabmap / utilite / ULogger.h
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rtabmap / core / OdometryEvent.hinclude / rtabmap / utilite / ULogger.h
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rtabmap / core / Statistics.hinclude / rtabmap / utilite / UStl.h
rtabmap / core / impl / util3d_surface.hppinclude / rtabmap / utilite / UConversion.h
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rtabmap → utilite Relation

File in corelib/include/rtabmapIncludes file in utilite
core / EpipolarGeometry.hinclude / rtabmap / utilite / UStl.h
core / Landmark.hinclude / rtabmap / utilite / UConversion.h
core / Landmark.hinclude / rtabmap / utilite / ULogger.h
core / Landmark.hinclude / rtabmap / utilite / UMath.h
core / impl / LocalMapMaker.hppinclude / rtabmap / utilite / ULogger.h
core / Memory.hinclude / rtabmap / utilite / UStl.h
core / OdometryEvent.hinclude / rtabmap / utilite / ULogger.h
core / OdometryEvent.hinclude / rtabmap / utilite / UMath.h
core / Parameters.hinclude / rtabmap / utilite / UConversion.h
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core / Statistics.hinclude / rtabmap / utilite / UStl.h
core / impl / util3d_surface.hppinclude / rtabmap / utilite / UConversion.h
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corelib
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Win32 Directory Reference
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utilite/include/rtabmap/utilite/Win32
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corelib Directory Reference
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build-docs/corelib
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camera Directory Reference
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corelib/include/rtabmap/core/camera
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 CameraFreenect.h
 
 CameraFreenect2.h
 
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 CameraK4W2.h
 
 CameraMyntEye.h
 
 CameraOpenni.h
 
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 CameraOpenNICV.h
 
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 CameraRealSense.h
 
 CameraRealSense2.h
 
 CameraRGBDImages.h
 
 CameraSeerSense.h
 
 CameraStereoDC1394.h
 
 CameraStereoFlyCapture2.h
 
 CameraStereoImages.h
 
 CameraStereoTara.h
 
 CameraStereoVideo.h
 
 CameraStereoZed.h
 
 CameraStereoZedOC.h
 
 CameraVideo.h
 
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optimizer Directory Reference
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corelib/include/rtabmap/core/optimizer
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 OptimizerCeres.h
 
 OptimizerCVSBA.h
 
 OptimizerG2O.h
 
 OptimizerGTSAM.h
 
 OptimizerTORO.h
 
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RTAB-Map 0.23.10 +
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rtabmap Directory Reference
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+Directory dependency graph for rtabmap:
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+
build-docs/corelib/src/include/rtabmap
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+ + + + +

+Directories

 core
 
+
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corelib/include/rtabmap/core/impl
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 LocalMapMaker.hpp
 
 util3d.hpp
 
 util3d_mapping.hpp
 
 util3d_surface.hpp
 
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Posix Directory Reference
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utilite/include/rtabmap/utilite/Posix
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 UThreadC.h
 
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stereo Directory Reference
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corelib/include/rtabmap/core/stereo
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 StereoBM.h
 
 stereoRectifyFisheye.h
 
 StereoSGBM.h
 
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utilite Directory Reference
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utilite Directory Reference
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utilite/include/rtabmap/utilite
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 Posix
 
 Win32
 
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 UConversion.h
 Some conversion functions.
 
 UDestroyer.h
 
 UDirectory.h
 
 UEvent.h
 
 UEventsHandler.h
 
 UEventsManager.h
 
 UEventsSender.h
 
 UException.h
 
 UFile.h
 
 ULogger.h
 ULogger class and convenient macros.
 
 UMath.h
 Basic mathematics functions.
 
 UMutex.h
 
 UObjDeletionThread.h
 
 UProcessInfo.h
 UProcessInfo class for getting process information.
 
 USemaphore.h
 
 UStl.h
 Wrappers of STL for convenient functions.
 
 UThread.h
 
 UThreadC.h
 
 UThreadNode.h
 
 UtiLite.h
 
 UTimer.h
 
 UVariant.h
 UVariant class for storing and converting between different data types.
 
+
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+
+ + + + + + +
+
RTAB-Map 0.23.10 +
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core Directory Reference
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+Directory dependency graph for core:
+
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corelib/include/rtabmap/core
+ + + + + + + + + + + + + + + + + +
+ + + + + + + + + + + + + + + + + + +

+Directories

 camera
 
 clams
 
 global_map
 
 impl
 
 lidar
 
 odometry
 
 optimizer
 
 stereo
 
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Files

 BayesFilter.h
 
 Camera.h
 
 CameraEvent.h
 
 CameraInfo.h
 
 CameraModel.h
 
 CameraRGB.h
 
 CameraRGBD.h
 
 CameraStereo.h
 
 CameraThread.h
 
 Compression.h
 
 DBDriver.h
 
 DBDriverSqlite3.h
 
 DBReader.h
 
 EnvSensor.h
 
 EpipolarGeometry.h
 
 Features2d.h
 
 FlannIndex.h
 
 GainCompensator.h
 
 GeodeticCoords.h
 
 GlobalDescriptor.h
 
 GlobalDescriptorExtractor.h
 
 GlobalMap.h
 
 GPS.h
 
 Graph.h
 
 Image.h
 
 IMU.h
 
 IMUFilter.h
 
 IMUThread.h
 
 Landmark.h
 
 LaserScan.h
 
 LASWriter.h
 
 Lidar.h
 
 Link.h
 
 LocalGrid.h
 
 LocalGridMaker.h
 
 MarkerDetector.h
 
 Memory.h
 
 OccupancyGrid.h
 
 OctoMap.h
 
 Odometry.h
 
 OdometryEvent.h
 
 OdometryInfo.h
 
 OdometryThread.h
 
 Optimizer.h
 
 Parameters.h
 
 ParamEvent.h
 
 ParticleFilter.h
 
 PDALWriter.h
 
 ProgressState.h
 
 PythonInterface.h
 
 Recovery.h
 
 Registration.h
 
 RegistrationIcp.h
 
 RegistrationInfo.h
 
 RegistrationVis.h
 
 Rtabmap.h
 
 RtabmapEvent.h
 
 RtabmapThread.h
 
 rvl_codec.h
 
 SensorCapture.h
 
 SensorCaptureInfo.h
 
 SensorCaptureThread.h
 
 SensorData.h
 
 SensorEvent.h
 
 Signature.h
 
 Statistics.h
 
 Stereo.h
 
 StereoCameraModel.h
 
 StereoDense.h
 
 Transform.h
 
 UserDataEvent.h
 
 util2d.h
 
 util3d.h
 
 util3d_correspondences.h
 
 util3d_features.h
 
 util3d_filtering.h
 
 util3d_mapping.h
 
 util3d_motion_estimation.h
 
 util3d_registration.h
 
 util3d_surface.h
 
 util3d_transforms.h
 
 VisualWord.h
 
 VWDictionary.h
 
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 discrete_depth_distortion_model.h
 
 frame_projector.h
 
 slam_calibrator.h
 
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 utilite
 
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RTAB-Map 0.23.10 +
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+
global_map Directory Reference
+
+
+
+Directory dependency graph for global_map:
+
+
corelib/include/rtabmap/core/global_map
+ + + + +
+ + + + + + + + + + +

+Files

 CloudMap.h
 
 GridMap.h
 
 OccupancyGrid.h
 
 OctoMap.h
 
+
+ +
+Generated by doxygen 1.9.8 +
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RTAB-Map 0.23.10 +
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+
odometry Directory Reference
+
+
+
+Directory dependency graph for odometry:
+
+
corelib/include/rtabmap/core/odometry
+ + + + +
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Files

 OdometryCuVSLAM.h
 
 OdometryDVO.h
 
 OdometryF2F.h
 
 OdometryF2M.h
 
 OdometryFLOAM.h
 
 OdometryFovis.h
 
 OdometryLIOSAM.h
 
 OdometryLOAM.h
 
 OdometryMono.h
 
 OdometryMSCKF.h
 
 OdometryOkvis.h
 
 OdometryOpen3D.h
 
 OdometryOpenVINS.h
 
 OdometryORBSLAM2.h
 
 OdometryORBSLAM3.h
 
 OdometryVINS.h
 
 OdometryVINSFusion.h
 
 OdometryViso2.h
 
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+Directories

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+
+ +
+Generated by doxygen 1.9.8 +
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discrete_depth_distortion_model.h
+
+
+
1/*
+
2Copyright (c) 2013, Alex Teichman and Stephen Miller (Stanford University)
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the <organization> nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26
+
27RTAB-Map integration: Mathieu Labbe
+
28*/
+
29
+
30#ifndef DISCRETE_DEPTH_DISTORTION_MODEL_H
+
31#define DISCRETE_DEPTH_DISTORTION_MODEL_H
+
32
+
33#include <assert.h>
+
34#include <vector>
+
35#include <set>
+
36#include <Eigen/Core>
+
37#include <opencv2/opencv.hpp>
+
38#include <rtabmap/utilite/UMutex.h>
+
39#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
40
+
41namespace clams
+
42{
+
+
43 class RTABMAP_CORE_EXPORT DiscreteFrustum
+
44 {
+
45 public:
+
46 DiscreteFrustum(int smoothing = 1, double bin_depth = 1.0, double max_dist = 10.0);
+
49 void addExample(double ground_truth, double measurement);
+
50 int index(double z) const;
+
51 void undistort(double* z) const;
+
52 void interpolatedUndistort(double* z) const;
+
53 void serialize(std::ostream& out, bool ascii) const;
+
54 void deserialize(std::istream& in, bool ascii);
+
55
+
56 protected:
+
57 double max_dist_;
+
58 int num_bins_;
+
59 double bin_depth_;
+
60 Eigen::VectorXf counts_;
+
61 Eigen::VectorXf total_numerators_;
+
62 Eigen::VectorXf total_denominators_;
+
63 Eigen::VectorXf multipliers_;
+
64
+
65 friend class DiscreteDepthDistortionModel;
+
66 };
+
+
67
+
+
68 class RTABMAP_CORE_EXPORT DiscreteDepthDistortionModel
+
69 {
+
70 public:
+
71 // returns all divisors of num
+
72 static std::set<size_t> getDivisors(const size_t &num);
+
73
+
74 // returns divisor from divisors closest to ref
+
75 static size_t getClosestToRef(const std::set<size_t> &divisors, const double &ref);
+
76
+
77 // sets bin_width and bin_height to appropriate values
+
78 static void getBinSize(const size_t &width, const size_t &height, size_t &bin_width, size_t &bin_height);
+
79
+
80 public:
+
81 DiscreteDepthDistortionModel() :
+
82 width_(0),
+
83 height_(0),
+
84 bin_width_(0),
+
85 bin_height_(0),
+
86 bin_depth_(0),
+
87 num_bins_x_(0),
+
88 num_bins_y_(0),
+
89 training_samples_(0)
+
90 {}
+
91 virtual ~DiscreteDepthDistortionModel();
+
92 DiscreteDepthDistortionModel(int width, int height, int bin_width = 8, int bin_height = 6, double bin_depth = 2.0, int smoothing = 1, double max_depth = 10.0);
+
93 DiscreteDepthDistortionModel(const DiscreteDepthDistortionModel& other);
+
94 DiscreteDepthDistortionModel& operator=(const DiscreteDepthDistortionModel& other);
+
95 void undistort(cv::Mat & depth) const;
+
98 size_t accumulate(const cv::Mat& ground_truth, const cv::Mat& measurement);
+
99 void addExample(int v, int u, double ground_truth, double measurement);
+
100 void save(const std::string& path) const;
+
101 void load(const std::string& path);
+
102 void serialize(std::ostream& out, bool ascii) const;
+
103 void deserialize(std::istream& in, bool ascii);
+
104 cv::Mat visualize(const std::string& path = "") const;
+
105
+
106 int getWidth() const {return width_;}
+
107 int getHeight() const {return height_;}
+
108 size_t getTrainingSamples() const {return training_samples_;}
+
109 bool isValid() const
+
110 {
+
111 return !frustums_.empty();
+
112 }
+
113
+
114 protected:
+
116 int width_;
+
118 int height_;
+
120 int bin_width_;
+
122 int bin_height_;
+
124 double bin_depth_;
+
125 int num_bins_x_;
+
126 int num_bins_y_;
+
128 std::vector< std::vector<DiscreteFrustum*> > frustums_;
+
129
+
130 size_t training_samples_;
+
131
+
132 void deleteFrustums();
+
133 DiscreteFrustum& frustum(int y, int x);
+
134 const DiscreteFrustum& frustum(int y, int x) const;
+
135
+
136 UMutex mutex_;
+
137 };
+
+
138
+
139} // namespace clams
+
140
+
141#endif // DISCRETE_DEPTH_DISTORTION_MODEL_H
+ + +
clams::DiscreteDepthDistortionModel::bin_depth_
double bin_depth_
Depth of each bin in meters.
Definition discrete_depth_distortion_model.h:124
+
clams::DiscreteDepthDistortionModel::frustums_
std::vector< std::vector< DiscreteFrustum * > > frustums_
frustums_[y][x]
Definition discrete_depth_distortion_model.h:128
+ + +
clams::DiscreteDepthDistortionModel::accumulate
size_t accumulate(const cv::Mat &ground_truth, const cv::Mat &measurement)
+ + + +
clams::DiscreteFrustum::addExample
void addExample(double ground_truth, double measurement)
+
+ +
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+ color: var(--fragment-foreground-color); + background-color: var(--fragment-background-color); + border: 1px solid var(--fragment-border-color); +} + +div.line { + font-family: var(--font-family-monospace); + font-size: 13px; + min-height: 13px; + line-height: 1.2; + text-wrap: unrestricted; + white-space: -moz-pre-wrap; /* Moz */ + white-space: -pre-wrap; /* Opera 4-6 */ + white-space: -o-pre-wrap; /* Opera 7 */ + white-space: pre-wrap; /* CSS3 */ + word-wrap: break-word; /* IE 5.5+ */ + text-indent: -53px; + padding-left: 53px; + padding-bottom: 0px; + margin: 0px; + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +div.line:after { + content:"\000A"; + white-space: pre; +} + +div.line.glow { + background-color: var(--glow-color); + box-shadow: 0 0 10px var(--glow-color); +} + +span.fold { + margin-left: 5px; + margin-right: 1px; + margin-top: 0px; + margin-bottom: 0px; + padding: 0px; + display: inline-block; + width: 12px; + height: 12px; + background-repeat:no-repeat; + background-position:center; +} + +span.lineno { + padding-right: 4px; + margin-right: 9px; + text-align: right; + border-right: 2px solid var(--fragment-lineno-border-color); + color: var(--fragment-lineno-foreground-color); + background-color: var(--fragment-lineno-background-color); + white-space: pre; +} +span.lineno a, span.lineno a:visited { + color: var(--fragment-lineno-link-fg-color); + background-color: var(--fragment-lineno-link-bg-color); +} + +span.lineno a:hover { + color: var(--fragment-lineno-link-hover-fg-color); + background-color: var(--fragment-lineno-link-hover-bg-color); +} + +.lineno { + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +div.classindex ul { + list-style: none; + padding-left: 0; +} + +div.classindex span.ai { + display: inline-block; +} + +div.groupHeader { + margin-left: 16px; + margin-top: 12px; + font-weight: bold; +} + +div.groupText { + margin-left: 16px; + font-style: italic; +} + +body { + color: var(--page-foreground-color); + margin: 0; +} + +div.contents { + margin-top: 10px; + margin-left: 12px; + margin-right: 8px; +} + +p.formulaDsp { + text-align: center; +} + +img.dark-mode-visible { + display: none; +} +img.light-mode-visible { + display: none; +} + +img.formulaDsp { + +} + +img.formulaInl, img.inline { + vertical-align: middle; +} + +div.center { + text-align: center; + margin-top: 0px; + margin-bottom: 0px; + padding: 0px; +} + +div.center img { + border: 0px; +} + +address.footer { + text-align: right; + padding-right: 12px; +} + +img.footer { + border: 0px; + vertical-align: middle; + width: var(--footer-logo-width); +} + +.compoundTemplParams { + color: var(--memdecl-template-color); + font-size: 80%; + line-height: 120%; +} + +/* @group Code Colorization */ + +span.keyword { + color: var(--code-keyword-color); +} + +span.keywordtype { + color: var(--code-type-keyword-color); +} + +span.keywordflow { + color: var(--code-flow-keyword-color); +} + +span.comment { + color: var(--code-comment-color); +} + +span.preprocessor { + color: var(--code-preprocessor-color); +} + +span.stringliteral { + color: var(--code-string-literal-color); +} + +span.charliteral { + color: var(--code-char-literal-color); +} + +span.xmlcdata { + color: var(--code-xml-cdata-color); +} + +span.vhdldigit { + color: var(--code-vhdl-digit-color); +} + +span.vhdlchar { + color: var(--code-vhdl-char-color); +} + +span.vhdlkeyword { + color: var(--code-vhdl-keyword-color); +} + +span.vhdllogic { + color: var(--code-vhdl-logic-color); +} + +blockquote { + background-color: var(--blockquote-background-color); + border-left: 2px solid var(--blockquote-border-color); + margin: 0 24px 0 4px; + padding: 0 12px 0 16px; +} + +/* @end */ + +td.tiny { + font-size: 75%; +} + +.dirtab { + padding: 4px; + border-collapse: collapse; + border: 1px solid var(--table-cell-border-color); +} + +th.dirtab { + background-color: var(--table-header-background-color); + color: var(--table-header-foreground-color); + font-weight: bold; +} + +hr { + height: 0px; + border: none; + border-top: 1px solid var(--separator-color); +} + +hr.footer { + height: 1px; +} + +/* @group Member Descriptions */ + +table.memberdecls { + border-spacing: 0px; + padding: 0px; +} + +.memberdecls td, .fieldtable tr { + -webkit-transition-property: background-color, box-shadow; + -webkit-transition-duration: 0.5s; + -moz-transition-property: background-color, box-shadow; + -moz-transition-duration: 0.5s; + -ms-transition-property: background-color, box-shadow; + -ms-transition-duration: 0.5s; + -o-transition-property: background-color, box-shadow; + -o-transition-duration: 0.5s; + transition-property: background-color, box-shadow; + transition-duration: 0.5s; +} + +.memberdecls td.glow, .fieldtable tr.glow { + background-color: var(--glow-color); + box-shadow: 0 0 15px var(--glow-color); +} + +.mdescLeft, .mdescRight, +.memItemLeft, .memItemRight, +.memTemplItemLeft, .memTemplItemRight, .memTemplParams { + background-color: var(--memdecl-background-color); + border: none; + margin: 4px; + padding: 1px 0 0 8px; +} + +.mdescLeft, .mdescRight { + padding: 0px 8px 4px 8px; + color: var(--memdecl-foreground-color); +} + +.memSeparator { + border-bottom: 1px solid var(--memdecl-separator-color); + line-height: 1px; + margin: 0px; + padding: 0px; +} + +.memItemLeft, .memTemplItemLeft { + white-space: nowrap; +} + +.memItemRight, .memTemplItemRight { + width: 100%; +} + +.memTemplParams { + color: var(--memdecl-template-color); + white-space: nowrap; + font-size: 80%; +} + +/* @end */ + +/* @group Member Details */ + +/* Styles for detailed member documentation */ + +.memtitle { + padding: 8px; + border-top: 1px solid var(--memdef-border-color); + border-left: 1px solid var(--memdef-border-color); + border-right: 1px solid var(--memdef-border-color); + border-top-right-radius: 4px; + border-top-left-radius: 4px; + margin-bottom: -1px; + background-image: var(--memdef-title-gradient-image); + background-repeat: repeat-x; + background-color: var(--memdef-title-background-color); + line-height: 1.25; + font-weight: 300; + float:left; +} + +.permalink +{ + font-size: 65%; + display: inline-block; + vertical-align: middle; +} + +.memtemplate { + font-size: 80%; + color: var(--memdef-template-color); + font-weight: normal; + margin-left: 9px; +} + +.mempage { + width: 100%; +} + +.memitem { + padding: 0; + margin-bottom: 10px; + margin-right: 5px; + -webkit-transition: box-shadow 0.5s linear; + -moz-transition: box-shadow 0.5s linear; + -ms-transition: box-shadow 0.5s linear; + -o-transition: box-shadow 0.5s linear; + transition: box-shadow 0.5s linear; + display: table !important; + width: 100%; +} + +.memitem.glow { + box-shadow: 0 0 15px var(--glow-color); +} + +.memname { + font-weight: 400; + margin-left: 6px; +} + +.memname td { + vertical-align: bottom; +} + +.memproto, dl.reflist dt { + border-top: 1px solid var(--memdef-border-color); + border-left: 1px solid var(--memdef-border-color); + border-right: 1px solid var(--memdef-border-color); + padding: 6px 0px 6px 0px; + color: var(--memdef-proto-text-color); + font-weight: bold; + text-shadow: var(--memdef-proto-text-shadow); + background-color: var(--memdef-proto-background-color); + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + border-top-right-radius: 4px; +} + +.overload { + font-family: var(--font-family-monospace); + font-size: 65%; +} + +.memdoc, dl.reflist dd { + border-bottom: 1px solid var(--memdef-border-color); + border-left: 1px solid var(--memdef-border-color); + border-right: 1px solid var(--memdef-border-color); + padding: 6px 10px 2px 10px; + border-top-width: 0; + background-image:url('nav_g.png'); + background-repeat:repeat-x; + background-color: var(--memdef-doc-background-color); + /* opera specific markup */ + border-bottom-left-radius: 4px; + border-bottom-right-radius: 4px; + box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); + /* firefox specific markup */ + -moz-border-radius-bottomleft: 4px; + -moz-border-radius-bottomright: 4px; + -moz-box-shadow: rgba(0, 0, 0, 0.15) 5px 5px 5px; + /* webkit specific markup */ + -webkit-border-bottom-left-radius: 4px; + -webkit-border-bottom-right-radius: 4px; + -webkit-box-shadow: 5px 5px 5px rgba(0, 0, 0, 0.15); +} + +dl.reflist dt { + padding: 5px; +} + +dl.reflist dd { + margin: 0px 0px 10px 0px; + padding: 5px; +} + +.paramkey { + text-align: right; +} + +.paramtype { + white-space: nowrap; +} + +.paramname { + color: var(--memdef-param-name-color); + white-space: nowrap; +} +.paramname em { + font-style: normal; +} +.paramname code { + line-height: 14px; +} + +.params, .retval, .exception, .tparams { + margin-left: 0px; + padding-left: 0px; +} + +.params .paramname, .retval .paramname, .tparams .paramname, .exception .paramname { + font-weight: bold; + vertical-align: top; +} + +.params .paramtype, .tparams .paramtype { + font-style: italic; + vertical-align: top; +} + +.params .paramdir, .tparams .paramdir { + font-family: var(--font-family-monospace); + vertical-align: top; +} + +table.mlabels { + border-spacing: 0px; +} + +td.mlabels-left { + width: 100%; + padding: 0px; +} + +td.mlabels-right { + vertical-align: bottom; + padding: 0px; + white-space: nowrap; +} + +span.mlabels { + margin-left: 8px; +} + +span.mlabel { + background-color: var(--label-background-color); + border-top:1px solid var(--label-left-top-border-color); + border-left:1px solid var(--label-left-top-border-color); + border-right:1px solid var(--label-right-bottom-border-color); + border-bottom:1px solid var(--label-right-bottom-border-color); + text-shadow: none; + color: var(--label-foreground-color); + margin-right: 4px; + padding: 2px 3px; + border-radius: 3px; + font-size: 7pt; + white-space: nowrap; + vertical-align: middle; +} + + + +/* @end */ + +/* these are for tree view inside a (index) page */ + +div.directory { + margin: 10px 0px; + border-top: 1px solid var(--directory-separator-color); + border-bottom: 1px solid var(--directory-separator-color); + width: 100%; +} + +.directory table { + border-collapse:collapse; +} + +.directory td { + margin: 0px; + padding: 0px; + vertical-align: top; +} + +.directory td.entry { + white-space: nowrap; + padding-right: 6px; + padding-top: 3px; +} + +.directory td.entry a { + outline:none; +} + +.directory td.entry a img { + border: none; +} + +.directory td.desc { + width: 100%; + padding-left: 6px; + padding-right: 6px; + padding-top: 3px; + border-left: 1px solid rgba(0,0,0,0.05); +} + +.directory tr.odd { + padding-left: 6px; + background-color: var(--index-odd-item-bg-color); +} + +.directory tr.even { + padding-left: 6px; + background-color: var(--index-even-item-bg-color); +} + +.directory img { + vertical-align: -30%; +} + +.directory .levels { + white-space: nowrap; + width: 100%; + text-align: right; + font-size: 9pt; +} + +.directory .levels span { + cursor: pointer; + padding-left: 2px; + padding-right: 2px; + color: var(--page-link-color); +} + +.arrow { + color: var(--nav-arrow-color); + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; + cursor: pointer; + font-size: 80%; + display: inline-block; + width: 16px; + height: 22px; +} + +.icon { + font-family: var(--font-family-icon); + line-height: normal; + font-weight: bold; + font-size: 12px; + height: 14px; + width: 16px; + display: inline-block; + background-color: var(--icon-background-color); + color: var(--icon-foreground-color); + text-align: center; + border-radius: 4px; + margin-left: 2px; + margin-right: 2px; +} + +.icona { + width: 24px; + height: 22px; + display: inline-block; +} + +.iconfopen { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:var(--icon-folder-open-image); + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.iconfclosed { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:var(--icon-folder-closed-image); + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +.icondoc { + width: 24px; + height: 18px; + margin-bottom: 4px; + background-image:var(--icon-doc-image); + background-position: 0px -4px; + background-repeat: repeat-y; + vertical-align:top; + display: inline-block; +} + +/* @end */ + +div.dynheader { + margin-top: 8px; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +address { + font-style: normal; + color: var(--footer-foreground-color); +} + +table.doxtable caption { + caption-side: top; +} + +table.doxtable { + border-collapse:collapse; + margin-top: 4px; + margin-bottom: 4px; +} + +table.doxtable td, table.doxtable th { + border: 1px solid var(--table-cell-border-color); + padding: 3px 7px 2px; +} + +table.doxtable th { + background-color: var(--table-header-background-color); + color: var(--table-header-foreground-color); + font-size: 110%; + padding-bottom: 4px; + padding-top: 5px; +} + +table.fieldtable { + margin-bottom: 10px; + border: 1px solid var(--memdef-border-color); + border-spacing: 0px; + border-radius: 4px; + box-shadow: 2px 2px 2px rgba(0, 0, 0, 0.15); +} + +.fieldtable td, .fieldtable th { + padding: 3px 7px 2px; +} + +.fieldtable td.fieldtype, .fieldtable td.fieldname { + white-space: nowrap; + border-right: 1px solid var(--memdef-border-color); + border-bottom: 1px solid var(--memdef-border-color); + vertical-align: top; +} + +.fieldtable td.fieldname { + padding-top: 3px; +} + +.fieldtable td.fielddoc { + border-bottom: 1px solid var(--memdef-border-color); +} + +.fieldtable td.fielddoc p:first-child { + margin-top: 0px; +} + +.fieldtable td.fielddoc p:last-child { + margin-bottom: 2px; +} + +.fieldtable tr:last-child td { + border-bottom: none; +} + +.fieldtable th { + background-image: var(--memdef-title-gradient-image); + background-repeat:repeat-x; + background-color: var(--memdef-title-background-color); + font-size: 90%; + color: var(--memdef-proto-text-color); + padding-bottom: 4px; + padding-top: 5px; + text-align:left; + font-weight: 400; + border-top-left-radius: 4px; + border-top-right-radius: 4px; + border-bottom: 1px solid var(--memdef-border-color); +} + + +.tabsearch { + top: 0px; + left: 10px; + height: 36px; + background-image: var(--nav-gradient-image); + z-index: 101; + overflow: hidden; + font-size: 13px; +} + +.navpath ul +{ + font-size: 11px; + background-image: var(--nav-gradient-image); + background-repeat:repeat-x; + background-position: 0 -5px; + height:30px; + line-height:30px; + color:var(--nav-text-normal-color); + border:solid 1px var(--nav-breadcrumb-border-color); + overflow:hidden; + margin:0px; + padding:0px; +} + +.navpath li +{ + list-style-type:none; + float:left; + padding-left:10px; + padding-right:15px; + background-image:var(--nav-breadcrumb-image); + background-repeat:no-repeat; + background-position:right; + color: var(--nav-foreground-color); +} + +.navpath li.navelem a +{ + height:32px; + display:block; + text-decoration: none; + outline: none; + color: var(--nav-text-normal-color); + font-family: var(--font-family-nav); + text-shadow: var(--nav-text-normal-shadow); + text-decoration: none; +} + +.navpath li.navelem a:hover +{ + color: var(--nav-text-hover-color); + text-shadow: var(--nav-text-hover-shadow); +} + +.navpath li.footer +{ + list-style-type:none; + float:right; + padding-left:10px; + padding-right:15px; + background-image:none; + background-repeat:no-repeat; + background-position:right; + color: var(--footer-foreground-color); + font-size: 8pt; +} + + +div.summary +{ + float: right; + font-size: 8pt; + padding-right: 5px; + width: 50%; + text-align: right; +} + +div.summary a +{ + white-space: nowrap; +} + +table.classindex +{ + margin: 10px; + white-space: nowrap; + margin-left: 3%; + margin-right: 3%; + width: 94%; + border: 0; + border-spacing: 0; + padding: 0; +} + +div.ingroups +{ + font-size: 8pt; + width: 50%; + text-align: left; +} + +div.ingroups a +{ + white-space: nowrap; +} + +div.header +{ + background-image: var(--header-gradient-image); + background-repeat:repeat-x; + background-color: var(--header-background-color); + margin: 0px; + border-bottom: 1px solid var(--header-separator-color); +} + +div.headertitle +{ + padding: 5px 5px 5px 10px; +} + +.PageDocRTL-title div.headertitle { + text-align: right; + direction: rtl; +} + +dl { + padding: 0 0 0 0; +} + +/* dl.note, dl.warning, dl.attention, dl.pre, dl.post, dl.invariant, dl.deprecated, dl.todo, dl.test, dl.bug, dl.examples */ +dl.section { + margin-left: 0px; + padding-left: 0px; +} + +dl.note { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #D0C000; +} + +dl.warning, dl.attention { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #FF0000; +} + +dl.pre, dl.post, dl.invariant { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00D000; +} + +dl.deprecated { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #505050; +} + +dl.todo { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #00C0E0; +} + +dl.test { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #3030E0; +} + +dl.bug { + margin-left: -7px; + padding-left: 3px; + border-left: 4px solid; + border-color: #C08050; +} + +dl.section dd { + margin-bottom: 6px; +} + + +#projectrow +{ + height: 56px; +} + +#projectlogo +{ + text-align: center; + vertical-align: bottom; + border-collapse: separate; +} + +#projectlogo img +{ + border: 0px none; +} + +#projectalign +{ + vertical-align: middle; + padding-left: 0.5em; +} + +#projectname +{ + font-size: 200%; + font-family: var(--font-family-title); + margin: 0px; + padding: 2px 0px; +} + +#projectbrief +{ + font-size: 90%; + font-family: var(--font-family-title); + margin: 0px; + padding: 0px; +} + +#projectnumber +{ + font-size: 50%; + font-family: 50% var(--font-family-title); + margin: 0px; + padding: 0px; +} + +#titlearea +{ + padding: 0px; + margin: 0px; + width: 100%; + border-bottom: 1px solid var(--title-separator-color); + background-color: var(--title-background-color); +} + +.image +{ + text-align: center; +} + +.dotgraph +{ + text-align: center; +} + +.mscgraph +{ + text-align: center; +} + +.plantumlgraph +{ + text-align: center; +} + +.diagraph +{ + text-align: center; +} + +.caption +{ + font-weight: bold; +} + +dl.citelist { + margin-bottom:50px; +} + +dl.citelist dt { + color:var(--citation-label-color); + float:left; + font-weight:bold; + margin-right:10px; + padding:5px; + text-align:right; + width:52px; +} + +dl.citelist dd { + margin:2px 0 2px 72px; + padding:5px 0; +} + +div.toc { + padding: 14px 25px; + background-color: var(--toc-background-color); + border: 1px solid var(--toc-border-color); + border-radius: 7px 7px 7px 7px; + float: right; + height: auto; + margin: 0 8px 10px 10px; + width: 200px; +} + +div.toc li { + background: var(--toc-down-arrow-image) no-repeat scroll 0 5px transparent; + font: 10px/1.2 var(--font-family-toc); + margin-top: 5px; + padding-left: 10px; + padding-top: 2px; +} + +div.toc h3 { + font: bold 12px/1.2 var(--font-family-toc); + color: var(--toc-header-color); + border-bottom: 0 none; + margin: 0; +} + +div.toc ul { + list-style: none outside none; + border: medium none; + padding: 0px; +} + +div.toc li.level1 { + margin-left: 0px; +} + +div.toc li.level2 { + margin-left: 15px; +} + +div.toc li.level3 { + margin-left: 15px; +} + +div.toc li.level4 { + margin-left: 15px; +} + +span.emoji { + /* font family used at the site: https://unicode.org/emoji/charts/full-emoji-list.html + * font-family: "Noto Color Emoji", "Apple Color Emoji", "Segoe UI Emoji", Times, Symbola, Aegyptus, Code2000, Code2001, Code2002, Musica, serif, LastResort; + */ +} + +span.obfuscator { + display: none; +} + +.inherit_header { + font-weight: bold; + color: var(--inherit-header-color); + cursor: pointer; + -webkit-touch-callout: none; + -webkit-user-select: none; + -khtml-user-select: none; + -moz-user-select: none; + -ms-user-select: none; + user-select: none; +} + +.inherit_header td { + padding: 6px 0px 2px 5px; +} + +.inherit { + display: none; +} + +tr.heading h2 { + margin-top: 12px; + margin-bottom: 4px; +} + +/* tooltip related style info */ + +.ttc { + position: absolute; + display: none; +} + +#powerTip { + cursor: default; + /*white-space: nowrap;*/ + color: var(--tooltip-foreground-color); + background-color: var(--tooltip-background-color); + border: 1px solid var(--tooltip-border-color); + border-radius: 4px 4px 4px 4px; + box-shadow: var(--tooltip-shadow); + display: none; + font-size: smaller; + max-width: 80%; + opacity: 0.9; + padding: 1ex 1em 1em; + position: absolute; + z-index: 2147483647; +} + +#powerTip div.ttdoc { + color: var(--tooltip-doc-color); + font-style: italic; +} + +#powerTip div.ttname a { + font-weight: bold; +} + +#powerTip a { + color: var(--tooltip-link-color); +} + +#powerTip div.ttname { + font-weight: bold; +} + +#powerTip div.ttdeci { + color: var(--tooltip-declaration-color); +} + +#powerTip div { + margin: 0px; + padding: 0px; + font-size: 12px; + font-family: var(--font-family-tooltip); + line-height: 16px; +} + +#powerTip:before, #powerTip:after { + content: ""; + position: absolute; + margin: 0px; +} + +#powerTip.n:after, #powerTip.n:before, +#powerTip.s:after, #powerTip.s:before, +#powerTip.w:after, #powerTip.w:before, +#powerTip.e:after, #powerTip.e:before, +#powerTip.ne:after, #powerTip.ne:before, +#powerTip.se:after, #powerTip.se:before, +#powerTip.nw:after, #powerTip.nw:before, +#powerTip.sw:after, #powerTip.sw:before { + border: solid transparent; + content: " "; + height: 0; + width: 0; + position: absolute; +} + +#powerTip.n:after, #powerTip.s:after, +#powerTip.w:after, #powerTip.e:after, +#powerTip.nw:after, #powerTip.ne:after, +#powerTip.sw:after, #powerTip.se:after { + border-color: rgba(255, 255, 255, 0); 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 ▼ include
 ▼ rtabmap
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frame_projector.h
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1/*
+
2Copyright (c) 2013, Alex Teichman and Stephen Miller (Stanford University)
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
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10 notice, this list of conditions and the following disclaimer in the
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11 documentation and/or other materials provided with the distribution.
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13 names of its contributors may be used to endorse or promote products
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14 derived from this software without specific prior written permission.
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16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26
+
27RTAB-Map integration: Mathieu Labbe
+
28*/
+
29
+
30#ifndef FRAME_PROJECTOR_H
+
31#define FRAME_PROJECTOR_H
+
32
+
33#include <pcl/point_cloud.h>
+
34#include <pcl/point_types.h>
+
35#include <opencv2/core/core.hpp>
+
36#include <rtabmap/core/CameraModel.h>
+
37
+
38#define MAX_MULT 1.3
+
39#define MIN_MULT 0.7
+
40
+
41namespace clams
+
42{
+
43
+
+
47 class ProjectivePoint
+
48 {
+
49 public:
+
50 ProjectivePoint() :
+
51 u_(0),
+
52 v_(0),
+
53 z_(0.0f) {}
+
54
+
55 int u_;
+
56 int v_;
+
57 float z_; // in meters
+
58 };
+
+
59
+
+
62 class RTABMAP_CORE_EXPORT FrameProjector
+
63 {
+
64 public:
+
65 // For storing z values in meters. This is not Euclidean distance.
+
66 typedef std::vector< std::vector< std::vector<double> > > RangeIndex;
+
67
+
68 FrameProjector(const rtabmap::CameraModel & model);
+
69
+
70 RangeIndex cloudToRangeIndex(const pcl::PointCloud<pcl::PointXYZ>::Ptr & pcd) const;
+
74 cv::Mat estimateMapDepth(
+
75 const pcl::PointCloud<pcl::PointXYZ>::Ptr & map,
+
76 const rtabmap::Transform & transform,
+
77 const cv::Mat & measurement,
+
78 double coneRadius = 0.02,
+
79 double coneStdevThresh = 0.03) const;
+
80
+
81 pcl::PointXYZ project(const ProjectivePoint& ppt) const;
+
82 ProjectivePoint reproject(const pcl::PointXYZ& pt) const;
+
83
+
84 protected:
+
85 bool coneFit(const cv::Size& imageSize, const RangeIndex& rindex,
+
86 int uc, int vc, double radius, double measurement_depth,
+
87 double* mean, double* stdev) const;
+
88
+
89 private:
+
90 rtabmap::CameraModel model_;
+
91 };
+
+
92
+
93} // namespace clams
+
94
+
95#endif // FRAME_PROJECTOR_H
+ +
clams::FrameProjector::estimateMapDepth
cv::Mat estimateMapDepth(const pcl::PointCloud< pcl::PointXYZ >::Ptr &map, const rtabmap::Transform &transform, const cv::Mat &measurement, double coneRadius=0.02, double coneStdevThresh=0.03) const
+ +
rtabmap::CameraModel
Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
Definition CameraModel.h:53
+
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
+
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+ + diff --git a/preview/pr-1492/api/latest/functions_u.html b/preview/pr-1492/api/latest/functions_u.html new file mode 100644 index 00000000..cb4252bb --- /dev/null +++ b/preview/pr-1492/api/latest/functions_u.html @@ -0,0 +1,111 @@ + + + + + + + + +RTAB-Map: Class Members + + + + + + + + + + + + +
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+ + diff --git a/preview/pr-1492/api/latest/global__map_2OccupancyGrid_8h_source.html b/preview/pr-1492/api/latest/global__map_2OccupancyGrid_8h_source.html new file mode 100644 index 00000000..4688f0df --- /dev/null +++ b/preview/pr-1492/api/latest/global__map_2OccupancyGrid_8h_source.html @@ -0,0 +1,171 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/global_map/OccupancyGrid.h Source File + + + + + + + + + + + + +
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+
OccupancyGrid.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef CORELIB_SRC_OCCUPANCYGRID_H_
+
29#define CORELIB_SRC_OCCUPANCYGRID_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <rtabmap/core/GlobalMap.h>
+
34
+
35#include <pcl/point_cloud.h>
+
36#include <pcl/point_types.h>
+
37
+
38namespace rtabmap {
+
39
+
+
40class RTABMAP_CORE_EXPORT OccupancyGrid : public GlobalMap
+
41{
+
42public:
+
43 OccupancyGrid(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
+
44 void setMap(const cv::Mat & map, float xMin, float yMin, float cellSize, const std::map<int, Transform> & poses);
+
45 float getMinMapSize() const {return minMapSize_;}
+
46
+
47 virtual void clear();
+
48
+
49 cv::Mat getMap(float & xMin, float & yMin) const;
+
50 cv::Mat getProbMap(float & xMin, float & yMin) const;
+
51
+
52 unsigned long getMemoryUsed() const;
+
53
+
54protected:
+
55 virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses);
+
56
+
57private:
+
58 cv::Mat map_;
+
59 cv::Mat mapInfo_;
+
60
+
61 float minMapSize_;
+
62 bool erode_;
+
63 float footprintRadius_;
+
64};
+
+
65
+
66}
+
67
+
68#endif /* CORELIB_SRC_OCCUPANCYGRID_H_ */
+
rtabmap::GlobalMap
Abstract base for assembling per-node LocalGrid data into a global map.
Definition GlobalMap.h:56
+
rtabmap::LocalGridCache
Cache of LocalGrid entries keyed by map node id.
Definition LocalGrid.h:98
+ +
rtabmap::OccupancyGrid::getMemoryUsed
unsigned long getMemoryUsed() const
Approximate memory used by assembled-node bookkeeping (bytes).
+
rtabmap::OccupancyGrid::assemble
virtual void assemble(const std::list< std::pair< int, Transform > > &newPoses)
Subclass hook: merge newPoses into the global map; call addAssembledNode().
+
rtabmap::OccupancyGrid::clear
virtual void clear()
Clears assembled nodes and grid bounds; does not clear LocalGridCache.
+ +
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/global__map_2OctoMap_8h_source.html b/preview/pr-1492/api/latest/global__map_2OctoMap_8h_source.html new file mode 100644 index 00000000..b928141c --- /dev/null +++ b/preview/pr-1492/api/latest/global__map_2OctoMap_8h_source.html @@ -0,0 +1,322 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/global_map/OctoMap.h Source File + + + + + + + + + + + + +
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OctoMap.h
+
+
+
1/*
+
2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+
3All rights reserved.
+
4
+
5Redistribution and use in source and binary forms, with or without
+
6modification, are permitted provided that the following conditions are met:
+
7 * Redistributions of source code must retain the above copyright
+
8 notice, this list of conditions and the following disclaimer.
+
9 * Redistributions in binary form must reproduce the above copyright
+
10 notice, this list of conditions and the following disclaimer in the
+
11 documentation and/or other materials provided with the distribution.
+
12 * Neither the name of the Universite de Sherbrooke nor the
+
13 names of its contributors may be used to endorse or promote products
+
14 derived from this software without specific prior written permission.
+
15
+
16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+
17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+
18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+
19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+
20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+
21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+
22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+
23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+
24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+
25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+
26*/
+
27
+
28#ifndef SRC_OCTOMAP_H_
+
29#define SRC_OCTOMAP_H_
+
30
+
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
+
32
+
33#include <octomap/ColorOcTree.h>
+
34#include <octomap/OcTreeKey.h>
+
35
+
36#include <pcl/pcl_base.h>
+
37#include <pcl/point_types.h>
+
38
+
39#include <rtabmap/core/Transform.h>
+
40#include <rtabmap/core/Parameters.h>
+
41#include <rtabmap/core/GlobalMap.h>
+
42
+
43#include <map>
+
44#include <unordered_set>
+
45#include <string>
+
46#include <queue>
+
47
+
48namespace rtabmap {
+
49
+
50// forward declaraton for "friend"
+
51class RtabmapColorOcTree;
+
52
+
+
53class RtabmapColorOcTreeNode : public octomap::ColorOcTreeNode
+
54{
+
55public:
+
56 enum OccupancyType {kTypeUnknown=-1, kTypeEmpty=0, kTypeGround=1, kTypeObstacle=100};
+
57
+
58public:
+
59 friend class RtabmapColorOcTree; // needs access to node children (inherited)
+
60
+
61 RtabmapColorOcTreeNode() : ColorOcTreeNode(), nodeRefId_(0), type_(kTypeUnknown) {}
+
62 RtabmapColorOcTreeNode(const RtabmapColorOcTreeNode& rhs) : ColorOcTreeNode(rhs), nodeRefId_(rhs.nodeRefId_), type_(rhs.type_) {}
+
63
+
64 void setNodeRefId(int nodeRefId) {nodeRefId_ = nodeRefId;}
+
65 void setOccupancyType(char type) {type_=type;}
+
66 void setPointRef(const octomap::point3d & point) {pointRef_ = point;}
+
67 int getNodeRefId() const {return nodeRefId_;}
+
68 int getOccupancyType() const {return type_;}
+
69 const octomap::point3d & getPointRef() const {return pointRef_;}
+
70
+
71 // following methods defined for octomap < 1.8 compatibility
+
72 RtabmapColorOcTreeNode* getChild(unsigned int i);
+
73 const RtabmapColorOcTreeNode* getChild(unsigned int i) const;
+
74 bool pruneNode();
+
75 void expandNode();
+
76 bool createChild(unsigned int i);
+
77
+
78 void updateOccupancyTypeChildren();
+
79
+
80private:
+
81 int nodeRefId_;
+
82 int type_; // -1=undefined, 0=empty, 100=obstacle, 1=ground
+
83 octomap::point3d pointRef_;
+
84};
+
+
85
+
86// Same as official ColorOctree but using RtabmapColorOcTreeNode, which is inheriting ColorOcTreeNode
+
+
87class RtabmapColorOcTree : public octomap::OccupancyOcTreeBase <RtabmapColorOcTreeNode> {
+
88
+
89 public:
+
91 RtabmapColorOcTree(double resolution);
+
92 virtual ~RtabmapColorOcTree() {}
+
93
+
96 RtabmapColorOcTree* create() const {return new RtabmapColorOcTree(resolution); }
+
97
+
98 std::string getTreeType() const {return "ColorOcTree";} // same type as ColorOcTree to be compatible with ROS OctoMap msg
+
99
+
106 virtual bool pruneNode(RtabmapColorOcTreeNode* node);
+
107
+
108 virtual bool isNodeCollapsible(const RtabmapColorOcTreeNode* node) const;
+
109
+
110 // set node color at given key or coordinate. Replaces previous color.
+
111 RtabmapColorOcTreeNode* setNodeColor(const octomap::OcTreeKey& key, uint8_t r,
+
112 uint8_t g, uint8_t b);
+
113
+
114 RtabmapColorOcTreeNode* setNodeColor(float x, float y,
+
115 float z, uint8_t r,
+
116 uint8_t g, uint8_t b) {
+
117 octomap::OcTreeKey key;
+
118 if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
+
119 return setNodeColor(key,r,g,b);
+
120 }
+
121
+
122 // integrate color measurement at given key or coordinate. Average with previous color
+
123 RtabmapColorOcTreeNode* averageNodeColor(const octomap::OcTreeKey& key, uint8_t r,
+
124 uint8_t g, uint8_t b);
+
125
+
126 RtabmapColorOcTreeNode* averageNodeColor(float x, float y,
+
127 float z, uint8_t r,
+
128 uint8_t g, uint8_t b) {
+
129 octomap:: OcTreeKey key;
+
130 if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
+
131 return averageNodeColor(key,r,g,b);
+
132 }
+
133
+
134 // integrate color measurement at given key or coordinate. Average with previous color
+
135 RtabmapColorOcTreeNode* integrateNodeColor(const octomap::OcTreeKey& key, uint8_t r,
+
136 uint8_t g, uint8_t b);
+
137
+
138 RtabmapColorOcTreeNode* integrateNodeColor(float x, float y,
+
139 float z, uint8_t r,
+
140 uint8_t g, uint8_t b) {
+
141 octomap::OcTreeKey key;
+
142 if (!this->coordToKeyChecked(octomap::point3d(x,y,z), key)) return NULL;
+
143 return integrateNodeColor(key,r,g,b);
+
144 }
+
145
+
146 // update inner nodes, sets color to average child color
+
147 void updateInnerOccupancy();
+
148
+
149 protected:
+
150 void updateInnerOccupancyRecurs(RtabmapColorOcTreeNode* node, unsigned int depth);
+
151
+
+
159 class StaticMemberInitializer{
+
160 public:
+
161 StaticMemberInitializer();
+
162
+
168 void ensureLinking() {};
+
169 };
+
+
171 static StaticMemberInitializer RtabmapColorOcTreeMemberInit;
+
172
+
173 };
+
+
174
+
+
175class RTABMAP_CORE_EXPORT OctoMap : public GlobalMap {
+
176public:
+
177 OctoMap(const LocalGridCache * cache, const ParametersMap & parameters = ParametersMap());
+
178
+
179 const RtabmapColorOcTree * octree() const {return octree_;}
+
180
+
181 pcl::PointCloud<pcl::PointXYZRGB>::Ptr createCloud(
+
182 unsigned int treeDepth = 0,
+
183 std::vector<int> * obstacleIndices = 0,
+
184 std::vector<int> * emptyIndices = 0,
+
185 std::vector<int> * groundIndices = 0,
+
186 bool originalRefPoints = true,
+
187 std::vector<int> * frontierIndices = 0,
+
188 std::vector<double> * cloudProb = 0) const;
+
189
+
190 cv::Mat createProjectionMap(
+
191 float & xMin,
+
192 float & yMin,
+
193 float & gridCellSize,
+
194 float minGridSize = 0.0f,
+
195 unsigned int treeDepth = 0);
+
196
+
197 bool writeBinary(const std::string & path);
+
198
+
199 virtual ~OctoMap();
+
200 virtual void clear();
+
201 virtual unsigned long getMemoryUsed() const;
+
202
+
203 bool hasColor() const {return hasColor_;}
+
204
+
205 static std::unordered_set<octomap::OcTreeKey, octomap::OcTreeKey::KeyHash> findEmptyNode(RtabmapColorOcTree* octree_, unsigned int treeDepth, octomap::point3d startPosition);
+
206 static void floodFill(RtabmapColorOcTree* octree_, unsigned int treeDepth,octomap::point3d startPosition, std::unordered_set<octomap::OcTreeKey, octomap::OcTreeKey::KeyHash> & EmptyNodes,std::queue<octomap::point3d>& positionToExplore);
+
207 static bool isNodeVisited(std::unordered_set<octomap::OcTreeKey,octomap::OcTreeKey::KeyHash> const & EmptyNodes,octomap::OcTreeKey const key);
+
208 static octomap::point3d findCloseEmpty(RtabmapColorOcTree* octree_, unsigned int treeDepth,octomap::point3d startPosition);
+
209 static bool isValidEmpty(RtabmapColorOcTree* octree_, unsigned int treeDepth,octomap::point3d startPosition);
+
210
+
211protected:
+
212 virtual void assemble(const std::list<std::pair<int, Transform> > & newPoses);
+
213
+
214private:
+
215 void updateMinMax(const octomap::point3d & point);
+
216
+
217private:
+
218 RtabmapColorOcTree * octree_;
+
219 bool hasColor_;
+
220 float rangeMax_;
+
221 bool rayTracing_;
+
222 unsigned int emptyFloodFillDepth_;
+
223};
+
+
224
+
225} /* namespace rtabmap */
+
226
+
227#endif /* SRC_OCTOMAP_H_ */
+
rtabmap::GlobalMap
Abstract base for assembling per-node LocalGrid data into a global map.
Definition GlobalMap.h:56
+
rtabmap::LocalGridCache
Cache of LocalGrid entries keyed by map node id.
Definition LocalGrid.h:98
+ +
rtabmap::OctoMap::clear
virtual void clear()
Clears assembled nodes and grid bounds; does not clear LocalGridCache.
+
rtabmap::OctoMap::getMemoryUsed
virtual unsigned long getMemoryUsed() const
Approximate memory used by assembled-node bookkeeping (bytes).
+
rtabmap::OctoMap::assemble
virtual void assemble(const std::list< std::pair< int, Transform > > &newPoses)
Subclass hook: merge newPoses into the global map; call addAssembledNode().
+ + + + +
rtabmap::RtabmapColorOcTree::RtabmapColorOcTree
RtabmapColorOcTree(double resolution)
Default constructor, sets resolution of leafs.
+
rtabmap::RtabmapColorOcTree::RtabmapColorOcTreeMemberInit
static StaticMemberInitializer RtabmapColorOcTreeMemberInit
static member to ensure static initialization (only once)
Definition OctoMap.h:171
+
rtabmap::RtabmapColorOcTree::create
RtabmapColorOcTree * create() const
Definition OctoMap.h:96
+
rtabmap::RtabmapColorOcTree::pruneNode
virtual bool pruneNode(RtabmapColorOcTreeNode *node)
+ +
+ +
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RTAB-Map 0.23.10 +
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+Functions
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Compute Structural Complexity of a Point Cloud with Normals
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Computes the complexity of surface normals in a point cloud using PCA. +More...

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+Functions

+float RTABMAP_CORE_EXPORT rtabmap::util3d::computeNormalsComplexity (const LaserScan &scan, const Transform &t=Transform::getIdentity(), cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)
 Computes the complexity of surface normals in a point cloud of type LaserScan.
 
+float RTABMAP_CORE_EXPORT rtabmap::util3d::computeNormalsComplexity (const pcl::PointCloud< pcl::Normal > &normals, const Transform &t=Transform::getIdentity(), bool is2d=false, cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)
 Computes the complexity of surface normals in a point cloud of type pcl::Normal.
 
+float RTABMAP_CORE_EXPORT rtabmap::util3d::computeNormalsComplexity (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &t=Transform::getIdentity(), bool is2d=false, cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)
 Computes the complexity of surface normals in a point cloud of type pcl::PointNormal.
 
+float RTABMAP_CORE_EXPORT rtabmap::util3d::computeNormalsComplexity (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &t=Transform::getIdentity(), bool is2d=false, cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)
 Computes the complexity of surface normals in a point cloud of type pcl::PointXYZINormal.
 
+float RTABMAP_CORE_EXPORT rtabmap::util3d::computeNormalsComplexity (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const Transform &t=Transform::getIdentity(), bool is2d=false, cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)
 Computes the complexity of surface normals in a point cloud of type pcl::PointXYZRGBNormal.
 
+

Detailed Description

+

Computes the complexity of surface normals in a point cloud using PCA.

+

This function performs a Principal Component Analysis (PCA) on the normals of a point cloud and returns a scalar measure of their spread (complexity). A low value indicates that normals are aligned (e.g., flat surface), while a high value indicates variation in orientation (e.g., curved or rough surface).

+

If a transformation is provided, the normals are rotated accordingly before PCA. The result is normalized to lie between 0 and 1, where 0 represents minimal complexity (the normals are confined to a lower-dimensional subspace, e.g. a flat surface) and 1 represents maximal complexity (the normal directions are isotropic).

+
Parameters
+ + + + + + + +
cloudThe input point cloud or laser scan containing normals (pcl::PointNormal), or simply normals.
tThe transform to apply to the normals (only the rotation is used).
is2dSet to true if the data is 2D (normals will be analyzed in 2D space).
pcaEigenVectors(Optional) Output matrix containing the eigenvectors computed by PCA.
pcaEigenValues(Optional) Output matrix containing the eigenvalues computed by PCA.
centeredWhen true (default), use covariance PCA (centered at mean). Use false for the uncentered second-moment matrix M = (1/N) sum(n_i * n_i^T), which measures span of normal directions and correctly identifies degeneracy even when there are only N (rather than N+1) distinct viewpoint-flipped normal directions in N-D space.
+
+
+
Returns
A float value between 0 and 1 representing the complexity of the normal distribution. Returns 0 if not enough valid normals are available.
+
Note
Invalid normals (containing NaN or Inf) are automatically filtered out. The result is the smallest eigenvalue (2nd in 2D, 3rd in 3D) scaled by the number of dimensions (2 or 3), so that it is normalized against the unit-norm normals.
+
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+ + diff --git a/preview/pr-1492/api/latest/group__ComputeVarianceAndCorrespondences.html b/preview/pr-1492/api/latest/group__ComputeVarianceAndCorrespondences.html new file mode 100644 index 00000000..5dba412e --- /dev/null +++ b/preview/pr-1492/api/latest/group__ComputeVarianceAndCorrespondences.html @@ -0,0 +1,132 @@ + + + + + + + + +RTAB-Map: Compute Variance and Correspondences of Two Point Clouds + + + + + + + + + + + + +
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+ + + + + + +
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Compute Variance and Correspondences of Two Point Clouds
+
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+ +

Computes the geometric variance and number of valid correspondences between two point clouds. +More...

+ + + + + + + + + + + + + + +

+Functions

+void RTABMAP_CORE_EXPORT rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)
 Compute with variance and correspondences of pcl::PointNormal point cloud type.
 
+void RTABMAP_CORE_EXPORT rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZINormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)
 Compute with variance and correspondences of pcl::PointXYZINormal point cloud type.
 
+void RTABMAP_CORE_EXPORT rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut, bool reciprocal)
 Compute with variance and correspondences of pcl::PointXYZ point cloud type.
 
+void RTABMAP_CORE_EXPORT rtabmap::util3d::computeVarianceAndCorrespondences (const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointXYZI >::ConstPtr &cloudB, double maxCorrespondenceDistance, double &variance, int &correspondencesOut, bool reciprocal)
 Compute with variance and correspondences of pcl::PointXYZI point cloud type.
 
+

Detailed Description

+

Computes the geometric variance and number of valid correspondences between two point clouds.

+

This function estimates correspondences between two point clouds and computes a variance measure (based on squared median error) for the inlier correspondences. Optionally filters correspondences by normal alignment angle if the point cloud has normals.

+

The correspondence estimation uses PCL's reciprocal correspondence logic by default. The target and source clouds are automatically chosen based on their sizes (the larger becomes the target to ensure optimal matching behavior).

+
Parameters
+ + + + + + + + +
cloudAFirst input point cloud (used interchangeably with cloudB for matching).
cloudBSecond input point cloud.
maxCorrespondenceDistanceMaximum allowable Euclidean distance between correspondences.
maxCorrespondenceAngleMaximum angle (in radians) between normals for correspondences to be considered valid. If ≤ 0, angle filtering is disabled.
[out]varianceOutput variance value (estimated using 2.1981 × median squared distance of inliers).
[out]correspondencesOutOutput number of correspondences that passed all filters (distance and optional angle).
reciprocalIf true, use reciprocal correspondences.
+
+
+
Note
This function chooses the target/source roles based on cloud size (the larger becomes the target).
+
+The normal comparison is only applied if maxCorrespondenceAngle > 0.
+
+The computed variance is based on a robust estimator using the median squared distance of correspondences.
+
See also
pcl::registration::CorrespondenceEstimation
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__CropBox.html b/preview/pr-1492/api/latest/group__CropBox.html new file mode 100644 index 00000000..83be1d33 --- /dev/null +++ b/preview/pr-1492/api/latest/group__CropBox.html @@ -0,0 +1,167 @@ + + + + + + + + +RTAB-Map: Crop Box Filtering + + + + + + + + + + + + +
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Crop Box Filtering
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Filters points from a point cloud using a 3D crop box. +More...

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+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PCLPointCloud2::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PCLPointCloud2 and returns filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PointNormal and returns filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PointXYZRGB and returns filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PointXYZRGBNormal and returns filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PointXYZI and returns filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PointXYZINormal and returns filtered indices.
 
+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PointXYZ and returns a new point cloud of the filtered points.
 
+pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PointNormal and returns a new point cloud of the filtered points.
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PointXYZRGB and returns a new point cloud of the filtered points.
 
+pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PointXYZI and returns a new point cloud of the filtered points.
 
+pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PointXYZINormal and returns a new point cloud of the filtered points.
 
+pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::cropBox (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
 Performs crop box filtering on a point cloud of type pcl::PointXYZRGBNormal and returns a new point cloud of the filtered points.
 
+

Detailed Description

+

Filters points from a point cloud using a 3D crop box.

+

This function applies a PCL CropBox filter to retain or exclude points from the input point cloud that lie within a specified 3D axis-aligned bounding box, optionally transformed by a 3D transformation. The filter can be applied to the entire cloud or limited to a subset via input indices.

+
Parameters
+ + + + + + + +
cloudA pointer to the input point cloud to be filtered.
indicesA pointer to a vector of point indices that restricts the filtering to a subset of the cloud. Pass nullptr to apply the filter to all points in the cloud.
minThe minimum (corner) boundary of the crop box, as an Eigen 4D vector (x, y, z, _).
maxThe maximum (corner) boundary of the crop box, as an Eigen 4D vector (x, y, z, _).
transformA transformation to be applied to the crop box (not the cloud). If the transform is null or identity, no transformation is applied.
negativeIf true, the filter will exclude points inside the box; if false, it will include only those inside.
+
+
+
Returns
The indices corresponding to the points that passed the filter, or the new filtered point cloud otherwise.
+
Exceptions
+ + +
Assertionfailure if any of min[x] >= max[x], min[y] >= max[y], or min[z] >= max[z].
+
+
+
+ +
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+ + diff --git a/preview/pr-1492/api/latest/group__ExtractClusters.html b/preview/pr-1492/api/latest/group__ExtractClusters.html new file mode 100644 index 00000000..90b86ef4 --- /dev/null +++ b/preview/pr-1492/api/latest/group__ExtractClusters.html @@ -0,0 +1,147 @@ + + + + + + + + +RTAB-Map: Point Cloud Cluster Extraction + + + + + + + + + + + + +
+
+ + + + + + +
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Point Cloud Cluster Extraction
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Performs Euclidean cluster extraction on a point cloud. +More...

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+Functions

+std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT rtabmap::util3d::extractClusters (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
 Extract clusters from point cloud of type pcl::PointXYZ.
 
+std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT rtabmap::util3d::extractClusters (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
 Extract clusters from point cloud of type pcl::PointXYZRGB.
 
+std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT rtabmap::util3d::extractClusters (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
 Extract clusters from point cloud of type pcl::PointXYZ inside provided indices.
 
+std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT rtabmap::util3d::extractClusters (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
 Extract clusters from point cloud of type pcl::PointNormal inside provided indices.
 
+std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT rtabmap::util3d::extractClusters (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
 Extract clusters from point cloud of type pcl::PointXYZRGB inside provided indices.
 
+std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT rtabmap::util3d::extractClusters (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
 Extract clusters from point cloud of type pcl::PointXYZRGBNormal inside provided indices.
 
+std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT rtabmap::util3d::extractClusters (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
 Extract clusters from point cloud of type pcl::PointXYZI inside provided indices.
 
+std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT rtabmap::util3d::extractClusters (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
 Extract clusters from point cloud of type pcl::PointXYZ.
 
+

Detailed Description

+

Performs Euclidean cluster extraction on a point cloud.

+

This function uses PCL's Euclidean clustering algorithm to segment the input point cloud into clusters based on spatial proximity. It optionally considers a subset of indices within the cloud, and returns the list of clusters as vectors of point indices.

+

Additionally, it can return the index of the largest cluster found.

+
Parameters
+ + + + + + + +
cloudThe input point cloud from which clusters will be extracted.
indicesOptional pointer to a list of indices to consider for clustering. If empty, the full cloud is used.
clusterToleranceThe spatial distance threshold for clustering. Points within this distance are considered part of the same cluster.
minClusterSizeThe minimum number of points required for a valid cluster.
maxClusterSizeThe maximum number of points allowed in a cluster.
biggestClusterIndexOptional output pointer. If not null, it will be set to the index of the largest cluster in the output.
+
+
+
Returns
A vector of indices, where each element contains the indices of one extracted cluster.
+
Note
Internally, this uses a KdTree for spatial searches and pcl::EuclideanClusterExtraction for segmentation.
+
+The order of clusters in the output is not guaranteed to reflect size or position.
+
+If no clusters are found, the output vector will be empty and biggestClusterIndex will be set to -1.
+
+ +
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+ + diff --git a/preview/pr-1492/api/latest/group__ExtractIndices.html b/preview/pr-1492/api/latest/group__ExtractIndices.html new file mode 100644 index 00000000..c654205d --- /dev/null +++ b/preview/pr-1492/api/latest/group__ExtractIndices.html @@ -0,0 +1,154 @@ + + + + + + + + +RTAB-Map: Point Cloud Indices Extraction + + + + + + + + + + + + +
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Point Cloud Indices Extraction
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Extracts a subset of points from a point cloud based on specified indices. +More...

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+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
 Extract indices from point cloud of type pcl::PointXYZ.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
 Extract indices from point cloud of type pcl::PointNormal.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
 Extract indices from point cloud of type pcl::PointXYZRGB.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
 Extract indices from point cloud of type pcl::PointXYZRGBNormal.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
 Extract indices from point cloud of type pcl::PointXYZI.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
 Extract indices from point cloud of type pcl::PointXYZINormal.
 
+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
 Extract points from point cloud of type pcl::PointXYZ with corresponding indices.
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
 Extract points from point cloud of type pcl::PointXYZRGB with corresponding indices.
 
+pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
 Extract points from point cloud of type pcl::PointXYZRGBNormal with corresponding indices.
 
+pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
 Extract points from point cloud of type pcl::PointXYZI with corresponding indices.
 
+pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::extractIndices (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative, bool keepOrganized)
 Extract points from point cloud of type pcl::PointXYZINormal with corresponding indices.
 
+

Detailed Description

+

Extracts a subset of points from a point cloud based on specified indices.

+

This function filters the input point cloud by extracting the points corresponding to the provided set of indices. The negative parameter determines whether to extract the points listed in the indices (if negative is false) or to exclude the points listed in the indices (if negative is true).

+

The function uses PCL's ExtractIndices to perform the extraction and returns the resulting set of indices as a shared pointer to a vector of integers.

+
Parameters
+ + + + +
cloudThe input point cloud from which to extract points.
indicesA pointer to the indices specifying the points to be extracted (or excluded).
negativeIf true, the points specified by indices are excluded; otherwise, they are included.
+
+
+
Returns
A vector of indices representing the extracted points (or remaining points if negative is true), or a new point cloud with the corresponding points.
+
Note
This function uses PCL's ExtractIndices filter to extract or remove the points based on the provided indices.
+
+The returned output indices correspond to the points that are either extracted or excluded from the input cloud.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__FrustumFiltering.html b/preview/pr-1492/api/latest/group__FrustumFiltering.html new file mode 100644 index 00000000..f24d3be6 --- /dev/null +++ b/preview/pr-1492/api/latest/group__FrustumFiltering.html @@ -0,0 +1,135 @@ + + + + + + + + +RTAB-Map: Frustum Filtering + + + + + + + + + + + + +
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Frustum Filtering
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Filters points from a point cloud based on a camera frustum. +More...

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+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::frustumFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &cameraPose, float horizontalFOV, float verticalFOV, float nearClipPlaneDistance, float farClipPlaneDistance, bool negative=false)
 Performs frustum filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.
 
+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::frustumFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &cameraPose, float horizontalFOV, float verticalFOV, float nearClipPlaneDistance, float farClipPlaneDistance, bool negative=false)
 Performs frustum filtering on a point cloud of type pcl::PointXYZ and returns a new point cloud of the filtered points.
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::frustumFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Transform &cameraPose, float horizontalFOV, float verticalFOV, float nearClipPlaneDistance, float farClipPlaneDistance, bool negative=false)
 Performs frustum filtering on a point cloud of type pcl::PointXYZRGB and returns a new point cloud of the filtered points.
 
+

Detailed Description

+

Filters points from a point cloud based on a camera frustum.

+

This function uses PCL's FrustumCulling filter to include or exclude points from a 3D point cloud that lie within a specified camera frustum. The frustum is defined by vertical and horizontal field of view angles, near and far clipping planes, and the camera pose. It can optionally apply filtering on a subset of points specified by indices.

+
Note
This assumes the pose includes the optical rotation of the camera (X right, Y down, Z forward).
+
Parameters
+ + + + + + + + + +
cloudA pointer to the input point cloud to be filtered.
indicesA pointer to the subset of indices in the point cloud to consider for filtering. Pass nullptr to apply the filter to the full cloud.
cameraPoseThe transformation representing the camera pose in world coordinates. This defines the position and orientation of the frustum.
horizontalFOVThe horizontal field of view in degrees (e.g., computed as atan((image width/2)/fx) * 2).
verticalFOVThe vertical field of view in degrees (e.g., atan((image height/2)/fy) * 2).
nearClipPlaneDistanceThe distance from the camera to the near clipping plane.
farClipPlaneDistanceThe distance from the camera to the far clipping plane.
negativeIf true, the filter will exclude points inside the frustum. If false, it will include only those inside.
+
+
+
Returns
The indices representing the points that passed the filter, or a new filtered point cloud.
+
Exceptions
+ + +
Assertionfailure if:
    +
  • horizontalFOV <= 0 or verticalFOV <= 0,
    • +
  • farClipPlaneDistance <= nearClipPlaneDistance,
    • +
  • cameraPose is null.
    • +
+
+
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__LaserScan2dFromPointCloud.html b/preview/pr-1492/api/latest/group__LaserScan2dFromPointCloud.html new file mode 100644 index 00000000..dbbab401 --- /dev/null +++ b/preview/pr-1492/api/latest/group__LaserScan2dFromPointCloud.html @@ -0,0 +1,140 @@ + + + + + + + + +RTAB-Map: PCL to 2D LaserScan + + + + + + + + + + + + +
+
+ + + + + + +
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PCL to 2D LaserScan
+
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Converts various PCL point cloud types into a unified 2D LaserScan format. +More...

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+Functions

+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 PointXYZ → LaserScan::kXY
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 PointXYZI → LaserScan::kXYI (x, y, intensity)
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 PointNormal → LaserScan::kXYNormal (x, y, nx, ny, nz)
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
 PointXYZ + Normal → LaserScan::kXYNormal (x, y, nx, ny, nz)
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 PointXYZINormal → LaserScan::kXYINormal (x, y, inensity, nx, ny, nz)
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScan2dFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
 PointXYZI + Normal → LaserScan::kXYINormal (x, y, inensity, nx, ny, nz)
 
+

Detailed Description

+

Converts various PCL point cloud types into a unified 2D LaserScan format.

+

Returns only XY data, with optional intensity and/or normals.

+

+Output:

+ +
Parameters
+ + + + + +
cloudThe input cloud (2D assumed).
normalsOptional normal cloud.
transformOptional transformation to apply.
filterNaNsWhether to ignore invalid points.
+
+
+
Returns
A 2D LaserScan.
+
See also
laserScanFromPointCloud() for 3D extraction.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__LaserScanFromPointCloud.html b/preview/pr-1492/api/latest/group__LaserScanFromPointCloud.html new file mode 100644 index 00000000..307ae5a0 --- /dev/null +++ b/preview/pr-1492/api/latest/group__LaserScanFromPointCloud.html @@ -0,0 +1,239 @@ + + + + + + + + +RTAB-Map: PCL to 3D LaserScan + + + + + + + + + + + + +
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PCL to 3D LaserScan
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Converts various PCL point cloud types into a unified LaserScan format. +More...

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+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointXYZ → (x, y, z) → LaserScan::kXYZ
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointXYZ → (x, y, z) → LaserScan::kXYZ
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointNormal → (x, y, z, nx, ny, nz) → LaserScan::kXYZNormal
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointNormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointNormal → (x, y, z, nx, ny, nz) → LaserScan::kXYZNormal
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZ > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointNormal → (x, y, z, nx, ny, nz) → LaserScan::kXYZNormal
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointXYZRGB → (x, y, z, rgb) → LaserScan::kXYZRGB
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointXYZRGB → (x, y, z, rgb) → LaserScan::kXYZRGB
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointXYZI → (x, y, z, intensity) → LaserScan::kXYZI
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointXYZI → (x, y, z, intensity) → LaserScan::kXYZI
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< rtabmap::PointXYZIRT > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 rtabmap::PointXYZIRT → (x, y, z, intensity, ring time) → LaserScan::kXYZIRT
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< rtabmap::PointXYZIRT > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
 rtabmap::PointXYZIRT → (x, y, z, intensity, ring time) → LaserScan::kXYZIRT
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointXYZRGBNormal → (x, y, z, rgb, nx, ny, nz) → LaserScan::kXYZRGBNormal
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointXYZRGBNormal → (x, y, z, rgb, nx, ny, nz) → LaserScan::kXYZRGBNormal
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointXYZRGBNormal → (x, y, z, rgb, nx, ny, nz) → LaserScan::kXYZRGBNormal
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZI > &cloud, const pcl::PointCloud< pcl::Normal > &normals, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointXYZINormal → (x, y, z, intensity, nx, ny, nz) → LaserScan::kXYZINormal
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointXYZINormal → (x, y, z, intensity, nx, ny, nz) → LaserScan::kXYZINormal
 
+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const pcl::IndicesPtr &indices, const Transform &transform=Transform(), bool filterNaNs=true)
 pcl::PointXYZINormal → (x, y, z, intensity, nx, ny, nz) → LaserScan::kXYZINormal
 
template<typename PointCloud2T >
LaserScan rtabmap::util3d::laserScanFromPointCloud (const PointCloud2T &cloud, bool filterNaNs=true, bool is2D=false, const Transform &transform=Transform())
 Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::Format)
 
+

Detailed Description

+

Converts various PCL point cloud types into a unified LaserScan format.

+

These functions extract laser scan data from 3D point clouds, optionally applying a transform and filtering invalid points. Depending on the input type, output data may include position (x, y, z), intensity, color, and/or surface normals.

+

+Supported input types and corresponding output data:

+ +
Parameters
+ + + + + + +
cloudThe input PCL point cloud.
indicesOptional subset of indices to use from the point cloud.
normalsOptional normal cloud if not included in point type.
transformOptional rigid body transform to apply to the points.
filterNaNsWhether to ignore invalid or NaN points.
+
+
+
Returns
A LaserScan object containing scan data in appropriate format.
+
See also
laserScan2dFromPointCloud() for 2D-only extraction.
+

Function Documentation

+ +

◆ laserScanFromPointCloud()

+ +
+
+
+template<typename PointCloud2T >
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
LaserScan rtabmap::util3d::laserScanFromPointCloud (const PointCloud2T & cloud,
bool filterNaNs,
bool is2D,
const Transform & transform 
)
+
+ +

Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::Format)

+ +

Definition at line 37 of file util3d.hpp.

+ +
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__LaserScanToPointCloud.html b/preview/pr-1492/api/latest/group__LaserScanToPointCloud.html new file mode 100644 index 00000000..16ea149d --- /dev/null +++ b/preview/pr-1492/api/latest/group__LaserScanToPointCloud.html @@ -0,0 +1,138 @@ + + + + + + + + +RTAB-Map: LaserScan to PCL + + + + + + + + + + + + +
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LaserScan to PCL
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Functions to convert LaserScan data to various PCL point cloud formats. +More...

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Functions

+pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloud2 (const LaserScan &laserScan, const Transform &transform=Transform())
 Convert rtabmap::LaserScan to pcl::PCLPointCloud2 with all supported fields (see rtabmap::LaserScan::Format)
 
+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloud (const LaserScan &laserScan, const Transform &transform=Transform())
 
+pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloudNormal (const LaserScan &laserScan, const Transform &transform=Transform())
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloudRGB (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
 
+pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloudI (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
 
+pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloudRGBNormal (const LaserScan &laserScan, const Transform &transform=Transform(), unsigned char r=100, unsigned char g=100, unsigned char b=100)
 
+pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointCloudINormal (const LaserScan &laserScan, const Transform &transform=Transform(), float intensity=0.0f)
 
+pcl::PointXYZ RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPoint (const LaserScan &laserScan, int index)
 
+pcl::PointNormal RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointNormal (const LaserScan &laserScan, int index)
 
+pcl::PointXYZRGB RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointRGB (const LaserScan &laserScan, int index, unsigned char r=100, unsigned char g=100, unsigned char b=100)
 
+pcl::PointXYZI RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointI (const LaserScan &laserScan, int index, float intensity)
 
+pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointRGBNormal (const LaserScan &laserScan, int index, unsigned char r, unsigned char g, unsigned char b)
 
+pcl::PointXYZINormal RTABMAP_CORE_EXPORT rtabmap::util3d::laserScanToPointINormal (const LaserScan &laserScan, int index, float intensity)
 
+

Detailed Description

+

Functions to convert LaserScan data to various PCL point cloud formats.

+

These functions convert an instance of rtabmap::LaserScan to different PCL point cloud types, optionally applying a spatial transform. Missing data such as RGB and intensity are handled with default values. If the input LaserScan is 2D, as PCL doesn't have standard format that is just 2D, Z will be set to zero. If the input LaserScan doesn't have normals but the output does, the normals are set to zeros.

+

laserScanToPoint() functions convert a single point from the LaserScan at the specificied index.

+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__PassThrough.html b/preview/pr-1492/api/latest/group__PassThrough.html new file mode 100644 index 00000000..c6b3be1c --- /dev/null +++ b/preview/pr-1492/api/latest/group__PassThrough.html @@ -0,0 +1,163 @@ + + + + + + + + +RTAB-Map: Pass-through Filtering + + + + + + + + + + + + +
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Pass-through Filtering
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Filters points from the input point cloud using a pass-through filter along a specified axis. +More...

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+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
 Performs pass-through filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
 Performs pass-through filtering on a point cloud of type pcl::PointXYZRGB and returns filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
 Performs pass-through filtering on a point cloud of type pcl::PointXYZI and returns filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
 Performs pass-through filtering on a point cloud of type pcl::PointNormal and returns filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
 Performs pass-through filtering on a point cloud of type pcl::PointXYZRGBNormal and returns filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
 Performs pass-through filtering on a point cloud of type pcl::PointXYZINormal and returns filtered indices.
 
+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
 Performs pass-through filtering on a point cloud of type pcl::PointXYZ and returns a new point cloud of the filtered points.
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
 Performs pass-through filtering on a point cloud of type pcl::PointXYZRGB and returns a new point cloud of the filtered points.
 
+pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
 Performs pass-through filtering on a point cloud of type pcl::PointXYZI and returns a new point cloud of the filtered points.
 
+pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
 Performs pass-through filtering on a point cloud of type pcl::PointNormal and returns a new point cloud of the filtered points.
 
+pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
 Performs pass-through filtering on a point cloud of type pcl::PointXYZRGBNormal and returns a new point cloud of the filtered points.
 
+pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::passThrough (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const std::string &axis, float min, float max, bool negative=false)
 Performs pass-through filtering on a point cloud of type pcl::PointXYZINormal and returns a new point cloud of the filtered points.
 
+

Detailed Description

+

Filters points from the input point cloud using a pass-through filter along a specified axis.

+

This function applies a PCL PassThrough filter to include or exclude points in the input cloud that fall within a specified range along a given axis (x, y, or z). It supports optional filtering using a subset of point indices and can perform either inclusive or exclusive filtering depending on the negative flag.

+
Parameters
+ + + + + + + +
cloudA pointer to the input point cloud to be filtered.
indicesA pointer to the indices specifying which points in the cloud to consider for filtering. Pass nullptr to apply the filter to the entire cloud.
axisThe axis ("x", "y", or "z") along which the filtering will be applied.
minThe minimum limit of the pass-through filter (inclusive by default).
maxThe maximum limit of the pass-through filter (inclusive by default). Must be greater than min.
negativeIf true, the filter will exclude points within the limits; if false, it will include only those within.
+
+
+
Returns
The indices representing the points that passed the filter if indices are passed to the function, or the new filtered point cloud otherwise.
+
Exceptions
+ + +
Assertionfailure if max <= min or if axis is not "x", "y", or "z".
+
+
+
+ +
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+ + diff --git a/preview/pr-1492/api/latest/group__PointCloudDownSampling.html b/preview/pr-1492/api/latest/group__PointCloudDownSampling.html new file mode 100644 index 00000000..ed145845 --- /dev/null +++ b/preview/pr-1492/api/latest/group__PointCloudDownSampling.html @@ -0,0 +1,145 @@ + + + + + + + + +RTAB-Map: Point Cloud Downsampling + + + + + + + + + + + + +
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Point Cloud Downsampling
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Downsamples a point cloud or LaserScan by keeping only every N-th point. +More...

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+LaserScan RTABMAP_CORE_EXPORT rtabmap::util3d::downsample (const LaserScan &cloud, int step)
 Downsamples a LaserScan.
 
+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::downsample (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int step)
 Downsamples a point cloud of type pcl::PointXYZ.
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::downsample (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, int step)
 Downsamples a point cloud of type pcl::PointXYZRGB.
 
+pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::downsample (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, int step)
 Downsamples a point cloud of type pcl::PointXYZI.
 
+pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::downsample (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, int step)
 Downsamples a point cloud of type pcl::PointNormal.
 
+pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::downsample (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, int step)
 Downsamples a point cloud of type pcl::PointXYZRGBNormal.
 
+pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::downsample (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, int step)
 Downsamples a point cloud of type pcl::PointXYZINormal.
 
+

Detailed Description

+

Downsamples a point cloud or LaserScan by keeping only every N-th point.

+

This function downsamples a point cloud based on a specified step size. The method adapts based on whether the cloud is organized (2D) or unorganized (1D), and whether it's structured like a depth image or LiDAR scan.

+
    +
  • For unorganized point clouds: Every step-th point is retained linearly.
    • +
  • For organized point clouds with LiDAR-like layout (e.g., 2048x64): Downsampling is performed along the "long" dimension, preserving the ring structure.
    • +
  • For depth-image-like organized clouds (e.g., 640x480): Downsampling is performed in both row and column directions, similar to image decimation. Step size must divide both width and height exactly.
    • +
+
Parameters
+ + + +
cloudThe input point cloud to downsample.
stepThe decimation step. Must be greater than 0.
+
+
+
Returns
A new point cloud containing only the sampled points.
+
Note
If step <= 1 or the cloud has fewer points than step, the function returns a copy of the input cloud.
+
Exceptions
+ + +
Assertionfailure if step <= 0 or, in the case of depth-image-style clouds, if the width and height are not divisible by step.
+
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__PointCloudRangeFiltering.html b/preview/pr-1492/api/latest/group__PointCloudRangeFiltering.html new file mode 100644 index 00000000..cb32820e --- /dev/null +++ b/preview/pr-1492/api/latest/group__PointCloudRangeFiltering.html @@ -0,0 +1,130 @@ + + + + + + + + +RTAB-Map: Range Filtering of PCL Point Clouds + + + + + + + + + + + + +
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Range Filtering of PCL Point Clouds
+
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+ +

Filters a point cloud based on a minimum and maximum Euclidean range. +More...

+ + + + + + + + + + + + + + +

+Functions

+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::rangeFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float rangeMin, float rangeMax)
 Filters a point cloud of type pcl::PointXYZ.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::rangeFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float rangeMin, float rangeMax)
 Filters a point cloud of type pcl::PointXYZRGB.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::rangeFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float rangeMin, float rangeMax)
 Filters a point cloud of type pcl::PointNormal.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::rangeFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float rangeMin, float rangeMax)
 Filters a point cloud of type pcl::PointXYZRGBNormal.
 
+

Detailed Description

+

Filters a point cloud based on a minimum and maximum Euclidean range.

+

This templated function computes the squared Euclidean distance of each point in the given point cloud and returns indices of points whose distance falls within the specified range limits. If no indices are provided, the entire cloud is evaluated.

+
Parameters
+ + + + + +
cloudThe input point cloud to be filtered.
indicesThe subset of point indices to evaluate. If empty, the full cloud is used.
rangeMinMinimum distance threshold. Points closer than this are excluded.
rangeMaxMaximum distance threshold. Points farther than this are excluded.
+
+
+
Returns
pcl::IndicesPtr Pointer to a vector of indices that passed the range filter.
+
Note
Both rangeMin and rangeMax must be non-negative. If both are zero, no filtering is applied.
+
Exceptions
+ + +
Assertionfailure if rangeMin or rangeMax is negative.
+
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__PointCloudSplitRangeFiltering.html b/preview/pr-1492/api/latest/group__PointCloudSplitRangeFiltering.html new file mode 100644 index 00000000..86ff9be8 --- /dev/null +++ b/preview/pr-1492/api/latest/group__PointCloudSplitRangeFiltering.html @@ -0,0 +1,124 @@ + + + + + + + + +RTAB-Map: Split Range Filtering of PCL Point Clouds + + + + + + + + + + + + +
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Split Range Filtering of PCL Point Clouds
+
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Splits a point cloud into two groups based on a distance threshold. +More...

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+Functions

+void RTABMAP_CORE_EXPORT rtabmap::util3d::rangeSplitFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
 Splits a point cloud of type pcl::PointXYZ.
 
+void RTABMAP_CORE_EXPORT rtabmap::util3d::rangeSplitFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
 Splits a point cloud of type pcl::PointXYZRGB.
 
+void RTABMAP_CORE_EXPORT rtabmap::util3d::rangeSplitFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
 Splits a point cloud of type pcl::PointNormal.
 
+void RTABMAP_CORE_EXPORT rtabmap::util3d::rangeSplitFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
 Splits a point cloud of type pcl::PointXYZRGBNormal.
 
+

Detailed Description

+

Splits a point cloud into two groups based on a distance threshold.

+

This function divides the input point cloud (or a subset specified by indices) into two sets of indices: points closer than the given range (closeIndices) and points farther than or equal to the range (farIndices), using Euclidean distance.

+
Parameters
+ + + + + + +
cloudThe input point cloud.
indicesThe subset of point indices to consider. If empty, the full cloud is used.
rangeThe distance threshold in meters used to classify points as "close" or "far".
[out]closeIndicesOutput indices for points with distance < range.
[out]farIndicesOutput indices for points with distance >= range.
+
+
+
Note
The function resets and fills both output index containers. If the input cloud is empty, both outputs will also be empty.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__PointNormalFiltering.html b/preview/pr-1492/api/latest/group__PointNormalFiltering.html new file mode 100644 index 00000000..126f65af --- /dev/null +++ b/preview/pr-1492/api/latest/group__PointNormalFiltering.html @@ -0,0 +1,146 @@ + + + + + + + + +RTAB-Map: Point Normal Filtering + + + + + + + + + + + + +
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Point Normal Filtering
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Filters points in a point cloud based on the angle between their estimated surface normals and a given reference normal. +More...

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+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::normalFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
 Point normal filtering for point cloud of type pcl::PointXYZ.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::normalFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
 Point normal filtering for point cloud of type pcl::PointXYZRGB.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::normalFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
 Point normal filtering for point cloud of type pcl::PointXYZ.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::normalFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
 Point normal filtering for point cloud of type pcl::PointXYZRGB.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::normalFiltering (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
 Point normal filtering for point cloud of type pcl::PointXYZI.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::normalFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
 Point normal filtering for point cloud of type pcl::PointNormal.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::normalFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
 Point normal filtering for point cloud of type pcl::PointXYZRGBNormal.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::normalFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
 Point normal filtering for point cloud of type pcl::PointXYZINormal.
 
+

Detailed Description

+

Filters points in a point cloud based on the angle between their estimated surface normals and a given reference normal.

+

This function estimates surface normals for each point (or subset of points) in the input point cloud, and retains only those points whose normals are within angleMax radians from the given reference normal.

+

If groundNormalsUp is set, normals that are facing significantly downward (based on the Z-axis) may be flipped to point upwards before comparison, especially useful for handling sensors like Velodyne where some road-facing rays produce downward normals.

+
Parameters
+ + + + + + + + +
cloudThe input point cloud to process. If the input cloud type doesn't have normals, the normals will be computed using normalKSearh and viewpoint parameters.
indicesOptional subset of indices in cloud to consider. If empty, the entire cloud is used.
angleMaxMaximum allowed angle (in radians) between estimated normals and the given reference normal.
normalThe reference normal vector to compare against (must be normalized).
normalKSearchNumber of nearest neighbors used for normal estimation, when input cloud doesn't have normals.
viewpointThe viewpoint position to be used in normal estimation (can affect direction of normals).
groundNormalsUpThreshold used to detect and flip ground-facing normals (set to 0.0f to disable). If the Z component of a normal is less than -groundNormalsUp and the corresponding point is below the viewpoint, the normal will be flipped.
+
+
+
Returns
The indices of points whose normals are within angleMax of the reference normal.
+
Note
This function uses PCL's NormalEstimationOMP for efficient multi-threaded normal estimation when input cloud doesn't have normals.
+
+Normal flipping is typically used to correct misoriented normals on flat ground surfaces.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__ProportionalRadiusFiltering.html b/preview/pr-1492/api/latest/group__ProportionalRadiusFiltering.html new file mode 100644 index 00000000..e4287b26 --- /dev/null +++ b/preview/pr-1492/api/latest/group__ProportionalRadiusFiltering.html @@ -0,0 +1,166 @@ + + + + + + + + +RTAB-Map: Proportional Radius Filtering + + + + + + + + + + + + +
+
+ + + + + + +
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Proportional Radius Filtering
+
+
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Performs proportional radius outlier filtering using viewpoint-dependent adaptive radii. +More...

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

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+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
 Proportional radius filtering for point cloud of type pcl::PointXYZ.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
 Proportional radius filtering for point cloud of type pcl::PointNormal.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
 Proportional radius filtering for point cloud of type pcl::PointXYZRGB.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
 Proportional radius filtering for point cloud of type pcl::PointXYZRGBNormal.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
 Proportional radius filtering for point cloud of type pcl::PointXYZI.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
 Proportional radius filtering for point cloud of type pcl::PointXYZINormal.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
 Proportional radius filtering for point cloud of type pcl::PointXYZ with indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
 Proportional radius filtering for point cloud of type pcl::PointNormal with indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
 Proportional radius filtering for point cloud of type pcl::PointXYZRGB with indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
 Proportional radius filtering for point cloud of type pcl::PointXYZRGBNormal with indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
 Proportional radius filtering for point cloud of type pcl::PointXYZI with indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::proportionalRadiusFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
 Proportional radius filtering for point cloud of type pcl::PointXYZINormal with indices.
 
+

Detailed Description

+

Performs proportional radius outlier filtering using viewpoint-dependent adaptive radii.

+

This function filters a point cloud by performing a radius search for each point, where the radius is proportional to the distance from a known viewpoint. A point is retained only if it has at least one neighbor within the computed radius, and all neighbors lie within an adjusted radius from their own viewpoints, scaled by neighborScale.

+

This method is useful in 3D reconstruction and SLAM where density can vary with distance from the sensor, and traditional fixed-radius filtering is insufficient.

+
Parameters
+ + + + + + + +
cloudThe input point cloud.
indicesThe subset of indices to process. If empty, the entire cloud is processed.
viewpointIndicesA vector mapping each point index in the cloud to its associated viewpoint ID. Must be the same size as the input cloud.
viewpointsA map from viewpoint IDs to 3D poses (transforms) representing sensor positions.
factorA scaling factor used to determine the radius search distance based on viewpoint distance. Must be greater than 0. Setting it higher will filter points farther from the more accurate points (but processing time will be also higher).
neighborScaleA scaling factor applied to neighbors' viewpoint-based radius. Must be ≥ 1. Setting it higher will accept more noisy points close to the more accurate points (but processing time will be also higher).
+
+
+
Returns
A vector of indices of the points that passed the filtering criteria.
+
Note
    +
  • A KdTree is used for neighbor search.
    • +
  • Points with no valid neighbors within the proportional radius are removed.
    • +
  • For a point to be kept, all its neighbors (except itself) must also lie within their own scaled proportional radius (factor * distance_to_own_viewpoint * neighborScale).
    • +
  • OpenMP is used to parallelize the full-cloud version for performance.
    • +
  • The function throws exceptions to enforce internal assumptions (e.g., input sizes and valid viewpoint mappings).
    • +
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__RadiusFiltering.html b/preview/pr-1492/api/latest/group__RadiusFiltering.html new file mode 100644 index 00000000..a8ffa5c0 --- /dev/null +++ b/preview/pr-1492/api/latest/group__RadiusFiltering.html @@ -0,0 +1,157 @@ + + + + + + + + +RTAB-Map: Radius Filtering + + + + + + + + + + + + +
+
+ + + + + + +
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RTAB-Map 0.23.10 +
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Radius Filtering
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Filters points based on the number of neighbors within a given radius. +More...

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+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
 Radius filtering for point cloud of type pcl::PointXYZ.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
 Radius filtering for point cloud of type pcl::PointNormal.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
 Radius filtering for point cloud of type pcl::PointXYZRGB.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
 Radius filtering for point cloud of type pcl::PointXYZRGBNormal.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
 Radius filtering for point cloud of type pcl::PointXYZI.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
 Radius filtering for point cloud of type pcl::PointXYZINormal.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
 Radius filtering for point cloud of type pcl::PointXYZ with indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
 Radius filtering for point cloud of type pcl::PointNormal with indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
 Radius filtering for point cloud of type pcl::PointXYZRGB with indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
 Radius filtering for point cloud of type pcl::PointXYZRGBNormal with indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
 Radius filtering for point cloud of type pcl::PointXYZI with indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::radiusFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float radiusSearch, int minNeighborsInRadius)
 Radius filtering for point cloud of type pcl::PointXYZINormal with indices.
 
+

Detailed Description

+

Filters points based on the number of neighbors within a given radius.

+

This function performs a radius-based outlier filtering on a point cloud. It returns a set of point indices where each corresponding point has more than minNeighborsInRadius neighboring points within the specified radiusSearch.

+

If an input index list is provided (indices is non-empty), the filtering is applied only to those points. Otherwise, the function processes the entire cloud.

+
Parameters
+ + + + + +
cloudThe input point cloud.
indicesAn optional vector of indices specifying the subset of points to process.
radiusSearchThe radius within which to search for neighboring points.
minNeighborsInRadiusThe minimum number of neighbors required within the radius for a point to be retained.
+
+
+
Returns
A vector of indices of points that passed the filtering criteria.
+
Note
Uses a KdTree for efficient neighbor search. The +1 in minNeighborsInRadius + 1 accounts for the point itself being included in the neighbor list.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__RandomSampling.html b/preview/pr-1492/api/latest/group__RandomSampling.html new file mode 100644 index 00000000..345c05ad --- /dev/null +++ b/preview/pr-1492/api/latest/group__RandomSampling.html @@ -0,0 +1,135 @@ + + + + + + + + +RTAB-Map: Random Sampling + + + + + + + + + + + + +
+
+ + + + + + +
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Random Sampling
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Randomly samples a subset of points from the input point cloud. +More...

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+Functions

+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int samples)
 Performs random sampling on a point cloud of type pcl::PointXYZ.
 
+pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, int samples)
 Performs random sampling on a point cloud of type pcl::PointNormal.
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, int samples)
 Performs random sampling on a point cloud of type pcl::PointXYZRGB.
 
+pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, int samples)
 Performs random sampling on a point cloud of type pcl::PointXYZRGBNormal.
 
+pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, int samples)
 Performs random sampling on a point cloud of type pcl::PointXYZI.
 
+pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::randomSampling (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, int samples)
 Performs random sampling on a point cloud of type pcl::PointXYZINormal.
 
+

Detailed Description

+

Randomly samples a subset of points from the input point cloud.

+

This function uses the PCL (Point Cloud Library) RandomSample filter to randomly select a specified number of points from the input cloud. It ensures the number of samples is greater than zero and returns a new point cloud containing the sampled points.

+
Parameters
+ + + +
cloudA pointer to the input point cloud from which to sample points.
samplesThe number of points to randomly sample from the input cloud. Must be > 0.
+
+
+
Returns
A pointer to a new point cloud containing the randomly sampled points.
+
Exceptions
+ + +
Assertionfailure if samples <= 0.
+
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__RemoveNaNFromPointCloud.html b/preview/pr-1492/api/latest/group__RemoveNaNFromPointCloud.html new file mode 100644 index 00000000..98475223 --- /dev/null +++ b/preview/pr-1492/api/latest/group__RemoveNaNFromPointCloud.html @@ -0,0 +1,121 @@ + + + + + + + + +RTAB-Map: Remove NaN Points from a Point Cloud + + + + + + + + + + + + +
+
+ + + + + + +
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RTAB-Map 0.23.10 +
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Remove NaN Points from a Point Cloud
+
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Removes NaN (Not-a-Number) points from an organized point cloud. +More...

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+Functions

+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud)
 Remove NaN points from a point cloud of type pcl::PointXYZ.
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud)
 Remove NaN points from a point cloud of type pcl::PointXYZRGB.
 
+pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::removeNaNFromPointCloud (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud)
 Remove NaN points from a point cloud of type pcl::PointXYZI.
 
+pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::removeNaNFromPointCloud (const pcl::PCLPointCloud2::Ptr &cloud)
 Remove NaN points from a point cloud of type pcl::PCLPointCloud2.
 
+

Detailed Description

+

Removes NaN (Not-a-Number) points from an organized point cloud.

+

This function takes a pointer to an organized PCL point cloud and returns a new dense point cloud with all NaN points removed. It uses the PCL function pcl::removeNaNFromPointCloud to perform the filtering.

+
Note
If the input cloud is already dense, no filtering happens and a copy of the input cloud is returned.
+
Parameters
+ + +
cloudThe organized input point cloud containing possible NaN values.
+
+
+
Returns
A new dense point cloud with NaN points removed.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__RemoveNaNNormalsFromPointCloud.html b/preview/pr-1492/api/latest/group__RemoveNaNNormalsFromPointCloud.html new file mode 100644 index 00000000..fc4f8395 --- /dev/null +++ b/preview/pr-1492/api/latest/group__RemoveNaNNormalsFromPointCloud.html @@ -0,0 +1,116 @@ + + + + + + + + +RTAB-Map: Remove NaN Points from a Point Cloud + + + + + + + + + + + + +
+
+ + + + + + +
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Remove NaN Points from a Point Cloud
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Removes points with NaN normal values from a point cloud. +More...

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+Functions

+pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::removeNaNNormalsFromPointCloud (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud)
 Removes points with NaN normal values from a point cloud of type pcl::PointNormal.
 
+pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::removeNaNNormalsFromPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud)
 Removes points with NaN normal values from a point cloud of type pcl::PointXYZRGBNormal.
 
+pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::removeNaNNormalsFromPointCloud (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud)
 Removes points with NaN normal values from a point cloud of type pcl::PointXYZINormal.
 
+

Detailed Description

+

Removes points with NaN normal values from a point cloud.

+

This function filters out all points in the input point cloud whose normal components contain NaN (Not-a-Number) values. It uses the PCL utility function pcl::removeNaNNormalsFromPointCloud to perform the filtering operation.

+
Parameters
+ + +
cloudThe input point cloud, which may contain NaN normal values.
+
+
+
Returns
A new point cloud with all NaN normals removed.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__RoiComputation.html b/preview/pr-1492/api/latest/group__RoiComputation.html new file mode 100644 index 00000000..14b17b6a --- /dev/null +++ b/preview/pr-1492/api/latest/group__RoiComputation.html @@ -0,0 +1,273 @@ + + + + + + + + +RTAB-Map: Region of Interest (ROI) Computation + + + + + + + + + + + + +
+
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Region of Interest (ROI) Computation
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+Functions

cv::Rect RTABMAP_CORE_EXPORT rtabmap::util2d::computeRoi (const cv::Mat &image, const std::string &roiRatios)
 Computes a region of interest (ROI) in the image using string-defined ratios.
 
cv::Rect RTABMAP_CORE_EXPORT rtabmap::util2d::computeRoi (const cv::Size &imageSize, const std::string &roiRatios)
 Computes a region of interest (ROI) from an image size and a string of ratios.
 
cv::Rect RTABMAP_CORE_EXPORT rtabmap::util2d::computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
 Computes a region of interest (ROI) in the image using float vector-defined ratios.
 
cv::Rect RTABMAP_CORE_EXPORT rtabmap::util2d::computeRoi (const cv::Size &imageSize, const std::vector< float > &roiRatios)
 Computes a region of interest (ROI) using float ratios and the image size.
 
+

Detailed Description

+

Functions to compute the ROI in an image using ratio-based cropping.

+

Function Documentation

+ +

◆ computeRoi() [1/4]

+ +
+
+ + + + + + + + + + + + + + + + + + +
cv::Rect RTABMAP_CORE_EXPORT rtabmap::util2d::computeRoi (const cv::Mat & image,
const std::string & roiRatios 
)
+
+ +

Computes a region of interest (ROI) in the image using string-defined ratios.

+
Parameters
+ + + +
imageInput image.
roiRatiosA string of 4 space-separated float values representing the ROI ratios:
    +
  • left, right, top, bottom.
    • +
  • Each ratio should be between 0 and 1.
    • +
  • For example, "0.1 0.1 0.2 0.2" removes 10% from the left/right and 20% from the top/bottom.
    • +
+
+
+
+
Returns
A cv::Rect defining the ROI, or an empty rectangle if input is invalid.
+ +
+
+ +

◆ computeRoi() [2/4]

+ +
+
+ + + + + + + + + + + + + + + + + + +
cv::Rect RTABMAP_CORE_EXPORT rtabmap::util2d::computeRoi (const cv::Size & imageSize,
const std::string & roiRatios 
)
+
+ +

Computes a region of interest (ROI) from an image size and a string of ratios.

+
Parameters
+ + + +
imageSizeThe size of the image (width x height).
roiRatiosA string with 4 space-separated float values indicating cropping ratios:
    +
  • left, right, top, bottom.
    • +
+
+
+
+
Returns
The computed ROI rectangle.
+ +
+
+ +

◆ computeRoi() [3/4]

+ +
+
+ + + + + + + + + + + + + + + + + + +
cv::Rect RTABMAP_CORE_EXPORT rtabmap::util2d::computeRoi (const cv::Mat & image,
const std::vector< float > & roiRatios 
)
+
+ +

Computes a region of interest (ROI) in the image using float vector-defined ratios.

+
Parameters
+ + + +
imageInput image.
roiRatiosA vector of 4 float values (left, right, top, bottom) representing the ROI.
    +
  • Each value should be between 0 and 1.
    • +
+
+
+
+
Returns
A cv::Rect defining the cropped region.
+ +
+
+ +

◆ computeRoi() [4/4]

+ +
+
+ + + + + + + + + + + + + + + + + + +
cv::Rect RTABMAP_CORE_EXPORT rtabmap::util2d::computeRoi (const cv::Size & imageSize,
const std::vector< float > & roiRatios 
)
+
+ +

Computes a region of interest (ROI) using float ratios and the image size.

+
Parameters
+ + + +
imageSizeThe size of the image (width x height).
roiRatiosA vector of 4 float values representing ratios for cropping:
    +
  • [left, right, top, bottom].
    • +
  • Each must be in the range [0, 1), and valid (i.e., left + right < 1, top + bottom < 1).
    • +
+
+
+
+
Returns
The computed ROI rectangle.
+ +
+
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__SubtractFiltering.html b/preview/pr-1492/api/latest/group__SubtractFiltering.html new file mode 100644 index 00000000..5cd9c66c --- /dev/null +++ b/preview/pr-1492/api/latest/group__SubtractFiltering.html @@ -0,0 +1,149 @@ + + + + + + + + +RTAB-Map: Subtract Filtering + + + + + + + + + + + + +
+
+ + + + + + +
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Subtract Filtering
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Filters a point cloud by removing points that have a sufficient number of neighbors within a given radius in a second point cloud. +More...

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Functions

+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::subtractFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZ >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearch, int minNeighborsInRadius=1)
 Subtract filtering for point cloud of type pcl::PointXYZ, returning filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearch, int minNeighborsInRadius=1)
 Subtract filtering for point cloud of type pcl::PointXYZRGB, returning filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::subtractFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointNormal >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
 Subtract filtering for point cloud of type pcl::PointNormal, returning filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::subtractFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
 Subtract filtering for point cloud of type pcl::PointXYZINormal, returning filtered indices.
 
+pcl::IndicesPtr RTABMAP_CORE_EXPORT rtabmap::util3d::subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
 Subtract filtering for point cloud of type pcl::PointXYZRGBNormal, returning filtered indices.
 
+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::subtractFiltering (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::PointCloud< pcl::PointXYZ >::Ptr &subtractCloud, float radiusSearch, int minNeighborsInRadius=1)
 Subtract filtering for point cloud of type pcl::PointXYZ, returning a new filtered point cloud.
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &subtractCloud, float radiusSearch, int minNeighborsInRadius=1)
 Subtract filtering for point cloud of type pcl::PointXYZRGB, returning a new filtered point cloud.
 
+pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::subtractFiltering (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::PointCloud< pcl::PointNormal >::Ptr &subtractCloud, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
 Subtract filtering for point cloud of type pcl::PointNormal, returning a new filtered point cloud.
 
+pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::subtractFiltering (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &subtractCloud, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
 Subtract filtering for point cloud of type pcl::PointXYZINormal, returning a new filtered point cloud.
 
+pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::subtractFiltering (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &subtractCloud, float radiusSearch, float maxAngle=M_PI/4.0f, int minNeighborsInRadius=1)
 Subtract filtering for point cloud of type pcl::PointXYZRGBNormal, returning a new filtered point cloud.
 
+

Detailed Description

+

Filters a point cloud by removing points that have a sufficient number of neighbors within a given radius in a second point cloud.

+

This function performs a radius-based subtraction filter between two point clouds. It searches the subtractCloud for neighbors around each point in the cloud, and retains only those points from cloud (or from the indices subset of it) that have fewer than minNeighborsInRadius neighbors within the radiusSearch radius in subtractCloud.

+
Parameters
+ + + + + + + +
cloudThe input point cloud to filter.
indicesThe indices of the input point cloud to consider. If empty, the entire cloud is used.
subtractCloudThe point cloud to search against for neighboring points.
subtractIndicesOptional indices to use from the subtractCloud. If empty, the whole cloud is used.
radiusSearchThe radius within which to search for neighbors in the subtractCloud.
minNeighborsInRadiusMinimum number of neighbors required within radiusSearch to consider a point in cloud as not filtered out. Points with fewer neighbors are kept.
+
+
+
Returns
The indices of points from cloud that passed the filter, or the new filtered point cloud otherwise.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__TransformPoint.html b/preview/pr-1492/api/latest/group__TransformPoint.html new file mode 100644 index 00000000..5f3f9d58 --- /dev/null +++ b/preview/pr-1492/api/latest/group__TransformPoint.html @@ -0,0 +1,139 @@ + + + + + + + + +RTAB-Map: Transform a single point + + + + + + + + + + + + +
+
+ + + + + + +
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Transforms various point types using the given transform. +More...

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+Functions

+cv::Point3f RTABMAP_CORE_EXPORT rtabmap::util3d::transformPoint (const cv::Point3f &pt, const Transform &transform)
 Transforms cv::Point3f point type.
 
+cv::Point3d RTABMAP_CORE_EXPORT rtabmap::util3d::transformPoint (const cv::Point3d &pt, const Transform &transform)
 Transforms cv::Point3d point type.
 
+pcl::PointXYZ RTABMAP_CORE_EXPORT rtabmap::util3d::transformPoint (const pcl::PointXYZ &pt, const Transform &transform)
 Transforms pcl::PointXYZ point type.
 
+pcl::PointXYZI RTABMAP_CORE_EXPORT rtabmap::util3d::transformPoint (const pcl::PointXYZI &pt, const Transform &transform)
 Transforms pcl::PointXYZI point type.
 
+pcl::PointXYZRGB RTABMAP_CORE_EXPORT rtabmap::util3d::transformPoint (const pcl::PointXYZRGB &pt, const Transform &transform)
 Transforms pcl::PointXYZRGB point type.
 
+pcl::PointNormal RTABMAP_CORE_EXPORT rtabmap::util3d::transformPoint (const pcl::PointNormal &point, const Transform &transform)
 Transforms pcl::PointNormal point type.
 
+pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT rtabmap::util3d::transformPoint (const pcl::PointXYZRGBNormal &point, const Transform &transform)
 Transforms pcl::PointXYZRGBNormal point type.
 
+pcl::PointXYZINormal RTABMAP_CORE_EXPORT rtabmap::util3d::transformPoint (const pcl::PointXYZINormal &point, const Transform &transform)
 Transforms pcl::PointXYZINormal point type.
 
+

Detailed Description

+

Transforms various point types using the given transform.

+
    +
  • For types with normal, the normal is transformed appriopriatly.
    • +
+
Parameters
+ + + +
ptThe input point.
transformThe transform to apply.
+
+
+
Returns
A new point with the transform applied.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__TransformPointcloud.html b/preview/pr-1492/api/latest/group__TransformPointcloud.html new file mode 100644 index 00000000..e0f32c84 --- /dev/null +++ b/preview/pr-1492/api/latest/group__TransformPointcloud.html @@ -0,0 +1,157 @@ + + + + + + + + +RTAB-Map: Transform PCL Point Clouds + + + + + + + + + + + + +
+
+ + + + + + +
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Transform PCL Point Clouds
+
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Transforms various PCL point cloud types using the given transform. +More...

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+Functions

+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
 Transforms pcl::PointXYZ point cloud type.
 
+pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const Transform &transform)
 Transforms pcl::PointXYZI point cloud type.
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const Transform &transform)
 Transforms pcl::PointXYZRGB point cloud type.
 
+pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const Transform &transform)
 Transforms pcl::PointNormal point cloud type.
 
+pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const Transform &transform)
 Transforms pcl::PointXYZRGBNormal point cloud type.
 
+pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const Transform &transform)
 Transforms pcl::PointXYZINormal point cloud type.
 
+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
 Transforms pcl::PointXYZ point cloud type with specified indices.
 
+pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
 Transforms pcl::PointXYZI point cloud type with specified indices.
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
 Transforms pcl::PointXYZRGB point cloud type with specified indices.
 
+pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
 Transforms pcl::PointNormal point cloud type with specified indices.
 
+pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
 Transforms pcl::PointXYZRGBNormal point cloud type with specified indices.
 
+pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::transformPointCloud (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &transform)
 Transforms pcl::PointXYZINormal point cloud type with specified indices.
 
+

Detailed Description

+

Transforms various PCL point cloud types using the given transform.

+
    +
  • For types with normals, the normals are transformed appriopriatly.
    • +
  • If indices are provided, the returned point cloud contains only points matching the indices.
    • +
+
Parameters
+ + + + +
cloudThe input point cloud.
indicesOptional subset of indices of the points to transform.
transformThe transform to apply.
+
+
+
Returns
A new point cloud with the transform applied.
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__UtiLite.html b/preview/pr-1492/api/latest/group__UtiLite.html new file mode 100644 index 00000000..37f1807d --- /dev/null +++ b/preview/pr-1492/api/latest/group__UtiLite.html @@ -0,0 +1,233 @@ + + + + + + + + +RTAB-Map: UtiLite + + + + + + + + + + + + +
+
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UtiLite
+
+
+

+Introduction

+

UtiLite is a simple library to create small cross-platform applications using threads, events-based communication and a powerful logger. The first three sections show the core classes of the library, then last sections show some useful functions added through time.

+

UtiLite provides a utility application called uResourceGenerator to generate resources to include in an executable. For example:

$ ./uresourcegenerator DatabaseSchema.sql
+

This will generate a HEX file "DatabaseSchema_sql.h" which can be included in source files. Data of the file is global and can be accessed by the generated const char * DATABASESCHEMA_SQL.

#include "DatabaseSchema_sql.h"
+
...
+
std::string hex = DATABASESCHEMA_SQL;
+
// Assuming there are only ASCII characters, we can directly convert to a string:
+
std::string schema = uHex2Str(hex);
+
// For binary data:
+
std::vector<char> bytes = uHex2Bytes(hex);
+
uHex2Str
std::string UTILITE_EXPORT uHex2Str(const std::string &hex)
+
uHex2Bytes
std::vector< char > UTILITE_EXPORT uHex2Bytes(const std::string &hex)
+

A generated FindUtiLite.cmake is also provided for easy linking with the library.

+

+ULogger

+

The ULogger can be used anywhere in the application to log messages (formated like a printf). The logger can be set (ULogger::setType()) to print in a file or in the console (with colors depending on the severity). Convenient macros are given, working like a printf(), as UDEBUG(), UINFO(), UWARN(), UERROR(), UFATAL(), UASSERT(). Small example:

...
+
UINFO("A simple message with number %d", 42);
+
UDEBUG("A debug message");
+
...
+
UDEBUG
#define UDEBUG(...)
Definition ULogger.h:59
+

This will print: [Severity] (Time) File:Line:Function() "The message"

[ INFO] (2010-09-25 18:08:20) main.cpp:18::main() A simple message with number 42
+
[DEBUG] (2010-09-25 18:08:20) main.cpp:18::main() A debug message
+

+UEventsManager, UEventsHandler, UEvent

+

The events-based communication framework helps to communicate between objects/threads. The UEventsManager is a singleton with which we can post events anywhere in the application by calling UEventsManager::post(). All UEventsHandler will then receive the event with their protected function UEventsHandler::handleEvent(). Handlers are added to UEventsManager by calling UEventsManager::addHandler(). The UEvent provides an abstract class to implement any event implementations. The only requirement is that the event must implements UEvent::getClassName() to know the event's type.

...
+
MyHandler handler; // MyHandler is an implementation of UEventsHandler
+
UEventsManager::addHandler(&handler);
+
UEventsManager::post(new MyEvent()); // MyEvent is an implementation of UEvent
+
// The UEventsHandler::handleEvent() of "handler" will then be called by the UEventsManager's events dispatching thread.
+
...
+
UEventsManager::addHandler
static void addHandler(UEventsHandler *handler)
+
UEventsManager::post
static void post(UEvent *event, bool async=true, const UEventsSender *sender=0)
+

Look at the full example in page of UEventsHandler on how communication works with threads (UThread).

+

+UThread, UMutex, USemaphore

+

The multi-threading framework use a UThread as an abstract class to implement a thread in object-style. Reimplement UThread::mainLoop() then call UThread::start() to start the main loop of the thread. Threads can be joined by calling UThread::join() and killed by calling UThread::kill(). Classes UMutex and USemaphore provide blocking mechanisms to protect data between threads.

...
+
MyThread t; // MyThread is an implementation of UThread
+
t.start();
+
t.join(); // Wait the thread to finish
+
...
+

+UTimer

+

A useful class to compute processing time:

+

+UDirectory, UFile

+

For files and directories manipulations :

+

+Convenient use of STL

+

The library provides some simple wrappers of the STL like:

    +
  • uUniqueKeys() to get unique keys from a std::multimap,
    • +
  • uKeys() to get all keys of a std::multimap or std::map,
    • +
  • uValues() to get all values of a std::multimap or std::map,
    • +
  • uValue() to get the value of a key (with a default argument if the key is not found),
    • +
  • uTake() to take the value of a key (with a default argument if the key is not found),
    • +
  • uIteratorAt() to get iterator at a specified position in a std::list,
    • +
  • uValueAt() to get value at a specified position in a std::list,
    • +
  • uContains() to know if a key/value exists in a std::multimap, std::map, std::list,
    • +
  • uInsert() to insert a value in a std::map and overwriting the value if the key already exists,
    • +
  • uListToVector(),
    • +
  • uVectorToList(),
    • +
  • uAppend() to append a list to another list,
    • +
  • uIndexOf() to get index of a value in a std::list,
    • +
  • uSplit() to split a string into a std::list of strings on the specified separator.
    • +
+

+Basic mathematic operations

+

A library of basic array manipulations:

+

+Conversion

+

A library of convenient functions to convert some data into another like:

+

+UProcessInfo

+

This class can be used to get the process memory usage: UProcessInfo::getMemoryUsage().

+

+Qt Widgets (libutilite_qt.so : OPTIONAL)

+

If Qt is found on the system, the UtiLite Qt library (libutilite_qt.so, libutilite_qt.dll) with useful widgets is built. Use class UPlot to create a plot like MATLAB, and incrementally add new values like a scope. USpectrogram is used to show audio frequency frames.

    +
  • UPlot,
    • +
  • USpectrogram,
    • +
  • UImageView.
    + +
    +
    + +
    +
    • +
+

+Audio stuff (libutilite_audio.so : OPTIONAL)

+

If FMOD is found on the system, the UtiLite audio library is built (libutilite_audio.so, libutilite_audio.dll). It is a wrapper of FMOD methods with a convenient interface to extract audio frames.

    +
  • UAudioCapture,
    • +
  • UAudioCaptureFile,
    • +
  • UAudioCaptureMic,
    • +
  • UAudioCaptureFFT,
    • +
  • UAudioPlayer,
    • +
  • UAudioPlayerTone,
    • +
  • UWav,
    • +
  • UMp3Encoder (only if Lame is also found on the system).
    • +
+

+OpenCV stuff (libutilite_cv.so : OPTIONAL)

+

If OpenCV is found on the system, the UtiLite cv library is built (libutilite_cv.so, libutilite_cv.dll). It provides image capture classes used to read from a webcam, a video file or a directory of images. If UtiLite is also built with Qt, a convenient function uCvMat2QImage() can be used to convert a cv::Mat image to a QImage.

    +
  • UVideoCapture,
    • +
  • UImageFolderCapture,
    • +
  • UColorTable,
    • +
  • uCvMat2QImage() (only if Qt is also found on the system).
    • +
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/group__VoxelFiltering.html b/preview/pr-1492/api/latest/group__VoxelFiltering.html new file mode 100644 index 00000000..b6289521 --- /dev/null +++ b/preview/pr-1492/api/latest/group__VoxelFiltering.html @@ -0,0 +1,164 @@ + + + + + + + + +RTAB-Map: Voxel Filtering + + + + + + + + + + + + +
+
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+Functions
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Voxel Filtering
+
+
+ +

Performs voxel grid downsampling on a point cloud with optional index filtering. +More...

+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

+Functions

+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
 Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.
 
+pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
 Performs voxel grid downsampling on a point cloud of type pcl::PointNormal on provided indices.
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
 Performs voxel grid downsampling on a point cloud of type pcl::PointXYZRGB on provided indices.
 
+pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
 Performs voxel grid downsampling on a point cloud of type pcl::PointXYZRGBNormal on provided indices.
 
+pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
 Performs voxel grid downsampling on a point cloud of type pcl::PointXYZI on provided indices.
 
+pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
 Performs voxel grid downsampling on a point cloud of type pcl::PointXYZINormal on provided indices.
 
+pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
 Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ.
 
+pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud, float voxelSize)
 Performs voxel grid downsampling on a point cloud of type pcl::PointNormal.
 
+pcl::PointCloud< pcl::PointXYZRGB >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float voxelSize)
 Performs voxel grid downsampling on a point cloud of type pcl::PointXYZRGB.
 
+pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float voxelSize)
 Performs voxel grid downsampling on a point cloud of type pcl::PointXYZRGBNormal.
 
+pcl::PointCloud< pcl::PointXYZI >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZI >::Ptr &cloud, float voxelSize)
 Performs voxel grid downsampling on a point cloud of type pcl::PointXYZI.
 
+pcl::PointCloud< pcl::PointXYZINormal >::Ptr RTABMAP_CORE_EXPORT rtabmap::util3d::voxelize (const pcl::PointCloud< pcl::PointXYZINormal >::Ptr &cloud, float voxelSize)
 Performs voxel grid downsampling on a point cloud of type pcl::PointXYZINormal.
 
+

Detailed Description

+

Performs voxel grid downsampling on a point cloud with optional index filtering.

+

This function downsamples a point cloud using a voxel grid filter. It optionally accepts a set of point indices to limit the operation to a subset of the cloud. For very large point clouds or very small voxel sizes that would cause integer index overflow in the voxel grid structure, the function automatically partitions the space into smaller regions and applies the voxel filtering recursively.

+
Parameters
+ + + + +
cloudThe input point cloud to be voxelized.
indices(Optional) A shared pointer to a vector of indices indicating which points to consider. If empty, the entire cloud is used.
voxelSizeThe voxel (leaf) size for downsampling. Must be greater than zero.
+
+
+
Returns
A new downsampled point cloud as a shared pointer.
+
Note
If the computed voxel grid exceeds 32-bit integer capacity, the function splits the bounding volume into smaller regions (using a quadtree or octree-like subdivision depending on the Z-axis span) and processes each region recursively.
+
+If the cloud is not dense and no indices are provided, a warning is issued and an empty cloud is returned.
+
Exceptions
+ + +
Assertionfailure if voxelSize <= 0.
+
+
+
See also
pcl::VoxelGrid, util3d::cropBox
+
+ +
+Generated by doxygen 1.9.8 +
+ + diff --git a/preview/pr-1492/api/latest/hierarchy.html b/preview/pr-1492/api/latest/hierarchy.html new file mode 100644 index 00000000..c695ecce --- /dev/null +++ b/preview/pr-1492/api/latest/hierarchy.html @@ -0,0 +1,277 @@ + + + + + + + + +RTAB-Map: Class Hierarchy + + + + + + + + + + + + +
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Class Hierarchy
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+
+
+

Go to the graphical class hierarchy

+This inheritance list is sorted roughly, but not completely, alphabetically:
+
[detail level 1234]
+ + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
 Crtabmap::BayesFilterRecursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map
 Crtabmap::CameraModelRepresents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection, rectification, and transformation
 ►Coctomap::ColorOcTreeNode
 Cclams::DiscreteDepthDistortionModel
 Cclams::DiscreteFrustum
 Crtabmap::EnvSensorSingle environmental measurement (type, value, timestamp)
 Crtabmap::EpipolarGeometry
 ►Crtabmap::Feature2DAbstract 2D feature detector and descriptor extractor for visual SLAM
 Crtabmap::FeatureBAA single bundle adjustment feature observation: one keypoint seen in one frame
 Crtabmap::FlannIndex
 Cclams::FrameProjector
 Crtabmap::GainCompensator
 Crtabmap::GeodeticCoordsWGS84 geodetic latitude, longitude and altitude with coordinate conversions
 Crtabmap::GlobalDescriptor
 Crtabmap::GlobalDescriptorExtractor
 ►Crtabmap::GlobalMapAbstract base for assembling per-node LocalGrid data into a global map
 Crtabmap::GPSWGS84 GPS fix attached to a sensor sample or graph node
 Crtabmap::IMUInertial measurement sample (ROS sensor_msgs/Imu-like fields)
 Crtabmap::IMUFilterFuses gyroscope and accelerometer samples into an orientation quaternion
 Crtabmap::LandmarkOptimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map
 Crtabmap::LaserScanRepresents 2D or 3D laser scan data with support for multiple point data formats
 Crtabmap::LinkDirected constraint between two nodes in RTAB-Map's pose graph
 Crtabmap::LocalGridLocal occupancy grid cells for one map node (ground, obstacles, empty)
 Crtabmap::LocalGridCacheCache of LocalGrid entries keyed by map node id
 Crtabmap::LocalGridMakerBuilds per-node local occupancy grids from laser scans or depth clouds
 Crtabmap::MarkerDetector
 Crtabmap::MarkerInfo
 Crtabmap::graph::MaxGraphErrorsLargest pose-graph constraint violations after optimization
 Crtabmap::MemoryThree-tiered memory management (STM, WM, LTM) for RTAB-Map
 ►Coctomap::OccupancyOcTreeBase
 ►Crtabmap::OdometryAbstract base class for visual, lidar and visual-inertial odometry backends
 Crtabmap::OdometryInfo
 ►Crtabmap::OptimizerAbstract base for pose-graph and bundle-adjustment optimizers
 Crtabmap::Parameters
 Crtabmap::ParticleFilter
 Crtabmap::PointXYZIRTThis namespace contains 3D point cloud processing utilities
 Crtabmap::PointXYZIT
 Crtabmap::ProgressState
 Cclams::ProjectivePoint
 Crtabmap::PythonInterface
 ►Crtabmap::RegistrationAbstract base for registering two observations (visual, ICP, or both)
 Crtabmap::RegistrationInfoStatistics and diagnostics returned by Registration
 Crtabmap::RtabmapTop-level RTAB-Map SLAM pipeline (mapping, localization and loop closure)
 ►Cstd::runtime_error
 Crtabmap::RvlCodec
 ►Crtabmap::SensorCaptureAbstract base class for sensor data capture (cameras, lidars, etc.)
 Crtabmap::SensorCaptureInfoMetadata structure for sensor data capture and processing
 Crtabmap::SensorDataContainer class for all sensor data captured at a specific time
 Crtabmap::SignatureRepresents a node in RTAB-Map's pose graph
 Crtabmap::RtabmapColorOcTree::StaticMemberInitializer
 Crtabmap::StatisticsCollects and manages runtime statistics for RTAB-Map
 ►Crtabmap::StereoSparse stereo matching using block matching
 Crtabmap::StereoCameraModelA class representing a calibrated stereo camera system
 ►Crtabmap::StereoDenseAbstract base class for dense stereo matching algorithms
 Crtabmap::TransformRepresents a 3D rigid body transformation (rotation + translation)
 Crtabmap::TransformStampedAssociates a transform with a timestamp
 CUDestroyer< T >
 CUDestroyer< UEventsManager >
 CUDestroyer< ULogger >
 CUDirectory
 ►CUEvent
 ►CUEventsSender
 CUFile
 CULogger
 CUMutex
 CUProcessInfoClass for getting information about the current process
 CUScopeMutex
 CUSemaphore
 CUThreadC< Thread_T >
 ►CUThreadC< void >
 CUTimer
 CUVariantA variant type that can hold values of different types
 Crtabmap::VisualWordRepresents a visual word (feature descriptor) used in the bag-of-words (BoW) model
 ►Cpcl::VLPGrabber
 Crtabmap::VWDictionaryManages a dictionary of visual words for visual place recognition and loop closure detection
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e=$(t.currentTarget);if(this.handleItemEvents(e)){if(this.$touchScrollingSub&&this.$touchScrollingSub[0]==e.closest("ul")[0])return this.$touchScrollingSub=null,t.stopPropagation(),!1;if(this.$root.triggerHandler("click.smapi",e[0])===!1)return!1;var i=$(t.target).is(".sub-arrow"),s=e.dataSM("sub"),o=s?2==s.dataSM("level"):!1,a=this.isCollapsible(),n=/toggle$/.test(this.opts.collapsibleBehavior),r=/link$/.test(this.opts.collapsibleBehavior),h=/^accordion/.test(this.opts.collapsibleBehavior);if(s&&!s.is(":visible")){if((!r||!a||i)&&(this.opts.showOnClick&&o&&(this.clickActivated=!0),this.itemActivate(e,h),s.is(":visible")))return this.focusActivated=!0,!1}else if(a&&(n||i))return this.itemActivate(e,h),this.menuHide(s),n&&(this.focusActivated=!1),!1;return this.opts.showOnClick&&o||e.hasClass("disabled")||this.$root.triggerHandler("select.smapi",e[0])===!1?!1:void 0}},itemDown:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&e.dataSM("mousedown",!0)},itemEnter:function(t){var e=$(t.currentTarget);if(this.handleItemEvents(e)){if(!this.isTouchMode()){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);var i=this;this.showTimeout=setTimeout(function(){i.itemActivate(e)},this.opts.showOnClick&&1==e.closest("ul").dataSM("level")?1:this.opts.showTimeout)}this.$root.triggerHandler("mouseenter.smapi",e[0])}},itemFocus:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(!this.focusActivated||this.isTouchMode()&&e.dataSM("mousedown")||this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0]==e[0]||this.itemActivate(e,!0),this.$root.triggerHandler("focus.smapi",e[0]))},itemLeave:function(t){var e=$(t.currentTarget);this.handleItemEvents(e)&&(this.isTouchMode()||(e[0].blur(),this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0)),e.removeDataSM("mousedown"),this.$root.triggerHandler("mouseleave.smapi",e[0]))},menuHide:function(t){if(this.$root.triggerHandler("beforehide.smapi",t[0])!==!1&&(canAnimate&&t.stop(!0,!0),"none"!=t.css("display"))){var e=function(){t.css("z-index","")};this.isCollapsible()?canAnimate&&this.opts.collapsibleHideFunction?this.opts.collapsibleHideFunction.call(this,t,e):t.hide(this.opts.collapsibleHideDuration,e):canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,t,e):t.hide(this.opts.hideDuration,e),t.dataSM("scroll")&&(this.menuScrollStop(t),t.css({"touch-action":"","-ms-touch-action":"","-webkit-transform":"",transform:""}).off(".smartmenus_scroll").removeDataSM("scroll").dataSM("scroll-arrows").hide()),t.dataSM("parent-a").removeClass("highlighted").attr("aria-expanded","false"),t.attr({"aria-expanded":"false","aria-hidden":"true"});var i=t.dataSM("level");this.activatedItems.splice(i-1,1),this.visibleSubMenus.splice($.inArray(t,this.visibleSubMenus),1),this.$root.triggerHandler("hide.smapi",t[0])}},menuHideAll:function(){this.showTimeout&&(clearTimeout(this.showTimeout),this.showTimeout=0);for(var t=this.opts.isPopup?1:0,e=this.visibleSubMenus.length-1;e>=t;e--)this.menuHide(this.visibleSubMenus[e]);this.opts.isPopup&&(canAnimate&&this.$root.stop(!0,!0),this.$root.is(":visible")&&(canAnimate&&this.opts.hideFunction?this.opts.hideFunction.call(this,this.$root):this.$root.hide(this.opts.hideDuration))),this.activatedItems=[],this.visibleSubMenus=[],this.clickActivated=!1,this.focusActivated=!1,this.zIndexInc=0,this.$root.triggerHandler("hideAll.smapi")},menuHideSubMenus:function(t){for(var e=this.activatedItems.length-1;e>=t;e--){var i=this.activatedItems[e].dataSM("sub");i&&this.menuHide(i)}},menuInit:function(t){if(!t.dataSM("in-mega")){t.hasClass("mega-menu")&&t.find("ul").dataSM("in-mega",!0);for(var e=2,i=t[0];(i=i.parentNode.parentNode)!=this.$root[0];)e++;var s=t.prevAll("a").eq(-1);s.length||(s=t.prevAll().find("a").eq(-1)),s.addClass("has-submenu").dataSM("sub",t),t.dataSM("parent-a",s).dataSM("level",e).parent().dataSM("sub",t);var o=s.attr("id")||this.accessIdPrefix+ ++this.idInc,a=t.attr("id")||this.accessIdPrefix+ ++this.idInc;s.attr({id:o,"aria-haspopup":"true","aria-controls":a,"aria-expanded":"false"}),t.attr({id:a,role:"group","aria-hidden":"true","aria-labelledby":o,"aria-expanded":"false"}),this.opts.subIndicators&&s[this.opts.subIndicatorsPos](this.$subArrow.clone())}},menuPosition:function(t){var e,i,s=t.dataSM("parent-a"),o=s.closest("li"),a=o.parent(),n=t.dataSM("level"),r=this.getWidth(t),h=this.getHeight(t),u=s.offset(),l=u.left,c=u.top,d=this.getWidth(s),m=this.getHeight(s),p=$(window),f=p.scrollLeft(),v=p.scrollTop(),b=this.getViewportWidth(),S=this.getViewportHeight(),g=a.parent().is("[data-sm-horizontal-sub]")||2==n&&!a.hasClass("sm-vertical"),M=this.opts.rightToLeftSubMenus&&!o.is("[data-sm-reverse]")||!this.opts.rightToLeftSubMenus&&o.is("[data-sm-reverse]"),w=2==n?this.opts.mainMenuSubOffsetX:this.opts.subMenusSubOffsetX,T=2==n?this.opts.mainMenuSubOffsetY:this.opts.subMenusSubOffsetY;if(g?(e=M?d-r-w:w,i=this.opts.bottomToTopSubMenus?-h-T:m+T):(e=M?w-r:d-w,i=this.opts.bottomToTopSubMenus?m-T-h:T),this.opts.keepInViewport){var y=l+e,I=c+i;if(M&&f>y?e=g?f-y+e:d-w:!M&&y+r>f+b&&(e=g?f+b-r-y+e:w-r),g||(S>h&&I+h>v+S?i+=v+S-h-I:(h>=S||v>I)&&(i+=v-I)),g&&(I+h>v+S+.49||v>I)||!g&&h>S+.49){var x=this;t.dataSM("scroll-arrows")||t.dataSM("scroll-arrows",$([$('')[0],$('')[0]]).on({mouseenter:function(){t.dataSM("scroll").up=$(this).hasClass("scroll-up"),x.menuScroll(t)},mouseleave:function(e){x.menuScrollStop(t),x.menuScrollOut(t,e)},"mousewheel DOMMouseScroll":function(t){t.preventDefault()}}).insertAfter(t));var A=".smartmenus_scroll";if(t.dataSM("scroll",{y:this.cssTransforms3d?0:i-m,step:1,itemH:m,subH:h,arrowDownH:this.getHeight(t.dataSM("scroll-arrows").eq(1))}).on(getEventsNS({mouseover:function(e){x.menuScrollOver(t,e)},mouseout:function(e){x.menuScrollOut(t,e)},"mousewheel DOMMouseScroll":function(e){x.menuScrollMousewheel(t,e)}},A)).dataSM("scroll-arrows").css({top:"auto",left:"0",marginLeft:e+(parseInt(t.css("border-left-width"))||0),width:r-(parseInt(t.css("border-left-width"))||0)-(parseInt(t.css("border-right-width"))||0),zIndex:t.css("z-index")}).eq(g&&this.opts.bottomToTopSubMenus?0:1).show(),this.isFixed()){var C={};C[touchEvents?"touchstart touchmove touchend":"pointerdown pointermove pointerup MSPointerDown MSPointerMove MSPointerUp"]=function(e){x.menuScrollTouch(t,e)},t.css({"touch-action":"none","-ms-touch-action":"none"}).on(getEventsNS(C,A))}}}t.css({top:"auto",left:"0",marginLeft:e,marginTop:i-m})},menuScroll:function(t,e,i){var s,o=t.dataSM("scroll"),a=t.dataSM("scroll-arrows"),n=o.up?o.upEnd:o.downEnd;if(!e&&o.momentum){if(o.momentum*=.92,s=o.momentum,.5>s)return this.menuScrollStop(t),void 0}else s=i||(e||!this.opts.scrollAccelerate?this.opts.scrollStep:Math.floor(o.step));var r=t.dataSM("level");if(this.activatedItems[r-1]&&this.activatedItems[r-1].dataSM("sub")&&this.activatedItems[r-1].dataSM("sub").is(":visible")&&this.menuHideSubMenus(r-1),o.y=o.up&&o.y>=n||!o.up&&n>=o.y?o.y:Math.abs(n-o.y)>s?o.y+(o.up?s:-s):n,t.css(this.cssTransforms3d?{"-webkit-transform":"translate3d(0, "+o.y+"px, 0)",transform:"translate3d(0, "+o.y+"px, 0)"}:{marginTop:o.y}),mouse&&(o.up&&o.y>o.downEnd||!o.up&&o.y0;t.dataSM("scroll-arrows").eq(i?0:1).is(":visible")&&(t.dataSM("scroll").up=i,this.menuScroll(t,!0))}e.preventDefault()},menuScrollOut:function(t,e){mouse&&(/^scroll-(up|down)/.test((e.relatedTarget||"").className)||(t[0]==e.relatedTarget||$.contains(t[0],e.relatedTarget))&&this.getClosestMenu(e.relatedTarget)==t[0]||t.dataSM("scroll-arrows").css("visibility","hidden"))},menuScrollOver:function(t,e){if(mouse&&!/^scroll-(up|down)/.test(e.target.className)&&this.getClosestMenu(e.target)==t[0]){this.menuScrollRefreshData(t);var i=t.dataSM("scroll"),s=$(window).scrollTop()-t.dataSM("parent-a").offset().top-i.itemH;t.dataSM("scroll-arrows").eq(0).css("margin-top",s).end().eq(1).css("margin-top",s+this.getViewportHeight()-i.arrowDownH).end().css("visibility","visible")}},menuScrollRefreshData:function(t){var e=t.dataSM("scroll"),i=$(window).scrollTop()-t.dataSM("parent-a").offset().top-e.itemH;this.cssTransforms3d&&(i=-(parseFloat(t.css("margin-top"))-i)),$.extend(e,{upEnd:i,downEnd:i+this.getViewportHeight()-e.subH})},menuScrollStop:function(t){return this.scrollTimeout?(cancelAnimationFrame(this.scrollTimeout),this.scrollTimeout=0,t.dataSM("scroll").step=1,!0):void 0},menuScrollTouch:function(t,e){if(e=e.originalEvent,isTouchEvent(e)){var i=this.getTouchPoint(e);if(this.getClosestMenu(i.target)==t[0]){var s=t.dataSM("scroll");if(/(start|down)$/i.test(e.type))this.menuScrollStop(t)?(e.preventDefault(),this.$touchScrollingSub=t):this.$touchScrollingSub=null,this.menuScrollRefreshData(t),$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp});else if(/move$/i.test(e.type)){var o=void 0!==s.touchY?s.touchY:s.touchStartY;if(void 0!==o&&o!=i.pageY){this.$touchScrollingSub=t;var a=i.pageY>o;void 0!==s.up&&s.up!=a&&$.extend(s,{touchStartY:i.pageY,touchStartTime:e.timeStamp}),$.extend(s,{up:a,touchY:i.pageY}),this.menuScroll(t,!0,Math.abs(i.pageY-o))}e.preventDefault()}else void 0!==s.touchY&&((s.momentum=15*Math.pow(Math.abs(i.pageY-s.touchStartY)/(e.timeStamp-s.touchStartTime),2))&&(this.menuScrollStop(t),this.menuScroll(t),e.preventDefault()),delete s.touchY)}}},menuShow:function(t){if((t.dataSM("beforefirstshowfired")||(t.dataSM("beforefirstshowfired",!0),this.$root.triggerHandler("beforefirstshow.smapi",t[0])!==!1))&&this.$root.triggerHandler("beforeshow.smapi",t[0])!==!1&&(t.dataSM("shown-before",!0),canAnimate&&t.stop(!0,!0),!t.is(":visible"))){var e=t.dataSM("parent-a"),i=this.isCollapsible();if((this.opts.keepHighlighted||i)&&e.addClass("highlighted"),i)t.removeClass("sm-nowrap").css({zIndex:"",width:"auto",minWidth:"",maxWidth:"",top:"",left:"",marginLeft:"",marginTop:""});else{if(t.css("z-index",this.zIndexInc=(this.zIndexInc||this.getStartZIndex())+1),(this.opts.subMenusMinWidth||this.opts.subMenusMaxWidth)&&(t.css({width:"auto",minWidth:"",maxWidth:""}).addClass("sm-nowrap"),this.opts.subMenusMinWidth&&t.css("min-width",this.opts.subMenusMinWidth),this.opts.subMenusMaxWidth)){var s=this.getWidth(t);t.css("max-width",this.opts.subMenusMaxWidth),s>this.getWidth(t)&&t.removeClass("sm-nowrap").css("width",this.opts.subMenusMaxWidth)}this.menuPosition(t)}var o=function(){t.css("overflow","")};i?canAnimate&&this.opts.collapsibleShowFunction?this.opts.collapsibleShowFunction.call(this,t,o):t.show(this.opts.collapsibleShowDuration,o):canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,t,o):t.show(this.opts.showDuration,o),e.attr("aria-expanded","true"),t.attr({"aria-expanded":"true","aria-hidden":"false"}),this.visibleSubMenus.push(t),this.$root.triggerHandler("show.smapi",t[0])}},popupHide:function(t){this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0);var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},t?1:this.opts.hideTimeout)},popupShow:function(t,e){if(!this.opts.isPopup)return alert('SmartMenus jQuery Error:\n\nIf you want to show this menu via the "popupShow" method, set the isPopup:true option.'),void 0;if(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),this.$root.dataSM("shown-before",!0),canAnimate&&this.$root.stop(!0,!0),!this.$root.is(":visible")){this.$root.css({left:t,top:e});var i=this,s=function(){i.$root.css("overflow","")};canAnimate&&this.opts.showFunction?this.opts.showFunction.call(this,this.$root,s):this.$root.show(this.opts.showDuration,s),this.visibleSubMenus[0]=this.$root}},refresh:function(){this.destroy(!0),this.init(!0)},rootKeyDown:function(t){if(this.handleEvents())switch(t.keyCode){case 27:var e=this.activatedItems[0];if(e){this.menuHideAll(),e[0].focus();var i=e.dataSM("sub");i&&this.menuHide(i)}break;case 32:var s=$(t.target);if(s.is("a")&&this.handleItemEvents(s)){var i=s.dataSM("sub");i&&!i.is(":visible")&&(this.itemClick({currentTarget:t.target}),t.preventDefault())}}},rootOut:function(t){if(this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&(this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0),!this.opts.showOnClick||!this.opts.hideOnClick)){var e=this;this.hideTimeout=setTimeout(function(){e.menuHideAll()},this.opts.hideTimeout)}},rootOver:function(t){this.handleEvents()&&!this.isTouchMode()&&t.target!=this.$root[0]&&this.hideTimeout&&(clearTimeout(this.hideTimeout),this.hideTimeout=0)},winResize:function(t){if(this.handleEvents()){if(!("onorientationchange"in window)||"orientationchange"==t.type){var e=this.isCollapsible();this.wasCollapsible&&e||(this.activatedItems.length&&this.activatedItems[this.activatedItems.length-1][0].blur(),this.menuHideAll()),this.wasCollapsible=e}}else if(this.$disableOverlay){var i=this.$root.offset();this.$disableOverlay.css({top:i.top,left:i.left,width:this.$root.outerWidth(),height:this.$root.outerHeight()})}}}}),$.fn.dataSM=function(t,e){return e?this.data(t+"_smartmenus",e):this.data(t+"_smartmenus")},$.fn.removeDataSM=function(t){return this.removeData(t+"_smartmenus")},$.fn.smartmenus=function(options){if("string"==typeof options){var args=arguments,method=options;return Array.prototype.shift.call(args),this.each(function(){var t=$(this).data("smartmenus");t&&t[method]&&t[method].apply(t,args)})}return this.each(function(){var dataOpts=$(this).data("sm-options")||null;if(dataOpts)try{dataOpts=eval("("+dataOpts+")")}catch(e){dataOpts=null,alert('ERROR\n\nSmartMenus jQuery init:\nInvalid "data-sm-options" attribute value syntax.')}new $.SmartMenus(this,$.extend({},$.fn.smartmenus.defaults,options,dataOpts))})},$.fn.smartmenus.defaults={isPopup:!1,mainMenuSubOffsetX:0,mainMenuSubOffsetY:0,subMenusSubOffsetX:0,subMenusSubOffsetY:0,subMenusMinWidth:"10em",subMenusMaxWidth:"20em",subIndicators:!0,subIndicatorsPos:"append",subIndicatorsText:"",scrollStep:30,scrollAccelerate:!0,showTimeout:250,hideTimeout:500,showDuration:0,showFunction:null,hideDuration:0,hideFunction:function(t,e){t.fadeOut(200,e)},collapsibleShowDuration:0,collapsibleShowFunction:function(t,e){t.slideDown(200,e)},collapsibleHideDuration:0,collapsibleHideFunction:function(t,e){t.slideUp(200,e)},showOnClick:!1,hideOnClick:!0,noMouseOver:!1,keepInViewport:!0,keepHighlighted:!0,markCurrentItem:!1,markCurrentTree:!0,rightToLeftSubMenus:!1,bottomToTopSubMenus:!1,collapsibleBehavior:"default"},$}); \ No newline at end of file diff --git a/preview/pr-1492/api/latest/menu.js b/preview/pr-1492/api/latest/menu.js new file mode 100644 index 00000000..b0b26936 --- /dev/null +++ b/preview/pr-1492/api/latest/menu.js @@ -0,0 +1,136 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function initMenu(relPath,searchEnabled,serverSide,searchPage,search) { + function makeTree(data,relPath) { + var result=''; + if ('children' in data) { + result+='
    '; + for (var i in data.children) { + var url; + var link; + link = data.children[i].url; + if (link.substring(0,1)=='^') { + url = link.substring(1); + } else { + url = relPath+link; + } + result+='
  • '+ + data.children[i].text+''+ + makeTree(data.children[i],relPath)+'
    • '; + } + result+='
'; + } + return result; + } + var searchBoxHtml; + if (searchEnabled) { + if (serverSide) { + searchBoxHtml='
'+ + '
'+ + '
 '+ + ''+ + '
'+ + '
'+ + '
'+ + '
'; + } else { + searchBoxHtml='
'+ + ''+ + ' '+ + ''+ + ''+ + ''+ + ''+ + ''+ + '
'; + } + } + + $('#main-nav').before('
'+ + ''+ + ''+ + '
'); + $('#main-nav').append(makeTree(menudata,relPath)); + $('#main-nav').children(':first').addClass('sm sm-dox').attr('id','main-menu'); + if (searchBoxHtml) { + $('#main-menu').append('
  • '); + } + var $mainMenuState = $('#main-menu-state'); + var prevWidth = 0; + if ($mainMenuState.length) { + function initResizableIfExists() { + if (typeof initResizable==='function') initResizable(); + } + // animate mobile menu + $mainMenuState.change(function(e) { + var $menu = $('#main-menu'); + var options = { duration: 250, step: initResizableIfExists }; + if (this.checked) { + options['complete'] = function() { $menu.css('display', 'block') }; + $menu.hide().slideDown(options); + } else { + options['complete'] = function() { $menu.css('display', 'none') }; + $menu.show().slideUp(options); + } + }); + // set default menu visibility + function resetState() { + var $menu = $('#main-menu'); + var $mainMenuState = $('#main-menu-state'); + var newWidth = $(window).outerWidth(); + if (newWidth!=prevWidth) { + if ($(window).outerWidth()<768) { + $mainMenuState.prop('checked',false); $menu.hide(); + $('#searchBoxPos1').html(searchBoxHtml); + $('#searchBoxPos2').hide(); + } else { + $menu.show(); + $('#searchBoxPos1').empty(); + $('#searchBoxPos2').html(searchBoxHtml); + $('#searchBoxPos2').show(); + } + if (typeof searchBox!=='undefined') { + searchBox.CloseResultsWindow(); + } + prevWidth = newWidth; + } + } + $(window).ready(function() { resetState(); initResizableIfExists(); }); + $(window).resize(resetState); + } + $('#main-menu').smartmenus(); +} +/* @license-end */ diff --git a/preview/pr-1492/api/latest/menudata.js b/preview/pr-1492/api/latest/menudata.js new file mode 100644 index 00000000..5e0c5465 --- /dev/null +++ b/preview/pr-1492/api/latest/menudata.js @@ -0,0 +1,157 @@ +/* + @licstart The following is the entire license notice for the JavaScript code in this file. + + The MIT License (MIT) + + Copyright (C) 1997-2020 by Dimitri van Heesch + + Permission is hereby granted, free of charge, to any person obtaining a copy of this software + and associated documentation files (the "Software"), to deal in the Software without restriction, + including without limitation the rights to use, copy, modify, merge, publish, distribute, + sublicense, and/or sell copies of the Software, and to permit persons to whom the Software is + furnished to do so, subject to the following conditions: + + The above copyright notice and this permission notice shall be included in all copies or + substantial portions of the Software. + + THE SOFTWARE IS PROVIDED "AS IS", WITHOUT WARRANTY OF ANY KIND, EXPRESS OR IMPLIED, INCLUDING + BUT NOT LIMITED TO THE WARRANTIES OF MERCHANTABILITY, FITNESS FOR A PARTICULAR PURPOSE AND + NONINFRINGEMENT. IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file +*/ +var menudata={children:[ +{text:"Main Page",url:"index.html"}, +{text:"Related Pages",url:"pages.html"}, +{text:"Topics",url:"topics.html"}, +{text:"Namespaces",url:"namespaces.html",children:[ +{text:"Namespace List",url:"namespaces.html"}, +{text:"Namespace Members",url:"namespacemembers.html",children:[ +{text:"All",url:"namespacemembers.html",children:[ +{text:"b",url:"namespacemembers.html#index_b"}, +{text:"c",url:"namespacemembers.html#index_c"}, +{text:"d",url:"namespacemembers.html#index_d"}, +{text:"e",url:"namespacemembers.html#index_e"}, +{text:"f",url:"namespacemembers.html#index_f"}, 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    Pose-graph I/O, trajectory metrics, link utilities, and path planning. +More...

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    Detailed Description

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    Pose-graph I/O, trajectory metrics, link utilities, and path planning.

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    Functions operate on maps of signature ids to Transform poses and Link constraints (typically stored as std::multimap<int, Link> keyed by the source node id).

    +

    Main groups:

      +
    • I/O: exportPoses(), importPoses(), exportGPS()
      • +
    • Evaluation: calcKittiSequenceErrors(), calcRelativeErrors(), calcRMSE(), computeMaxGraphErrors()
      • +
    • Links: findLink(), findLinks(), filterLinks(), filterDuplicateLinks()
      • +
    • Spatial queries: findNearestNode(), findNearestNodes(), frustumPosesFiltering(), radiusPosesFiltering()
      • +
    • Planning: computePath(), computePathLength(), getPaths()
      • +
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    +Namespaces

    namespace  util2d
     This namespace contains 2D image processing utilities.
     
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Classes

    class  BayesFilter
     Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map. More...
     
    class  BRISK
     BRISK detector and descriptor. More...
     
    class  Camera
     
    class  CameraDepthAI
     
    class  CameraFreenect
     
    class  CameraFreenect2
     
    class  CameraImages
     
    class  CameraK4A
     
    class  CameraK4W2
     
    class  CameraModel
     Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection, rectification, and transformation. More...
     
    class  CameraMyntEye
     
    class  CameraOpenni
     OpenNI driver for cameras like Kinect for Xbox 360. More...
     
    class  CameraOpenNI2
     
    class  CameraOpenNICV
     
    class  CameraOrbbecSDK
     
    class  CameraRealSense
     
    class  CameraRealSense2
     
    class  CameraRGBDImages
     
    class  CameraSeerSense
     
    class  CameraStereoDC1394
     
    class  CameraStereoFlyCapture2
     
    class  CameraStereoImages
     
    class  CameraStereoTara
     
    class  CameraStereoVideo
     
    class  CameraStereoZed
     
    class  CameraStereoZedOC
     
    class  CameraVideo
     
    class  CloudMap
     
    class  CompressionThread
     Background thread to compress or uncompress images and generic matrices. More...
     
    class  DBDriver
     Abstract database driver for RTAB-Map maps (signatures, links, words, statistics). More...
     
    class  DBDriverSqlite3
     SQLite3 implementation of DBDriver for RTAB-Map map databases. More...
     
    class  DBReader
     
    class  EnvSensor
     Single environmental measurement (type, value, timestamp). More...
     
    class  EpipolarGeometry
     
    class  FAST
     FAST corner detector only (no descriptor). More...
     
    class  FAST_BRIEF
     FAST corners + BRIEF descriptors. More...
     
    class  FAST_FREAK
     FAST corners + FREAK descriptors. More...
     
    class  Feature2D
     Abstract 2D feature detector and descriptor extractor for visual SLAM. More...
     
    class  FeatureBA
     A single bundle adjustment feature observation: one keypoint seen in one frame. More...
     
    class  FlannIndex
     
    class  GainCompensator
     
    class  GeodeticCoords
     WGS84 geodetic latitude, longitude and altitude with coordinate conversions. More...
     
    class  GFTT
     Good-features-to-track detector (Shi–Tomasi / Harris). More...
     
    class  GFTT_BRIEF
     GFTT corners + BRIEF descriptors. More...
     
    class  GFTT_DAISY
     GFTT corners + DAISY descriptors (OpenCV 3+ xfeatures2d). More...
     
    class  GFTT_FREAK
     GFTT corners + FREAK descriptors. More...
     
    class  GFTT_ORB
     GFTT corners + ORB descriptors (common default when SURF is unavailable). More...
     
    class  GlobalDescriptor
     
    class  GlobalDescriptorExtractor
     
    class  GlobalMap
     Abstract base for assembling per-node LocalGrid data into a global map. More...
     
    class  GPS
     WGS84 GPS fix attached to a sensor sample or graph node. More...
     
    class  GridMap
     
    class  IMU
     Inertial measurement sample (ROS sensor_msgs/Imu-like fields). More...
     
    class  IMUEvent
     UEvent carrying an IMU sample and timestamp. More...
     
    class  IMUFilter
     Fuses gyroscope and accelerometer samples into an orientation quaternion. More...
     
    class  IMUThread
     Background thread that replays IMU measurements from a CSV file. More...
     
    class  KAZE
     KAZE detector and descriptor (OpenCV 3+). More...
     
    class  Landmark
     Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map. More...
     
    class  LaserScan
     Represents 2D or 3D laser scan data with support for multiple point data formats. More...
     
    class  Lidar
     
    class  LidarVLP16
     
    class  Link
     Directed constraint between two nodes in RTAB-Map's pose graph. More...
     
    class  LocalGrid
     Local occupancy grid cells for one map node (ground, obstacles, empty). More...
     
    class  LocalGridCache
     Cache of LocalGrid entries keyed by map node id. More...
     
    class  LocalGridMaker
     Builds per-node local occupancy grids from laser scans or depth clouds. More...
     
    class  MarkerDetector
     
    class  MarkerInfo
     
    class  Memory
     Three-tiered memory management (STM, WM, LTM) for RTAB-Map. More...
     
    class  OccupancyGrid
     
    class  OctoMap
     
    class  Odometry
     Abstract base class for visual, lidar and visual-inertial odometry backends. More...
     
    class  OdometryCuVSLAM
     
    class  OdometryDVO
     
    class  OdometryEvent
     
    class  OdometryF2F
     
    class  OdometryF2M
     
    class  OdometryFLOAM
     
    class  OdometryFovis
     
    class  OdometryInfo
     
    class  OdometryLIOSAM
     
    class  OdometryLOAM
     
    class  OdometryMono
     
    class  OdometryMSCKF
     
    class  OdometryOkvis
     
    class  OdometryOpen3D
     
    class  OdometryOpenVINS
     
    class  OdometryORBSLAM2
     
    class  OdometryORBSLAM3
     
    class  OdometryResetEvent
     
    class  OdometryThread
     
    class  OdometryVINSFusion
     
    class  OdometryViso2
     
    class  Optimizer
     Abstract base for pose-graph and bundle-adjustment optimizers. More...
     
    class  OptimizerCeres
     
    class  OptimizerCVSBA
     
    class  OptimizerG2O
     
    class  OptimizerGTSAM
     
    class  OptimizerTORO
     
    class  ORB
     ORB detector and descriptor (optional GPU). More...
     
    class  ORBOctree
     ORB with octree spatial distribution (RTAB-Map must be built with OCTREE enabled). More...
     
    class  Parameters
     
    class  ParamEvent
     
    class  ParticleFilter
     
    struct  PointXYZIRT
     This namespace contains 3D point cloud processing utilities. More...
     
    struct  PointXYZIT
     
    class  ProgressState
     
    class  PythonInterface
     
    class  Registration
     Abstract base for registering two observations (visual, ICP, or both). More...
     
    class  RegistrationIcp
     
    class  RegistrationInfo
     Statistics and diagnostics returned by Registration. More...
     
    class  RegistrationVis
     Visual registration between two signatures using features and geometry. More...
     
    class  Rtabmap
     Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure). More...
     
    class  RtabmapColorOcTree
     
    class  RtabmapColorOcTreeNode
     
    class  RtabmapEvent
     
    class  RtabmapEvent3DMap
     
    class  RtabmapEventCmd
     
    class  RtabmapEventInit
     
    class  RtabmapGlobalPathEvent
     
    class  RtabmapGoalStatusEvent
     
    class  RtabmapLabelErrorEvent
     
    class  RtabmapThread
     
    class  RvlCodec
     
    class  SensorCapture
     Abstract base class for sensor data capture (cameras, lidars, etc.) More...
     
    class  SensorCaptureInfo
     Metadata structure for sensor data capture and processing. More...
     
    class  SensorCaptureThread
     Thread-based sensor data capture and event posting for RTAB-Map. More...
     
    class  SensorData
     Container class for all sensor data captured at a specific time. More...
     
    class  SensorEvent
     Event class for sensor data communication in RTAB-Map's event system. More...
     
    class  SIFT
     SIFT detector and descriptor (optional GPU / CudaSift). More...
     
    class  Signature
     Represents a node in RTAB-Map's pose graph. More...
     
    class  Statistics
     Collects and manages runtime statistics for RTAB-Map. More...
     
    class  Stereo
     Sparse stereo matching using block matching. More...
     
    class  StereoBM
     Block Matching algorithm for dense stereo matching. More...
     
    class  StereoCameraModel
     A class representing a calibrated stereo camera system. More...
     
    class  StereoDense
     Abstract base class for dense stereo matching algorithms. More...
     
    class  StereoOpticalFlow
     Sparse stereo matching using optical flow. More...
     
    class  StereoSGBM
     Semi-Global Block Matching algorithm for dense stereo matching. More...
     
    class  SuperPointRpautrat
     SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support). More...
     
    class  SuperPointTorch
     SuperPoint via LibTorch (RTAB-Map must be built with libtorch support). More...
     
    class  SURF
     SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build). More...
     
    class  SURF_DAISY
     SURF detector + DAISY descriptors (OpenCV 3+ xfeatures2d). More...
     
    class  SURF_FREAK
     SURF detector + FREAK descriptors. More...
     
    class  Transform
     Represents a 3D rigid body transformation (rotation + translation). More...
     
    class  TransformStamped
     Associates a transform with a timestamp. More...
     
    class  UserDataEvent
     
    class  VisualWord
     Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model. More...
     
    class  VWDictionary
     Manages a dictionary of visual words for visual place recognition and loop closure detection. More...
     
    + + + + + + + + + + + +

    +Typedefs

    typedef std::map< EnvSensor::Type, EnvSensor > EnvSensors
     Map of environmental readings keyed by EnvSensor::Type (at most one per type).
     
    typedef std::map< int, Landmark > Landmarks
     Map of landmark id → Landmark (typically positive keys).
     
    typedef std::map< std::string, std::string > ParametersMap
     
    typedef std::pair< std::string, std::string > ParametersPair
     
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +

    +Functions

    RTABMAP_CORE_EXPORT std::ostream & operator<< (std::ostream &os, const CameraModel &model)
     Stream operator for printing a camera model to an output stream.
     
    +std::vector< unsigned char > RTABMAP_CORE_EXPORT compressImage (const cv::Mat &image, const std::string &format=".png")
     Encodes image to a byte buffer (OpenCV imencode or RVL for depth).
     
    +cv::Mat RTABMAP_CORE_EXPORT compressImage2 (const cv::Mat &image, const std::string &format=".png")
     Same as compressImage() but returns a CV_8UC1 row matrix.
     
    +cv::Mat RTABMAP_CORE_EXPORT uncompressImage (const cv::Mat &bytes)
     Decodes compressed image bytes to a @cv::Mat.
     
    +cv::Mat RTABMAP_CORE_EXPORT uncompressImage (const std::vector< unsigned char > &bytes)
     Decodes compressed image bytes to a @cv::Mat.
     
    +std::vector< unsigned char > RTABMAP_CORE_EXPORT compressData (const cv::Mat &data)
     Compresses a matrix with zlib; appends rows, cols and type at the end.
     
    +cv::Mat RTABMAP_CORE_EXPORT compressData2 (const cv::Mat &data)
     Same as compressData() but returns a CV_8UC1 row matrix.
     
    +cv::Mat RTABMAP_CORE_EXPORT uncompressData (const cv::Mat &bytes)
     Restores a matrix compressed with compressData() or compressData2().
     
    +cv::Mat RTABMAP_CORE_EXPORT uncompressData (const std::vector< unsigned char > &bytes)
     Restores a matrix compressed with compressData() or compressData2().
     
    +cv::Mat RTABMAP_CORE_EXPORT uncompressData (const unsigned char *bytes, unsigned long size)
     Restores a matrix from a raw compressed buffer.
     
    +cv::Mat RTABMAP_CORE_EXPORT compressString (const std::string &str)
     Compresses a null-terminated string using compressData2().
     
    +std::string RTABMAP_CORE_EXPORT uncompressString (const cv::Mat &bytes)
     Decompresses a string produced by compressString().
     
    std::string RTABMAP_CORE_EXPORT compressedDepthFormat (const cv::Mat &bytes)
     Detects the compression format of depth image bytes.
     
    std::string RTABMAP_CORE_EXPORT compressedDepthFormat (const std::vector< unsigned char > &bytes)
     
    std::string RTABMAP_CORE_EXPORT compressedDepthFormat (const unsigned char *bytes, size_t size)
     
    + RTABMAP_DEPRECATED (typedef SensorData Image, "rtabmap::Image class is renamed to rtabmap::SensorData, use the last one instead.")
     
    int RTABMAP_CORE_EXPORT saveLASFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZ > &cloud, const std::vector< int > &cameraIds=std::vector< int >())
     Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS).
     
    int RTABMAP_CORE_EXPORT saveLASFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), const std::vector< float > &intensities=std::vector< float >())
     Writes a colored point cloud to LAS/LAZ, with optional intensity and camera ids.
     
    int RTABMAP_CORE_EXPORT saveLASFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZI > &cloud, const std::vector< int > &cameraIds=std::vector< int >())
     Writes a point cloud with intensity channel to LAS/LAZ.
     
    std::vector< double > cumSum (const std::vector< double > &v)
     
    std::vector< double > resample (const std::vector< double > &p, const std::vector< double > &w, bool normalizeWeights=false)
     
    +std::string getPDALSupportedWriters ()
     
    +int savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZ > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false)
     
    +int savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false, const std::vector< float > &intensities=std::vector< float >())
     
    +int savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false, const std::vector< float > &intensities=std::vector< float >())
     
    +int savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZI > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false)
     
    +int savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false)
     
    +std::string RTABMAP_CORE_EXPORT getPythonTraceback ()
     
    bool RTABMAP_CORE_EXPORT databaseRecovery (const std::string &corruptedDatabase, bool keepCorruptedDatabase=true, std::string *errorMsg=0, ProgressState *progressState=0)
     
    void icvGetRectanglesFisheye (const CvMat *cameraMatrix, const CvMat *distCoeffs, const CvMat *R, const CvMat *newCameraMatrix, CvSize imgSize, cv::Rect_< float > &inner, cv::Rect_< float > &outer)
     
    void cvStereoRectifyFisheye (const CvMat *_cameraMatrix1, const CvMat *_cameraMatrix2, const CvMat *_distCoeffs1, const CvMat *_distCoeffs2, CvSize imageSize, const CvMat *matR, const CvMat *matT, CvMat *_R1, CvMat *_R2, CvMat *_P1, CvMat *_P2, CvMat *matQ, int flags, double alpha, CvSize newImgSize)
     
    void stereoRectifyFisheye (cv::InputArray _cameraMatrix1, cv::InputArray _distCoeffs1, cv::InputArray _cameraMatrix2, cv::InputArray _distCoeffs2, cv::Size imageSize, cv::InputArray _Rmat, cv::InputArray _Tmat, cv::OutputArray _Rmat1, cv::OutputArray _Rmat2, cv::OutputArray _Pmat1, cv::OutputArray _Pmat2, cv::OutputArray _Qmat, int flags, double alpha, cv::Size newImageSize)
     
    RTABMAP_CORE_EXPORT std::ostream & operator<< (std::ostream &os, const StereoCameraModel &model)
     Outputs a textual representation of the StereoCameraModel to the given output stream.
     
    +RTABMAP_CORE_EXPORT std::ostream & operator<< (std::ostream &os, const Transform &s)
     Output stream operator for Transform.
     
    + + + + + + + + + + +

    +Variables

    RTABMAP_DEPRECATED typedef SensorCaptureInfo CameraInfo
     Backward compatibility typedef.
     
    RTABMAP_DEPRECATED typedef SensorCaptureThread CameraThread
     Backward compatibility typedef.
     
    RTABMAP_DEPRECATED typedef SensorEvent CameraEvent
     Backward compatibility typedef.
     
    +

    Detailed Description

    +

    Contributed by e-consystemgit https://www.e-consystems.com/opensource-linux-webcam-software-application.asp

    +

    Typedef Documentation

    + +

    ◆ EnvSensors

    + +
    +
    + + + + +
    typedef std::map<EnvSensor::Type, EnvSensor> rtabmap::EnvSensors
    +
    + +

    Map of environmental readings keyed by EnvSensor::Type (at most one per type).

    + +

    Definition at line 114 of file EnvSensor.h.

    + +
    +
    + +

    ◆ Landmarks

    + +
    +
    + + + + +
    typedef std::map<int, Landmark> rtabmap::Landmarks
    +
    + +

    Map of landmark id → Landmark (typically positive keys).

    + +

    Definition at line 113 of file Landmark.h.

    + +
    +
    + +

    ◆ ParametersMap

    + +
    +
    + + + + +
    typedef std::map<std::string, std::string> rtabmap::ParametersMap
    +
    + +

    Definition at line 43 of file Parameters.h.

    + +
    +
    + +

    ◆ ParametersPair

    + +
    +
    + + + + +
    typedef std::pair<std::string, std::string> rtabmap::ParametersPair
    +
    + +

    Definition at line 44 of file Parameters.h.

    + +
    +
    +

    Function Documentation

    + +

    ◆ operator<<() [1/2]

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    RTABMAP_CORE_EXPORT std::ostream & rtabmap::operator<< (std::ostream & os,
    const CameraModel & model 
    )
    +
    + +

    Stream operator for printing a camera model to an output stream.

    +

    This function outputs the name, image size, and camera matrices (K, D, R, P) along with the local transformation.

    +

    Example output:

    Name: camera1
    +
    Size: 640x480
    +
    K= [fx, 0, cx;
    +
    0, fy, cy;
    +
    0, 0, 1]
    +
    D= [...]
    +
    R= [...]
    +
    P= [...]
    +
    LocalTransform= [...]
    +
    Parameters
    + + + +
    osOutput stream.
    modelCamera model to print.
    +
    +
    +
    Returns
    The modified output stream.
    + +
    +
    + +

    ◆ compressedDepthFormat() [1/3]

    + +
    +
    + + + + + + + + +
    std::string RTABMAP_CORE_EXPORT rtabmap::compressedDepthFormat (const cv::Mat & bytes)
    +
    + +

    Detects the compression format of depth image bytes.

    +
    Returns
    ".rvl" if the buffer has an RVL signature, otherwise ".png".
    + +
    +
    + +

    ◆ compressedDepthFormat() [2/3]

    + +
    +
    + + + + + + + + +
    std::string RTABMAP_CORE_EXPORT rtabmap::compressedDepthFormat (const std::vector< unsigned char > & bytes)
    +
    +

    This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

    + +
    +
    + +

    ◆ compressedDepthFormat() [3/3]

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    std::string RTABMAP_CORE_EXPORT rtabmap::compressedDepthFormat (const unsigned char * bytes,
    size_t size 
    )
    +
    +

    This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

    + +
    +
    + +

    ◆ saveLASFile() [1/3]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    int RTABMAP_CORE_EXPORT rtabmap::saveLASFile (const std::string & filePath,
    const pcl::PointCloud< pcl::PointXYZ > & cloud,
    const std::vector< int > & cameraIds = std::vector< int >() 
    )
    +
    + +

    Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS).

    +

    Output uses 1 mm XYZ scale (0.001). The file extension (.las or .laz) selects uncompressed or compressed output when libLAS LAZ support is available.

    +
    Parameters
    + + + + +
    filePathOutput path (.las or .laz).
    cloudInput point cloud.
    cameraIdsOptional per-point camera/signature ids (stored as point source ID); must be empty or the same length as cloud.
    +
    +
    +
    Returns
    0 on success, 1 on error (e.g. LAZ not supported).
    + +
    +
    + +

    ◆ saveLASFile() [2/3]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    int RTABMAP_CORE_EXPORT rtabmap::saveLASFile (const std::string & filePath,
    const pcl::PointCloud< pcl::PointXYZRGB > & cloud,
    const std::vector< int > & cameraIds = std::vector< int >(),
    const std::vector< float > & intensities = std::vector< float >() 
    )
    +
    + +

    Writes a colored point cloud to LAS/LAZ, with optional intensity and camera ids.

    +
    Parameters
    + + + + + +
    filePathOutput path (.las or .laz).
    cloudRGB point cloud (8-bit channels mapped to 16-bit LAS color).
    cameraIdsOptional per-point ids (same length as cloud or empty).
    intensitiesOptional per-point intensities (same length as cloud or empty).
    +
    +
    +
    Returns
    0 on success, 1 on error.
    + +
    +
    + +

    ◆ saveLASFile() [3/3]

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    int RTABMAP_CORE_EXPORT rtabmap::saveLASFile (const std::string & filePath,
    const pcl::PointCloud< pcl::PointXYZI > & cloud,
    const std::vector< int > & cameraIds = std::vector< int >() 
    )
    +
    + +

    Writes a point cloud with intensity channel to LAS/LAZ.

    +
    Parameters
    + + + + +
    filePathOutput path (.las or .laz).
    cloudXYZI point cloud (coordinates and intensity written).
    cameraIdsOptional per-point ids (same length as cloud or empty).
    +
    +
    +
    Returns
    0 on success, 1 on error.
    + +
    +
    + +

    ◆ cumSum()

    + +
    +
    + + + + + + + + +
    std::vector< double > rtabmap::cumSum (const std::vector< double > & v)
    +
    + +

    Definition at line 53 of file ParticleFilter.h.

    + +
    +
    + +

    ◆ resample()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    std::vector< double > rtabmap::resample (const std::vector< double > & p,
    const std::vector< double > & w,
    bool normalizeWeights = false 
    )
    +
    + +

    Definition at line 65 of file ParticleFilter.h.

    + +
    +
    + +

    ◆ databaseRecovery()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    bool RTABMAP_CORE_EXPORT rtabmap::databaseRecovery (const std::string & corruptedDatabase,
    bool keepCorruptedDatabase = true,
    std::string * errorMsg = 0,
    ProgressState * progressState = 0 
    )
    +
    +

    Return true on success. The database is renamed to "*.backup.db" before recovering.

    Parameters
    + + + + + +
    corruptedDatabasedatabase to recover
    keepCorruptedDatabaseif false and on recovery success, the backup database is removed
    errorMsgerror message if the function returns false
    progressStateA ProgressState object used to get status of the recovery process
    +
    +
    + +
    +
    + +

    ◆ icvGetRectanglesFisheye()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void rtabmap::icvGetRectanglesFisheye (const CvMat * cameraMatrix,
    const CvMat * distCoeffs,
    const CvMat * R,
    const CvMat * newCameraMatrix,
    CvSize imgSize,
    cv::Rect_< float > & inner,
    cv::Rect_< float > & outer 
    )
    +
    + +

    Definition at line 935 of file stereoRectifyFisheye.h.

    + +
    +
    + +

    ◆ cvStereoRectifyFisheye()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void rtabmap::cvStereoRectifyFisheye (const CvMat * _cameraMatrix1,
    const CvMat * _cameraMatrix2,
    const CvMat * _distCoeffs1,
    const CvMat * _distCoeffs2,
    CvSize imageSize,
    const CvMat * matR,
    const CvMat * matT,
    CvMat * _R1,
    CvMat * _R2,
    CvMat * _P1,
    CvMat * _P2,
    CvMat * matQ,
    int flags,
    double alpha,
    CvSize newImgSize 
    )
    +
    + +

    Definition at line 980 of file stereoRectifyFisheye.h.

    + +
    +
    + +

    ◆ stereoRectifyFisheye()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void rtabmap::stereoRectifyFisheye (cv::InputArray _cameraMatrix1,
    cv::InputArray _distCoeffs1,
    cv::InputArray _cameraMatrix2,
    cv::InputArray _distCoeffs2,
    cv::Size imageSize,
    cv::InputArray _Rmat,
    cv::InputArray _Tmat,
    cv::OutputArray _Rmat1,
    cv::OutputArray _Rmat2,
    cv::OutputArray _Pmat1,
    cv::OutputArray _Pmat2,
    cv::OutputArray _Qmat,
    int flags,
    double alpha,
    cv::Size newImageSize 
    )
    +
    + +

    Definition at line 1190 of file stereoRectifyFisheye.h.

    + +
    +
    + +

    ◆ operator<<() [2/2]

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    RTABMAP_CORE_EXPORT std::ostream & rtabmap::operator<< (std::ostream & os,
    const StereoCameraModel & model 
    )
    +
    + +

    Outputs a textual representation of the StereoCameraModel to the given output stream.

    +

    This operator prints the details of the stereo camera model including:

      +
    • The left camera parameters.
      • +
    • The right camera parameters.
      • +
    • The stereo extrinsic matrices: Rotation (R), Translation (T), Essential (E), and Fundamental (F).
      • +
    • The baseline distance between the two cameras.
      • +
    +
    Parameters
    + + + +
    osThe output stream to write to.
    modelThe StereoCameraModel instance to output.
    +
    +
    +
    Returns
    A reference to the output stream after writing the model information.
    + +
    +
    +

    Variable Documentation

    + +

    ◆ CameraInfo

    + +
    +
    + + + + +
    RTABMAP_DEPRECATED typedef SensorCaptureInfo rtabmap::CameraInfo
    +
    + +

    Backward compatibility typedef.

    +
    Deprecated:
    Use SensorCaptureInfo instead
    +

    CameraInfo is deprecated. Use SensorCaptureInfo instead.

    + +

    Definition at line 133 of file SensorCaptureInfo.h.

    + +
    +
    + +

    ◆ CameraThread

    + +
    +
    + + + + +
    RTABMAP_DEPRECATED typedef SensorCaptureThread rtabmap::CameraThread
    +
    + +

    Backward compatibility typedef.

    +
    Deprecated:
    Use SensorCaptureThread instead
    +

    CameraThread is deprecated. Use SensorCaptureThread instead.

    + +

    Definition at line 565 of file SensorCaptureThread.h.

    + +
    +
    + +

    ◆ CameraEvent

    + +
    +
    + + + + +
    RTABMAP_DEPRECATED typedef SensorEvent rtabmap::CameraEvent
    +
    + +

    Backward compatibility typedef.

    +
    Deprecated:
    Use SensorEvent instead
    +

    CameraEvent is deprecated. Use SensorEvent instead.

    + +

    Definition at line 207 of file SensorEvent.h.

    + +
    +
    +
    + +
    +Generated by doxygen 1.9.8 +
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    +
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    +
    RTAB-Map 0.23.10 +
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    rtabmap::util2d Namespace Reference
    +
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    + +

    This namespace contains 2D image processing utilities. +More...

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    +Functions

    float RTABMAP_CORE_EXPORT ssd (const cv::Mat &windowLeft, const cv::Mat &windowRight)
     Computes the Sum of Squared Differences (SSD) between two image patches.
     
    float RTABMAP_CORE_EXPORT sad (const cv::Mat &windowLeft, const cv::Mat &windowRight)
     Computes the Sum of Absolute Differences (SAD) between two image patches.
     
    std::vector< cv::Point2f > RTABMAP_CORE_EXPORT calcStereoCorrespondences (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status, cv::Size winSize=cv::Size(6, 3), int maxLevel=3, int iterations=5, float minDisparity=0.0f, float maxDisparity=64.0f, bool ssdApproach=true)
     Computes stereo correspondences between left and right images using a pyramidal window-based matching approach.
     
    void RTABMAP_CORE_EXPORT calcOpticalFlowPyrLKStereo (cv::InputArray _prevImg, cv::InputArray _nextImg, cv::InputArray _prevPts, cv::InputOutputArray _nextPts, cv::OutputArray _status, cv::OutputArray _err, cv::Size winSize=cv::Size(15, 3), int maxLevel=3, cv::TermCriteria criteria=cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01), int flags=0, double minEigThreshold=1e-4)
     Computes sparse optical flow using a pyramidal Lucas-Kanade method constrained to the x-axis.
     
    cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage, const ParametersMap &parameters=ParametersMap())
     Computes the disparity map from a pair of stereo images.
     
    cv::Mat RTABMAP_CORE_EXPORT depthFromDisparity (const cv::Mat &disparity, float fx, float baseline, int type=CV_32FC1)
     Converts a disparity map to a depth map using stereo camera parameters.
     
    cv::Mat RTABMAP_CORE_EXPORT depthFromStereoImages (const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, float fx, float baseline, int flowWinSize=9, int flowMaxLevel=4, int flowIterations=20, double flowEps=0.02)
     Computes a depth map from stereo image pairs using optical flow tracking.
     
    cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoCorrespondences (const cv::Size &disparitySize, const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const std::vector< unsigned char > &mask)
     Computes a disparity map from stereo correspondences between two images.
     
    cv::Mat RTABMAP_CORE_EXPORT depthFromStereoCorrespondences (const cv::Mat &leftImage, const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const std::vector< unsigned char > &mask, float fx, float baseline)
     Computes a sparse depth map from corresponding stereo feature points.
     
    cv::Mat RTABMAP_CORE_EXPORT cvtDepthFromFloat (const cv::Mat &depth32F)
     Converts a 32-bit float depth image (in meters) to a 16-bit unsigned depth image (in millimeters).
     
    cv::Mat RTABMAP_CORE_EXPORT cvtDepthToFloat (const cv::Mat &depth16U)
     Converts a 16-bit unsigned depth image (in millimeters) to a 32-bit float depth image (in meters).
     
    float RTABMAP_CORE_EXPORT getDepth (const cv::Mat &depthImage, float x, float y, bool smoothing, float depthErrorRatio=0.02f, bool estWithNeighborsIfNull=false)
     Retrieves a depth value from a depth image at a subpixel coordinate.
     
    cv::Rect RTABMAP_CORE_EXPORT computeRoi (const cv::Mat &image, const std::string &roiRatios)
     Computes a region of interest (ROI) in the image using string-defined ratios.
     
    cv::Rect RTABMAP_CORE_EXPORT computeRoi (const cv::Size &imageSize, const std::string &roiRatios)
     Computes a region of interest (ROI) from an image size and a string of ratios.
     
    cv::Rect RTABMAP_CORE_EXPORT computeRoi (const cv::Mat &image, const std::vector< float > &roiRatios)
     Computes a region of interest (ROI) in the image using float vector-defined ratios.
     
    cv::Rect RTABMAP_CORE_EXPORT computeRoi (const cv::Size &imageSize, const std::vector< float > &roiRatios)
     Computes a region of interest (ROI) using float ratios and the image size.
     
    cv::Mat RTABMAP_CORE_EXPORT decimate (const cv::Mat &image, int d)
     Downsamples an image by a given decimation factor.
     
    cv::Mat RTABMAP_CORE_EXPORT interpolate (const cv::Mat &image, int factor, float depthErrorRatio=0.02f)
     Upsamples a depth image using bilinear interpolation with depth consistency check.
     
    cv::Mat RTABMAP_CORE_EXPORT registerDepth (const cv::Mat &depth, const cv::Mat &depthK, const cv::Size &colorSize, const cv::Mat &colorK, const rtabmap::Transform &transform)
     Registers a depth image to a different camera frame (typically RGB).
     
    +cv::Mat RTABMAP_CORE_EXPORT registerDepth (const cv::Mat &depth, const cv::Mat &confidence, const cv::Mat &depthK, const cv::Size &colorSize, const cv::Mat &colorK, const rtabmap::Transform &transform, cv::Mat &registeredConfidence)
     
    cv::Mat RTABMAP_CORE_EXPORT fillDepthHoles (const cv::Mat &depth, int maximumHoleSize=1, float errorRatio=0.02f)
     Fills holes in the depth image using linear interpolation.
     
    void RTABMAP_CORE_EXPORT fillRegisteredDepthHoles (cv::Mat &depthRegistered, bool vertical, bool horizontal, bool fillDoubleHoles=false)
     Fill holes in a registered depth image using linear interpolation.
     
    cv::Mat RTABMAP_CORE_EXPORT fastBilateralFiltering (const cv::Mat &depth, float sigmaS=15.0f, float sigmaR=0.05f, bool earlyDivision=false)
     Applies a 2D fast bilateral filter to a depth image.
     
    void RTABMAP_CORE_EXPORT depthBleedingFiltering (cv::Mat &depth, float maxDepthError)
     Filters out depth bleeding artifacts in a depth image.
     
    cv::Mat RTABMAP_CORE_EXPORT brightnessAndContrastAuto (const cv::Mat &src, const cv::Mat &mask, float clipLowHistPercent=0, float clipHighHistPercent=0, float *alphaOut=0, float *betaOut=0)
     Automatic brightness and contrast optimization with optional histogram clipping.
     
    cv::Mat RTABMAP_CORE_EXPORT exposureFusion (const std::vector< cv::Mat > &images)
     Performs exposure fusion on a set of input images.
     
    void RTABMAP_CORE_EXPORT HSVtoRGB (float *r, float *g, float *b, float h, float s, float v)
     Converts a color from HSV (Hue, Saturation, Value) to RGB.
     
    void RTABMAP_CORE_EXPORT NMS (const std::vector< cv::KeyPoint > &ptsIn, const cv::Mat &descriptorsIn, std::vector< cv::KeyPoint > &ptsOut, cv::Mat &descriptorsOut, int dist_thresh, int img_width, int img_height)
     Applies Non-Maximum Suppression (NMS) to a set of keypoints.
     
    std::vector< int > RTABMAP_CORE_EXPORT SSC (const std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, float tolerance, int cols, int rows, const std::vector< int > &indx={})
     Applies the SSC (Suppression via Square Covering) algorithm to spatially select keypoints.
     
    bool RTABMAP_CORE_EXPORT rotateImagesUpsideUpIfNecessary (CameraModel &model, cv::Mat &rgb, cv::Mat &depth)
     Rotates the input RGB and depth images to make them appear upright based on the camera's roll angle.
     
    +

    Detailed Description

    +

    This namespace contains 2D image processing utilities.

    +

    Function Documentation

    + +

    ◆ ssd()

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    float RTABMAP_CORE_EXPORT rtabmap::util2d::ssd (const cv::Mat & windowLeft,
    const cv::Mat & windowRight 
    )
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    + +

    Computes the Sum of Squared Differences (SSD) between two image patches.

    +

    This function calculates the pixel-wise squared differences between corresponding elements in two input windows and accumulates the result into a single score. It supports grayscale 8-bit, 32-bit float, and 16-bit 2-channel short images (e.g., optical flow or stereo blocks).

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    Parameters
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    windowLeftLeft input image patch.
    windowRightRight input image patch (must be the same size and type as windowLeft).
    +
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    +
    Returns
    The SSD score (a lower score indicates higher similarity).
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    Exceptions
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    Assertionfailure if the input types or dimensions don't match.
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    Supported types:

      +
    • CV_8UC1 (grayscale image)
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    • CV_32FC1 (floating-point grayscale)
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    • CV_16SC2 (2-channel signed short vectors; average of both channels used)
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    +
    + +

    ◆ sad()

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    float RTABMAP_CORE_EXPORT rtabmap::util2d::sad (const cv::Mat & windowLeft,
    const cv::Mat & windowRight 
    )
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    + +

    Computes the Sum of Absolute Differences (SAD) between two image patches.

    +

    This function calculates the absolute pixel intensity difference between two windows and accumulates the result. It supports grayscale 8-bit, 32-bit float, and 16-bit 2-channel short images.

    +
    Parameters
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    windowLeftLeft input image patch.
    windowRightRight input image patch (must match windowLeft in size and type).
    +
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    +
    Returns
    The SAD score (a lower score indicates greater similarity).
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    Exceptions
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    Assertionfailure if the input types or dimensions are incompatible.
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    Supported types:

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    • CV_8UC1 (grayscale image)
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    • CV_32FC1 (floating-point grayscale)
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    • CV_16SC2 (2-channel signed short vectors; average of both channels used)
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    ◆ calcStereoCorrespondences()

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    std::vector< cv::Point2f > RTABMAP_CORE_EXPORT rtabmap::util2d::calcStereoCorrespondences (const cv::Mat & leftImage,
    const cv::Mat & rightImage,
    const std::vector< cv::Point2f > & leftCorners,
    std::vector< unsigned char > & status,
    cv::Size winSize = cv::Size(6, 3),
    int maxLevel = 3,
    int iterations = 5,
    float minDisparity = 0.0f,
    float maxDisparity = 64.0f,
    bool ssdApproach = true 
    )
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    + +

    Computes stereo correspondences between left and right images using a pyramidal window-based matching approach.

    +

    This function estimates the right image positions of a set of corners detected in the left image using block matching. It supports both Sum of Absolute Differences (SAD) and Sum of Squared Differences (SSD) as the matching criteria, and uses a coarse-to-fine strategy over an image pyramid for robustness and subpixel accuracy.

    +
    Parameters
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    leftImageThe left image (grayscale 8 bits or CV_8UC1).
    rightImageThe right image (same type and size as leftImage).
    leftCornersThe list of 2D points in the left image for which correspondences are to be found.
    [out]statusOutput status vector indicating the success of correspondence for each point. (1: valid correspondence found, 0: no valid match)
    winSizeThe size of the search window (should be odd). Will be made odd internally if not. Minimum size is 3.
    maxLevelThe maximum level of the image pyramid to use for coarse-to-fine search.
    iterationsNumber of iterations for subpixel refinement (gradient descent-like search).
    minDisparityFMinimum allowed disparity (float). Defines search range.
    maxDisparityFMaximum allowed disparity (float). Defines search range.
    ssdApproachIf true, uses SSD (Sum of Squared Differences) as matching cost. If false, uses SAD (Sum of Absolute Differences).
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    +
    +
    Returns
    A vector of 2D points corresponding to leftCorners but in the right image. The size of the output matches the input leftCorners. Invalid or rejected points are flagged in status.
    +
    Note
    - Both input images must be rectified (i.e., correspondences lie along epipolar lines).
      +
    • This function modifies the search window to ensure it is odd-sized (required for accurate matching).
      • +
    • Subpixel accuracy is achieved using iterative matching and local refinement.
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    • The disparity range is adaptive and refined at each pyramid level.
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    • For accurate results, ensure good quality corner detection and well-rectified input images.
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    +
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    See also
    cv::buildOpticalFlowPyramid, cv::getRectSubPix
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    ◆ calcOpticalFlowPyrLKStereo()

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    void RTABMAP_CORE_EXPORT rtabmap::util2d::calcOpticalFlowPyrLKStereo (cv::InputArray _prevImg,
    cv::InputArray _nextImg,
    cv::InputArray _prevPts,
    cv::InputOutputArray _nextPts,
    cv::OutputArray _status,
    cv::OutputArray _err,
    cv::Size winSize = cv::Size(15, 3),
    int maxLevel = 3,
    cv::TermCriteria criteria = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01),
    int flags = 0,
    double minEigThreshold = 1e-4 
    )
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    + +

    Computes sparse optical flow using a pyramidal Lucas-Kanade method constrained to the x-axis.

    +

    This function is a customized version of OpenCV's cv::calcOpticalFlowPyrLK, modified specifically for stereo matching scenarios. It assumes that the prevImg is the left stereo image and nextImg is the right stereo image. The optical flow is computed only along the x-axis (i.e., horizontal direction), which is typically valid in rectified stereo image pairs.

    +
    Note
    The key modification to the original Lucas-Kanade implementation is the following: Instead of computing the flow in both x and y directions, the y-displacement is forced to zero:
    // Original:
    +
    cv::Point2f delta((float)((A12*b2 - A22*b1) * D), (float)((A12*b1 - A11*b2) * D));
    +
    +
    // Modified:
    +
    cv::Point2f delta((float)((A12*b2 - A22*b1) * D), 0);
    +
    This ensures that flow estimation is constrained along the epipolar lines (x-direction only).
    +
    Parameters
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    _prevImgInput image from the previous frame (or left stereo image). Supports pyramid or raw image.
    _nextImgInput image from the next frame (or right stereo image). Supports pyramid or raw image.
    _prevPtsVector of 2D points for which the flow needs to be found (in prevImg).
    _nextPtsOutput vector of 2D points containing the calculated new positions (in nextImg). If OPTFLOW_USE_INITIAL_FLOW is passed, it should contain initial guesses.
    _statusOutput status vector. Each element is set to 1 if flow for the corresponding features has been found, 0 otherwise.
    _errOptional output vector. Contains error or min eigenvalue values (depending on flags).
    winSizeSize of the search window at each pyramid level.
    maxLevel0-based maximal pyramid level number. If set to 0, pyramids are not used (single level).
    criteriaTermination criteria for iterative search algorithm (maxCount and/or epsilon).
    flagsOperation flags:
      +
    • OPTFLOW_USE_INITIAL_FLOW: Use initial nextPts values.
      • +
    • OPTFLOW_LK_GET_MIN_EIGENVALS: Output minimum eigenvalues instead of error.
      • +
    +
    minEigThresholdMinimum eigenvalue threshold for rejecting unstable flow vectors.
    +
    +
    +
    See also
    cv::calcOpticalFlowPyrLK
    +
    +https://github.com/opencv/opencv/blob/4.x/modules/video/src/lkpyramid.cpp
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    ◆ disparityFromStereoImages()

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    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::disparityFromStereoImages (const cv::Mat & leftImage,
    const cv::Mat & rightImage,
    const ParametersMap & parameters = ParametersMap() 
    )
    +
    + +

    Computes the disparity map from a pair of stereo images.

    +

    This function calculates a dense disparity map from the provided left and right stereo images. It assumes that the stereo pair is rectified and of the same size. The left image can be either grayscale (CV_8UC1) or color (CV_8UC3), while the right image must be grayscale (CV_8UC1).

    +

    If the left image is in color, it is first converted to grayscale before disparity computation. The actual disparity computation is delegated to a StereoDense object created using the provided parameters.

    +
    Parameters
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    leftImageThe left image of the stereo pair. Can be grayscale or BGR color.
    rightImageThe right image of the stereo pair. Must be grayscale.
    parametersA map of parameters used to configure the stereo matching algorithm.
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    +
    +
    Returns
    A cv::Mat representing the computed disparity map. Some algorithms, like StereoBM or StereoSGBM compute 16-bit fixed-point disparity map (CV_16SC1) (where each disparity value has 4 fractional bits), whereas other algorithms output 32-bit floating-point (CV_32FC1) disparity map.
    +
    Exceptions
    + + +
    Assertionfailure if:
      +
    • Either image is empty.
      • +
    • Image sizes do not match.
      • +
    • Image types are incompatible.
      • +
    +
    +
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    +
    Note
    The returned disparity map contains disparity values for each pixel in the left image. Pixels with no match may be set to 0 or a negative value depending on the stereo algorithm.
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    See also
    rtabmap::StereoDense
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    ◆ depthFromDisparity()

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    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::depthFromDisparity (const cv::Mat & disparity,
    float fx,
    float baseline,
    int type = CV_32FC1 
    )
    +
    + +

    Converts a disparity map to a depth map using stereo camera parameters.

    +

    This function takes a disparity map and computes a corresponding depth map using the formula:

    +\[ \text{depth} = \frac{\text{baseline} \times \text{focal length}}{\text{disparity}} \] +

    +
      +
    • Disparity values of 0 or less are ignored (depth is left as 0).
      • +
    • For CV_16UC1 depth type, depth is scaled to millimeters (i.e., multiplied by 1000).
      • +
    • Values that exceed the 16-bit unsigned max value (65535) are counted and ignored.
      • +
    +
    Parameters
    + + + + + +
    disparityThe input disparity map (CV_32FC1 or CV_16SC1).
    fxThe focal length in pixels (typically from camera intrinsic parameters).
    baselineThe distance between the stereo cameras in meters.
    typeThe desired output depth image type: CV_32FC1 (meters) or CV_16UC1 (millimeters).
    +
    +
    +
    Returns
    A depth image of the same resolution as the input disparity map.
    +
    Warning
    Logs a warning if any computed depth values exceed the maximum allowed by the CV_16UC1 format (65535 mm).
    +
    Exceptions
    + + +
    Assertionfailure if the disparity map is empty, has unsupported type, or output type is invalid.
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    ◆ depthFromStereoImages()

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    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::depthFromStereoImages (const cv::Mat & leftImage,
    const cv::Mat & rightImage,
    const std::vector< cv::Point2f > & leftCorners,
    float fx,
    float baseline,
    int flowWinSize = 9,
    int flowMaxLevel = 4,
    int flowIterations = 20,
    double flowEps = 0.02 
    )
    +
    + +

    Computes a depth map from stereo image pairs using optical flow tracking.

    +

    This function estimates the depth of features tracked between the left and right rectified stereo images by computing sparse optical flow (via Lucas-Kanade) between provided feature points in the left image. It uses stereo triangulation based on the tracked correspondences and known camera intrinsics.

    +
    Parameters
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    leftImageGrayscale rectified left image (CV_8UC1).
    rightImageGrayscale rectified right image (CV_8UC1), must be same size as leftImage.
    leftCornersFeature points (e.g., corners) detected in the left image.
    fxFocal length of the camera in pixels (must be > 0).
    baselineDistance between the left and right camera centers in meters (must be > 0).
    flowWinSizeWindow size used for optical flow (e.g., 15 for 15x15).
    flowMaxLevelMaximum pyramid level for optical flow.
    flowIterationsMaximum number of iterations for the iterative search algorithm in optical flow.
    flowEpsDesired accuracy for optical flow termination criteria.
    +
    +
    +
    Returns
    A depth map (CV_32FC1) with the same size as the input images. Pixels corresponding to successfully tracked features have valid depth values, while others are zero.
    +
    See also
    cv::calcOpticalFlowPyrLK, rtabmap::util2d::depthFromStereoCorrespondences
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    ◆ disparityFromStereoCorrespondences()

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    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::disparityFromStereoCorrespondences (const cv::Size & disparitySize,
    const std::vector< cv::Point2f > & leftCorners,
    const std::vector< cv::Point2f > & rightCorners,
    const std::vector< unsigned char > & mask 
    )
    +
    + +

    Computes a disparity map from stereo correspondences between two images.

    +

    This function calculates the disparity map based on the given stereo correspondences (the left and right corners of features) and stores the resulting disparity values in a matrix. The disparity for each point is computed as the horizontal difference between the corresponding points in the left and right images. The function also accepts a mask to specify which points to include in the disparity computation.

    +
    Parameters
    + + + + + +
    [in]disparitySizeThe size of the output disparity map.
    [in]leftCornersThe list of points in the left image where features are detected.
    [in]rightCornersThe list of points in the right image corresponding to the points in leftCorners.
    [in]maskA vector of flags indicating which correspondences to use for the disparity computation. An empty vector means all correspondences are included.
    +
    +
    +
    Returns
    A cv::Mat of type CV_32FC1 representing the computed disparity map. Each pixel value corresponds to the disparity (horizontal difference between left and right image points) at that location.
    +
    Note
    The disparity is computed as the horizontal difference between corresponding points in the left and right images, specifically the difference in the x-coordinates of the points.
    +
    +The disparity map is returned in floating point format, where the value represents the disparity in pixels.
    +
    Warning
    The function checks that all points are within the bounds of the disparity map.
    + +
    +
    + +

    ◆ depthFromStereoCorrespondences()

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    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::depthFromStereoCorrespondences (const cv::Mat & leftImage,
    const std::vector< cv::Point2f > & leftCorners,
    const std::vector< cv::Point2f > & rightCorners,
    const std::vector< unsigned char > & mask,
    float fx,
    float baseline 
    )
    +
    + +

    Computes a sparse depth map from corresponding stereo feature points.

    +

    This function uses known corresponding 2D feature points from rectified stereo images to estimate depth via triangulation, using the disparity between matched points. The computed depth values are placed into a depth map at the locations of the left image points.

    +
    Parameters
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    leftImageThe left rectified grayscale image (used for image size reference).
    leftCornersFeature points detected in the left image.
    rightCornersCorresponding feature points in the right image (same size as leftCorners).
    maskOptional binary mask indicating which correspondences are valid (1 = valid). If empty, all correspondences are considered valid.
    fxFocal length of the camera in pixels (must be > 0).
    baselineDistance between the stereo cameras in meters (must be > 0).
    +
    +
    +
    Returns
    A sparse depth map (CV_32FC1) of the same size as the input image. Pixels corresponding to valid matches will contain depth values (in meters), while all others remain zero.
    +
    Note
    It assumes stereo images are rectified and only x-axis disparity is present.
    +
    See also
    rtabmap::util2d::depthFromStereoImages
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    ◆ cvtDepthFromFloat()

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    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::cvtDepthFromFloat (const cv::Mat & depth32F)
    +
    + +

    Converts a 32-bit float depth image (in meters) to a 16-bit unsigned depth image (in millimeters).

    +

    This function converts each valid depth value from meters to millimeters (by multiplying by 1000.0) and stores it as an unsigned 16-bit integer. Depth values outside the valid range (greater than 65535 mm) are clipped to zero and counted. A warning is printed if such values are found.

    +
    Parameters
    + + +
    depth32FInput depth image of type CV_32FC1, where depth is in meters. May be empty.
    +
    +
    +
    Returns
    A 16-bit unsigned depth image (CV_16UC1) in millimeters. Returns an empty matrix if input is empty.
    +
    Warning
    If depth values exceed 65535 mm, they are ignored and a warning is issued.
    +
    Note
    It's assumed that the input image is in meters (commonly used format for 32-bit depth maps). If it’s already in millimeters, do not use this function.
    +
    See also
    rtabmap::util2d::cvtDepthToFloat()
    + +
    +
    + +

    ◆ cvtDepthToFloat()

    + +
    +
    + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::cvtDepthToFloat (const cv::Mat & depth16U)
    +
    + +

    Converts a 16-bit unsigned depth image (in millimeters) to a 32-bit float depth image (in meters).

    +

    This function converts each depth value from millimeters to meters by dividing by 1000.0. Useful when working with floating point depth operations or to standardize depth formats for computation or storage.

    +
    Parameters
    + + +
    depth16UInput depth image of type CV_16UC1, where depth is in millimeters. May be empty.
    +
    +
    +
    Returns
    A 32-bit float depth image (CV_32FC1) with depth values in meters. Returns an empty matrix if input is empty.
    +
    Note
    Use this function when you want to convert from 16-bit mm format to floating point meter format.
    +
    See also
    rtabmap::util2d::cvtDepthFromFloat()
    + +
    +
    + +

    ◆ getDepth()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    float RTABMAP_CORE_EXPORT rtabmap::util2d::getDepth (const cv::Mat & depthImage,
    float x,
    float y,
    bool smoothing,
    float depthErrorRatio = 0.02f,
    bool estWithNeighborsIfNull = false 
    )
    +
    + +

    Retrieves a depth value from a depth image at a subpixel coordinate.

    +

    This function samples the depth value from a depth image (either in 16-bit unsigned integers representing millimeters or 32-bit floats representing meters) at a floating-point (x, y) coordinate. The value can be optionally smoothed using a weighted neighborhood, and fallback estimation from neighbors is possible if the depth at the target pixel is invalid or zero.

    +
    Parameters
    + + + + + + + +
    depthImageInput depth image. Must be of type CV_16UC1 (depth in mm) or CV_32FC1 (depth in meters).
    xThe subpixel X-coordinate in the image.
    yThe subpixel Y-coordinate in the image.
    smoothingIf true, apply a weighted 3x3 smoothing around the pixel.
    depthErrorRatioMaximum acceptable depth difference ratio used during smoothing and fallback estimation.
    estWithNeighborsIfNullIf true, and the target pixel has an invalid depth, estimate it from valid neighboring pixels.
    +
    +
    +
    Returns
    The depth value at the given (x, y) location (in meters), or 0 if it cannot be determined.
    +
    Note
      +
    • The function applies bounds checking on the input coordinates.
      • +
    • If smoothing is enabled, a weighted average using a 3x3 kernel is computed.
      • +
    • If estWithNeighborsIfNull is enabled and the pixel has no valid depth, the value is estimated from 4-connected neighbors using consistency constraints based on depthErrorRatio.
      • +
    • Pixels with zero or invalid (NaN/Inf) depth are ignored in estimation and smoothing.
      • +
    +
    + +
    +
    + +

    ◆ decimate()

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::decimate (const cv::Mat & image,
    int d 
    )
    +
    + +

    Downsamples an image by a given decimation factor.

    +

    If the image is a depth image (CV_32FC1 or CV_16UC1), it ensures that decimation is done precisely without interpolation. For other types, OpenCV's resize with INTER_AREA is used.

    +
    Parameters
    + + + +
    imageThe input image to decimate.
    decimationThe downsampling factor (must be >= 1).
    +
    +
    +
    Returns
    The decimated image. If the decimation factor is 1 or the image is empty, the original image is returned.
    +
    Note
    For depth images, the image size must be divisible by the decimation factor.
    +
    Exceptions
    + + +
    Assertionfailure if decimation is < 1 or size mismatch for depth images.
    +
    +
    + +
    +
    + +

    ◆ interpolate()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::interpolate (const cv::Mat & image,
    int factor,
    float depthErrorRatio = 0.02f 
    )
    +
    + +

    Upsamples a depth image using bilinear interpolation with depth consistency check.

    +

    Performs a depth-aware interpolation for CV_32FC1 or CV_16UC1 types. It checks whether the surrounding four corner values are consistent within a depthErrorRatio, and if so, performs bilinear interpolation. For other image types, OpenCV's resize is used.

    +
    Parameters
    + + + + +
    imageThe input image to interpolate.
    factorThe interpolation factor (must be >= 1).
    depthErrorRatioAcceptable ratio of depth difference to allow interpolation.
    +
    +
    +
    Returns
    The interpolated image. If the factor is 1 or the image is empty, the original image is returned.
    +
    Note
    This function is intended for depth images. If corners have invalid or inconsistent depth values, interpolation is skipped at that patch.
    +
    Exceptions
    + + +
    Assertionfailure if factor < 1 or invalid parameters.
    +
    +
    + +
    +
    + +

    ◆ registerDepth()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::registerDepth (const cv::Mat & depth,
    const cv::Mat & depthK,
    const cv::Size & colorSize,
    const cv::Mat & colorK,
    const rtabmap::Transform & transform 
    )
    +
    + +

    Registers a depth image to a different camera frame (typically RGB).

    +

    This function aligns the given depth image to the coordinate frame of an RGB camera using the intrinsic parameters of both cameras and the extrinsic transformation between them. The output is a depth image aligned to the RGB image dimensions and field of view.

    +

    The function assumes the depth is either in meters (CV_32FC1) or in millimeters (CV_16UC1), and it returns a registered depth image in the same format.

    +
    Parameters
    + + + + + + +
    depthThe input depth image (type CV_16UC1 in mm or CV_32FC1 in meters).
    depthKIntrinsic matrix of the depth camera (3x3, type CV_64FC1).
    colorSizeSize of the target RGB image (the output will match this size).
    colorKIntrinsic matrix of the RGB camera (3x3, type CV_64FC1).
    transformTransform from the RGB camera frame to depth camera frame.
    +
    +
    +
    Returns
    A depth image registered to the RGB image space, with the same type as the input depth.
    +
    Exceptions
    + + +
    Assertionfailure if input validation fails (e.g., empty image, incorrect types or sizes).
    +
    +
    +
    Note
    If multiple depth points project to the same RGB pixel, the closest one is kept. This helps with occlusion handling when registering sparse/depth data.
    + +
    +
    + +

    ◆ fillDepthHoles()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::fillDepthHoles (const cv::Mat & depth,
    int maximumHoleSize = 1,
    float errorRatio = 0.02f 
    )
    +
    + +

    Fills holes in the depth image using linear interpolation.

    +

    This function iterates through the depth image and fills in holes (missing depth values) by interpolating from surrounding valid depth values. It considers both horizontal and vertical neighbors to interpolate missing data. The maximum hole size and the error ratio are used to control the filling process. The function works with both 16-bit (mm) and 32-bit (meters) depth images.

    +
    Parameters
    + + + + +
    depthThe input depth image (CV_16UC1 or CV_32FC1).
    maximumHoleSizeThe maximum size of a hole to be filled, in pixels.
    errorRatioThe ratio used to calculate the allowed depth error for interpolation.
    +
    +
    +
    Returns
    A new depth image with holes filled.
    +
    Note
    The input depth image must be of type CV_16UC1 (depth in millimeters) or CV_32FC1 (depth in meters). The filled output is of the same type as the input.
    + +
    +
    + +

    ◆ fillRegisteredDepthHoles()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void RTABMAP_CORE_EXPORT rtabmap::util2d::fillRegisteredDepthHoles (cv::Mat & depthRegistered,
    bool vertical,
    bool horizontal,
    bool fillDoubleHoles = false 
    )
    +
    + +

    Fill holes in a registered depth image using linear interpolation.

    +

    This function attempts to fill invalid (zero-valued) pixels in a registered depth image by looking at neighboring pixels in vertical and/or horizontal directions. Optionally, it can also fill "double holes" (gaps of two consecutive pixels) if fillDoubleHoles is enabled.

    +

    The interpolation is only performed if the depth difference between the neighbors is within 1% of their average, to avoid introducing invalid depth values.

    +
    Parameters
    + + + + + +
    [in,out]registeredDepthThe input/output registered depth image (CV_16UC1). Modified in-place to fill in missing depth values.
    verticalIf true, the function tries to fill holes in vertical direction.
    horizontalIf true, the function tries to fill holes in horizontal direction.
    fillDoubleHolesIf true, the function also attempts to fill two-pixel wide holes by linearly interpolating between values spaced by two pixels.
    +
    +
    +
    Note
    This function assumes that the depth image contains unsigned 16-bit values, where a value of 0 represents an invalid or missing depth value. Pixels on the contour are not interpolated.
    +
    Warning
    The input matrix must be of type CV_16UC1, or the function will trigger an assertion failure.
    +
    See also
    rtabmap::util2d::registerDepth(), rtabmap::util2d::fillDepthHoles()
    + +
    +
    + +

    ◆ fastBilateralFiltering()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::fastBilateralFiltering (const cv::Mat & depth,
    float sigmaS = 15.0f,
    float sigmaR = 0.05f,
    bool earlyDivision = false 
    )
    +
    + +

    Applies a 2D fast bilateral filter to a depth image.

    +

    This function is a 2D adaptation of the pcl::FastBilateralFiltering algorithm. It processes a depth image (either CV_32FC1 or CV_16UC1) using a bilateral filter with spatial and range standard deviations sigmaS and sigmaR. The method includes optimizations such as early division and efficient 3D grid accumulation with smoothing.

    +
    Parameters
    + + + + + +
    depthInput depth image. Must be of type CV_32FC1 (meters) or CV_16UC1 (millimeters).
    sigmaSSpatial standard deviation. Controls the amount of smoothing in the image plane.
    sigmaRRange standard deviation. Controls the amount of smoothing in the depth (z) dimension.
    earlyDivisionIf true, applies early normalization to improve performance.
    +
    +
    +
    Returns
    Filtered depth image as a CV_32FC1 Mat. If the input image is empty or contains no valid depth, an empty Mat is returned.
    +
    Note
    This implementation relies on an auxiliary 3D data structure and uses trilinear interpolation for reconstructing smoothed values. Pixels with non-finite or invalid depths are ignored.
    +
    Warning
    The result is always a CV_32FC1 image, even if the input is CV_16UC1. If input depth's valid pixels have all exact same value, the result will be retruned with all zeros (issue from the original implementation).
    + +
    +
    + +

    ◆ depthBleedingFiltering()

    + +
    +
    + + + + + + + + + + + + + + + + + + +
    void RTABMAP_CORE_EXPORT rtabmap::util2d::depthBleedingFiltering (cv::Mat & depth,
    float maxDepthError 
    )
    +
    + +

    Filters out depth bleeding artifacts in a depth image.

    +

    This function sets depth values to zero (invalid) if their value significantly differs from both neighboring pixels in either horizontal or vertical direction. It works on depth images of type CV_32FC1 (32-bit float, in meters) or CV_16UC1 (16-bit unsigned int, in millimeters).

    +

    The function also ignores the image border by setting the first and last rows and columns to zero.

    +
    Parameters
    + + + +
    depthInput/output depth image. Must be of type CV_32FC1 or CV_16UC1. The filtering is done in-place.
    maxDepthErrorMaximum allowed depth difference between a pixel and its neighbors before it is considered invalid and filtered out. For CV_32FC1, this value is in meters; for CV_16UC1, it's converted to millimeters.
    +
    +
    + +
    +
    + +

    ◆ brightnessAndContrastAuto()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::brightnessAndContrastAuto (const cv::Mat & src,
    const cv::Mat & mask,
    float clipLowHistPercent = 0,
    float clipHighHistPercent = 0,
    float * alphaOut = 0,
    float * betaOut = 0 
    )
    +
    + +

    Automatic brightness and contrast optimization with optional histogram clipping.

    +

    This function automatically adjusts the brightness and contrast of the input image based on its histogram. It optionally clips a percentage of the darkest and brightest parts of the histogram to reduce the influence of outliers (similar to "auto levels" in photo editors).

    +
    Parameters
    + + + + + + + +
    [in]srcInput image. Must be of type CV_8UC1 (grayscale), CV_8UC3 (BGR), or CV_8UC4 (BGRA).
    [in]maskOptional mask. Only non-zero mask pixels are considered in histogram computation.
    [in]clipLowHistPercentPercentage of the lowest histogram range to clip. Use 0 to disable.
    [in]clipHighHistPercentPercentage of the highest histogram range to clip. Use 0 to disable.
    [out]alphaOutOptional pointer to store the computed alpha (contrast scale factor).
    [out]betaOutOptional pointer to store the computed beta (brightness shift factor).
    +
    +
    +
    Returns
    A new image with automatically adjusted brightness and contrast. The image will have the same size and number of channels as the input.
    +
    Note
    For BGRA input images, the alpha (transparency) channel is preserved and not modified.
    +
    See also
    Original discussion: https://answers.opencv.org/question/75510/how-to-make-auto-adjustmentsbrightness-and-contrast-for-image-android-opencv-image-correction/
    + +
    +
    + +

    ◆ exposureFusion()

    + +
    +
    + + + + + + + + +
    cv::Mat RTABMAP_CORE_EXPORT rtabmap::util2d::exposureFusion (const std::vector< cv::Mat > & images)
    +
    + +

    Performs exposure fusion on a set of input images.

    +

    This function blends multiple images with different exposures into a single well-exposed image using the Mertens exposure fusion algorithm. It leverages OpenCV's createMergeMertens() method (available in OpenCV 3 and above).

    +
    Parameters
    + + +
    imagesA vector of input images (typically CV_8UC3) to be fused. All images should have the same size and type.
    +
    +
    +
    Returns
    A fused color image (CV_8UC3) with enhanced exposure. If OpenCV version is below 3, the function returns a clone of the first image in the input vector.
    +
    Note
    The output image is normalized to 8-bit color (0–255). Exposure fusion requires OpenCV 3.0 or later.
    +
    Warning
    If OpenCV version is lower than 3, exposure fusion is not performed and a warning is issued.
    + +
    +
    + +

    ◆ HSVtoRGB()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void RTABMAP_CORE_EXPORT rtabmap::util2d::HSVtoRGB (float * r,
    float * g,
    float * b,
    float h,
    float s,
    float v 
    )
    +
    + +

    Converts a color from HSV (Hue, Saturation, Value) to RGB.

    +

    This function takes HSV color values and converts them to their corresponding RGB representation using standard sector-based color conversion.

    +
    Parameters
    + + + + + + + +
    [out]rPointer to a float where the resulting red component (0.0–1.0) will be stored.
    [out]gPointer to a float where the resulting green component (0.0–1.0) will be stored.
    [out]bPointer to a float where the resulting blue component (0.0–1.0) will be stored.
    [in]hHue angle in degrees (0–360). Defines the color type.
    [in]sSaturation (0.0–1.0). 0 is grayscale, 1 is full color.
    [in]vValue (brightness) (0.0–1.0). 0 is black, 1 is full brightness.
    +
    +
    +
    Note
    This function assumes h is in degrees. If s is 0, the resulting color is grayscale, with R=G=B=V.
    +
    Warning
    The output RGB values are in the 0.0 to 1.0 range, not 0–255.
    + +
    +
    + +

    ◆ NMS()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    void RTABMAP_CORE_EXPORT rtabmap::util2d::NMS (const std::vector< cv::KeyPoint > & ptsIn,
    const cv::Mat & descriptorsIn,
    std::vector< cv::KeyPoint > & ptsOut,
    cv::Mat & descriptorsOut,
    int dist_thresh,
    int img_width,
    int img_height 
    )
    +
    + +

    Applies Non-Maximum Suppression (NMS) to a set of keypoints.

    +

    This function filters a set of input keypoints by applying a grid-based non-maximum suppression (NMS) algorithm. It retains only the strongest keypoints (based on response value) while ensuring that no two retained points are within a certain distance from each other.

    +
    Parameters
    + + + + + + + + +
    [in]ptsInInput vector of keypoints.
    [in]descriptorsInCorresponding descriptors for the input keypoints. Can be empty.
    [out]ptsOutOutput vector of keypoints after NMS filtering.
    [out]descriptorsOutOutput descriptors corresponding to the filtered keypoints.
    [in]dist_threshMinimum allowed distance between retained keypoints (suppression radius).
    [in]img_widthWidth of the image on which the keypoints are based.
    [in]img_heightHeight of the image on which the keypoints are based.
    +
    +
    +
    Note
    Keypoints are suppressed if they are within dist_thresh pixels of a stronger keypoint.
    +
    +If descriptorsIn is empty, descriptor output will remain empty.
    +
    +Assumes all keypoints lie within the image dimensions provided.
    + +
    +
    + +

    ◆ SSC()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + +
    std::vector< int > RTABMAP_CORE_EXPORT rtabmap::util2d::SSC (const std::vector< cv::KeyPoint > & keypoints,
    int maxKeypoints,
    float tolerance,
    int cols,
    int rows,
    const std::vector< int > & indx = {} 
    )
    +
    + +

    Applies the SSC (Suppression via Square Covering) algorithm to spatially select keypoints.

    +

    This function selects a subset of keypoints that are uniformly distributed across the image using a square covering method and binary search optimization to achieve a desired number of keypoints.

    +
    Parameters
    + + + + + + + +
    [in]keypointsInput vector of keypoints to select from.
    [in]maxKeypointsDesired upper bound on the number of output keypoints. The internal target is first reduced by round(maxKeypoints * tolerance) so the result is always less than or equal to this value.
    [in]toleranceRelative tolerance applied to the reduced target (e.g., 0.1 allows ±10% of the reduced target, not of maxKeypoints).
    [in]colsWidth of the image in pixels.
    [in]rowsHeight of the image in pixels.
    [in]indxOptional vector of indices to use instead of the original keypoints ordering. If provided, should be the same size as keypoints. This allows for applying SSC to a pre-sorted subset (e.g., top-N keypoints).
    +
    +
    +
    Returns
    A vector of indices corresponding to the selected keypoints in the input keypoints vector.
    +
    Note
    The algorithm operates by covering the image with a grid of cells and retaining the most confident keypoint in each uncovered cell while suppressing nearby keypoints within a computed square radius.
    +
    +Uses binary search to find the optimal suppression radius so the number of selected keypoints is within [effectiveMax * (1 - tolerance), effectiveMax * (1 + tolerance)], where effectiveMax = maxKeypoints - round(maxKeypoints * tolerance).
    +
    +Works best when keypoints are pre-sorted by response strength (e.g., strongest first).
    +
    +If the indx vector is provided, the returned indices refer to the original list, not just indx.
    + +
    +
    + +

    ◆ rotateImagesUpsideUpIfNecessary()

    + +
    +
    + + + + + + + + + + + + + + + + + + + + + + + + +
    bool RTABMAP_CORE_EXPORT rtabmap::util2d::rotateImagesUpsideUpIfNecessary (CameraModel & model,
    cv::Mat & rgb,
    cv::Mat & depth 
    )
    +
    + +

    Rotates the input RGB and depth images to make them appear upright based on the camera's roll angle.

    +

    This function uses the camera's extrinsic parameters to determine if the captured image is rotated (e.g., sideways or upside-down), and rotates it appropriately (by 90°, 180°, or 270°) to correct orientation. It also updates the associated camera model to reflect the new transformation and adjusted image size.

    +
    Parameters
    + + + + +
    [in,out]modelThe camera model associated with the images. It will be updated to reflect the new orientation.
    [in,out]rgbThe RGB image to be rotated if necessary.
    [in,out]depthThe depth image to be rotated if necessary.
    +
    +
    +
    Returns
    True if the images were rotated, false if no rotation was needed or the pitch angle is too large for a reliable decision.
    +
    Note
    The function:
      +
    • Ignores rotation if pitch > π/4 (too ambiguous to determine "up").
      • +
    • Assumes roll is responsible for rotation (i.e., sideways capture).
      • +
    • Applies necessary rotation and updates the camera intrinsics accordingly.
      • +
    • Supports image types: RGB and depth must be valid OpenCV cv::Mat.
      • +
    • Respects image transparency and depth values during rotation.
      • +
    +
    +
    Warning
    This function assumes that the camera's local transform includes the standard optical rotation.
    +
    See also
    rtabmap::CameraModel, cv::transpose, cv::flip
    + +
    +
    +
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    RTAB-Map 0.23.10 +
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    RTAB-Map 0.23.10 +
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    rtabmap_core_export.h
    +
    +
    +
    1
    +
    2#ifndef RTABMAP_CORE_EXPORT_H
    +
    3#define RTABMAP_CORE_EXPORT_H
    +
    4
    +
    5#ifdef RTABMAP_CORE_STATIC_DEFINE
    +
    6# define RTABMAP_CORE_EXPORT
    +
    7# define RTABMAP_CORE_NO_EXPORT
    +
    8#else
    +
    9# ifndef RTABMAP_CORE_EXPORT
    +
    10# ifdef rtabmap_core_EXPORTS
    +
    11 /* We are building this library */
    +
    12# define RTABMAP_CORE_EXPORT __attribute__((visibility("default")))
    +
    13# else
    +
    14 /* We are using this library */
    +
    15# define RTABMAP_CORE_EXPORT __attribute__((visibility("default")))
    +
    16# endif
    +
    17# endif
    +
    18
    +
    19# ifndef RTABMAP_CORE_NO_EXPORT
    +
    20# define RTABMAP_CORE_NO_EXPORT __attribute__((visibility("hidden")))
    +
    21# endif
    +
    22#endif
    +
    23
    +
    24#ifndef RTABMAP_DEPRECATED
    +
    25# define RTABMAP_DEPRECATED __attribute__ ((__deprecated__))
    +
    26#endif
    +
    27
    +
    28#ifndef RTABMAP_DEPRECATED_EXPORT
    +
    29# define RTABMAP_DEPRECATED_EXPORT RTABMAP_CORE_EXPORT RTABMAP_DEPRECATED
    +
    30#endif
    +
    31
    +
    32#ifndef RTABMAP_DEPRECATED_NO_EXPORT
    +
    33# define RTABMAP_DEPRECATED_NO_EXPORT RTABMAP_CORE_NO_EXPORT RTABMAP_DEPRECATED
    +
    34#endif
    +
    35
    +
    36/* NOLINTNEXTLINE(readability-avoid-unconditional-preprocessor-if) */
    +
    37#if 0 /* DEFINE_NO_DEPRECATED */
    +
    38# ifndef RTABMAP_CORE_NO_DEPRECATED
    +
    39# define RTABMAP_CORE_NO_DEPRECATED
    +
    40# endif
    +
    41#endif
    +
    42
    +
    43#endif /* RTABMAP_CORE_EXPORT_H */
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    rvl_codec.h
    +
    +
    +
    1// The following code is a C++ wrapper of the code presented by
    +
    2// Andrew D. Wilson in "Fast Lossless Depth Image Compression" at SIGCHI'17.
    +
    3// The original code is licensed under the MIT License.
    +
    4
    +
    5#ifndef RVL_CODEC_H_
    +
    6#define RVL_CODEC_H_
    +
    7
    +
    8#include <cstdint>
    +
    9#include "rtabmap/core/rtabmap_core_export.h"
    +
    10
    +
    11namespace rtabmap
    +
    12{
    +
    13
    +
    +
    14class RTABMAP_CORE_EXPORT RvlCodec {
    +
    15public:
    +
    16 RvlCodec();
    +
    17 // Compress input data into output. The size of output can be equal to (1.5 * numPixels + 4) in the worst case.
    +
    18 int CompressRVL(const uint16_t * input, unsigned char * output, int numPixels);
    +
    19 // Decompress input data into output. The size of output must be equal to numPixels.
    +
    20 void DecompressRVL(const unsigned char * input, uint16_t * output, int numPixels);
    +
    21
    +
    22private:
    +
    23 RvlCodec(const RvlCodec &);
    +
    24 RvlCodec & operator=(const RvlCodec &);
    +
    25
    +
    26 void EncodeVLE(int value);
    +
    27 int DecodeVLE();
    +
    28
    +
    29 int *buffer_;
    +
    30 int *pBuffer_;
    +
    31 int word_;
    +
    32 int nibblesWritten_;
    +
    33};
    +
    +
    34
    +
    35} // namespace rtabmap
    +
    36
    +
    37#endif // RVL_CODEC_H_
    + + +
    + +
    +Generated by doxygen 1.9.8 +
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IN NO EVENT SHALL THE AUTHORS OR COPYRIGHT HOLDERS BE LIABLE FOR ANY CLAIM, + DAMAGES OR OTHER LIABILITY, WHETHER IN AN ACTION OF CONTRACT, TORT OR OTHERWISE, ARISING FROM, + OUT OF OR IN CONNECTION WITH THE SOFTWARE OR THE USE OR OTHER DEALINGS IN THE SOFTWARE. + + @licend The above is the entire license notice for the JavaScript code in this file + */ +function convertToId(search) +{ + var result = ''; + for (i=0;i do a search + { + this.Search(); + } + } + + this.OnSearchSelectKey = function(evt) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==40 && this.searchIndex0) // Up + { + this.searchIndex--; + this.OnSelectItem(this.searchIndex); + } + else if (e.keyCode==13 || e.keyCode==27) + { + e.stopPropagation(); + this.OnSelectItem(this.searchIndex); + this.CloseSelectionWindow(); + this.DOMSearchField().focus(); + } + return false; + } + + // --------- Actions + + // Closes the results window. + this.CloseResultsWindow = function() + { + this.DOMPopupSearchResultsWindow().style.display = 'none'; + this.DOMSearchClose().style.display = 'none'; + this.Activate(false); + } + + this.CloseSelectionWindow = function() + { + this.DOMSearchSelectWindow().style.display = 'none'; + } + + // Performs a search. + this.Search = function() + { + this.keyTimeout = 0; + + // strip leading whitespace + var searchValue = this.DOMSearchField().value.replace(/^ +/, ""); + + var code = searchValue.toLowerCase().charCodeAt(0); + var idxChar = searchValue.substr(0, 1).toLowerCase(); + if ( 0xD800 <= code && code <= 0xDBFF && searchValue > 1) // surrogate pair + { + idxChar = searchValue.substr(0, 2); + } + + var jsFile; + + var idx = indexSectionsWithContent[this.searchIndex].indexOf(idxChar); + if (idx!=-1) + { + var hexCode=idx.toString(16); + jsFile = this.resultsPath + indexSectionNames[this.searchIndex] + '_' + hexCode + '.js'; + } + + var loadJS = function(url, impl, loc){ + var scriptTag = document.createElement('script'); + scriptTag.src = url; + scriptTag.onload = impl; + scriptTag.onreadystatechange = impl; + loc.appendChild(scriptTag); + } + + var domPopupSearchResultsWindow = this.DOMPopupSearchResultsWindow(); + var domSearchBox = this.DOMSearchBox(); + var domPopupSearchResults = this.DOMPopupSearchResults(); + var domSearchClose = this.DOMSearchClose(); + var resultsPath = this.resultsPath; + + var handleResults = function() { + document.getElementById("Loading").style.display="none"; + if (typeof searchData !== 'undefined') { + createResults(resultsPath); + document.getElementById("NoMatches").style.display="none"; + } + + if (idx!=-1) { + searchResults.Search(searchValue); + } else { // no file with search results => force empty search results + searchResults.Search('===='); + } + + if (domPopupSearchResultsWindow.style.display!='block') + { + domSearchClose.style.display = 'inline-block'; + var left = getXPos(domSearchBox) + 150; + var top = getYPos(domSearchBox) + 20; + domPopupSearchResultsWindow.style.display = 'block'; + left -= domPopupSearchResults.offsetWidth; + var maxWidth = document.body.clientWidth; + var maxHeight = document.body.clientHeight; + var width = 300; + if (left<10) left=10; + if (width+left+8>maxWidth) width=maxWidth-left-8; + var height = 400; + if (height+top+8>maxHeight) height=maxHeight-top-8; + domPopupSearchResultsWindow.style.top = top + 'px'; + domPopupSearchResultsWindow.style.left = left + 'px'; + domPopupSearchResultsWindow.style.width = width + 'px'; + domPopupSearchResultsWindow.style.height = height + 'px'; + } + } + + if (jsFile) { + loadJS(jsFile, handleResults, this.DOMPopupSearchResultsWindow()); + } else { + handleResults(); + } + + this.lastSearchValue = searchValue; + } + + // -------- Activation Functions + + // Activates or deactivates the search panel, resetting things to + // their default values if necessary. + this.Activate = function(isActive) + { + if (isActive || // open it + this.DOMPopupSearchResultsWindow().style.display == 'block' + ) + { + this.DOMSearchBox().className = 'MSearchBoxActive'; + this.searchActive = true; + } + else if (!isActive) // directly remove the panel + { + this.DOMSearchBox().className = 'MSearchBoxInactive'; + this.searchActive = false; + this.lastSearchValue = '' + this.lastResultsPage = ''; + this.DOMSearchField().value = ''; + } + } +} + +// ----------------------------------------------------------------------- + +// The class that handles everything on the search results page. +function SearchResults(name) +{ + // The number of matches from the last run of . + this.lastMatchCount = 0; + this.lastKey = 0; + this.repeatOn = false; + + // Toggles the visibility of the passed element ID. + this.FindChildElement = function(id) + { + var parentElement = document.getElementById(id); + var element = parentElement.firstChild; + + while (element && element!=parentElement) + { + if (element.nodeName.toLowerCase() == 'div' && element.className == 'SRChildren') + { + return element; + } + + if (element.nodeName.toLowerCase() == 'div' && element.hasChildNodes()) + { + element = element.firstChild; + } + else if (element.nextSibling) + { + element = element.nextSibling; + } + else + { + do + { + element = element.parentNode; + } + while (element && element!=parentElement && !element.nextSibling); + + if (element && element!=parentElement) + { + element = element.nextSibling; + } + } + } + } + + this.Toggle = function(id) + { + var element = this.FindChildElement(id); + if (element) + { + if (element.style.display == 'block') + { + element.style.display = 'none'; + } + else + { + element.style.display = 'block'; + } + } + } + + // Searches for the passed string. If there is no parameter, + // it takes it from the URL query. + // + // Always returns true, since other documents may try to call it + // and that may or may not be possible. + this.Search = function(search) + { + if (!search) // get search word from URL + { + search = window.location.search; + search = search.substring(1); // Remove the leading '?' + search = unescape(search); + } + + search = search.replace(/^ +/, ""); // strip leading spaces + search = search.replace(/ +$/, ""); // strip trailing spaces + search = search.toLowerCase(); + search = convertToId(search); + + var resultRows = document.getElementsByTagName("div"); + var matches = 0; + + var i = 0; + while (i < resultRows.length) + { + var row = resultRows.item(i); + if (row.className == "SRResult") + { + var rowMatchName = row.id.toLowerCase(); + rowMatchName = rowMatchName.replace(/^sr\d*_/, ''); // strip 'sr123_' + + if (search.length<=rowMatchName.length && + rowMatchName.substr(0, search.length)==search) + { + row.style.display = 'block'; + matches++; + } + else + { + row.style.display = 'none'; + } + } + i++; + } + document.getElementById("Searching").style.display='none'; + if (matches == 0) // no results + { + document.getElementById("NoMatches").style.display='block'; + } + else // at least one result + { + document.getElementById("NoMatches").style.display='none'; + } + this.lastMatchCount = matches; + return true; + } + + // return the first item with index index or higher that is visible + this.NavNext = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index++; + } + return focusItem; + } + + this.NavPrev = function(index) + { + var focusItem; + while (1) + { + var focusName = 'Item'+index; + focusItem = document.getElementById(focusName); + if (focusItem && focusItem.parentNode.parentNode.style.display=='block') + { + break; + } + else if (!focusItem) // last element + { + break; + } + focusItem=null; + index--; + } + return focusItem; + } + + this.ProcessKeys = function(e) + { + if (e.type == "keydown") + { + this.repeatOn = false; + this.lastKey = e.keyCode; + } + else if (e.type == "keypress") + { + if (!this.repeatOn) + { + if (this.lastKey) this.repeatOn = true; + return false; // ignore first keypress after keydown + } + } + else if (e.type == "keyup") + { + this.lastKey = 0; + this.repeatOn = false; + } + return this.lastKey!=0; + } + + this.Nav = function(evt,itemIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + var newIndex = itemIndex-1; + var focusItem = this.NavPrev(newIndex); + if (focusItem) + { + var child = this.FindChildElement(focusItem.parentNode.parentNode.id); + if (child && child.style.display == 'block') // children visible + { + var n=0; + var tmpElem; + while (1) // search for last child + { + tmpElem = document.getElementById('Item'+newIndex+'_c'+n); + if (tmpElem) + { + focusItem = tmpElem; + } + else // found it! + { + break; + } + n++; + } + } + } + if (focusItem) + { + focusItem.focus(); + } + else // return focus to search field + { + document.getElementById("MSearchField").focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = itemIndex+1; + var focusItem; + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem && elem.style.display == 'block') // children visible + { + focusItem = document.getElementById('Item'+itemIndex+'_c0'); + } + if (!focusItem) focusItem = this.NavNext(newIndex); + if (focusItem) focusItem.focus(); + } + else if (this.lastKey==39) // Right + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'block'; + } + else if (this.lastKey==37) // Left + { + var item = document.getElementById('Item'+itemIndex); + var elem = this.FindChildElement(item.parentNode.parentNode.id); + if (elem) elem.style.display = 'none'; + } + else if (this.lastKey==27) // Escape + { + e.stopPropagation(); + searchBox.CloseResultsWindow(); + document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } + + this.NavChild = function(evt,itemIndex,childIndex) + { + var e = (evt) ? evt : window.event; // for IE + if (e.keyCode==13) return true; + if (!this.ProcessKeys(e)) return false; + + if (this.lastKey==38) // Up + { + if (childIndex>0) + { + var newIndex = childIndex-1; + document.getElementById('Item'+itemIndex+'_c'+newIndex).focus(); + } + else // already at first child, jump to parent + { + document.getElementById('Item'+itemIndex).focus(); + } + } + else if (this.lastKey==40) // Down + { + var newIndex = childIndex+1; + var elem = document.getElementById('Item'+itemIndex+'_c'+newIndex); + if (!elem) // last child, jump to parent next parent + { + elem = this.NavNext(itemIndex+1); + } + if (elem) + { + elem.focus(); + } + } + else if (this.lastKey==27) // Escape + { + e.stopPropagation(); + searchBox.CloseResultsWindow(); + document.getElementById("MSearchField").focus(); + } + else if (this.lastKey==13) // Enter + { + return true; + } + return false; + } +} + +function setKeyActions(elem,action) +{ + elem.setAttribute('onkeydown',action); + elem.setAttribute('onkeypress',action); + elem.setAttribute('onkeyup',action); +} + +function setClassAttr(elem,attr) +{ + elem.setAttribute('class',attr); + elem.setAttribute('className',attr); +} + +function createResults(resultsPath) +{ + var results = document.getElementById("SRResults"); + results.innerHTML = ''; + for (var e=0; e + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/clams/slam_calibrator.h Source File + + + + + + + + + + + + +
    +
    + + + + + + +
    +
    RTAB-Map 0.23.10 +
    +
    +
    + + + + + + + + + +
    +
    + + +
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    +
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    +
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    +
    + + +
    +
    +
    slam_calibrator.h
    +
    +
    +
    1/*
    +
    2Copyright (c) 2013, Alex Teichman and Stephen Miller (Stanford University)
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the <organization> nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL <COPYRIGHT HOLDER> BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26
    +
    27RTAB-Map integration: Mathieu Labbe
    +
    28*/
    +
    29
    +
    30#ifndef SLAM_CALIBRATOR_H
    +
    31#define SLAM_CALIBRATOR_H
    +
    32
    +
    33#include <rtabmap/core/clams/discrete_depth_distortion_model.h>
    +
    34#include <rtabmap/core/SensorData.h>
    +
    35#include <pcl/point_cloud.h>
    +
    36#include <pcl/point_types.h>
    +
    37
    +
    38namespace clams
    +
    39{
    +
    40
    +
    41DiscreteDepthDistortionModel RTABMAP_CORE_EXPORT calibrate(
    +
    42 const std::map<int, rtabmap::SensorData> & sequence,
    +
    43 const std::map<int, rtabmap::Transform> & trajectory,
    +
    44 const pcl::PointCloud<pcl::PointXYZ>::Ptr & map,
    +
    45 double coneRadius = 0.02,
    +
    46 double coneStdevThresh = 0.03);
    +
    47
    +
    48}
    +
    49
    +
    50#endif // SLAM_CALIBRATOR_H
    +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/splitbar.png b/preview/pr-1492/api/latest/splitbar.png new file mode 100644 index 0000000000000000000000000000000000000000..fe895f2c58179b471a22d8320b39a4bd7312ec8e GIT binary patch literal 314 zcmeAS@N?(olHy`uVBq!ia0vp^Yzz!63>-{AmhX=Jf(#6djGiuzAr*{o?=JLmPLyc> z_*`QK&+BH@jWrYJ7>r6%keRM@)Qyv8R=enp0jiI>aWlGyB58O zFVR20d+y`K7vDw(hJF3;>dD*3-?v=<8M)@x|EEGLnJsniYK!2U1 Y!`|5biEc?d1`HDhPgg&ebxsLQ02F6;9RL6T literal 0 HcmV?d00001 diff --git a/preview/pr-1492/api/latest/splitbard.png b/preview/pr-1492/api/latest/splitbard.png new file mode 100644 index 0000000000000000000000000000000000000000..8367416d757fd7b6dc4272b6432dc75a75abd068 GIT binary patch literal 282 zcmeAS@N?(olHy`uVBq!ia0vp^Yzz!63>-{AmhX=Jf@VhhFKy35^fiT zT~&lUj3=cDh^%3HDY9k5CEku}PHXNoNC(_$U3XPb&Q*ME25pT;2(*BOgAf<+R$lzakPG`kF31()Fx{L5Wrac|GQzjeE= zueY1`Ze{#x<8=S|`~MgGetGce)#vN&|J{Cd^tS%;tBYTo?+^d68<#n_Y_xx`J||4O V@QB{^CqU0Kc)I$ztaD0e0svEzbJzd? literal 0 HcmV?d00001 diff --git a/preview/pr-1492/api/latest/stereoRectifyFisheye_8h_source.html b/preview/pr-1492/api/latest/stereoRectifyFisheye_8h_source.html new file mode 100644 index 00000000..98b7ce86 --- /dev/null +++ b/preview/pr-1492/api/latest/stereoRectifyFisheye_8h_source.html @@ -0,0 +1,1348 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/stereo/stereoRectifyFisheye.h Source File + + + + + + + + + + + + +
    +
    + + + + + + +
    +
    RTAB-Map 0.23.10 +
    +
    +
    + + + + + + + + + +
    +
    + + +
    +
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    + + +
    +
    +
    stereoRectifyFisheye.h
    +
    +
    +
    1/*
    +
    2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5This code is the same has cv::stereoRectify() but accepting fisheye distortion model:
    +
    6All cvUndistortPoints() have been replaced by cv::fisheye::undistortPoints()
    +
    7See https://github.com/opencv/opencv/blob/master/modules/calib3d/src/calibration.cpp
    +
    8
    +
    9Redistribution and use in source and binary forms, with or without
    +
    10modification, are permitted provided that the following conditions are met:
    +
    11 * Redistributions of source code must retain the above copyright
    +
    12 notice, this list of conditions and the following disclaimer.
    +
    13 * Redistributions in binary form must reproduce the above copyright
    +
    14 notice, this list of conditions and the following disclaimer in the
    +
    15 documentation and/or other materials provided with the distribution.
    +
    16 * Neither the name of the Universite de Sherbrooke nor the
    +
    17 names of its contributors may be used to endorse or promote products
    +
    18 derived from this software without specific prior written permission.
    +
    19
    +
    20THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    21ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    22WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    23DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    24DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    25(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    26LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    27ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    28(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    29SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    30*/
    +
    31
    +
    32#ifndef CORELIB_SRC_OPENCV_STEREORECTIFYFISHEYE_H_
    +
    33#define CORELIB_SRC_OPENCV_STEREORECTIFYFISHEYE_H_
    +
    34
    +
    35// This header relies on the OpenCV C API (cvRodrigues2, cvProjectPoints2, ...)
    +
    36// which was removed in OpenCV 5. Pull in only the version macros (available in
    +
    37// all OpenCV versions) so we can fail early with a clear message rather than
    +
    38// with cryptic errors from the includes below.
    +
    39#include <opencv2/core/version.hpp>
    +
    40#if CV_MAJOR_VERSION >= 5
    +
    41#error "stereoRectifyFisheye.h is not supported with OpenCV 5 or later (it uses the removed OpenCV C API). Use cv::fisheye::stereoRectify() instead, or guard your include with '#if CV_MAJOR_VERSION < 5'."
    +
    42#endif
    +
    43
    +
    44#include <opencv2/calib3d/calib3d.hpp>
    +
    45#if CV_MAJOR_VERSION >= 3
    +
    46#include <opencv2/calib3d/calib3d_c.h>
    +
    47
    +
    48#if CV_MAJOR_VERSION >= 4
    +
    49#include <opencv2/core/core_c.h>
    +
    50
    +
    51// Opencv4 doesn't expose those functions below anymore, we should recopy all of them!
    +
    52int cvRodrigues2( const CvMat* src, CvMat* dst, CvMat* jacobian CV_DEFAULT(0))
    +
    53{
    +
    54 int depth, elem_size;
    +
    55 int i, k;
    +
    56 double J[27] = {0};
    +
    57 CvMat matJ = cvMat( 3, 9, CV_64F, J );
    +
    58
    +
    59 if( !CV_IS_MAT(src) )
    +
    60 CV_Error( !src ? CV_StsNullPtr : CV_StsBadArg, "Input argument is not a valid matrix" );
    +
    61
    +
    62 if( !CV_IS_MAT(dst) )
    +
    63 CV_Error( !dst ? CV_StsNullPtr : CV_StsBadArg,
    +
    64 "The first output argument is not a valid matrix" );
    +
    65
    +
    66 depth = CV_MAT_DEPTH(src->type);
    +
    67 elem_size = CV_ELEM_SIZE(depth);
    +
    68
    +
    69 if( depth != CV_32F && depth != CV_64F )
    +
    70 CV_Error( CV_StsUnsupportedFormat, "The matrices must have 32f or 64f data type" );
    +
    71
    +
    72 if( !CV_ARE_DEPTHS_EQ(src, dst) )
    +
    73 CV_Error( CV_StsUnmatchedFormats, "All the matrices must have the same data type" );
    +
    74
    +
    75 if( jacobian )
    +
    76 {
    +
    77 if( !CV_IS_MAT(jacobian) )
    +
    78 CV_Error( CV_StsBadArg, "Jacobian is not a valid matrix" );
    +
    79
    +
    80 if( !CV_ARE_DEPTHS_EQ(src, jacobian) || CV_MAT_CN(jacobian->type) != 1 )
    +
    81 CV_Error( CV_StsUnmatchedFormats, "Jacobian must have 32fC1 or 64fC1 datatype" );
    +
    82
    +
    83 if( (jacobian->rows != 9 || jacobian->cols != 3) &&
    +
    84 (jacobian->rows != 3 || jacobian->cols != 9))
    +
    85 CV_Error( CV_StsBadSize, "Jacobian must be 3x9 or 9x3" );
    +
    86 }
    +
    87
    +
    88 if( src->cols == 1 || src->rows == 1 )
    +
    89 {
    +
    90 int step = src->rows > 1 ? src->step / elem_size : 1;
    +
    91
    +
    92 if( src->rows + src->cols*CV_MAT_CN(src->type) - 1 != 3 )
    +
    93 CV_Error( CV_StsBadSize, "Input matrix must be 1x3, 3x1 or 3x3" );
    +
    94
    +
    95 if( dst->rows != 3 || dst->cols != 3 || CV_MAT_CN(dst->type) != 1 )
    +
    96 CV_Error( CV_StsBadSize, "Output matrix must be 3x3, single-channel floating point matrix" );
    +
    97
    +
    98 cv::Point3d r;
    +
    99 if( depth == CV_32F )
    +
    100 {
    +
    101 r.x = src->data.fl[0];
    +
    102 r.y = src->data.fl[step];
    +
    103 r.z = src->data.fl[step*2];
    +
    104 }
    +
    105 else
    +
    106 {
    +
    107 r.x = src->data.db[0];
    +
    108 r.y = src->data.db[step];
    +
    109 r.z = src->data.db[step*2];
    +
    110 }
    +
    111
    +
    112 double theta = cv::norm(r);
    +
    113
    +
    114 if( theta < DBL_EPSILON )
    +
    115 {
    +
    116 cvSetIdentity( dst );
    +
    117
    +
    118 if( jacobian )
    +
    119 {
    +
    120 memset( J, 0, sizeof(J) );
    +
    121 J[5] = J[15] = J[19] = -1;
    +
    122 J[7] = J[11] = J[21] = 1;
    +
    123 }
    +
    124 }
    +
    125 else
    +
    126 {
    +
    127 double c = cos(theta);
    +
    128 double s = sin(theta);
    +
    129 double c1 = 1. - c;
    +
    130 double itheta = theta ? 1./theta : 0.;
    +
    131
    +
    132 r *= itheta;
    +
    133
    +
    134 cv::Matx33d rrt( r.x*r.x, r.x*r.y, r.x*r.z, r.x*r.y, r.y*r.y, r.y*r.z, r.x*r.z, r.y*r.z, r.z*r.z );
    +
    135 cv::Matx33d r_x( 0, -r.z, r.y,
    +
    136 r.z, 0, -r.x,
    +
    137 -r.y, r.x, 0 );
    +
    138
    +
    139 // R = cos(theta)*I + (1 - cos(theta))*r*rT + sin(theta)*[r_x]
    +
    140 cv::Matx33d R = c*cv::Matx33d::eye() + c1*rrt + s*r_x;
    +
    141
    +
    142 cv::Mat(R).convertTo(cv::cvarrToMat(dst), dst->type);
    +
    143
    +
    144 if( jacobian )
    +
    145 {
    +
    146 const double I[] = { 1, 0, 0, 0, 1, 0, 0, 0, 1 };
    +
    147 double drrt[] = { r.x+r.x, r.y, r.z, r.y, 0, 0, r.z, 0, 0,
    +
    148 0, r.x, 0, r.x, r.y+r.y, r.z, 0, r.z, 0,
    +
    149 0, 0, r.x, 0, 0, r.y, r.x, r.y, r.z+r.z };
    +
    150 double d_r_x_[] = { 0, 0, 0, 0, 0, -1, 0, 1, 0,
    +
    151 0, 0, 1, 0, 0, 0, -1, 0, 0,
    +
    152 0, -1, 0, 1, 0, 0, 0, 0, 0 };
    +
    153 for( i = 0; i < 3; i++ )
    +
    154 {
    +
    155 double ri = i == 0 ? r.x : i == 1 ? r.y : r.z;
    +
    156 double a0 = -s*ri, a1 = (s - 2*c1*itheta)*ri, a2 = c1*itheta;
    +
    157 double a3 = (c - s*itheta)*ri, a4 = s*itheta;
    +
    158 for( k = 0; k < 9; k++ )
    +
    159 J[i*9+k] = a0*I[k] + a1*rrt.val[k] + a2*drrt[i*9+k] +
    +
    160 a3*r_x.val[k] + a4*d_r_x_[i*9+k];
    +
    161 }
    +
    162 }
    +
    163 }
    +
    164 }
    +
    165 else if( src->cols == 3 && src->rows == 3 )
    +
    166 {
    +
    167 cv::Matx33d U, Vt;
    +
    168 cv::Vec3d W;
    +
    169 double theta, s, c;
    +
    170 int step = dst->rows > 1 ? dst->step / elem_size : 1;
    +
    171
    +
    172 if( (dst->rows != 1 || dst->cols*CV_MAT_CN(dst->type) != 3) &&
    +
    173 (dst->rows != 3 || dst->cols != 1 || CV_MAT_CN(dst->type) != 1))
    +
    174 CV_Error( CV_StsBadSize, "Output matrix must be 1x3 or 3x1" );
    +
    175
    +
    176 cv::Matx33d R = cv::cvarrToMat(src);
    +
    177
    +
    178 if( !cv::checkRange(R, true, NULL, -100, 100) )
    +
    179 {
    +
    180 cvZero(dst);
    +
    181 if( jacobian )
    +
    182 cvZero(jacobian);
    +
    183 return 0;
    +
    184 }
    +
    185
    +
    186 cv::SVD::compute(R, W, U, Vt);
    +
    187 R = U*Vt;
    +
    188
    +
    189 cv::Point3d r(R(2, 1) - R(1, 2), R(0, 2) - R(2, 0), R(1, 0) - R(0, 1));
    +
    190
    +
    191 s = std::sqrt((r.x*r.x + r.y*r.y + r.z*r.z)*0.25);
    +
    192 c = (R(0, 0) + R(1, 1) + R(2, 2) - 1)*0.5;
    +
    193 c = c > 1. ? 1. : c < -1. ? -1. : c;
    +
    194 theta = acos(c);
    +
    195
    +
    196 if( s < 1e-5 )
    +
    197 {
    +
    198 double t;
    +
    199
    +
    200 if( c > 0 )
    +
    201 r = cv::Point3d(0, 0, 0);
    +
    202 else
    +
    203 {
    +
    204 t = (R(0, 0) + 1)*0.5;
    +
    205 r.x = std::sqrt(MAX(t,0.));
    +
    206 t = (R(1, 1) + 1)*0.5;
    +
    207 r.y = std::sqrt(MAX(t,0.))*(R(0, 1) < 0 ? -1. : 1.);
    +
    208 t = (R(2, 2) + 1)*0.5;
    +
    209 r.z = std::sqrt(MAX(t,0.))*(R(0, 2) < 0 ? -1. : 1.);
    +
    210 if( fabs(r.x) < fabs(r.y) && fabs(r.x) < fabs(r.z) && (R(1, 2) > 0) != (r.y*r.z > 0) )
    +
    211 r.z = -r.z;
    +
    212 theta /= cv::norm(r);
    +
    213 r *= theta;
    +
    214 }
    +
    215
    +
    216 if( jacobian )
    +
    217 {
    +
    218 memset( J, 0, sizeof(J) );
    +
    219 if( c > 0 )
    +
    220 {
    +
    221 J[5] = J[15] = J[19] = -0.5;
    +
    222 J[7] = J[11] = J[21] = 0.5;
    +
    223 }
    +
    224 }
    +
    225 }
    +
    226 else
    +
    227 {
    +
    228 double vth = 1/(2*s);
    +
    229
    +
    230 if( jacobian )
    +
    231 {
    +
    232 double t, dtheta_dtr = -1./s;
    +
    233 // var1 = [vth;theta]
    +
    234 // var = [om1;var1] = [om1;vth;theta]
    +
    235 double dvth_dtheta = -vth*c/s;
    +
    236 double d1 = 0.5*dvth_dtheta*dtheta_dtr;
    +
    237 double d2 = 0.5*dtheta_dtr;
    +
    238 // dvar1/dR = dvar1/dtheta*dtheta/dR = [dvth/dtheta; 1] * dtheta/dtr * dtr/dR
    +
    239 double dvardR[5*9] =
    +
    240 {
    +
    241 0, 0, 0, 0, 0, 1, 0, -1, 0,
    +
    242 0, 0, -1, 0, 0, 0, 1, 0, 0,
    +
    243 0, 1, 0, -1, 0, 0, 0, 0, 0,
    +
    244 d1, 0, 0, 0, d1, 0, 0, 0, d1,
    +
    245 d2, 0, 0, 0, d2, 0, 0, 0, d2
    +
    246 };
    +
    247 // var2 = [om;theta]
    +
    248 double dvar2dvar[] =
    +
    249 {
    +
    250 vth, 0, 0, r.x, 0,
    +
    251 0, vth, 0, r.y, 0,
    +
    252 0, 0, vth, r.z, 0,
    +
    253 0, 0, 0, 0, 1
    +
    254 };
    +
    255 double domegadvar2[] =
    +
    256 {
    +
    257 theta, 0, 0, r.x*vth,
    +
    258 0, theta, 0, r.y*vth,
    +
    259 0, 0, theta, r.z*vth
    +
    260 };
    +
    261
    +
    262 CvMat _dvardR = cvMat( 5, 9, CV_64FC1, dvardR );
    +
    263 CvMat _dvar2dvar = cvMat( 4, 5, CV_64FC1, dvar2dvar );
    +
    264 CvMat _domegadvar2 = cvMat( 3, 4, CV_64FC1, domegadvar2 );
    +
    265 double t0[3*5];
    +
    266 CvMat _t0 = cvMat( 3, 5, CV_64FC1, t0 );
    +
    267
    +
    268 cvMatMul( &_domegadvar2, &_dvar2dvar, &_t0 );
    +
    269 cvMatMul( &_t0, &_dvardR, &matJ );
    +
    270
    +
    271 // transpose every row of matJ (treat the rows as 3x3 matrices)
    +
    272 CV_SWAP(J[1], J[3], t); CV_SWAP(J[2], J[6], t); CV_SWAP(J[5], J[7], t);
    +
    273 CV_SWAP(J[10], J[12], t); CV_SWAP(J[11], J[15], t); CV_SWAP(J[14], J[16], t);
    +
    274 CV_SWAP(J[19], J[21], t); CV_SWAP(J[20], J[24], t); CV_SWAP(J[23], J[25], t);
    +
    275 }
    +
    276
    +
    277 vth *= theta;
    +
    278 r *= vth;
    +
    279 }
    +
    280
    +
    281 if( depth == CV_32F )
    +
    282 {
    +
    283 dst->data.fl[0] = (float)r.x;
    +
    284 dst->data.fl[step] = (float)r.y;
    +
    285 dst->data.fl[step*2] = (float)r.z;
    +
    286 }
    +
    287 else
    +
    288 {
    +
    289 dst->data.db[0] = r.x;
    +
    290 dst->data.db[step] = r.y;
    +
    291 dst->data.db[step*2] = r.z;
    +
    292 }
    +
    293 }
    +
    294
    +
    295 if( jacobian )
    +
    296 {
    +
    297 if( depth == CV_32F )
    +
    298 {
    +
    299 if( jacobian->rows == matJ.rows )
    +
    300 cvConvert( &matJ, jacobian );
    +
    301 else
    +
    302 {
    +
    303 float Jf[3*9];
    +
    304 CvMat _Jf = cvMat( matJ.rows, matJ.cols, CV_32FC1, Jf );
    +
    305 cvConvert( &matJ, &_Jf );
    +
    306 cvTranspose( &_Jf, jacobian );
    +
    307 }
    +
    308 }
    +
    309 else if( jacobian->rows == matJ.rows )
    +
    310 cvCopy( &matJ, jacobian );
    +
    311 else
    +
    312 cvTranspose( &matJ, jacobian );
    +
    313 }
    +
    314
    +
    315 return 1;
    +
    316}
    +
    317
    +
    318template <typename FLOAT>
    +
    319void computeTiltProjectionMatrix(FLOAT tauX,
    +
    320 FLOAT tauY,
    +
    321 cv::Matx<FLOAT, 3, 3>* matTilt = 0,
    +
    322 cv::Matx<FLOAT, 3, 3>* dMatTiltdTauX = 0,
    +
    323 cv::Matx<FLOAT, 3, 3>* dMatTiltdTauY = 0,
    +
    324 cv::Matx<FLOAT, 3, 3>* invMatTilt = 0)
    +
    325{
    +
    326 FLOAT cTauX = cos(tauX);
    +
    327 FLOAT sTauX = sin(tauX);
    +
    328 FLOAT cTauY = cos(tauY);
    +
    329 FLOAT sTauY = sin(tauY);
    +
    330 cv::Matx<FLOAT, 3, 3> matRotX = cv::Matx<FLOAT, 3, 3>(1,0,0,0,cTauX,sTauX,0,-sTauX,cTauX);
    +
    331 cv::Matx<FLOAT, 3, 3> matRotY = cv::Matx<FLOAT, 3, 3>(cTauY,0,-sTauY,0,1,0,sTauY,0,cTauY);
    +
    332 cv::Matx<FLOAT, 3, 3> matRotXY = matRotY * matRotX;
    +
    333 cv::Matx<FLOAT, 3, 3> matProjZ = cv::Matx<FLOAT, 3, 3>(matRotXY(2,2),0,-matRotXY(0,2),0,matRotXY(2,2),-matRotXY(1,2),0,0,1);
    +
    334 if (matTilt)
    +
    335 {
    +
    336 // Matrix for trapezoidal distortion of tilted image sensor
    +
    337 *matTilt = matProjZ * matRotXY;
    +
    338 }
    +
    339 if (dMatTiltdTauX)
    +
    340 {
    +
    341 // Derivative with respect to tauX
    +
    342 cv::Matx<FLOAT, 3, 3> dMatRotXYdTauX = matRotY * cv::Matx<FLOAT, 3, 3>(0,0,0,0,-sTauX,cTauX,0,-cTauX,-sTauX);
    +
    343 cv::Matx<FLOAT, 3, 3> dMatProjZdTauX = cv::Matx<FLOAT, 3, 3>(dMatRotXYdTauX(2,2),0,-dMatRotXYdTauX(0,2),
    +
    344 0,dMatRotXYdTauX(2,2),-dMatRotXYdTauX(1,2),0,0,0);
    +
    345 *dMatTiltdTauX = (matProjZ * dMatRotXYdTauX) + (dMatProjZdTauX * matRotXY);
    +
    346 }
    +
    347 if (dMatTiltdTauY)
    +
    348 {
    +
    349 // Derivative with respect to tauY
    +
    350 cv::Matx<FLOAT, 3, 3> dMatRotXYdTauY = cv::Matx<FLOAT, 3, 3>(-sTauY,0,-cTauY,0,0,0,cTauY,0,-sTauY) * matRotX;
    +
    351 cv::Matx<FLOAT, 3, 3> dMatProjZdTauY = cv::Matx<FLOAT, 3, 3>(dMatRotXYdTauY(2,2),0,-dMatRotXYdTauY(0,2),
    +
    352 0,dMatRotXYdTauY(2,2),-dMatRotXYdTauY(1,2),0,0,0);
    +
    353 *dMatTiltdTauY = (matProjZ * dMatRotXYdTauY) + (dMatProjZdTauY * matRotXY);
    +
    354 }
    +
    355 if (invMatTilt)
    +
    356 {
    +
    357 FLOAT inv = 1./matRotXY(2,2);
    +
    358 cv::Matx<FLOAT, 3, 3> invMatProjZ = cv::Matx<FLOAT, 3, 3>(inv,0,inv*matRotXY(0,2),0,inv,inv*matRotXY(1,2),0,0,1);
    +
    359 *invMatTilt = matRotXY.t()*invMatProjZ;
    +
    360 }
    +
    361}
    +
    362
    +
    363void cvProjectPoints2Internal( const CvMat* objectPoints,
    +
    364 const CvMat* r_vec,
    +
    365 const CvMat* t_vec,
    +
    366 const CvMat* A,
    +
    367 const CvMat* distCoeffs,
    +
    368 CvMat* imagePoints, CvMat* dpdr CV_DEFAULT(NULL),
    +
    369 CvMat* dpdt CV_DEFAULT(NULL), CvMat* dpdf CV_DEFAULT(NULL),
    +
    370 CvMat* dpdc CV_DEFAULT(NULL), CvMat* dpdk CV_DEFAULT(NULL),
    +
    371 CvMat* dpdo CV_DEFAULT(NULL),
    +
    372 double aspectRatio CV_DEFAULT(0) )
    +
    373{
    +
    374 cv::Ptr<CvMat> matM, _m;
    +
    375 cv::Ptr<CvMat> _dpdr, _dpdt, _dpdc, _dpdf, _dpdk;
    +
    376 cv::Ptr<CvMat> _dpdo;
    +
    377
    +
    378 int i, j, count;
    +
    379 int calc_derivatives;
    +
    380 const CvPoint3D64f* M;
    +
    381 CvPoint2D64f* m;
    +
    382 double r[3], R[9], dRdr[27], t[3], a[9], k[14] = {0,0,0,0,0,0,0,0,0,0,0,0,0,0}, fx, fy, cx, cy;
    +
    383 cv::Matx33d matTilt = cv::Matx33d::eye();
    +
    384 cv::Matx33d dMatTiltdTauX(0,0,0,0,0,0,0,-1,0);
    +
    385 cv::Matx33d dMatTiltdTauY(0,0,0,0,0,0,1,0,0);
    +
    386 CvMat _r, _t, _a = cvMat( 3, 3, CV_64F, a ), _k;
    +
    387 CvMat matR = cvMat( 3, 3, CV_64F, R ), _dRdr = cvMat( 3, 9, CV_64F, dRdr );
    +
    388 double *dpdr_p = 0, *dpdt_p = 0, *dpdk_p = 0, *dpdf_p = 0, *dpdc_p = 0;
    +
    389 double* dpdo_p = 0;
    +
    390 int dpdr_step = 0, dpdt_step = 0, dpdk_step = 0, dpdf_step = 0, dpdc_step = 0;
    +
    391 int dpdo_step = 0;
    +
    392 bool fixedAspectRatio = aspectRatio > FLT_EPSILON;
    +
    393
    +
    394 if( !CV_IS_MAT(objectPoints) || !CV_IS_MAT(r_vec) ||
    +
    395 !CV_IS_MAT(t_vec) || !CV_IS_MAT(A) ||
    + !CV_IS_MAT(imagePoints) )
    397 CV_Error( CV_StsBadArg, "One of required arguments is not a valid matrix" );
    +
    398
    +
    399 int total = objectPoints->rows * objectPoints->cols * CV_MAT_CN(objectPoints->type);
    +
    400 if(total % 3 != 0)
    +
    401 {
    +
    402 //we have stopped support of homogeneous coordinates because it cause ambiguity in interpretation of the input data
    +
    403 CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
    +
    404 }
    +
    405 count = total / 3;
    +
    406
    +
    407 if( CV_IS_CONT_MAT(objectPoints->type) &&
    +
    408 (CV_MAT_DEPTH(objectPoints->type) == CV_32F || CV_MAT_DEPTH(objectPoints->type) == CV_64F)&&
    +
    409 ((objectPoints->rows == 1 && CV_MAT_CN(objectPoints->type) == 3) ||
    +
    410 (objectPoints->rows == count && CV_MAT_CN(objectPoints->type)*objectPoints->cols == 3) ||
    +
    411 (objectPoints->rows == 3 && CV_MAT_CN(objectPoints->type) == 1 && objectPoints->cols == count)))
    +
    412 {
    +
    413 matM.reset(cvCreateMat( objectPoints->rows, objectPoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(objectPoints->type)) ));
    +
    414 cvConvert(objectPoints, matM);
    +
    415 }
    +
    416 else
    +
    417 {
    +
    418// matM = cvCreateMat( 1, count, CV_64FC3 );
    +
    419// cvConvertPointsHomogeneous( objectPoints, matM );
    +
    420 CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
    +
    421 }
    +
    422
    +
    423 if( CV_IS_CONT_MAT(imagePoints->type) &&
    +
    424 (CV_MAT_DEPTH(imagePoints->type) == CV_32F || CV_MAT_DEPTH(imagePoints->type) == CV_64F) &&
    +
    425 ((imagePoints->rows == 1 && CV_MAT_CN(imagePoints->type) == 2) ||
    +
    426 (imagePoints->rows == count && CV_MAT_CN(imagePoints->type)*imagePoints->cols == 2) ||
    +
    427 (imagePoints->rows == 2 && CV_MAT_CN(imagePoints->type) == 1 && imagePoints->cols == count)))
    +
    428 {
    +
    429 _m.reset(cvCreateMat( imagePoints->rows, imagePoints->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(imagePoints->type)) ));
    +
    430 cvConvert(imagePoints, _m);
    +
    431 }
    +
    432 else
    +
    433 {
    +
    434// _m = cvCreateMat( 1, count, CV_64FC2 );
    +
    435 CV_Error( CV_StsBadArg, "Homogeneous coordinates are not supported" );
    +
    436 }
    +
    437
    +
    438 M = (CvPoint3D64f*)matM->data.db;
    +
    439 m = (CvPoint2D64f*)_m->data.db;
    +
    440
    +
    441 if( (CV_MAT_DEPTH(r_vec->type) != CV_64F && CV_MAT_DEPTH(r_vec->type) != CV_32F) ||
    +
    442 (((r_vec->rows != 1 && r_vec->cols != 1) ||
    +
    443 r_vec->rows*r_vec->cols*CV_MAT_CN(r_vec->type) != 3) &&
    +
    444 ((r_vec->rows != 3 && r_vec->cols != 3) || CV_MAT_CN(r_vec->type) != 1)))
    +
    445 CV_Error( CV_StsBadArg, "Rotation must be represented by 1x3 or 3x1 "
    +
    446 "floating-point rotation vector, or 3x3 rotation matrix" );
    +
    447
    +
    448 if( r_vec->rows == 3 && r_vec->cols == 3 )
    +
    449 {
    +
    450 _r = cvMat( 3, 1, CV_64FC1, r );
    +
    451 cvRodrigues2( r_vec, &_r );
    +
    452 cvRodrigues2( &_r, &matR, &_dRdr );
    +
    453 cvCopy( r_vec, &matR );
    +
    454 }
    +
    455 else
    +
    456 {
    +
    457 _r = cvMat( r_vec->rows, r_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(r_vec->type)), r );
    +
    458 cvConvert( r_vec, &_r );
    +
    459 cvRodrigues2( &_r, &matR, &_dRdr );
    +
    460 }
    +
    461
    +
    462 if( (CV_MAT_DEPTH(t_vec->type) != CV_64F && CV_MAT_DEPTH(t_vec->type) != CV_32F) ||
    +
    463 (t_vec->rows != 1 && t_vec->cols != 1) ||
    +
    464 t_vec->rows*t_vec->cols*CV_MAT_CN(t_vec->type) != 3 )
    +
    465 CV_Error( CV_StsBadArg,
    +
    466 "Translation vector must be 1x3 or 3x1 floating-point vector" );
    +
    467
    +
    468 _t = cvMat( t_vec->rows, t_vec->cols, CV_MAKETYPE(CV_64F,CV_MAT_CN(t_vec->type)), t );
    +
    469 cvConvert( t_vec, &_t );
    +
    470
    +
    471 if( (CV_MAT_TYPE(A->type) != CV_64FC1 && CV_MAT_TYPE(A->type) != CV_32FC1) ||
    +
    472 A->rows != 3 || A->cols != 3 )
    +
    473 CV_Error( CV_StsBadArg, "Instrinsic parameters must be 3x3 floating-point matrix" );
    +
    474
    +
    475 cvConvert( A, &_a );
    +
    476 fx = a[0]; fy = a[4];
    +
    477 cx = a[2]; cy = a[5];
    +
    478
    +
    479 if( fixedAspectRatio )
    +
    480 fx = fy*aspectRatio;
    +
    481
    +
    482 if( distCoeffs )
    +
    483 {
    +
    484 if( !CV_IS_MAT(distCoeffs) ||
    +
    485 (CV_MAT_DEPTH(distCoeffs->type) != CV_64F &&
    +
    486 CV_MAT_DEPTH(distCoeffs->type) != CV_32F) ||
    +
    487 (distCoeffs->rows != 1 && distCoeffs->cols != 1) ||
    +
    488 (distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 4 &&
    +
    489 distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 5 &&
    +
    490 distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 8 &&
    +
    491 distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 12 &&
    +
    492 distCoeffs->rows*distCoeffs->cols*CV_MAT_CN(distCoeffs->type) != 14) )
    +
    493 CV_Error( CV_StsBadArg, "Distortion coefficients must be 1x4, 4x1, 1x5, 5x1, 1x8, 8x1, 1x12, 12x1, 1x14 or 14x1 floating-point vector");
    +
    494
    +
    495 _k = cvMat( distCoeffs->rows, distCoeffs->cols,
    +
    496 CV_MAKETYPE(CV_64F,CV_MAT_CN(distCoeffs->type)), k );
    +
    497 cvConvert( distCoeffs, &_k );
    +
    498 if(k[12] != 0 || k[13] != 0)
    +
    499 {
    +
    500 computeTiltProjectionMatrix(k[12], k[13],
    +
    501 &matTilt, &dMatTiltdTauX, &dMatTiltdTauY);
    +
    502 }
    +
    503 }
    +
    504
    +
    505 if( dpdr )
    +
    506 {
    +
    507 if( !CV_IS_MAT(dpdr) ||
    +
    508 (CV_MAT_TYPE(dpdr->type) != CV_32FC1 &&
    +
    509 CV_MAT_TYPE(dpdr->type) != CV_64FC1) ||
    +
    510 dpdr->rows != count*2 || dpdr->cols != 3 )
    +
    511 CV_Error( CV_StsBadArg, "dp/drot must be 2Nx3 floating-point matrix" );
    +
    512
    +
    513 if( CV_MAT_TYPE(dpdr->type) == CV_64FC1 )
    +
    514 {
    +
    515 _dpdr.reset(cvCloneMat(dpdr));
    +
    516 }
    +
    517 else
    +
    518 _dpdr.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
    +
    519 dpdr_p = _dpdr->data.db;
    +
    520 dpdr_step = _dpdr->step/sizeof(dpdr_p[0]);
    +
    521 }
    +
    522
    +
    523 if( dpdt )
    +
    524 {
    +
    525 if( !CV_IS_MAT(dpdt) ||
    +
    526 (CV_MAT_TYPE(dpdt->type) != CV_32FC1 &&
    +
    527 CV_MAT_TYPE(dpdt->type) != CV_64FC1) ||
    +
    528 dpdt->rows != count*2 || dpdt->cols != 3 )
    +
    529 CV_Error( CV_StsBadArg, "dp/dT must be 2Nx3 floating-point matrix" );
    +
    530
    +
    531 if( CV_MAT_TYPE(dpdt->type) == CV_64FC1 )
    +
    532 {
    +
    533 _dpdt.reset(cvCloneMat(dpdt));
    +
    534 }
    +
    535 else
    +
    536 _dpdt.reset(cvCreateMat( 2*count, 3, CV_64FC1 ));
    +
    537 dpdt_p = _dpdt->data.db;
    +
    538 dpdt_step = _dpdt->step/sizeof(dpdt_p[0]);
    +
    539 }
    +
    540
    +
    541 if( dpdf )
    +
    542 {
    +
    543 if( !CV_IS_MAT(dpdf) ||
    +
    544 (CV_MAT_TYPE(dpdf->type) != CV_32FC1 && CV_MAT_TYPE(dpdf->type) != CV_64FC1) ||
    +
    545 dpdf->rows != count*2 || dpdf->cols != 2 )
    +
    546 CV_Error( CV_StsBadArg, "dp/df must be 2Nx2 floating-point matrix" );
    +
    547
    +
    548 if( CV_MAT_TYPE(dpdf->type) == CV_64FC1 )
    +
    549 {
    +
    550 _dpdf.reset(cvCloneMat(dpdf));
    +
    551 }
    +
    552 else
    +
    553 _dpdf.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
    +
    554 dpdf_p = _dpdf->data.db;
    +
    555 dpdf_step = _dpdf->step/sizeof(dpdf_p[0]);
    +
    556 }
    +
    557
    +
    558 if( dpdc )
    +
    559 {
    +
    560 if( !CV_IS_MAT(dpdc) ||
    +
    561 (CV_MAT_TYPE(dpdc->type) != CV_32FC1 && CV_MAT_TYPE(dpdc->type) != CV_64FC1) ||
    +
    562 dpdc->rows != count*2 || dpdc->cols != 2 )
    +
    563 CV_Error( CV_StsBadArg, "dp/dc must be 2Nx2 floating-point matrix" );
    +
    564
    +
    565 if( CV_MAT_TYPE(dpdc->type) == CV_64FC1 )
    +
    566 {
    +
    567 _dpdc.reset(cvCloneMat(dpdc));
    +
    568 }
    +
    569 else
    +
    570 _dpdc.reset(cvCreateMat( 2*count, 2, CV_64FC1 ));
    +
    571 dpdc_p = _dpdc->data.db;
    +
    572 dpdc_step = _dpdc->step/sizeof(dpdc_p[0]);
    +
    573 }
    +
    574
    +
    575 if( dpdk )
    +
    576 {
    +
    577 if( !CV_IS_MAT(dpdk) ||
    +
    578 (CV_MAT_TYPE(dpdk->type) != CV_32FC1 && CV_MAT_TYPE(dpdk->type) != CV_64FC1) ||
    +
    579 dpdk->rows != count*2 || (dpdk->cols != 14 && dpdk->cols != 12 && dpdk->cols != 8 && dpdk->cols != 5 && dpdk->cols != 4 && dpdk->cols != 2) )
    +
    580 CV_Error( CV_StsBadArg, "dp/df must be 2Nx14, 2Nx12, 2Nx8, 2Nx5, 2Nx4 or 2Nx2 floating-point matrix" );
    +
    581
    +
    582 if( !distCoeffs )
    +
    583 CV_Error( CV_StsNullPtr, "distCoeffs is NULL while dpdk is not" );
    +
    584
    +
    585 if( CV_MAT_TYPE(dpdk->type) == CV_64FC1 )
    +
    586 {
    +
    587 _dpdk.reset(cvCloneMat(dpdk));
    +
    588 }
    +
    589 else
    +
    590 _dpdk.reset(cvCreateMat( dpdk->rows, dpdk->cols, CV_64FC1 ));
    +
    591 dpdk_p = _dpdk->data.db;
    +
    592 dpdk_step = _dpdk->step/sizeof(dpdk_p[0]);
    +
    593 }
    +
    594
    +
    595 if( dpdo )
    +
    596 {
    +
    597 if( !CV_IS_MAT( dpdo ) || ( CV_MAT_TYPE( dpdo->type ) != CV_32FC1
    +
    598 && CV_MAT_TYPE( dpdo->type ) != CV_64FC1 )
    +
    599 || dpdo->rows != count * 2 || dpdo->cols != count * 3 )
    +
    600 CV_Error( CV_StsBadArg, "dp/do must be 2Nx3N floating-point matrix" );
    +
    601
    +
    602 if( CV_MAT_TYPE( dpdo->type ) == CV_64FC1 )
    +
    603 {
    +
    604 _dpdo.reset( cvCloneMat( dpdo ) );
    +
    605 }
    +
    606 else
    +
    607 _dpdo.reset( cvCreateMat( 2 * count, 3 * count, CV_64FC1 ) );
    +
    608 cvZero(_dpdo);
    +
    609 dpdo_p = _dpdo->data.db;
    +
    610 dpdo_step = _dpdo->step / sizeof( dpdo_p[0] );
    +
    611 }
    +
    612
    +
    613 calc_derivatives = dpdr || dpdt || dpdf || dpdc || dpdk || dpdo;
    +
    614
    +
    615 for( i = 0; i < count; i++ )
    +
    616 {
    +
    617 double X = M[i].x, Y = M[i].y, Z = M[i].z;
    +
    618 double x = R[0]*X + R[1]*Y + R[2]*Z + t[0];
    +
    619 double y = R[3]*X + R[4]*Y + R[5]*Z + t[1];
    +
    620 double z = R[6]*X + R[7]*Y + R[8]*Z + t[2];
    +
    621 double r2, r4, r6, a1, a2, a3, cdist, icdist2;
    +
    622 double xd, yd, xd0, yd0, invProj;
    +
    623 cv::Vec3d vecTilt;
    +
    624 cv::Vec3d dVecTilt;
    +
    625 cv::Matx22d dMatTilt;
    +
    626 cv::Vec2d dXdYd;
    +
    627
    +
    628 double z0 = z;
    +
    629 z = z ? 1./z : 1;
    +
    630 x *= z; y *= z;
    +
    631
    +
    632 r2 = x*x + y*y;
    +
    633 r4 = r2*r2;
    +
    634 r6 = r4*r2;
    +
    635 a1 = 2*x*y;
    +
    636 a2 = r2 + 2*x*x;
    +
    637 a3 = r2 + 2*y*y;
    +
    638 cdist = 1 + k[0]*r2 + k[1]*r4 + k[4]*r6;
    +
    639 icdist2 = 1./(1 + k[5]*r2 + k[6]*r4 + k[7]*r6);
    +
    640 xd0 = x*cdist*icdist2 + k[2]*a1 + k[3]*a2 + k[8]*r2+k[9]*r4;
    +
    641 yd0 = y*cdist*icdist2 + k[2]*a3 + k[3]*a1 + k[10]*r2+k[11]*r4;
    +
    642
    +
    643 // additional distortion by projecting onto a tilt plane
    +
    644 vecTilt = matTilt*cv::Vec3d(xd0, yd0, 1);
    +
    645 invProj = vecTilt(2) ? 1./vecTilt(2) : 1;
    +
    646 xd = invProj * vecTilt(0);
    +
    647 yd = invProj * vecTilt(1);
    +
    648
    +
    649 m[i].x = xd*fx + cx;
    +
    650 m[i].y = yd*fy + cy;
    +
    651
    +
    652 if( calc_derivatives )
    +
    653 {
    +
    654 if( dpdc_p )
    +
    655 {
    +
    656 dpdc_p[0] = 1; dpdc_p[1] = 0; // dp_xdc_x; dp_xdc_y
    +
    657 dpdc_p[dpdc_step] = 0;
    +
    658 dpdc_p[dpdc_step+1] = 1;
    +
    659 dpdc_p += dpdc_step*2;
    +
    660 }
    +
    661
    +
    662 if( dpdf_p )
    +
    663 {
    +
    664 if( fixedAspectRatio )
    +
    665 {
    +
    666 dpdf_p[0] = 0; dpdf_p[1] = xd*aspectRatio; // dp_xdf_x; dp_xdf_y
    +
    667 dpdf_p[dpdf_step] = 0;
    +
    668 dpdf_p[dpdf_step+1] = yd;
    +
    669 }
    +
    670 else
    +
    671 {
    +
    672 dpdf_p[0] = xd; dpdf_p[1] = 0;
    +
    673 dpdf_p[dpdf_step] = 0;
    +
    674 dpdf_p[dpdf_step+1] = yd;
    +
    675 }
    +
    676 dpdf_p += dpdf_step*2;
    +
    677 }
    +
    678 for (int row = 0; row < 2; ++row)
    +
    679 for (int col = 0; col < 2; ++col)
    +
    680 dMatTilt(row,col) = matTilt(row,col)*vecTilt(2)
    +
    681 - matTilt(2,col)*vecTilt(row);
    +
    682 double invProjSquare = (invProj*invProj);
    +
    683 dMatTilt *= invProjSquare;
    +
    684 if( dpdk_p )
    +
    685 {
    +
    686 dXdYd = dMatTilt*cv::Vec2d(x*icdist2*r2, y*icdist2*r2);
    +
    687 dpdk_p[0] = fx*dXdYd(0);
    +
    688 dpdk_p[dpdk_step] = fy*dXdYd(1);
    +
    689 dXdYd = dMatTilt*cv::Vec2d(x*icdist2*r4, y*icdist2*r4);
    +
    690 dpdk_p[1] = fx*dXdYd(0);
    +
    691 dpdk_p[dpdk_step+1] = fy*dXdYd(1);
    +
    692 if( _dpdk->cols > 2 )
    +
    693 {
    +
    694 dXdYd = dMatTilt*cv::Vec2d(a1, a3);
    +
    695 dpdk_p[2] = fx*dXdYd(0);
    +
    696 dpdk_p[dpdk_step+2] = fy*dXdYd(1);
    +
    697 dXdYd = dMatTilt*cv::Vec2d(a2, a1);
    +
    698 dpdk_p[3] = fx*dXdYd(0);
    +
    699 dpdk_p[dpdk_step+3] = fy*dXdYd(1);
    +
    700 if( _dpdk->cols > 4 )
    +
    701 {
    +
    702 dXdYd = dMatTilt*cv::Vec2d(x*icdist2*r6, y*icdist2*r6);
    +
    703 dpdk_p[4] = fx*dXdYd(0);
    +
    704 dpdk_p[dpdk_step+4] = fy*dXdYd(1);
    +
    705
    +
    706 if( _dpdk->cols > 5 )
    +
    707 {
    +
    708 dXdYd = dMatTilt*cv::Vec2d(
    +
    709 x*cdist*(-icdist2)*icdist2*r2, y*cdist*(-icdist2)*icdist2*r2);
    +
    710 dpdk_p[5] = fx*dXdYd(0);
    +
    711 dpdk_p[dpdk_step+5] = fy*dXdYd(1);
    +
    712 dXdYd = dMatTilt*cv::Vec2d(
    +
    713 x*cdist*(-icdist2)*icdist2*r4, y*cdist*(-icdist2)*icdist2*r4);
    +
    714 dpdk_p[6] = fx*dXdYd(0);
    +
    715 dpdk_p[dpdk_step+6] = fy*dXdYd(1);
    +
    716 dXdYd = dMatTilt*cv::Vec2d(
    +
    717 x*cdist*(-icdist2)*icdist2*r6, y*cdist*(-icdist2)*icdist2*r6);
    +
    718 dpdk_p[7] = fx*dXdYd(0);
    +
    719 dpdk_p[dpdk_step+7] = fy*dXdYd(1);
    +
    720 if( _dpdk->cols > 8 )
    +
    721 {
    +
    722 dXdYd = dMatTilt*cv::Vec2d(r2, 0);
    +
    723 dpdk_p[8] = fx*dXdYd(0); //s1
    +
    724 dpdk_p[dpdk_step+8] = fy*dXdYd(1); //s1
    +
    725 dXdYd = dMatTilt*cv::Vec2d(r4, 0);
    +
    726 dpdk_p[9] = fx*dXdYd(0); //s2
    +
    727 dpdk_p[dpdk_step+9] = fy*dXdYd(1); //s2
    +
    728 dXdYd = dMatTilt*cv::Vec2d(0, r2);
    +
    729 dpdk_p[10] = fx*dXdYd(0);//s3
    +
    730 dpdk_p[dpdk_step+10] = fy*dXdYd(1); //s3
    +
    731 dXdYd = dMatTilt*cv::Vec2d(0, r4);
    +
    732 dpdk_p[11] = fx*dXdYd(0);//s4
    +
    733 dpdk_p[dpdk_step+11] = fy*dXdYd(1); //s4
    +
    734 if( _dpdk->cols > 12 )
    +
    735 {
    +
    736 dVecTilt = dMatTiltdTauX * cv::Vec3d(xd0, yd0, 1);
    +
    737 dpdk_p[12] = fx * invProjSquare * (
    +
    738 dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
    +
    739 dpdk_p[dpdk_step+12] = fy*invProjSquare * (
    +
    740 dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
    +
    741 dVecTilt = dMatTiltdTauY * cv::Vec3d(xd0, yd0, 1);
    +
    742 dpdk_p[13] = fx * invProjSquare * (
    +
    743 dVecTilt(0) * vecTilt(2) - dVecTilt(2) * vecTilt(0));
    +
    744 dpdk_p[dpdk_step+13] = fy * invProjSquare * (
    +
    745 dVecTilt(1) * vecTilt(2) - dVecTilt(2) * vecTilt(1));
    +
    746 }
    +
    747 }
    +
    748 }
    +
    749 }
    +
    750 }
    +
    751 dpdk_p += dpdk_step*2;
    +
    752 }
    +
    753
    +
    754 if( dpdt_p )
    +
    755 {
    +
    756 double dxdt[] = { z, 0, -x*z }, dydt[] = { 0, z, -y*z };
    +
    757 for( j = 0; j < 3; j++ )
    +
    758 {
    +
    759 double dr2dt = 2*x*dxdt[j] + 2*y*dydt[j];
    +
    760 double dcdist_dt = k[0]*dr2dt + 2*k[1]*r2*dr2dt + 3*k[4]*r4*dr2dt;
    +
    761 double dicdist2_dt = -icdist2*icdist2*(k[5]*dr2dt + 2*k[6]*r2*dr2dt + 3*k[7]*r4*dr2dt);
    +
    762 double da1dt = 2*(x*dydt[j] + y*dxdt[j]);
    +
    763 double dmxdt = (dxdt[j]*cdist*icdist2 + x*dcdist_dt*icdist2 + x*cdist*dicdist2_dt +
    +
    764 k[2]*da1dt + k[3]*(dr2dt + 4*x*dxdt[j]) + k[8]*dr2dt + 2*r2*k[9]*dr2dt);
    +
    765 double dmydt = (dydt[j]*cdist*icdist2 + y*dcdist_dt*icdist2 + y*cdist*dicdist2_dt +
    +
    766 k[2]*(dr2dt + 4*y*dydt[j]) + k[3]*da1dt + k[10]*dr2dt + 2*r2*k[11]*dr2dt);
    +
    767 dXdYd = dMatTilt*cv::Vec2d(dmxdt, dmydt);
    +
    768 dpdt_p[j] = fx*dXdYd(0);
    +
    769 dpdt_p[dpdt_step+j] = fy*dXdYd(1);
    +
    770 }
    +
    771 dpdt_p += dpdt_step*2;
    +
    772 }
    +
    773
    +
    774 if( dpdr_p )
    +
    775 {
    +
    776 double dx0dr[] =
    +
    777 {
    +
    778 X*dRdr[0] + Y*dRdr[1] + Z*dRdr[2],
    +
    779 X*dRdr[9] + Y*dRdr[10] + Z*dRdr[11],
    +
    780 X*dRdr[18] + Y*dRdr[19] + Z*dRdr[20]
    +
    781 };
    +
    782 double dy0dr[] =
    +
    783 {
    +
    784 X*dRdr[3] + Y*dRdr[4] + Z*dRdr[5],
    +
    785 X*dRdr[12] + Y*dRdr[13] + Z*dRdr[14],
    +
    786 X*dRdr[21] + Y*dRdr[22] + Z*dRdr[23]
    +
    787 };
    +
    788 double dz0dr[] =
    +
    789 {
    +
    790 X*dRdr[6] + Y*dRdr[7] + Z*dRdr[8],
    +
    791 X*dRdr[15] + Y*dRdr[16] + Z*dRdr[17],
    +
    792 X*dRdr[24] + Y*dRdr[25] + Z*dRdr[26]
    +
    793 };
    +
    794 for( j = 0; j < 3; j++ )
    +
    795 {
    +
    796 double dxdr = z*(dx0dr[j] - x*dz0dr[j]);
    +
    797 double dydr = z*(dy0dr[j] - y*dz0dr[j]);
    +
    798 double dr2dr = 2*x*dxdr + 2*y*dydr;
    +
    799 double dcdist_dr = (k[0] + 2*k[1]*r2 + 3*k[4]*r4)*dr2dr;
    +
    800 double dicdist2_dr = -icdist2*icdist2*(k[5] + 2*k[6]*r2 + 3*k[7]*r4)*dr2dr;
    +
    801 double da1dr = 2*(x*dydr + y*dxdr);
    +
    802 double dmxdr = (dxdr*cdist*icdist2 + x*dcdist_dr*icdist2 + x*cdist*dicdist2_dr +
    +
    803 k[2]*da1dr + k[3]*(dr2dr + 4*x*dxdr) + (k[8] + 2*r2*k[9])*dr2dr);
    +
    804 double dmydr = (dydr*cdist*icdist2 + y*dcdist_dr*icdist2 + y*cdist*dicdist2_dr +
    +
    805 k[2]*(dr2dr + 4*y*dydr) + k[3]*da1dr + (k[10] + 2*r2*k[11])*dr2dr);
    +
    806 dXdYd = dMatTilt*cv::Vec2d(dmxdr, dmydr);
    +
    807 dpdr_p[j] = fx*dXdYd(0);
    +
    808 dpdr_p[dpdr_step+j] = fy*dXdYd(1);
    +
    809 }
    +
    810 dpdr_p += dpdr_step*2;
    +
    811 }
    +
    812
    +
    813 if( dpdo_p )
    +
    814 {
    +
    815 double dxdo[] = { z * ( R[0] - x * z * z0 * R[6] ),
    +
    816 z * ( R[1] - x * z * z0 * R[7] ),
    +
    817 z * ( R[2] - x * z * z0 * R[8] ) };
    +
    818 double dydo[] = { z * ( R[3] - y * z * z0 * R[6] ),
    +
    819 z * ( R[4] - y * z * z0 * R[7] ),
    +
    820 z * ( R[5] - y * z * z0 * R[8] ) };
    +
    821 for( j = 0; j < 3; j++ )
    +
    822 {
    +
    823 double dr2do = 2 * x * dxdo[j] + 2 * y * dydo[j];
    +
    824 double dr4do = 2 * r2 * dr2do;
    +
    825 double dr6do = 3 * r4 * dr2do;
    +
    826 double da1do = 2 * y * dxdo[j] + 2 * x * dydo[j];
    +
    827 double da2do = dr2do + 4 * x * dxdo[j];
    +
    828 double da3do = dr2do + 4 * y * dydo[j];
    +
    829 double dcdist_do
    +
    830 = k[0] * dr2do + k[1] * dr4do + k[4] * dr6do;
    +
    831 double dicdist2_do = -icdist2 * icdist2
    +
    832 * ( k[5] * dr2do + k[6] * dr4do + k[7] * dr6do );
    +
    833 double dxd0_do = cdist * icdist2 * dxdo[j]
    +
    834 + x * icdist2 * dcdist_do + x * cdist * dicdist2_do
    +
    835 + k[2] * da1do + k[3] * da2do + k[8] * dr2do
    +
    836 + k[9] * dr4do;
    +
    837 double dyd0_do = cdist * icdist2 * dydo[j]
    +
    838 + y * icdist2 * dcdist_do + y * cdist * dicdist2_do
    +
    839 + k[2] * da3do + k[3] * da1do + k[10] * dr2do
    +
    840 + k[11] * dr4do;
    +
    841 dXdYd = dMatTilt * cv::Vec2d( dxd0_do, dyd0_do );
    +
    842 dpdo_p[i * 3 + j] = fx * dXdYd( 0 );
    +
    843 dpdo_p[dpdo_step + i * 3 + j] = fy * dXdYd( 1 );
    +
    844 }
    +
    845 dpdo_p += dpdo_step * 2;
    +
    846 }
    +
    847 }
    +
    848 }
    +
    849
    +
    850 if( _m != imagePoints )
    +
    851 cvConvert( _m, imagePoints );
    +
    852
    +
    853 if( _dpdr != dpdr )
    +
    854 cvConvert( _dpdr, dpdr );
    +
    855
    +
    856 if( _dpdt != dpdt )
    +
    857 cvConvert( _dpdt, dpdt );
    +
    858
    +
    859 if( _dpdf != dpdf )
    +
    860 cvConvert( _dpdf, dpdf );
    +
    861
    +
    862 if( _dpdc != dpdc )
    +
    863 cvConvert( _dpdc, dpdc );
    +
    864
    +
    865 if( _dpdk != dpdk )
    +
    866 cvConvert( _dpdk, dpdk );
    +
    867
    +
    868 if( _dpdo != dpdo )
    +
    869 cvConvert( _dpdo, dpdo );
    +
    870}
    +
    871
    +
    872void cvProjectPoints2( const CvMat* objectPoints,
    +
    873 const CvMat* r_vec,
    +
    874 const CvMat* t_vec,
    +
    875 const CvMat* A,
    +
    876 const CvMat* distCoeffs,
    +
    877 CvMat* imagePoints, CvMat* dpdr CV_DEFAULT(NULL),
    +
    878 CvMat* dpdt CV_DEFAULT(NULL), CvMat* dpdf CV_DEFAULT(NULL),
    +
    879 CvMat* dpdc CV_DEFAULT(NULL), CvMat* dpdk CV_DEFAULT(NULL),
    +
    880 double aspectRatio CV_DEFAULT(0))
    +
    881{
    +
    882 cvProjectPoints2Internal( objectPoints, r_vec, t_vec, A, distCoeffs, imagePoints, dpdr, dpdt,
    +
    883 dpdf, dpdc, dpdk, NULL, aspectRatio );
    +
    884}
    +
    885
    +
    886void cvConvertPointsHomogeneous( const CvMat* _src, CvMat* _dst )
    +
    887{
    +
    888 cv::Mat src = cv::cvarrToMat(_src), dst = cv::cvarrToMat(_dst);
    +
    889 const cv::Mat dst0 = dst;
    +
    890
    +
    891 int d0 = src.channels() > 1 ? src.channels() : MIN(src.cols, src.rows);
    +
    892
    +
    893 if( src.channels() == 1 && src.cols > d0 )
    +
    894 cv::transpose(src, src);
    +
    895
    +
    896 int d1 = dst.channels() > 1 ? dst.channels() : MIN(dst.cols, dst.rows);
    +
    897
    +
    898 if( d0 == d1 )
    +
    899 src.copyTo(dst);
    +
    900 else if( d0 < d1 )
    +
    901 cv::convertPointsToHomogeneous(src, dst);
    +
    902 else
    +
    903 cv::convertPointsFromHomogeneous(src, dst);
    +
    904
    +
    905 bool tflag = dst0.channels() == 1 && dst0.cols > d1;
    +
    906 dst = dst.reshape(dst0.channels(), (tflag ? dst0.cols : dst0.rows));
    +
    907
    +
    908 if( tflag )
    +
    909 {
    +
    910 CV_Assert( dst.rows == dst0.cols && dst.cols == dst0.rows );
    +
    911 if( dst0.type() == dst.type() )
    +
    912 transpose( dst, dst0 );
    +
    913 else
    +
    914 {
    +
    915 transpose( dst, dst );
    +
    916 dst.convertTo( dst0, dst0.type() );
    +
    917 }
    +
    918 }
    +
    919 else
    +
    920 {
    +
    921 CV_Assert( dst.size() == dst0.size() );
    +
    922 if( dst.data != dst0.data )
    +
    923 dst.convertTo(dst0, dst0.type());
    +
    924 }
    +
    925}
    +
    926
    +
    927#endif // OpenCV4
    +
    928
    +
    929#endif // OpenCV3
    +
    930
    +
    931namespace rtabmap
    +
    932{
    +
    933
    +
    934void
    +
    935icvGetRectanglesFisheye( const CvMat* cameraMatrix, const CvMat* distCoeffs,
    +
    936 const CvMat* R, const CvMat* newCameraMatrix, CvSize imgSize,
    +
    937 cv::Rect_<float>& inner, cv::Rect_<float>& outer )
    +
    938{
    +
    939 const int N = 9;
    +
    940 int x, y, k;
    +
    941 cv::Mat _pts(1, N*N, CV_32FC2);
    +
    942 CvPoint2D32f* pts = (CvPoint2D32f*)(_pts.data);
    +
    943
    +
    944 for( y = k = 0; y < N; y++ )
    +
    945 for( x = 0; x < N; x++ )
    +
    946 pts[k++] = cvPoint2D32f((float)x*imgSize.width/(N-1),
    +
    947 (float)y*imgSize.height/(N-1));
    +
    948
    +
    949 cv::Mat cameraMatrixM(cameraMatrix->rows, cameraMatrix->cols, cameraMatrix->type, cameraMatrix->data.ptr);
    +
    950 cv::Mat distCoeffsM(distCoeffs->rows, distCoeffs->cols, distCoeffs->type, distCoeffs->data.ptr);
    +
    951 cv::Mat RM(R->rows, R->cols, R->type, R->data.ptr);
    +
    952 cv::Mat newCameraMatrixM(newCameraMatrix->rows, newCameraMatrix->cols, newCameraMatrix->type, newCameraMatrix->data.ptr);
    +
    953 cv::fisheye::undistortPoints(_pts, _pts, cameraMatrixM, distCoeffsM, RM, newCameraMatrixM);
    +
    954 float iX0=-FLT_MAX, iX1=FLT_MAX, iY0=-FLT_MAX, iY1=FLT_MAX;
    +
    955 float oX0=FLT_MAX, oX1=-FLT_MAX, oY0=FLT_MAX, oY1=-FLT_MAX;
    +
    956 // find the inscribed rectangle.
    +
    957 // the code will likely not work with extreme rotation matrices (R) (>45%)
    +
    958 for( y = k = 0; y < N; y++ )
    +
    959 for( x = 0; x < N; x++ )
    +
    960 {
    +
    961 CvPoint2D32f p = pts[k++];
    +
    962 oX0 = MIN(oX0, p.x);
    +
    963 oX1 = MAX(oX1, p.x);
    +
    964 oY0 = MIN(oY0, p.y);
    +
    965 oY1 = MAX(oY1, p.y);
    +
    966
    +
    967 if( x == 0 )
    +
    968 iX0 = MAX(iX0, p.x);
    +
    969 if( x == N-1 )
    +
    970 iX1 = MIN(iX1, p.x);
    +
    971 if( y == 0 )
    +
    972 iY0 = MAX(iY0, p.y);
    +
    973 if( y == N-1 )
    +
    974 iY1 = MIN(iY1, p.y);
    +
    975 }
    +
    976 inner = cv::Rect_<float>(iX0, iY0, iX1-iX0, iY1-iY0);
    +
    977 outer = cv::Rect_<float>(oX0, oY0, oX1-oX0, oY1-oY0);
    +
    978}
    +
    979
    +
    980void cvStereoRectifyFisheye( const CvMat* _cameraMatrix1, const CvMat* _cameraMatrix2,
    +
    981 const CvMat* _distCoeffs1, const CvMat* _distCoeffs2,
    +
    982 CvSize imageSize, const CvMat* matR, const CvMat* matT,
    +
    983 CvMat* _R1, CvMat* _R2, CvMat* _P1, CvMat* _P2,
    +
    984 CvMat* matQ, int flags, double alpha, CvSize newImgSize )
    +
    985{
    +
    986 double _om[3], _t[3] = {0}, _uu[3]={0,0,0}, _r_r[3][3], _pp[3][4];
    +
    987 double _ww[3], _wr[3][3], _z[3] = {0,0,0}, _ri[3][3], _w3[3];
    +
    988 cv::Rect_<float> inner1, inner2, outer1, outer2;
    +
    989
    +
    990 CvMat om = cvMat(3, 1, CV_64F, _om);
    +
    991 CvMat t = cvMat(3, 1, CV_64F, _t);
    +
    992 CvMat uu = cvMat(3, 1, CV_64F, _uu);
    +
    993 CvMat r_r = cvMat(3, 3, CV_64F, _r_r);
    +
    994 CvMat pp = cvMat(3, 4, CV_64F, _pp);
    +
    995 CvMat ww = cvMat(3, 1, CV_64F, _ww); // temps
    +
    996 CvMat w3 = cvMat(3, 1, CV_64F, _w3); // temps
    +
    997 CvMat wR = cvMat(3, 3, CV_64F, _wr);
    +
    998 CvMat Z = cvMat(3, 1, CV_64F, _z);
    +
    999 CvMat Ri = cvMat(3, 3, CV_64F, _ri);
    +
    1000 double nx = imageSize.width, ny = imageSize.height;
    +
    1001 int i, k;
    +
    1002 double nt, nw;
    +
    1003
    +
    1004 if( matR->rows == 3 && matR->cols == 3 )
    +
    1005 cvRodrigues2(matR, &om); // get vector rotation
    +
    1006 else
    +
    1007 cvConvert(matR, &om); // it's already a rotation vector
    +
    1008 cvConvertScale(&om, &om, -0.5); // get average rotation
    +
    1009 cvRodrigues2(&om, &r_r); // rotate cameras to same orientation by averaging
    +
    1010
    +
    1011 cvMatMul(&r_r, matT, &t);
    +
    1012 int idx = fabs(_t[0]) > fabs(_t[1]) ? 0 : 1;
    +
    1013 // if idx == 0
    +
    1014 // e1 = T / ||T||
    +
    1015 // e2 = e1 x [0,0,1]
    +
    1016
    +
    1017 // if idx == 1
    +
    1018 // e2 = T / ||T||
    +
    1019 // e1 = e2 x [0,0,1]
    +
    1020
    +
    1021 // e3 = e1 x e2
    +
    1022 _uu[2] = 1;
    +
    1023 cvCrossProduct(&uu, &t, &ww);
    +
    1024 nt = cvNorm(&t, 0, CV_L2);
    +
    1025 CV_Assert(fabs(nt) > 0);
    +
    1026 nw = cvNorm(&ww, 0, CV_L2);
    +
    1027 CV_Assert(fabs(nw) > 0);
    +
    1028 cvConvertScale(&ww, &ww, 1 / nw);
    +
    1029 cvCrossProduct(&t, &ww, &w3);
    +
    1030 nw = cvNorm(&w3, 0, CV_L2);
    +
    1031 CV_Assert(fabs(nw) > 0);
    +
    1032 cvConvertScale(&w3, &w3, 1 / nw);
    +
    1033 _uu[2] = 0;
    +
    1034 for (i = 0; i < 3; ++i)
    +
    1035 {
    +
    1036 _wr[idx][i] = -_t[i] / nt;
    +
    1037 _wr[idx ^ 1][i] = -_ww[i];
    +
    1038 _wr[2][i] = _w3[i] * (1 - 2 * idx); // if idx == 1 -> opposite direction
    +
    1039 }
    +
    1040 // apply to both views
    +
    1041 cvGEMM(&wR, &r_r, 1, 0, 0, &Ri, CV_GEMM_B_T);
    +
    1042 cvConvert( &Ri, _R1 );
    +
    1043 cvGEMM(&wR, &r_r, 1, 0, 0, &Ri, 0);
    +
    1044 cvConvert( &Ri, _R2 );
    +
    1045 cvMatMul(&Ri, matT, &t);
    +
    1046 // calculate projection/camera matrices
    +
    1047 // these contain the relevant rectified image internal params (fx, fy=fx, cx, cy)
    +
    1048 double fc_new = DBL_MAX;
    +
    1049 CvPoint2D64f cc_new[2] = {};
    +
    1050
    +
    1051 newImgSize = newImgSize.width * newImgSize.height != 0 ? newImgSize : imageSize;
    +
    1052 const double ratio_x = (double)newImgSize.width / imageSize.width / 2;
    +
    1053 const double ratio_y = (double)newImgSize.height / imageSize.height / 2;
    +
    1054 const double ratio = idx == 1 ? ratio_x : ratio_y;
    +
    1055 fc_new = (cvmGet(_cameraMatrix1, idx ^ 1, idx ^ 1) + cvmGet(_cameraMatrix2, idx ^ 1, idx ^ 1)) * ratio;
    +
    1056 for( k = 0; k < 2; k++ )
    +
    1057 {
    +
    1058 const CvMat* A = k == 0 ? _cameraMatrix1 : _cameraMatrix2;
    +
    1059 const CvMat* Dk = k == 0 ? _distCoeffs1 : _distCoeffs2;
    +
    1060 CvPoint2D32f _pts[4] = {};
    +
    1061 CvPoint3D32f _pts_3[4] = {};
    +
    1062 CvMat pts = cvMat(1, 4, CV_32FC2, _pts);
    +
    1063 CvMat pts_3 = cvMat(1, 4, CV_32FC3, _pts_3);
    +
    1064
    +
    1065 for( i = 0; i < 4; i++ )
    +
    1066 {
    +
    1067 int j = (i<2) ? 0 : 1;
    +
    1068 _pts[i].x = (float)((i % 2)*(nx));
    +
    1069 _pts[i].y = (float)(j*(ny));
    +
    1070 }
    +
    1071 cv::Mat ptsM(pts.rows, pts.cols, pts.type, pts.data.ptr);
    +
    1072 cv::Mat A_m(A->rows, A->cols, A->type, A->data.ptr);
    +
    1073 cv::Mat Dk_m(Dk->rows, Dk->cols, Dk->type, Dk->data.ptr);
    +
    1074 cv::fisheye::undistortPoints( ptsM, ptsM, A_m, Dk_m, cv::Mat(), cv::Mat() );
    +
    1075 cvConvertPointsHomogeneous( &pts, &pts_3 );
    +
    1076
    +
    1077 //Change camera matrix to have cc=[0,0] and fc = fc_new
    +
    1078 double _a_tmp[3][3];
    +
    1079 CvMat A_tmp = cvMat(3, 3, CV_64F, _a_tmp);
    +
    1080 _a_tmp[0][0]=fc_new;
    +
    1081 _a_tmp[1][1]=fc_new;
    +
    1082 _a_tmp[0][2]=0.0;
    +
    1083 _a_tmp[1][2]=0.0;
    +
    1084
    +
    1085 cvProjectPoints2( &pts_3, k == 0 ? _R1 : _R2, &Z, &A_tmp, 0, &pts );
    +
    1086 CvScalar avg = cvAvg(&pts);
    +
    1087
    +
    1088 cc_new[k].x = (nx)/2 - avg.val[0];
    +
    1089 cc_new[k].y = (ny)/2 - avg.val[1];
    +
    1090 }
    +
    1091
    +
    1092 // vertical focal length must be the same for both images to keep the epipolar constraint
    +
    1093 // (for horizontal epipolar lines -- TBD: check for vertical epipolar lines)
    +
    1094 // use fy for fx also, for simplicity
    +
    1095
    +
    1096 // For simplicity, set the principal points for both cameras to be the average
    +
    1097 // of the two principal points (either one of or both x- and y- coordinates)
    +
    1098 if( flags & cv::CALIB_ZERO_DISPARITY )
    +
    1099 {
    +
    1100 cc_new[0].x = cc_new[1].x = (cc_new[0].x + cc_new[1].x)*0.5;
    +
    1101 cc_new[0].y = cc_new[1].y = (cc_new[0].y + cc_new[1].y)*0.5;
    +
    1102 }
    +
    1103 else if( idx == 0 ) // horizontal stereo
    +
    1104 cc_new[0].y = cc_new[1].y = (cc_new[0].y + cc_new[1].y)*0.5;
    +
    1105 else // vertical stereo
    +
    1106 cc_new[0].x = cc_new[1].x = (cc_new[0].x + cc_new[1].x)*0.5;
    +
    1107
    +
    1108 cvZero( &pp );
    +
    1109 _pp[0][0] = _pp[1][1] = fc_new;
    +
    1110 _pp[0][2] = cc_new[0].x;
    +
    1111 _pp[1][2] = cc_new[0].y;
    +
    1112 _pp[2][2] = 1;
    +
    1113 cvConvert(&pp, _P1);
    +
    1114
    +
    1115 _pp[0][2] = cc_new[1].x;
    +
    1116 _pp[1][2] = cc_new[1].y;
    +
    1117 _pp[idx][3] = _t[idx]*fc_new; // baseline * focal length
    +
    1118 cvConvert(&pp, _P2);
    +
    1119
    +
    1120 alpha = MIN(alpha, 1.);
    +
    1121
    +
    1122 icvGetRectanglesFisheye( _cameraMatrix1, _distCoeffs1, _R1, _P1, imageSize, inner1, outer1 );
    +
    1123 icvGetRectanglesFisheye( _cameraMatrix2, _distCoeffs2, _R2, _P2, imageSize, inner2, outer2 );
    +
    1124
    +
    1125 {
    +
    1126 newImgSize = newImgSize.width*newImgSize.height != 0 ? newImgSize : imageSize;
    +
    1127 double cx1_0 = cc_new[0].x;
    +
    1128 double cy1_0 = cc_new[0].y;
    +
    1129 double cx2_0 = cc_new[1].x;
    +
    1130 double cy2_0 = cc_new[1].y;
    +
    1131 double cx1 = newImgSize.width*cx1_0/imageSize.width;
    +
    1132 double cy1 = newImgSize.height*cy1_0/imageSize.height;
    +
    1133 double cx2 = newImgSize.width*cx2_0/imageSize.width;
    +
    1134 double cy2 = newImgSize.height*cy2_0/imageSize.height;
    +
    1135 double s = 1.;
    +
    1136
    +
    1137 if( alpha >= 0 )
    +
    1138 {
    +
    1139 double s0 = std::max(std::max(std::max((double)cx1/(cx1_0 - inner1.x), (double)cy1/(cy1_0 - inner1.y)),
    +
    1140 (double)(newImgSize.width - cx1)/(inner1.x + inner1.width - cx1_0)),
    +
    1141 (double)(newImgSize.height - cy1)/(inner1.y + inner1.height - cy1_0));
    +
    1142 s0 = std::max(std::max(std::max(std::max((double)cx2/(cx2_0 - inner2.x), (double)cy2/(cy2_0 - inner2.y)),
    +
    1143 (double)(newImgSize.width - cx2)/(inner2.x + inner2.width - cx2_0)),
    +
    1144 (double)(newImgSize.height - cy2)/(inner2.y + inner2.height - cy2_0)),
    +
    1145 s0);
    +
    1146
    +
    1147 double s1 = std::min(std::min(std::min((double)cx1/(cx1_0 - outer1.x), (double)cy1/(cy1_0 - outer1.y)),
    +
    1148 (double)(newImgSize.width - cx1)/(outer1.x + outer1.width - cx1_0)),
    +
    1149 (double)(newImgSize.height - cy1)/(outer1.y + outer1.height - cy1_0));
    +
    1150 s1 = std::min(std::min(std::min(std::min((double)cx2/(cx2_0 - outer2.x), (double)cy2/(cy2_0 - outer2.y)),
    +
    1151 (double)(newImgSize.width - cx2)/(outer2.x + outer2.width - cx2_0)),
    +
    1152 (double)(newImgSize.height - cy2)/(outer2.y + outer2.height - cy2_0)),
    +
    1153 s1);
    +
    1154
    +
    1155 s = s0*(1 - alpha) + s1*alpha;
    +
    1156 }
    +
    1157
    +
    1158 fc_new *= s;
    +
    1159 cc_new[0] = cvPoint2D64f(cx1, cy1);
    +
    1160 cc_new[1] = cvPoint2D64f(cx2, cy2);
    +
    1161
    +
    1162 cvmSet(_P1, 0, 0, fc_new);
    +
    1163 cvmSet(_P1, 1, 1, fc_new);
    +
    1164 cvmSet(_P1, 0, 2, cx1);
    +
    1165 cvmSet(_P1, 1, 2, cy1);
    +
    1166
    +
    1167 cvmSet(_P2, 0, 0, fc_new);
    +
    1168 cvmSet(_P2, 1, 1, fc_new);
    +
    1169 cvmSet(_P2, 0, 2, cx2);
    +
    1170 cvmSet(_P2, 1, 2, cy2);
    +
    1171 cvmSet(_P2, idx, 3, s*cvmGet(_P2, idx, 3));
    +
    1172
    +
    1173 }
    +
    1174
    +
    1175 if( matQ )
    +
    1176 {
    +
    1177 double q[] =
    +
    1178 {
    +
    1179 1, 0, 0, -cc_new[0].x,
    +
    1180 0, 1, 0, -cc_new[0].y,
    +
    1181 0, 0, 0, fc_new,
    +
    1182 0, 0, -1./_t[idx],
    +
    1183 (idx == 0 ? cc_new[0].x - cc_new[1].x : cc_new[0].y - cc_new[1].y)/_t[idx]
    +
    1184 };
    +
    1185 CvMat Q = cvMat(4, 4, CV_64F, q);
    +
    1186 cvConvert( &Q, matQ );
    +
    1187 }
    +
    1188}
    +
    1189
    +
    1190void stereoRectifyFisheye( cv::InputArray _cameraMatrix1, cv::InputArray _distCoeffs1,
    +
    1191 cv::InputArray _cameraMatrix2, cv::InputArray _distCoeffs2,
    +
    1192 cv::Size imageSize, cv::InputArray _Rmat, cv::InputArray _Tmat,
    +
    1193 cv::OutputArray _Rmat1, cv::OutputArray _Rmat2,
    +
    1194 cv::OutputArray _Pmat1, cv::OutputArray _Pmat2,
    +
    1195 cv::OutputArray _Qmat, int flags,
    +
    1196 double alpha, cv::Size newImageSize)
    +
    1197{
    +
    1198 cv::Mat cameraMatrix1 = _cameraMatrix1.getMat(), cameraMatrix2 = _cameraMatrix2.getMat();
    +
    1199 cv::Mat distCoeffs1 = _distCoeffs1.getMat(), distCoeffs2 = _distCoeffs2.getMat();
    +
    1200 cv::Mat Rmat = _Rmat.getMat(), Tmat = _Tmat.getMat();
    +
    1201
    +
    1202#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && (CV_MINOR_VERSION>4 || (CV_MINOR_VERSION>=4 && CV_SUBMINOR_VERSION>=4)))
    +
    1203 CvMat c_cameraMatrix1 = cvMat(cameraMatrix1);
    +
    1204 CvMat c_cameraMatrix2 = cvMat(cameraMatrix2);
    +
    1205 CvMat c_distCoeffs1 = cvMat(distCoeffs1);
    +
    1206 CvMat c_distCoeffs2 = cvMat(distCoeffs2);
    +
    1207 CvMat c_R = cvMat(Rmat), c_T = cvMat(Tmat);
    +
    1208#else
    +
    1209 CvMat c_cameraMatrix1 = CvMat(cameraMatrix1);
    +
    1210 CvMat c_cameraMatrix2 = CvMat(cameraMatrix2);
    +
    1211 CvMat c_distCoeffs1 = CvMat(distCoeffs1);
    +
    1212 CvMat c_distCoeffs2 = CvMat(distCoeffs2);
    +
    1213 CvMat c_R = CvMat(Rmat), c_T = CvMat(Tmat);
    +
    1214#endif
    +
    1215
    +
    1216 int rtype = CV_64F;
    +
    1217 _Rmat1.create(3, 3, rtype);
    +
    1218 _Rmat2.create(3, 3, rtype);
    +
    1219 _Pmat1.create(3, 4, rtype);
    +
    1220 _Pmat2.create(3, 4, rtype);
    +
    1221 cv::Mat R1 = _Rmat1.getMat(), R2 = _Rmat2.getMat(), P1 = _Pmat1.getMat(), P2 = _Pmat2.getMat(), Q;
    +
    1222#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && (CV_MINOR_VERSION>4 || (CV_MINOR_VERSION>=4 && CV_SUBMINOR_VERSION>=4)))
    +
    1223 CvMat c_R1 = cvMat(R1), c_R2 = cvMat(R2), c_P1 = cvMat(P1), c_P2 = cvMat(P2);
    +
    1224#else
    +
    1225 CvMat c_R1 = CvMat(R1), c_R2 = CvMat(R2), c_P1 = CvMat(P1), c_P2 = CvMat(P2);
    +
    1226#endif
    +
    1227 CvMat c_Q, *p_Q = 0;
    +
    1228
    +
    1229 if( _Qmat.needed() )
    +
    1230 {
    +
    1231 _Qmat.create(4, 4, rtype);
    +
    1232#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && (CV_MINOR_VERSION>4 || (CV_MINOR_VERSION>=4 && CV_SUBMINOR_VERSION>=4)))
    +
    1233 p_Q = &(c_Q = cvMat(Q = _Qmat.getMat()));
    +
    1234#else
    +
    1235 p_Q = &(c_Q = CvMat(Q = _Qmat.getMat()));
    +
    1236#endif
    +
    1237 }
    +
    1238
    +
    1239 CvMat *p_distCoeffs1 = distCoeffs1.empty() ? NULL : &c_distCoeffs1;
    +
    1240 CvMat *p_distCoeffs2 = distCoeffs2.empty() ? NULL : &c_distCoeffs2;
    +
    1241 cvStereoRectifyFisheye( &c_cameraMatrix1, &c_cameraMatrix2, p_distCoeffs1, p_distCoeffs2,
    +
    1242#if CV_MAJOR_VERSION > 3 || (CV_MAJOR_VERSION >= 3 && (CV_MINOR_VERSION>4 || (CV_MINOR_VERSION>=4 && CV_SUBMINOR_VERSION>=4)))
    +
    1243 cvSize(imageSize), &c_R, &c_T, &c_R1, &c_R2, &c_P1, &c_P2, p_Q, flags, alpha,
    +
    1244 cvSize(newImageSize));
    +
    1245#else
    +
    1246 CvSize(imageSize), &c_R, &c_T, &c_R1, &c_R2, &c_P1, &c_P2, p_Q, flags, alpha,
    +
    1247 CvSize(newImageSize));
    +
    1248#endif
    +
    1249}
    +
    1250
    +
    1251}
    +
    1252
    +
    1253
    +
    1254#endif /* CORELIB_SRC_OPENCV_STEREORECTIFYFISHEYE_H_ */
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT-members.html b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT-members.html new file mode 100644 index 00000000..88b9cbd5 --- /dev/null +++ b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT-members.html @@ -0,0 +1,96 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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    rtabmap::PointXYZIRT Member List
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    This is the complete list of members for rtabmap::PointXYZIRT, including all inherited members.

    + + + + + +
    intensity (defined in rtabmap::PointXYZIRT)rtabmap::PointXYZIRT
    PCL_ADD_POINT4D (defined in rtabmap::PointXYZIRT)rtabmap::PointXYZIRT
    ring (defined in rtabmap::PointXYZIRT)rtabmap::PointXYZIRT
    time (defined in rtabmap::PointXYZIRT)rtabmap::PointXYZIRT
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT.html b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT.html new file mode 100644 index 00000000..02c7e3b0 --- /dev/null +++ b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIRT.html @@ -0,0 +1,181 @@ + + + + + + + + +RTAB-Map: rtabmap::PointXYZIRT Struct Reference + + + + + + + + + + + + +
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    rtabmap::PointXYZIRT Struct Reference
    +
    +
    + +

    This namespace contains 3D point cloud processing utilities. + More...

    + +

    #include <util3d.h>

    + + + + + + + + + + +

    +Public Attributes

     PCL_ADD_POINT4D
     
    float intensity
     
    std::uint16_t ring
     
    float time
     
    +

    Detailed Description

    +

    This namespace contains 3D point cloud processing utilities.

    + +

    Definition at line 57 of file util3d.h.

    +

    Member Data Documentation

    + +

    ◆ PCL_ADD_POINT4D

    + +
    +
    + + + + +
    rtabmap::PointXYZIRT::PCL_ADD_POINT4D
    +
    + +

    Definition at line 59 of file util3d.h.

    + +
    +
    + +

    ◆ intensity

    + +
    +
    + + + + +
    float rtabmap::PointXYZIRT::intensity
    +
    + +

    Definition at line 60 of file util3d.h.

    + +
    +
    + +

    ◆ ring

    + +
    +
    + + + + +
    std::uint16_t rtabmap::PointXYZIRT::ring
    +
    + +

    Definition at line 61 of file util3d.h.

    + +
    +
    + +

    ◆ time

    + +
    +
    + + + + +
    float rtabmap::PointXYZIRT::time
    +
    + +

    Definition at line 62 of file util3d.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • corelib/include/rtabmap/core/util3d.h
      • +
    +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT-members.html b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT-members.html new file mode 100644 index 00000000..13430567 --- /dev/null +++ b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT-members.html @@ -0,0 +1,97 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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    + + + + + + +
    i (defined in rtabmap::PointXYZIT)rtabmap::PointXYZIT
    t (defined in rtabmap::PointXYZIT)rtabmap::PointXYZIT
    x (defined in rtabmap::PointXYZIT)rtabmap::PointXYZIT
    y (defined in rtabmap::PointXYZIT)rtabmap::PointXYZIT
    z (defined in rtabmap::PointXYZIT)rtabmap::PointXYZIT
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT.html b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT.html new file mode 100644 index 00000000..b5660b25 --- /dev/null +++ b/preview/pr-1492/api/latest/structrtabmap_1_1PointXYZIT.html @@ -0,0 +1,193 @@ + + + + + + + + +RTAB-Map: rtabmap::PointXYZIT Struct Reference + + + + + + + + + + + + +
    +
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    RTAB-Map 0.23.10 +
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    rtabmap::PointXYZIT Struct Reference
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    +
    + + + + + + + + + + + + +

    +Public Attributes

    float x
     
    float y
     
    float z
     
    float i
     
    float t
     
    +

    Detailed Description

    +
    +

    Definition at line 53 of file LidarVLP16.h.

    +

    Member Data Documentation

    + +

    ◆ x

    + +
    +
    + + + + +
    float rtabmap::PointXYZIT::x
    +
    + +

    Definition at line 54 of file LidarVLP16.h.

    + +
    +
    + +

    ◆ y

    + +
    +
    + + + + +
    float rtabmap::PointXYZIT::y
    +
    + +

    Definition at line 55 of file LidarVLP16.h.

    + +
    +
    + +

    ◆ z

    + +
    +
    + + + + +
    float rtabmap::PointXYZIT::z
    +
    + +

    Definition at line 56 of file LidarVLP16.h.

    + +
    +
    + +

    ◆ i

    + +
    +
    + + + + +
    float rtabmap::PointXYZIT::i
    +
    + +

    Definition at line 57 of file LidarVLP16.h.

    + +
    +
    + +

    ◆ t

    + +
    +
    + + + + +
    float rtabmap::PointXYZIT::t
    +
    + +

    Definition at line 58 of file LidarVLP16.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file: +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/structrtabmap_1_1graph_1_1MaxGraphErrors-members.html b/preview/pr-1492/api/latest/structrtabmap_1_1graph_1_1MaxGraphErrors-members.html new file mode 100644 index 00000000..a5315407 --- /dev/null +++ b/preview/pr-1492/api/latest/structrtabmap_1_1graph_1_1MaxGraphErrors-members.html @@ -0,0 +1,98 @@ + + + + + + + + +RTAB-Map: Member List + + + + + + + + + + + + +
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    + + + + + + + +
    angularrtabmap::graph::MaxGraphErrors
    angularLinkrtabmap::graph::MaxGraphErrors
    angularRatiortabmap::graph::MaxGraphErrors
    linearrtabmap::graph::MaxGraphErrors
    linearLinkrtabmap::graph::MaxGraphErrors
    linearRatiortabmap::graph::MaxGraphErrors
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/structrtabmap_1_1graph_1_1MaxGraphErrors.html b/preview/pr-1492/api/latest/structrtabmap_1_1graph_1_1MaxGraphErrors.html new file mode 100644 index 00000000..9a4dad99 --- /dev/null +++ b/preview/pr-1492/api/latest/structrtabmap_1_1graph_1_1MaxGraphErrors.html @@ -0,0 +1,246 @@ + + + + + + + + +RTAB-Map: rtabmap::graph::MaxGraphErrors Struct Reference + + + + + + + + + + + + +
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    +
    RTAB-Map 0.23.10 +
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    rtabmap::graph::MaxGraphErrors Struct Reference
    +
    +
    + +

    Largest pose-graph constraint violations after optimization. + More...

    + +

    #include <Graph.h>

    +
    +Collaboration diagram for rtabmap::graph::MaxGraphErrors:
    +
    +
    Collaboration graph
    + + + + + +
    [legend]
    + + + + + + + + + + + + + + + + + + + + +

    +Public Attributes

    float linear =-1.0f
     Absolute linear error (m) of the worst link.
     
    float angular =-1.0f
     Absolute angular error (rad) of the worst link.
     
    float linearRatio =-1.0f
     linear / sqrt(trans variance) of the worst link.
     
    float angularRatio =-1.0f
     angular / sqrt(rot variance) of the worst link.
     
    Link linearLink
     Link with largest linearRatio.
     
    Link angularLink
     Link with largest angularRatio.
     
    +

    Detailed Description

    +

    Largest pose-graph constraint violations after optimization.

    +

    For each non-self-referenced link (from != to), compares the relative pose implied by poses to the link measurement and tracks the worst linear/angular error and error/std ratios.

    + +

    Definition at line 231 of file Graph.h.

    +

    Member Data Documentation

    + +

    ◆ linear

    + +
    +
    + + + + +
    float rtabmap::graph::MaxGraphErrors::linear =-1.0f
    +
    + +

    Absolute linear error (m) of the worst link.

    + +

    Definition at line 233 of file Graph.h.

    + +
    +
    + +

    ◆ angular

    + +
    +
    + + + + +
    float rtabmap::graph::MaxGraphErrors::angular =-1.0f
    +
    + +

    Absolute angular error (rad) of the worst link.

    + +

    Definition at line 234 of file Graph.h.

    + +
    +
    + +

    ◆ linearRatio

    + +
    +
    + + + + +
    float rtabmap::graph::MaxGraphErrors::linearRatio =-1.0f
    +
    + +

    linear / sqrt(trans variance) of the worst link.

    + +

    Definition at line 235 of file Graph.h.

    + +
    +
    + +

    ◆ angularRatio

    + +
    +
    + + + + +
    float rtabmap::graph::MaxGraphErrors::angularRatio =-1.0f
    +
    + +

    angular / sqrt(rot variance) of the worst link.

    + +

    Definition at line 236 of file Graph.h.

    + +
    +
    + +

    ◆ linearLink

    + +
    +
    + + + + +
    Link rtabmap::graph::MaxGraphErrors::linearLink
    +
    + +

    Link with largest linearRatio.

    + +

    Definition at line 237 of file Graph.h.

    + +
    +
    + +

    ◆ angularLink

    + +
    +
    + + + + +
    Link rtabmap::graph::MaxGraphErrors::angularLink
    +
    + +

    Link with largest angularRatio.

    + +

    Definition at line 238 of file Graph.h.

    + +
    +
    +
    The documentation for this struct was generated from the following file:
      +
    • corelib/include/rtabmap/core/Graph.h
      • +
    +
    + +
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    Topics
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    Here is a list of all topics with brief descriptions:
    + + + + + + + + + + + + + + + + + + + + + + + + + + +
     Region of Interest (ROI) Computation
     PCL to 3D LaserScanConverts various PCL point cloud types into a unified LaserScan format
     PCL to 2D LaserScanConverts various PCL point cloud types into a unified 2D LaserScan format
     LaserScan to PCLFunctions to convert LaserScan data to various PCL point cloud formats
     Range Filtering of PCL Point CloudsFilters a point cloud based on a minimum and maximum Euclidean range
     Split Range Filtering of PCL Point CloudsSplits a point cloud into two groups based on a distance threshold
     Point Cloud DownsamplingDownsamples a point cloud or LaserScan by keeping only every N-th point
     Voxel FilteringPerforms voxel grid downsampling on a point cloud with optional index filtering
     Random SamplingRandomly samples a subset of points from the input point cloud
     Pass-through FilteringFilters points from the input point cloud using a pass-through filter along a specified axis
     Crop Box FilteringFilters points from a point cloud using a 3D crop box
     Frustum FilteringFilters points from a point cloud based on a camera frustum
     Remove NaN Points from a Point CloudRemoves NaN (Not-a-Number) points from an organized point cloud
     Remove NaN Points from a Point CloudRemoves points with NaN normal values from a point cloud
     Radius FilteringFilters points based on the number of neighbors within a given radius
     Proportional Radius FilteringPerforms proportional radius outlier filtering using viewpoint-dependent adaptive radii
     Subtract FilteringFilters a point cloud by removing points that have a sufficient number of neighbors within a given radius in a second point cloud
     Point Normal FilteringFilters points in a point cloud based on the angle between their estimated surface normals and a given reference normal
     Point Cloud Cluster ExtractionPerforms Euclidean cluster extraction on a point cloud
     Point Cloud Indices ExtractionExtracts a subset of points from a point cloud based on specified indices
     Compute Variance and Correspondences of Two Point CloudsComputes the geometric variance and number of valid correspondences between two point clouds
     Compute Structural Complexity of a Point Cloud with NormalsComputes the complexity of surface normals in a point cloud using PCA
     Transform PCL Point CloudsTransforms various PCL point cloud types using the given transform
     Transform a single pointTransforms various point types using the given transform
     UtiLite
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    + + diff --git a/preview/pr-1492/api/latest/uResourceGeneratorPage.html b/preview/pr-1492/api/latest/uResourceGeneratorPage.html new file mode 100644 index 00000000..5e87c581 --- /dev/null +++ b/preview/pr-1492/api/latest/uResourceGeneratorPage.html @@ -0,0 +1,108 @@ + + + + + + + + +RTAB-Map: uResourceGenerator + + + + + + + + + + + + +
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    uResourceGenerator
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    UtiLite provides a utility application called uResourceGenerator to generate resources to include in an executable. For example:

    $ ./uresourcegenerator DatabaseSchema.sql
    +

    This will generate a HEX file "DatabaseSchema_sql.h" which can be included in source files. Data of the file is global and can be accessed by the generated const char * DATABASESCHEMA_SQL.

    #include "DatabaseSchema_sql.h"
    +
    ...
    +
    std::string hex = DATABASESCHEMA_SQL;
    +
    // Assuming there are only ASCII characters, we can directly convert to a string:
    +
    std::string schema = uHex2Str(hex);
    +
    // For binary data:
    +
    std::vector<char> bytes = uHex2Bytes(hex);
    +
    uHex2Str
    std::string UTILITE_EXPORT uHex2Str(const std::string &hex)
    +
    uHex2Bytes
    std::vector< char > UTILITE_EXPORT uHex2Bytes(const std::string &hex)
    +

    The generator can be automated in a CMake build like:

    ADD_CUSTOM_COMMAND(
    +
    OUTPUT ${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h
    +
    COMMAND ${URESOURCEGENERATOR_EXEC} -n my_namespace -p ${CMAKE_CURRENT_BINARY_DIR} ${CMAKE_CURRENT_SOURCE_DIR}/DatabaseSchema.sql
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    COMMENT "[Creating database resource]"
    +
    DEPENDS ${CMAKE_CURRENT_SOURCE_DIR}/DatabaseSchema.sql
    +
    )
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    SET(RESOURCES
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    ${CMAKE_CURRENT_BINARY_DIR}/DatabaseSchema_sql.h
    +
    )
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    ADD_LIBRARY(mylib ${SRC_FILES} ${RESOURCES})
    +
    ADD_EXECUTABLE(myexecutable ${SRC_FILES} ${RESOURCES})
    +

    The variable URESOURCEGENERATOR_EXEC is set when FIND_PACKAGE(UtiLite) is done, you would need to add FindUtiLite.cmake.

    +
    +
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    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/util2d_8h_source.html b/preview/pr-1492/api/latest/util2d_8h_source.html new file mode 100644 index 00000000..9536005a --- /dev/null +++ b/preview/pr-1492/api/latest/util2d_8h_source.html @@ -0,0 +1,322 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/util2d.h Source File + + + + + + + + + + + + +
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    util2d.h
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    +
    1/*
    +
    2Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the Universite de Sherbrooke nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26*/
    +
    27
    +
    28#ifndef UTIL2D_H_
    +
    29#define UTIL2D_H_
    +
    30
    +
    31#include <rtabmap/core/rtabmap_core_export.h>
    +
    32
    +
    33#include <opencv2/core/core.hpp>
    +
    34#include <rtabmap/core/Transform.h>
    +
    35#include <rtabmap/core/Parameters.h>
    +
    36#include <rtabmap/core/CameraModel.h>
    +
    37#include <vector>
    +
    38
    +
    39namespace rtabmap
    +
    40{
    +
    41
    +
    +
    45namespace util2d
    +
    46{
    +
    47
    +
    66float RTABMAP_CORE_EXPORT ssd(const cv::Mat & windowLeft, const cv::Mat & windowRight);
    +
    67
    +
    86float RTABMAP_CORE_EXPORT sad(const cv::Mat & windowLeft, const cv::Mat & windowRight);
    +
    87
    +
    120std::vector<cv::Point2f> RTABMAP_CORE_EXPORT calcStereoCorrespondences(
    +
    121 const cv::Mat & leftImage,
    +
    122 const cv::Mat & rightImage,
    +
    123 const std::vector<cv::Point2f> & leftCorners,
    +
    124 std::vector<unsigned char> & status,
    +
    125 cv::Size winSize = cv::Size(6,3),
    +
    126 int maxLevel = 3,
    +
    127 int iterations = 5,
    +
    128 float minDisparity = 0.0f,
    +
    129 float maxDisparity = 64.0f,
    +
    130 bool ssdApproach = true);
    +
    131
    +
    171void RTABMAP_CORE_EXPORT calcOpticalFlowPyrLKStereo( cv::InputArray _prevImg, cv::InputArray _nextImg,
    +
    172 cv::InputArray _prevPts, cv::InputOutputArray _nextPts,
    +
    173 cv::OutputArray _status, cv::OutputArray _err,
    +
    174 cv::Size winSize = cv::Size(15,3), int maxLevel = 3,
    +
    175 cv::TermCriteria criteria = cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01),
    +
    176 int flags = 0, double minEigThreshold = 1e-4 );
    +
    177
    +
    207cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoImages(
    +
    208 const cv::Mat & leftImage,
    +
    209 const cv::Mat & rightImage,
    +
    210 const ParametersMap & parameters = ParametersMap());
    +
    211
    +
    232cv::Mat RTABMAP_CORE_EXPORT depthFromDisparity(const cv::Mat & disparity,
    +
    233 float fx, float baseline,
    +
    234 int type = CV_32FC1); // CV_32FC1 or CV_16UC1
    +
    235
    +
    258cv::Mat RTABMAP_CORE_EXPORT depthFromStereoImages(
    +
    259 const cv::Mat & leftImage,
    +
    260 const cv::Mat & rightImage,
    +
    261 const std::vector<cv::Point2f> & leftCorners,
    +
    262 float fx,
    +
    263 float baseline,
    +
    264 int flowWinSize = 9,
    +
    265 int flowMaxLevel = 4,
    +
    266 int flowIterations = 20,
    +
    267 double flowEps = 0.02);
    +
    268
    +
    293cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoCorrespondences(
    +
    294 const cv::Size & disparitySize,
    +
    295 const std::vector<cv::Point2f> & leftCorners,
    +
    296 const std::vector<cv::Point2f> & rightCorners,
    +
    297 const std::vector<unsigned char> & mask);
    +
    298
    +
    321cv::Mat RTABMAP_CORE_EXPORT depthFromStereoCorrespondences(
    +
    322 const cv::Mat & leftImage,
    +
    323 const std::vector<cv::Point2f> & leftCorners,
    +
    324 const std::vector<cv::Point2f> & rightCorners,
    +
    325 const std::vector<unsigned char> & mask,
    +
    326 float fx, float baseline);
    +
    327
    +
    349cv::Mat RTABMAP_CORE_EXPORT cvtDepthFromFloat(const cv::Mat & depth32F);
    +
    350
    +
    368cv::Mat RTABMAP_CORE_EXPORT cvtDepthToFloat(const cv::Mat & depth16U);
    +
    369
    +
    395float RTABMAP_CORE_EXPORT getDepth(
    +
    396 const cv::Mat & depthImage,
    +
    397 float x, float y,
    +
    398 bool smoothing,
    +
    399 float depthErrorRatio = 0.02f, //ratio
    +
    400 bool estWithNeighborsIfNull = false);
    +
    401
    +
    418cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Mat & image, const std::string & roiRatios);
    +
    419
    +
    428cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Size & imageSize, const std::string & roiRatios);
    +
    429
    +
    438cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Mat & image, const std::vector<float> & roiRatios);
    +
    439
    +
    449cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Size & imageSize, const std::vector<float> & roiRatios);
    +
    450
    + // end of RoiComputation group
    452
    +
    467cv::Mat RTABMAP_CORE_EXPORT decimate(const cv::Mat & image, int d);
    +
    468
    +
    485cv::Mat RTABMAP_CORE_EXPORT interpolate(const cv::Mat & image, int factor, float depthErrorRatio = 0.02f);
    +
    486
    +
    510cv::Mat RTABMAP_CORE_EXPORT registerDepth(
    +
    511 const cv::Mat & depth,
    +
    512 const cv::Mat & depthK,
    +
    513 const cv::Size & colorSize,
    +
    514 const cv::Mat & colorK,
    +
    515 const rtabmap::Transform & transform);
    +
    516cv::Mat RTABMAP_CORE_EXPORT registerDepth(
    +
    517 const cv::Mat & depth,
    +
    518 const cv::Mat & confidence,
    +
    519 const cv::Mat & depthK,
    +
    520 const cv::Size & colorSize,
    +
    521 const cv::Mat & colorK,
    +
    522 const rtabmap::Transform & transform,
    +
    523 cv::Mat & registeredConfidence);
    +
    524
    +
    542cv::Mat RTABMAP_CORE_EXPORT fillDepthHoles(
    +
    543 const cv::Mat & depth,
    +
    544 int maximumHoleSize = 1,
    +
    545 float errorRatio = 0.02f);
    +
    546
    +
    574void RTABMAP_CORE_EXPORT fillRegisteredDepthHoles(
    +
    575 cv::Mat & depthRegistered,
    +
    576 bool vertical,
    +
    577 bool horizontal,
    +
    578 bool fillDoubleHoles = false);
    +
    579
    +
    603cv::Mat RTABMAP_CORE_EXPORT fastBilateralFiltering(
    +
    604 const cv::Mat & depth,
    +
    605 float sigmaS = 15.0f,
    +
    606 float sigmaR = 0.05f,
    +
    607 bool earlyDivision = false);
    +
    608
    +
    624void RTABMAP_CORE_EXPORT depthBleedingFiltering(
    +
    625 cv::Mat & depth,
    +
    626 float maxDepthError);
    +
    627
    +
    649cv::Mat RTABMAP_CORE_EXPORT brightnessAndContrastAuto(
    +
    650 const cv::Mat & src,
    +
    651 const cv::Mat & mask,
    +
    652 float clipLowHistPercent=0,
    +
    653 float clipHighHistPercent=0,
    +
    654 float * alphaOut = 0,
    +
    655 float * betaOut = 0);
    +
    656
    +
    675cv::Mat RTABMAP_CORE_EXPORT exposureFusion(
    +
    676 const std::vector<cv::Mat> & images);
    +
    677
    +
    696void RTABMAP_CORE_EXPORT HSVtoRGB( float *r, float *g, float *b, float h, float s, float v );
    +
    697
    +
    717void RTABMAP_CORE_EXPORT NMS(
    +
    718 const std::vector<cv::KeyPoint> & ptsIn,
    +
    719 const cv::Mat & descriptorsIn,
    +
    720 std::vector<cv::KeyPoint> & ptsOut,
    +
    721 cv::Mat & descriptorsOut,
    +
    722 int dist_thresh, int img_width, int img_height);
    +
    723
    +
    752std::vector<int> RTABMAP_CORE_EXPORT SSC(
    +
    753 const std::vector<cv::KeyPoint> & keypoints,
    +
    754 int maxKeypoints,
    +
    755 float tolerance,
    +
    756 int cols,
    +
    757 int rows,
    +
    758 const std::vector<int> & indx = {});
    +
    759
    +
    784bool RTABMAP_CORE_EXPORT rotateImagesUpsideUpIfNecessary(
    +
    785 CameraModel & model,
    +
    786 cv::Mat & rgb,
    +
    787 cv::Mat & depth);
    +
    788
    +
    789} // namespace util2d
    +
    +
    790} // namespace rtabmap
    +
    791
    +
    792#endif /* UTIL2D_H_ */
    +
    rtabmap::CameraModel
    Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
    Definition CameraModel.h:53
    +
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    +
    rtabmap::util2d::computeRoi
    cv::Rect RTABMAP_CORE_EXPORT computeRoi(const cv::Mat &image, const std::string &roiRatios)
    Computes a region of interest (ROI) in the image using string-defined ratios.
    +
    rtabmap::util2d::fastBilateralFiltering
    cv::Mat RTABMAP_CORE_EXPORT fastBilateralFiltering(const cv::Mat &depth, float sigmaS=15.0f, float sigmaR=0.05f, bool earlyDivision=false)
    Applies a 2D fast bilateral filter to a depth image.
    +
    rtabmap::util2d::decimate
    cv::Mat RTABMAP_CORE_EXPORT decimate(const cv::Mat &image, int d)
    Downsamples an image by a given decimation factor.
    +
    rtabmap::util2d::cvtDepthToFloat
    cv::Mat RTABMAP_CORE_EXPORT cvtDepthToFloat(const cv::Mat &depth16U)
    Converts a 16-bit unsigned depth image (in millimeters) to a 32-bit float depth image (in meters).
    +
    rtabmap::util2d::depthFromDisparity
    cv::Mat RTABMAP_CORE_EXPORT depthFromDisparity(const cv::Mat &disparity, float fx, float baseline, int type=CV_32FC1)
    Converts a disparity map to a depth map using stereo camera parameters.
    +
    rtabmap::util2d::rotateImagesUpsideUpIfNecessary
    bool RTABMAP_CORE_EXPORT rotateImagesUpsideUpIfNecessary(CameraModel &model, cv::Mat &rgb, cv::Mat &depth)
    Rotates the input RGB and depth images to make them appear upright based on the camera's roll angle.
    +
    rtabmap::util2d::ssd
    float RTABMAP_CORE_EXPORT ssd(const cv::Mat &windowLeft, const cv::Mat &windowRight)
    Computes the Sum of Squared Differences (SSD) between two image patches.
    +
    rtabmap::util2d::calcOpticalFlowPyrLKStereo
    void RTABMAP_CORE_EXPORT calcOpticalFlowPyrLKStereo(cv::InputArray _prevImg, cv::InputArray _nextImg, cv::InputArray _prevPts, cv::InputOutputArray _nextPts, cv::OutputArray _status, cv::OutputArray _err, cv::Size winSize=cv::Size(15, 3), int maxLevel=3, cv::TermCriteria criteria=cv::TermCriteria(cv::TermCriteria::COUNT+cv::TermCriteria::EPS, 30, 0.01), int flags=0, double minEigThreshold=1e-4)
    Computes sparse optical flow using a pyramidal Lucas-Kanade method constrained to the x-axis.
    +
    rtabmap::util2d::registerDepth
    cv::Mat RTABMAP_CORE_EXPORT registerDepth(const cv::Mat &depth, const cv::Mat &depthK, const cv::Size &colorSize, const cv::Mat &colorK, const rtabmap::Transform &transform)
    Registers a depth image to a different camera frame (typically RGB).
    +
    rtabmap::util2d::getDepth
    float RTABMAP_CORE_EXPORT getDepth(const cv::Mat &depthImage, float x, float y, bool smoothing, float depthErrorRatio=0.02f, bool estWithNeighborsIfNull=false)
    Retrieves a depth value from a depth image at a subpixel coordinate.
    +
    rtabmap::util2d::sad
    float RTABMAP_CORE_EXPORT sad(const cv::Mat &windowLeft, const cv::Mat &windowRight)
    Computes the Sum of Absolute Differences (SAD) between two image patches.
    +
    rtabmap::util2d::disparityFromStereoCorrespondences
    cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoCorrespondences(const cv::Size &disparitySize, const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const std::vector< unsigned char > &mask)
    Computes a disparity map from stereo correspondences between two images.
    +
    rtabmap::util2d::calcStereoCorrespondences
    std::vector< cv::Point2f > RTABMAP_CORE_EXPORT calcStereoCorrespondences(const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, std::vector< unsigned char > &status, cv::Size winSize=cv::Size(6, 3), int maxLevel=3, int iterations=5, float minDisparity=0.0f, float maxDisparity=64.0f, bool ssdApproach=true)
    Computes stereo correspondences between left and right images using a pyramidal window-based matching...
    +
    rtabmap::util2d::cvtDepthFromFloat
    cv::Mat RTABMAP_CORE_EXPORT cvtDepthFromFloat(const cv::Mat &depth32F)
    Converts a 32-bit float depth image (in meters) to a 16-bit unsigned depth image (in millimeters).
    +
    rtabmap::util2d::depthBleedingFiltering
    void RTABMAP_CORE_EXPORT depthBleedingFiltering(cv::Mat &depth, float maxDepthError)
    Filters out depth bleeding artifacts in a depth image.
    +
    rtabmap::util2d::brightnessAndContrastAuto
    cv::Mat RTABMAP_CORE_EXPORT brightnessAndContrastAuto(const cv::Mat &src, const cv::Mat &mask, float clipLowHistPercent=0, float clipHighHistPercent=0, float *alphaOut=0, float *betaOut=0)
    Automatic brightness and contrast optimization with optional histogram clipping.
    +
    rtabmap::util2d::SSC
    std::vector< int > RTABMAP_CORE_EXPORT SSC(const std::vector< cv::KeyPoint > &keypoints, int maxKeypoints, float tolerance, int cols, int rows, const std::vector< int > &indx={})
    Applies the SSC (Suppression via Square Covering) algorithm to spatially select keypoints.
    +
    rtabmap::util2d::depthFromStereoImages
    cv::Mat RTABMAP_CORE_EXPORT depthFromStereoImages(const cv::Mat &leftImage, const cv::Mat &rightImage, const std::vector< cv::Point2f > &leftCorners, float fx, float baseline, int flowWinSize=9, int flowMaxLevel=4, int flowIterations=20, double flowEps=0.02)
    Computes a depth map from stereo image pairs using optical flow tracking.
    +
    rtabmap::util2d::NMS
    void RTABMAP_CORE_EXPORT NMS(const std::vector< cv::KeyPoint > &ptsIn, const cv::Mat &descriptorsIn, std::vector< cv::KeyPoint > &ptsOut, cv::Mat &descriptorsOut, int dist_thresh, int img_width, int img_height)
    Applies Non-Maximum Suppression (NMS) to a set of keypoints.
    +
    rtabmap::util2d::HSVtoRGB
    void RTABMAP_CORE_EXPORT HSVtoRGB(float *r, float *g, float *b, float h, float s, float v)
    Converts a color from HSV (Hue, Saturation, Value) to RGB.
    +
    rtabmap::util2d::exposureFusion
    cv::Mat RTABMAP_CORE_EXPORT exposureFusion(const std::vector< cv::Mat > &images)
    Performs exposure fusion on a set of input images.
    +
    rtabmap::util2d::disparityFromStereoImages
    cv::Mat RTABMAP_CORE_EXPORT disparityFromStereoImages(const cv::Mat &leftImage, const cv::Mat &rightImage, const ParametersMap &parameters=ParametersMap())
    Computes the disparity map from a pair of stereo images.
    +
    rtabmap::util2d::depthFromStereoCorrespondences
    cv::Mat RTABMAP_CORE_EXPORT depthFromStereoCorrespondences(const cv::Mat &leftImage, const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const std::vector< unsigned char > &mask, float fx, float baseline)
    Computes a sparse depth map from corresponding stereo feature points.
    +
    rtabmap::util2d::fillDepthHoles
    cv::Mat RTABMAP_CORE_EXPORT fillDepthHoles(const cv::Mat &depth, int maximumHoleSize=1, float errorRatio=0.02f)
    Fills holes in the depth image using linear interpolation.
    +
    rtabmap::util2d::interpolate
    cv::Mat RTABMAP_CORE_EXPORT interpolate(const cv::Mat &image, int factor, float depthErrorRatio=0.02f)
    Upsamples a depth image using bilinear interpolation with depth consistency check.
    +
    rtabmap::util2d::fillRegisteredDepthHoles
    void RTABMAP_CORE_EXPORT fillRegisteredDepthHoles(cv::Mat &depthRegistered, bool vertical, bool horizontal, bool fillDoubleHoles=false)
    Fill holes in a registered depth image using linear interpolation.
    + +
    + +
    +Generated by doxygen 1.9.8 +
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    util3d.h
    +
    +
    +
    1/*
    +
    2Copyright (c) 2010-2025, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the Universite de Sherbrooke nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26*/
    +
    27
    +
    28#ifndef UTIL3D_H_
    +
    29#define UTIL3D_H_
    +
    30
    +
    31#include "rtabmap/core/rtabmap_core_export.h"
    +
    32
    +
    33#include <pcl/point_cloud.h>
    +
    34#include <pcl/point_types.h>
    +
    35#include <pcl/pcl_base.h>
    +
    36#include <pcl/TextureMesh.h>
    +
    37#include <rtabmap/core/Transform.h>
    +
    38#include <rtabmap/core/SensorData.h>
    +
    39#include <rtabmap/core/Parameters.h>
    +
    40#include <opencv2/core/core.hpp>
    +
    41#include <rtabmap/core/ProgressState.h>
    +
    42#include <cstdint>
    +
    43#include <map>
    +
    44#include <list>
    +
    45
    +
    46namespace rtabmap
    +
    47{
    +
    48
    +
    53// Point type carrying xyz + intensity + ring (laser line index) + time
    +
    54// (per-point acquisition offset, seconds from the scan start). Matches the
    +
    55// layout expected by LIO-SAM's Velodyne feature extractor so it can be fed
    +
    56// directly via util3d::laserScanFromPointCloud().
    +
    +
    57struct EIGEN_ALIGN16 PointXYZIRT
    +
    58{
    +
    59 PCL_ADD_POINT4D;
    +
    60 float intensity;
    +
    61 std::uint16_t ring;
    +
    62 float time;
    +
    63 EIGEN_MAKE_ALIGNED_OPERATOR_NEW
    +
    64};
    +
    +
    65
    +
    66namespace util3d
    +
    67{
    +
    68
    +
    85cv::Mat RTABMAP_CORE_EXPORT rgbFromCloud(
    +
    86 const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
    +
    87 bool bgrOrder = true);
    +
    88
    +
    103cv::Mat RTABMAP_CORE_EXPORT depthFromCloud(
    +
    104 const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
    +
    105 bool depth16U = true);
    +
    106
    +
    122void RTABMAP_CORE_EXPORT rgbdFromCloud(
    +
    123 const pcl::PointCloud<pcl::PointXYZRGBA> & cloud,
    +
    124 cv::Mat & rgb,
    +
    125 cv::Mat & depth,
    +
    126 bool bgrOrder = true,
    +
    127 bool depth16U = true);
    +
    128
    +
    147pcl::PointXYZ RTABMAP_CORE_EXPORT projectDepthTo3D(
    +
    148 const cv::Mat & depthImage,
    +
    149 float x, float y,
    +
    150 float cx, float cy,
    +
    151 float fx, float fy,
    +
    152 bool smoothing,
    +
    153 float depthErrorRatio = 0.02f);
    +
    154
    +
    171Eigen::Vector3f RTABMAP_CORE_EXPORT projectDepthTo3DRay(
    +
    172 const cv::Size & imageSize,
    +
    173 float x, float y,
    +
    174 float cx, float cy,
    +
    175 float fx, float fy);
    +
    176
    +
    199RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
    +
    200 const cv::Mat & imageDepth,
    +
    201 float cx, float cy,
    +
    202 float fx, float fy,
    +
    203 int decimation = 1,
    +
    204 float maxDepth = 0.0f,
    +
    205 float minDepth = 0.0f,
    +
    206 std::vector<int> * validIndices = 0);
    +
    222pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
    +
    223 const cv::Mat & imageDepth,
    +
    224 const CameraModel & model,
    +
    225 int decimation = 1,
    +
    226 float maxDepth = 0.0f,
    +
    227 float minDepth = 0.0f,
    +
    228 std::vector<int> * validIndices = 0);
    +
    229pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDepth(
    +
    230 const cv::Mat & imageDepth,
    +
    231 const cv::Mat & imageDepthConfidence,
    +
    232 const CameraModel & model,
    +
    233 int decimation = 1,
    +
    234 float maxDepth = 0.0f,
    +
    235 float minDepth = 0.0f,
    +
    236 unsigned char confidenceThr = 0,
    +
    237 std::vector<int> * validIndices = 0);
    +
    238
    +
    264RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
    +
    265 const cv::Mat & imageRgb,
    +
    266 const cv::Mat & imageDepth,
    +
    267 float cx, float cy,
    +
    268 float fx, float fy,
    +
    269 int decimation = 1,
    +
    270 float maxDepth = 0.0f,
    +
    271 float minDepth = 0.0f,
    +
    272 std::vector<int> * validIndices = 0);
    +
    273
    +
    295pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
    +
    296 const cv::Mat & imageRgb,
    +
    297 const cv::Mat & imageDepth,
    +
    298 const CameraModel & model,
    +
    299 int decimation = 1,
    +
    300 float maxDepth = 0.0f,
    +
    301 float minDepth = 0.0f,
    +
    302 std::vector<int> * validIndices = 0);
    +
    303pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDepthRGB(
    +
    304 const cv::Mat & imageRgb,
    +
    305 const cv::Mat & imageDepth,
    +
    306 const cv::Mat & imageDepthConfidence,
    +
    307 const CameraModel & model,
    +
    308 int decimation = 1,
    +
    309 float maxDepth = 0.0f,
    +
    310 float minDepth = 0.0f,
    +
    311 unsigned char confidenceThr = 0, // 0=low, 100=high
    +
    312 std::vector<int> * validIndices = 0);
    +
    313
    +
    343pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(
    +
    344 const cv::Mat & imageDisparity,
    +
    345 const StereoCameraModel & model,
    +
    346 int decimation = 1,
    +
    347 float maxDepth = 0.0f,
    +
    348 float minDepth = 0.0f,
    +
    349 std::vector<int> * validIndices = 0);
    +
    350
    +
    384pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromDisparityRGB(
    +
    385 const cv::Mat & imageRgb,
    +
    386 const cv::Mat & imageDisparity,
    +
    387 const StereoCameraModel & model,
    +
    388 int decimation = 1,
    +
    389 float maxDepth = 0.0f,
    +
    390 float minDepth = 0.0f,
    +
    391 std::vector<int> * validIndices = 0);
    +
    392
    +
    429pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudFromStereoImages(
    +
    430 const cv::Mat & imageLeft,
    +
    431 const cv::Mat & imageRight,
    +
    432 const StereoCameraModel & model,
    +
    433 int decimation = 1,
    +
    434 float maxDepth = 0.0f,
    +
    435 float minDepth = 0.0f,
    +
    436 std::vector<int> * validIndices = 0,
    +
    437 const ParametersMap & parameters = ParametersMap());
    +
    438
    +
    477std::vector<pcl::PointCloud<pcl::PointXYZ>::Ptr> RTABMAP_CORE_EXPORT cloudsFromSensorData(
    +
    478 const SensorData & sensorData,
    +
    479 int decimation = 1,
    +
    480 float maxDepth = 0.0f,
    +
    481 float minDepth = 0.0f,
    +
    482 std::vector<pcl::IndicesPtr> * validIndices = 0,
    +
    483 const ParametersMap & stereoParameters = ParametersMap(),
    +
    484 const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    +
    485 unsigned char confidenceThr = 0); // ignored for stereo
    +
    486
    +
    515pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cloudFromSensorData(
    +
    516 const SensorData & sensorData,
    +
    517 int decimation = 1,
    +
    518 float maxDepth = 0.0f,
    +
    519 float minDepth = 0.0f,
    +
    520 std::vector<int> * validIndices = 0,
    +
    521 const ParametersMap & stereoParameters = ParametersMap(),
    +
    522 const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    +
    523 unsigned char confidenceThr = 0); // ignored for stereo
    +
    524
    +
    557std::vector<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> RTABMAP_CORE_EXPORT cloudsRGBFromSensorData(
    +
    558 const SensorData & sensorData,
    +
    559 int decimation = 1,
    +
    560 float maxDepth = 0.0f,
    +
    561 float minDepth = 0.0f,
    +
    562 std::vector<pcl::IndicesPtr > * validIndices = 0,
    +
    563 const ParametersMap & stereoParameters = ParametersMap(),
    +
    564 const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    +
    565 unsigned char confidenceThr = 0); // ignored for stereo
    +
    566
    +
    593pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cloudRGBFromSensorData(
    +
    594 const SensorData & sensorData,
    +
    595 int decimation = 1,
    +
    596 float maxDepth = 0.0f,
    +
    597 float minDepth = 0.0f,
    +
    598 std::vector<int> * validIndices = 0,
    +
    599 const ParametersMap & stereoParameters = ParametersMap(),
    +
    600 const std::vector<float> & roiRatios = std::vector<float>(), // ignored for stereo
    +
    601 unsigned char confidenceThr = 0); // ignored for stereo
    +
    602
    +
    625pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImage(
    +
    626 const cv::Mat & depthImage,
    +
    627 float fx,
    +
    628 float fy,
    +
    629 float cx,
    +
    630 float cy,
    +
    631 float maxDepth = 0,
    +
    632 float minDepth = 0,
    +
    633 const Transform & localTransform = Transform::getIdentity());
    +
    653pcl::PointCloud<pcl::PointXYZ> RTABMAP_CORE_EXPORT laserScanFromDepthImages(
    +
    654 const cv::Mat & depthImages,
    +
    655 const std::vector<CameraModel> & cameraModels,
    +
    656 float maxDepth,
    +
    657 float minDepth);
    +
    658
    +
    689LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    694LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    699LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    704LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    709LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    714LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    719LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    724LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    729LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    734LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    739LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<rtabmap::PointXYZIRT> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    744LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGB> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    749LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    754LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    759LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    764LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    769LaserScan RTABMAP_CORE_EXPORT laserScanFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const pcl::IndicesPtr & indices, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    770
    +
    775template<typename PointCloud2T>
    +
    776LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs = true, bool is2D = false, const Transform & transform = Transform());
    +
    777
    +
    802LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    807LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    812LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointNormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    817LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZ> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    822LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZINormal> & cloud, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    827LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud<pcl::PointXYZI> & cloud, const pcl::PointCloud<pcl::Normal> & normals, const Transform & transform = Transform(), bool filterNaNs = true);
    +
    828
    +
    845pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan & laserScan, const Transform & transform = Transform());
    +
    846pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud(const LaserScan & laserScan, const Transform & transform = Transform());
    +
    847pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudNormal(const LaserScan & laserScan, const Transform & transform = Transform());
    +
    848pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGB(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    +
    849pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudI(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
    +
    850pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudRGBNormal(const LaserScan & laserScan, const Transform & transform = Transform(), unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    +
    851pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloudINormal(const LaserScan & laserScan, const Transform & transform = Transform(), float intensity = 0.0f);
    +
    852
    +
    853
    +
    854pcl::PointXYZ RTABMAP_CORE_EXPORT laserScanToPoint(const LaserScan & laserScan, int index);
    +
    855pcl::PointNormal RTABMAP_CORE_EXPORT laserScanToPointNormal(const LaserScan & laserScan, int index);
    +
    856pcl::PointXYZRGB RTABMAP_CORE_EXPORT laserScanToPointRGB(const LaserScan & laserScan, int index, unsigned char r = 100, unsigned char g = 100, unsigned char b = 100);
    +
    857pcl::PointXYZI RTABMAP_CORE_EXPORT laserScanToPointI(const LaserScan & laserScan, int index, float intensity);
    +
    858pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT laserScanToPointRGBNormal(const LaserScan & laserScan, int index, unsigned char r, unsigned char g, unsigned char b);
    +
    859pcl::PointXYZINormal RTABMAP_CORE_EXPORT laserScanToPointINormal(const LaserScan & laserScan, int index, float intensity);
    +
    860
    +
    882void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, cv::Point3f & min, cv::Point3f & max);
    +
    883
    +
    897void RTABMAP_CORE_EXPORT getMinMax3D(const cv::Mat & laserScan, pcl::PointXYZ & min, pcl::PointXYZ & max);
    +
    898
    +
    921cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
    +
    922 const cv::Point2f & pt,
    +
    923 float disparity,
    +
    924 const StereoCameraModel & model);
    +
    925
    +
    944cv::Point3f RTABMAP_CORE_EXPORT projectDisparityTo3D(
    +
    945 const cv::Point2f & pt,
    +
    946 const cv::Mat & disparity,
    +
    947 const StereoCameraModel & model);
    +
    948
    +
    969cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    +
    970 const cv::Size & imageSize,
    +
    971 const cv::Mat & cameraMatrixK,
    +
    972 const cv::Mat & laserScan,
    +
    973 const rtabmap::Transform & cameraTransform);
    +
    974
    +
    995cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    +
    996 const cv::Size & imageSize,
    +
    997 const cv::Mat & cameraMatrixK,
    +
    998 const pcl::PointCloud<pcl::PointXYZ>::Ptr laserScan,
    +
    999 const rtabmap::Transform & cameraTransform);
    +
    1000
    +
    1021cv::Mat RTABMAP_CORE_EXPORT projectCloudToCamera(
    +
    1022 const cv::Size & imageSize,
    +
    1023 const cv::Mat & cameraMatrixK,
    +
    1024 const pcl::PCLPointCloud2::Ptr laserScan,
    +
    1025 const rtabmap::Transform & cameraTransform);
    +
    1026
    +
    1046void RTABMAP_CORE_EXPORT fillProjectedCloudHoles(
    +
    1047 cv::Mat & depthRegistered,
    +
    1048 bool verticalDirection,
    +
    1049 bool fillToBorder);
    +
    1050
    +
    1079cv::Mat RTABMAP_CORE_EXPORT filterFloor(
    +
    1080 const cv::Mat & depth,
    +
    1081 const std::vector<CameraModel> & cameraModels,
    +
    1082 float threshold,
    +
    1083 cv::Mat * depthBelow = 0);
    +
    1084
    +
    1105std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (
    +
    1106 const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
    +
    1107 const std::map<int, Transform> & cameraPoses,
    +
    1108 const std::map<int, std::vector<CameraModel> > & cameraModels,
    +
    1109 float maxDistance = 0.0f,
    +
    1110 float maxAngle = 0.0f,
    +
    1111 float maxDepthError = 0.0f,
    +
    1112 const std::vector<float> & roiRatios = std::vector<float>(),
    +
    1113 const cv::Mat & projMask = cv::Mat(),
    +
    1114 bool distanceToCamPolicy = false,
    +
    1115 const ProgressState * state = 0);
    +
    1136std::vector<std::pair< std::pair<int, int>, pcl::PointXY> > RTABMAP_CORE_EXPORT projectCloudToCameras (
    +
    1137 const pcl::PointCloud<pcl::PointXYZINormal> & cloud,
    +
    1138 const std::map<int, Transform> & cameraPoses,
    +
    1139 const std::map<int, std::vector<CameraModel> > & cameraModels,
    +
    1140 float maxDistance = 0.0f,
    +
    1141 float maxAngle = 0.0f,
    +
    1142 float maxDepthError = 0.0f,
    +
    1143 const std::vector<float> & roiRatios = std::vector<float>(),
    +
    1144 const cv::Mat & projMask = cv::Mat(),
    +
    1145 bool distanceToCamPolicy = false,
    +
    1146 const ProgressState * state = 0);
    +
    1147
    +
    1157bool RTABMAP_CORE_EXPORT isFinite(const cv::Point3f & pt);
    +
    1158
    +
    1168pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
    +
    1169 const std::list<pcl::PointCloud<pcl::PointXYZ>::Ptr> & clouds);
    +
    1179pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT concatenateClouds(
    +
    1180 const std::list<pcl::PointCloud<pcl::PointXYZRGB>::Ptr> & clouds);
    +
    1181
    +
    1196pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
    +
    1197 const std::vector<pcl::IndicesPtr> & indices);
    +
    1198
    +
    1213pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(
    +
    1214 const pcl::IndicesPtr & indicesA,
    +
    1215 const pcl::IndicesPtr & indicesB);
    +
    1216
    +
    1228void RTABMAP_CORE_EXPORT savePCDWords(
    +
    1229 const std::string & fileName,
    +
    1230 const std::multimap<int, pcl::PointXYZ> & words,
    +
    1231 const Transform & transform = Transform::getIdentity());
    +
    1232
    +
    1244void RTABMAP_CORE_EXPORT savePCDWords(
    +
    1245 const std::string & fileName,
    +
    1246 const std::multimap<int, cv::Point3f> & words,
    +
    1247 const Transform & transform = Transform::getIdentity());
    +
    1248
    +
    1259cv::Mat RTABMAP_CORE_EXPORT loadBINScan(const std::string & fileName);
    +
    1268pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName);
    +
    1277RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadBINCloud(const std::string & fileName, int dim);
    +
    1278
    +
    1289LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string & path);
    +
    1290
    +
    1304RTABMAP_DEPRECATED pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT loadCloud(
    +
    1305 const std::string & path,
    +
    1306 const Transform & transform = Transform::getIdentity(),
    +
    1307 int downsampleStep = 1,
    +
    1308 float voxelSize = 0.0f);
    +
    1309
    +
    1341LaserScan RTABMAP_CORE_EXPORT deskew(
    +
    1342 const LaserScan & input,
    +
    1343 double inputStamp,
    +
    1344 const rtabmap::Transform & velocity);
    +
    1345
    +
    1346} // namespace util3d
    +
    1347} // namespace rtabmap
    +
    1348
    +
    1349POINT_CLOUD_REGISTER_POINT_STRUCT(rtabmap::PointXYZIRT,
    +
    1350 (float, x, x)
    +
    1351 (float, y, y)
    +
    1352 (float, z, z)
    +
    1353 (float, intensity, intensity)
    +
    1354 (std::uint16_t, ring, ring)
    +
    1355 (float, time, time)
    +
    1356)
    +
    1357
    +
    1358#include "rtabmap/core/impl/util3d.hpp"
    +
    1359
    +
    1360#endif /* UTIL3D_H_ */
    +
    rtabmap::CameraModel
    Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...
    Definition CameraModel.h:53
    +
    rtabmap::LaserScan
    Represents 2D or 3D laser scan data with support for multiple point data formats.
    Definition LaserScan.h:46
    + +
    rtabmap::SensorData
    Container class for all sensor data captured at a specific time.
    Definition SensorData.h:97
    +
    rtabmap::StereoCameraModel
    A class representing a calibrated stereo camera system.
    Definition StereoCameraModel.h:54
    +
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    +
    rtabmap::Transform::getIdentity
    static Transform getIdentity()
    Returns identity transform.
    +
    rtabmap::util3d::laserScan2dFromPointCloud
    LaserScan RTABMAP_CORE_EXPORT laserScan2dFromPointCloud(const pcl::PointCloud< pcl::PointXYZ > &cloud, const Transform &transform=Transform(), bool filterNaNs=true)
    PointXYZ → LaserScan::kXY
    +
    rtabmap::util3d::laserScanFromPointCloud
    LaserScan laserScanFromPointCloud(const PointCloud2T &cloud, bool filterNaNs, bool is2D, const Transform &transform)
    Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::...
    Definition util3d.hpp:37
    +
    rtabmap::util3d::laserScanToPointCloud2
    pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT laserScanToPointCloud2(const LaserScan &laserScan, const Transform &transform=Transform())
    Convert rtabmap::LaserScan to pcl::PCLPointCloud2 with all supported fields (see rtabmap::LaserScan::...
    + +
    rtabmap::PointXYZIRT
    This namespace contains 3D point cloud processing utilities.
    Definition util3d.h:58
    +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/util3d_8hpp_source.html b/preview/pr-1492/api/latest/util3d_8hpp_source.html new file mode 100644 index 00000000..4d1cb56e --- /dev/null +++ b/preview/pr-1492/api/latest/util3d_8hpp_source.html @@ -0,0 +1,526 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/impl/util3d.hpp Source File + + + + + + + + + + + + +
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    +
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    util3d.hpp
    +
    +
    +
    1/*
    +
    2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the Universite de Sherbrooke nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26*/
    +
    27
    +
    28#ifndef UTIL3D_HPP_
    +
    29#define UTIL3D_HPP_
    +
    30
    +
    31#include <rtabmap/core/util3d_transforms.h>
    +
    32
    +
    33namespace rtabmap{
    +
    34namespace util3d{
    +
    35
    +
    36template<typename PointCloud2T>
    +
    +
    37LaserScan laserScanFromPointCloud(const PointCloud2T & cloud, bool filterNaNs, bool is2D, const Transform & transform)
    +
    38{
    +
    39 if(cloud.data.empty())
    +
    40 {
    +
    41 return LaserScan();
    +
    42 }
    +
    43 //determine the output type
    +
    44 int fieldStates[10] = {0}; // x,y,z,normal_x,normal_y,normal_z,rgb,intensity,time,ring
    +
    45#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
    +
    46 std::uint32_t fieldOffsets[10] = {0};
    +
    47#else
    +
    48 pcl::uint32_t fieldOffsets[10] = {0};
    +
    49#endif
    +
    50 for(unsigned int i=0; i<cloud.fields.size(); ++i)
    +
    51 {
    +
    52 if(cloud.fields[i].name.compare("x") == 0)
    +
    53 {
    +
    54 fieldStates[0] = 1;
    +
    55 fieldOffsets[0] = cloud.fields[i].offset;
    +
    56 }
    +
    57 else if(cloud.fields[i].name.compare("y") == 0)
    +
    58 {
    +
    59 fieldStates[1] = 1;
    +
    60 fieldOffsets[1] = cloud.fields[i].offset;
    +
    61 }
    +
    62 else if(cloud.fields[i].name.compare("z") == 0 && !is2D)
    +
    63 {
    +
    64 fieldStates[2] = 1;
    +
    65 fieldOffsets[2] = cloud.fields[i].offset;
    +
    66 }
    +
    67 else if(cloud.fields[i].name.compare("normal_x") == 0)
    +
    68 {
    +
    69 fieldStates[3] = 1;
    +
    70 fieldOffsets[3] = cloud.fields[i].offset;
    +
    71 }
    +
    72 else if(cloud.fields[i].name.compare("normal_y") == 0)
    +
    73 {
    +
    74 fieldStates[4] = 1;
    +
    75 fieldOffsets[4] = cloud.fields[i].offset;
    +
    76 }
    +
    77 else if(cloud.fields[i].name.compare("normal_z") == 0)
    +
    78 {
    +
    79 fieldStates[5] = 1;
    +
    80 fieldOffsets[5] = cloud.fields[i].offset;
    +
    81 }
    +
    82 else if(cloud.fields[i].name.compare("rgb") == 0 || cloud.fields[i].name.compare("rgba") == 0)
    +
    83 {
    +
    84 fieldStates[6] = 1;
    +
    85 fieldOffsets[6] = cloud.fields[i].offset;
    +
    86 }
    +
    87 else if(cloud.fields[i].name.compare("intensity") == 0)
    +
    88 {
    +
    89 if(cloud.fields[i].datatype != pcl::PCLPointField::FLOAT32)
    +
    90 {
    +
    91 static bool warningShown = false;
    +
    92 if(!warningShown)
    +
    93 {
    +
    94 UWARN("The input scan cloud has an \"intensity\" field "
    +
    95 "but the datatype (%d) is not supported. Intensity will be ignored. "
    +
    96 "This message is only shown once.", cloud.fields[i].datatype);
    +
    97 warningShown = true;
    +
    98 }
    +
    99 continue;
    +
    100 }
    +
    101
    +
    102 fieldStates[7] = 1;
    +
    103 fieldOffsets[7] = cloud.fields[i].offset;
    +
    104 }
    +
    105 else if(cloud.fields[i].name.compare("time") == 0)
    +
    106 {
    +
    107 if(cloud.fields[i].datatype != pcl::PCLPointField::FLOAT32)
    +
    108 {
    +
    109 static bool warningShown = false;
    +
    110 if(!warningShown)
    +
    111 {
    +
    112 UWARN("The input scan cloud has an \"time\" field "
    +
    113 "but the datatype (%d) is not supported. Time will be ignored. "
    +
    114 "This message is only shown once.", cloud.fields[i].datatype);
    +
    115 warningShown = true;
    +
    116 }
    +
    117 continue;
    +
    118 }
    +
    119
    +
    120 fieldStates[8] = 1;
    +
    121 fieldOffsets[8] = cloud.fields[i].offset;
    +
    122 }
    +
    123 else if(cloud.fields[i].name.compare("ring") == 0)
    +
    124 {
    +
    125 if(cloud.fields[i].datatype != pcl::PCLPointField::UINT16)
    +
    126 {
    +
    127 static bool warningShown = false;
    +
    128 if(!warningShown)
    +
    129 {
    +
    130 UWARN("The input scan cloud has an \"ring\" field "
    +
    131 "but the datatype (%d) is not supported. Ring will be ignored. "
    +
    132 "This message is only shown once.", cloud.fields[i].datatype);
    +
    133 warningShown = true;
    +
    134 }
    +
    135 continue;
    +
    136 }
    +
    137
    +
    138 fieldStates[9] = 1;
    +
    139 fieldOffsets[9] = cloud.fields[i].offset;
    +
    140 }
    +
    141 else
    +
    142 {
    +
    143 UDEBUG("Ignoring \"%s\" field", cloud.fields[i].name.c_str());
    +
    144 }
    +
    145 }
    +
    146 if(fieldStates[0]==0 || fieldStates[1]==0)
    +
    147 {
    +
    148 //should have at least x and y set
    +
    149 UERROR("Cloud has not corresponding fields to laser scan!");
    +
    150 return LaserScan();
    +
    151 }
    +
    152
    +
    153 bool hasNormals = fieldStates[3] || fieldStates[4] || fieldStates[5];
    +
    154 bool hasIntensity = fieldStates[7];
    +
    155 bool hasRGB = !hasIntensity&&fieldStates[6];
    +
    156 bool hasTime = hasIntensity&&fieldStates[8];
    +
    157 bool hasRing = hasIntensity&&fieldStates[9];
    +
    158 bool is3D = fieldStates[0] && fieldStates[1] && fieldStates[2];
    +
    159
    +
    160 LaserScan::Format format;
    +
    161 int outputNormalOffset = 0;
    +
    162 if(is3D)
    +
    163 {
    +
    164 if(hasNormals && hasIntensity)
    +
    165 {
    +
    166 format = LaserScan::kXYZINormal;
    +
    167 outputNormalOffset = 4;
    +
    168 }
    +
    169 else if(hasNormals && !hasIntensity && !hasRGB)
    +
    170 {
    +
    171 format = LaserScan::kXYZNormal;
    +
    172 outputNormalOffset = 3;
    +
    173 }
    +
    174 else if(hasNormals && hasRGB)
    +
    175 {
    +
    176 format = LaserScan::kXYZRGBNormal;
    +
    177 outputNormalOffset = 4;
    +
    178 }
    +
    179 else if(!hasNormals && hasIntensity)
    +
    180 {
    +
    181 if(hasTime && hasRing)
    +
    182 {
    +
    183 format = LaserScan::kXYZIRT;
    +
    184 }
    +
    185 else if(hasTime)
    +
    186 {
    +
    187 format = LaserScan::kXYZIT;
    +
    188 }
    +
    189 else
    +
    190 {
    +
    191 format = LaserScan::kXYZI;
    +
    192 }
    +
    193 }
    +
    194 else if(!hasNormals && hasRGB)
    +
    195 {
    +
    196 format = LaserScan::kXYZRGB;
    +
    197 }
    +
    198 else
    +
    199 {
    +
    200 format = LaserScan::kXYZ;
    +
    201 }
    +
    202 }
    +
    203 else
    +
    204 {
    +
    205 if(hasNormals && hasIntensity)
    +
    206 {
    +
    207 format = LaserScan::kXYINormal;
    +
    208 outputNormalOffset = 3;
    +
    209 }
    +
    210 else if(hasNormals && !hasIntensity)
    +
    211 {
    +
    212 format = LaserScan::kXYNormal;
    +
    213 outputNormalOffset = 2;
    +
    214 }
    +
    215 else if(!hasNormals && hasIntensity)
    +
    216 {
    +
    217 format = LaserScan::kXYI;
    +
    218 }
    +
    219 else
    +
    220 {
    +
    221 format = LaserScan::kXY;
    +
    222 }
    +
    223 }
    +
    224
    +
    225 UASSERT(cloud.data.size()/cloud.point_step == (uint32_t)cloud.height*cloud.width);
    +
    226 cv::Mat laserScan = cv::Mat(1, (int)cloud.data.size()/cloud.point_step, CV_32FC(LaserScan::channels(format)));
    +
    227
    +
    228 bool transformValid = !transform.isNull() && !transform.isIdentity();
    +
    229 Transform transformRot;
    +
    230 if(transformValid)
    +
    231 {
    +
    232 transformRot = transform.rotation();
    +
    233 }
    +
    234 int oi=0;
    +
    235 UASSERT(cloud.height == 1 || cloud.row_step != 0);
    +
    236 for (uint32_t row = 0; row < (uint32_t)cloud.height; ++row)
    +
    237 {
    +
    238 const uint8_t* row_data = &cloud.data[row * cloud.row_step];
    +
    239 for (uint32_t col = 0; col < (uint32_t)cloud.width; ++col)
    +
    240 {
    +
    241 const uint8_t* msg_data = row_data + col * cloud.point_step;
    +
    242
    +
    243 float * ptr = laserScan.ptr<float>(0, oi);
    +
    244
    +
    245 bool valid = true;
    +
    246 if(laserScan.channels() == 2)
    +
    247 {
    +
    248 ptr[0] = *(float*)(msg_data + fieldOffsets[0]);
    +
    249 ptr[1] = *(float*)(msg_data + fieldOffsets[1]);
    +
    250 valid = uIsFinite(ptr[0]) && uIsFinite(ptr[1]);
    +
    251 }
    +
    252 else if(laserScan.channels() == 3)
    +
    253 {
    +
    254 ptr[0] = *(float*)(msg_data + fieldOffsets[0]);
    +
    255 ptr[1] = *(float*)(msg_data + fieldOffsets[1]);
    +
    256 if(format == LaserScan::kXYI)
    +
    257 {
    +
    258 ptr[2] = *(float*)(msg_data + fieldOffsets[7]);
    +
    259 }
    +
    260 else // XYZ
    +
    261 {
    +
    262 ptr[2] = *(float*)(msg_data + fieldOffsets[2]);
    +
    263 valid = uIsFinite(ptr[0]) && uIsFinite(ptr[1]) && uIsFinite(ptr[2]);
    +
    264 }
    +
    265 }
    +
    266 else if(laserScan.channels() == 4)
    +
    267 {
    +
    268 ptr[0] = *(float*)(msg_data + fieldOffsets[0]);
    +
    269 ptr[1] = *(float*)(msg_data + fieldOffsets[1]);
    +
    270 ptr[2] = *(float*)(msg_data + fieldOffsets[2]);
    +
    271 if(format == LaserScan::kXYZI)
    +
    272 {
    +
    273 ptr[3] = *(float*)(msg_data + fieldOffsets[7]);
    +
    274 }
    +
    275 else // XYZRGB
    +
    276 {
    +
    277#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
    +
    278 std::uint8_t b=*(msg_data + fieldOffsets[6]);
    +
    279 std::uint8_t g=*(msg_data + fieldOffsets[6]+1);
    +
    280 std::uint8_t r=*(msg_data + fieldOffsets[6]+2);
    +
    281#else
    +
    282 pcl::uint8_t b=*(msg_data + fieldOffsets[6]);
    +
    283 pcl::uint8_t g=*(msg_data + fieldOffsets[6]+1);
    +
    284 pcl::uint8_t r=*(msg_data + fieldOffsets[6]+2);
    +
    285#endif
    +
    286 int * ptrInt = (int*)ptr;
    +
    287 ptrInt[3] = int(b) | (int(g) << 8) | (int(r) << 16);
    +
    288 }
    +
    289 valid = uIsFinite(ptr[0]) && uIsFinite(ptr[1]) && uIsFinite(ptr[2]);
    +
    290 }
    +
    291 else if(laserScan.channels() == 5)
    +
    292 {
    +
    293 ptr[0] = *(float*)(msg_data + fieldOffsets[0]);
    +
    294 ptr[1] = *(float*)(msg_data + fieldOffsets[1]);
    +
    295 if(format == LaserScan::kXYZIT)
    +
    296 {
    +
    297 ptr[2] = *(float*)(msg_data + fieldOffsets[2]);
    +
    298 ptr[3] = *(float*)(msg_data + fieldOffsets[7]);
    +
    299 ptr[4] = *(float*)(msg_data + fieldOffsets[8]);
    +
    300 }
    +
    301 else // kXYNormal
    +
    302 {
    +
    303 ptr[2] = *(float*)(msg_data + fieldOffsets[3]);
    +
    304 ptr[3] = *(float*)(msg_data + fieldOffsets[4]);
    +
    305 ptr[4] = *(float*)(msg_data + fieldOffsets[5]);
    +
    306 }
    +
    307 valid = uIsFinite(ptr[0]) && uIsFinite(ptr[1]) && uIsFinite(ptr[2]) && uIsFinite(ptr[3]) && uIsFinite(ptr[4]);
    +
    308 }
    +
    309 else if(laserScan.channels() == 6)
    +
    310 {
    +
    311 ptr[0] = *(float*)(msg_data + fieldOffsets[0]);
    +
    312 ptr[1] = *(float*)(msg_data + fieldOffsets[1]);
    +
    313 if(format == LaserScan::kXYZIRT)
    +
    314 {
    +
    315 ptr[2] = *(float*)(msg_data + fieldOffsets[2]);
    +
    316 ptr[3] = *(float*)(msg_data + fieldOffsets[7]);
    +
    317 ptr[4] = float(*(unsigned short*)(msg_data + fieldOffsets[9])); // Convert 16U to float
    +
    318 ptr[5] = *(float*)(msg_data + fieldOffsets[8]);
    +
    319 }
    +
    320 else // with normal
    +
    321 {
    +
    322 if(format == LaserScan::kXYINormal)
    +
    323 {
    +
    324 ptr[2] = *(float*)(msg_data + fieldOffsets[7]);
    +
    325 }
    +
    326 else // XYZNormal
    +
    327 {
    +
    328 ptr[2] = *(float*)(msg_data + fieldOffsets[2]);
    +
    329 }
    +
    330 ptr[3] = *(float*)(msg_data + fieldOffsets[3]);
    +
    331 ptr[4] = *(float*)(msg_data + fieldOffsets[4]);
    +
    332 ptr[5] = *(float*)(msg_data + fieldOffsets[5]);
    +
    333 }
    +
    334 valid = uIsFinite(ptr[0]) && uIsFinite(ptr[1]) && uIsFinite(ptr[2]) && uIsFinite(ptr[3]) && uIsFinite(ptr[4]) && uIsFinite(ptr[5]);
    +
    335 }
    +
    336 else if(laserScan.channels() == 7)
    +
    337 {
    +
    338 ptr[0] = *(float*)(msg_data + fieldOffsets[0]);
    +
    339 ptr[1] = *(float*)(msg_data + fieldOffsets[1]);
    +
    340 ptr[2] = *(float*)(msg_data + fieldOffsets[2]);
    +
    341 if(format == LaserScan::kXYZINormal)
    +
    342 {
    +
    343 ptr[3] = *(float*)(msg_data + fieldOffsets[7]);
    +
    344 }
    +
    345 else // XYZRGBNormal
    +
    346 {
    +
    347#if PCL_VERSION_COMPARE(>=, 1, 10, 0)
    +
    348 std::uint8_t b=*(msg_data + fieldOffsets[6]);
    +
    349 std::uint8_t g=*(msg_data + fieldOffsets[6]+1);
    +
    350 std::uint8_t r=*(msg_data + fieldOffsets[6]+2);
    +
    351#else
    +
    352 pcl::uint8_t b=*(msg_data + fieldOffsets[6]);
    +
    353 pcl::uint8_t g=*(msg_data + fieldOffsets[6]+1);
    +
    354 pcl::uint8_t r=*(msg_data + fieldOffsets[6]+2);
    +
    355#endif
    +
    356 int * ptrInt = (int*)ptr;
    +
    357 ptrInt[3] = int(b) | (int(g) << 8) | (int(r) << 16);
    +
    358 }
    +
    359 ptr[4] = *(float*)(msg_data + fieldOffsets[3]);
    +
    360 ptr[5] = *(float*)(msg_data + fieldOffsets[4]);
    +
    361 ptr[6] = *(float*)(msg_data + fieldOffsets[5]);
    +
    362 valid = uIsFinite(ptr[0]) && uIsFinite(ptr[1]) && uIsFinite(ptr[2]) && uIsFinite(ptr[4]) && uIsFinite(ptr[5]) && uIsFinite(ptr[6]);
    +
    363 }
    +
    364 else
    +
    365 {
    +
    366 UFATAL("Cannot handle as many channels (%d)!", laserScan.channels());
    +
    367 }
    +
    368
    +
    369 if(!filterNaNs || valid)
    +
    370 {
    +
    371 if(valid && transformValid)
    +
    372 {
    +
    373 cv::Point3f pt = util3d::transformPoint(cv::Point3f(ptr[0], ptr[1], is3D?ptr[3]:0), transform);
    +
    374 ptr[0] = pt.x;
    +
    375 ptr[1] = pt.y;
    +
    376 if(is3D)
    +
    377 {
    +
    378 ptr[2] = pt.z;
    +
    379 }
    +
    380 if(hasNormals)
    +
    381 {
    +
    382 pt = util3d::transformPoint(cv::Point3f(ptr[outputNormalOffset], ptr[outputNormalOffset+1], ptr[outputNormalOffset+2]), transformRot);
    +
    383 ptr[outputNormalOffset] = pt.x;
    +
    384 ptr[outputNormalOffset+1] = pt.y;
    +
    385 ptr[outputNormalOffset+2] = pt.z;
    +
    386 }
    +
    387 }
    +
    388
    +
    389 ++oi;
    +
    390 }
    +
    391 }
    +
    392 }
    +
    393 if(oi == 0)
    +
    394 {
    +
    395 return LaserScan();
    +
    396 }
    +
    397 return LaserScan(laserScan(cv::Range::all(), cv::Range(0,oi)), 0, 0, format);
    +
    398}
    +
    +
    399
    +
    400}
    +
    401}
    +
    402
    +
    403#endif /* UTIL3D_HPP_ */
    +
    UERROR
    #define UERROR(...)
    Definition ULogger.h:62
    +
    UDEBUG
    #define UDEBUG(...)
    Definition ULogger.h:59
    +
    UFATAL
    #define UFATAL(...)
    Definition ULogger.h:63
    +
    UASSERT
    #define UASSERT(condition)
    Definition ULogger.h:66
    +
    UWARN
    #define UWARN(...)
    Definition ULogger.h:61
    +
    uIsFinite
    bool uIsFinite(const T &value)
    Definition UMath.h:53
    +
    rtabmap::LaserScan
    Represents 2D or 3D laser scan data with support for multiple point data formats.
    Definition LaserScan.h:46
    +
    rtabmap::LaserScan::Format
    Format
    Enumeration of possible formats for laser scan data.
    Definition LaserScan.h:55
    + + + + + + + + + + + + +
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    +
    rtabmap::Transform::isNull
    bool isNull() const
    Checks whether the transform is null (all zeros).
    +
    rtabmap::Transform::isIdentity
    bool isIdentity() const
    Checks whether the transform is identity.
    +
    rtabmap::Transform::rotation
    Transform rotation() const
    Returns only the rotation component.
    +
    rtabmap::util3d::laserScanFromPointCloud
    LaserScan laserScanFromPointCloud(const PointCloud2T &cloud, bool filterNaNs, bool is2D, const Transform &transform)
    Convert pcl::PCLPointCloud2 to rtabmap::LaserScan with all supported fields (see rtabmap::LaserScan::...
    Definition util3d.hpp:37
    +
    rtabmap::util3d::transformPoint
    cv::Point3f RTABMAP_CORE_EXPORT transformPoint(const cv::Point3f &pt, const Transform &transform)
    Transforms cv::Point3f point type.
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/util3d__correspondences_8h_source.html b/preview/pr-1492/api/latest/util3d__correspondences_8h_source.html new file mode 100644 index 00000000..90231576 --- /dev/null +++ b/preview/pr-1492/api/latest/util3d__correspondences_8h_source.html @@ -0,0 +1,209 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/util3d_correspondences.h Source File + + + + + + + + + + + + +
    +
    + + + + + + +
    +
    RTAB-Map 0.23.10 +
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    util3d_correspondences.h
    +
    +
    +
    1/*
    +
    2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the Universite de Sherbrooke nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26*/
    +
    27
    +
    28#ifndef UTIL3D_CORRESPONDENCES_H_
    +
    29#define UTIL3D_CORRESPONDENCES_H_
    +
    30
    +
    31#include <rtabmap/core/rtabmap_core_export.h>
    +
    32
    +
    33#include <pcl/point_cloud.h>
    +
    34#include <pcl/point_types.h>
    +
    35#include <opencv2/core/version.hpp>
    +
    36#if CV_MAJOR_VERSION < 5
    +
    37#include <opencv2/features2d/features2d.hpp>
    +
    38#else
    +
    39#include <opencv2/features.hpp>
    +
    40#endif
    +
    41#include <set>
    +
    42#include <map>
    +
    43#include <list>
    +
    44
    +
    45namespace rtabmap
    +
    46{
    +
    47
    +
    48namespace util3d
    +
    49{
    +
    50
    +
    69void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::multimap<int, pcl::PointXYZ> & words1,
    +
    70 const std::multimap<int, pcl::PointXYZ> & words2,
    +
    71 pcl::PointCloud<pcl::PointXYZ> & cloud1,
    +
    72 pcl::PointCloud<pcl::PointXYZ> & cloud2);
    +
    73
    +
    95void RTABMAP_CORE_EXPORT extractXYZCorrespondencesRANSAC(const std::multimap<int, pcl::PointXYZ> & words1,
    +
    96 const std::multimap<int, pcl::PointXYZ> & words2,
    +
    97 pcl::PointCloud<pcl::PointXYZ> & cloud1,
    +
    98 pcl::PointCloud<pcl::PointXYZ> & cloud2);
    +
    99
    +
    126void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
    +
    127 const cv::Mat & depthImage1,
    +
    128 const cv::Mat & depthImage2,
    +
    129 float cx, float cy,
    +
    130 float fx, float fy,
    +
    131 float maxDepth,
    +
    132 pcl::PointCloud<pcl::PointXYZ> & cloud1,
    +
    133 pcl::PointCloud<pcl::PointXYZ> & cloud2);
    +
    134
    +
    152void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
    +
    153 const pcl::PointCloud<pcl::PointXYZ> & cloud1,
    +
    154 const pcl::PointCloud<pcl::PointXYZ> & cloud2,
    +
    155 pcl::PointCloud<pcl::PointXYZ> & inliers1,
    +
    156 pcl::PointCloud<pcl::PointXYZ> & inliers2);
    +
    169void RTABMAP_CORE_EXPORT extractXYZCorrespondences(const std::list<std::pair<cv::Point2f, cv::Point2f> > & correspondences,
    +
    170 const pcl::PointCloud<pcl::PointXYZRGB> & cloud1,
    +
    171 const pcl::PointCloud<pcl::PointXYZRGB> & cloud2,
    +
    172 pcl::PointCloud<pcl::PointXYZ> & inliers1,
    +
    173 pcl::PointCloud<pcl::PointXYZ> & inliers2);
    +
    174
    +
    186int RTABMAP_CORE_EXPORT countUniquePairs(const std::multimap<int, pcl::PointXYZ> & wordsA,
    +
    187 const std::multimap<int, pcl::PointXYZ> & wordsB);
    +
    188
    +
    207void RTABMAP_CORE_EXPORT filterMaxDepth(pcl::PointCloud<pcl::PointXYZ> & inliers1,
    +
    208 pcl::PointCloud<pcl::PointXYZ> & inliers2,
    +
    209 float maxDepth,
    +
    210 char depthAxis,
    +
    211 bool removeDuplicates);
    +
    212
    +
    229void RTABMAP_CORE_EXPORT findCorrespondences(
    +
    230 const std::multimap<int, cv::KeyPoint> & wordsA,
    +
    231 const std::multimap<int, cv::KeyPoint> & wordsB,
    +
    232 std::list<std::pair<cv::Point2f, cv::Point2f> > & pairs);
    +
    233
    +
    250void RTABMAP_CORE_EXPORT findCorrespondences(
    +
    251 const std::multimap<int, cv::Point3f> & words1,
    +
    252 const std::multimap<int, cv::Point3f> & words2,
    +
    253 std::vector<cv::Point3f> & inliers1,
    +
    254 std::vector<cv::Point3f> & inliers2,
    +
    255 float maxDepth,
    +
    256 std::vector<int> * uniqueCorrespondences = 0);
    +
    257
    +
    273void RTABMAP_CORE_EXPORT findCorrespondences(
    +
    274 const std::map<int, cv::Point3f> & words1,
    +
    275 const std::map<int, cv::Point3f> & words2,
    +
    276 std::vector<cv::Point3f> & inliers1,
    +
    277 std::vector<cv::Point3f> & inliers2,
    +
    278 float maxDepth,
    +
    279 std::vector<int> * correspondences = 0);
    +
    280
    +
    281} // namespace util3d
    +
    282} // namespace rtabmap
    +
    283
    +
    284#endif /* UTIL3D_CORRESPONDENCES_H_ */
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/util3d__features_8h_source.html b/preview/pr-1492/api/latest/util3d__features_8h_source.html new file mode 100644 index 00000000..6f0f0139 --- /dev/null +++ b/preview/pr-1492/api/latest/util3d__features_8h_source.html @@ -0,0 +1,193 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/util3d_features.h Source File + + + + + + + + + + + + +
    +
    + + + + + + +
    +
    RTAB-Map 0.23.10 +
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    util3d_features.h
    +
    +
    +
    1/*
    +
    2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the Universite de Sherbrooke nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26*/
    +
    27
    +
    28#ifndef UTIL3D_FEATURES_H_
    +
    29#define UTIL3D_FEATURES_H_
    +
    30
    +
    31#include <rtabmap/core/rtabmap_core_export.h>
    +
    32
    +
    33#include <opencv2/core/version.hpp>
    +
    34#if CV_MAJOR_VERSION < 5
    +
    35#include <opencv2/calib3d/calib3d.hpp>
    +
    36#else
    +
    37#include <opencv2/calib.hpp>
    +
    38#endif
    +
    39#include <rtabmap/core/Transform.h>
    +
    40#include <rtabmap/core/CameraModel.h>
    +
    41#include <rtabmap/core/StereoCameraModel.h>
    +
    42#include <list>
    +
    43#include <map>
    +
    44
    +
    45namespace rtabmap
    +
    46{
    +
    47
    +
    48namespace util3d
    +
    49{
    +
    50
    +
    75std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDepth(
    +
    76 const std::vector<cv::KeyPoint> & keypoints,
    +
    77 const cv::Mat & depth,
    +
    78 const std::vector<CameraModel> & cameraModels,
    +
    79 float minDepth = 0,
    +
    80 float maxDepth = 0);
    +
    86std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDepth(
    +
    87 const std::vector<cv::KeyPoint> & keypoints,
    +
    88 const cv::Mat & depth,
    +
    89 const CameraModel & cameraModel,
    +
    90 float minDepth = 0,
    +
    91 float maxDepth = 0);
    +
    92
    +
    116std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DDisparity(
    +
    117 const std::vector<cv::KeyPoint> & keypoints,
    +
    118 const cv::Mat & disparity,
    +
    119 const StereoCameraModel & stereoCameraModel,
    +
    120 float minDepth = 0,
    +
    121 float maxDepth = 0);
    +
    122
    +
    153std::vector<cv::Point3f> RTABMAP_CORE_EXPORT generateKeypoints3DStereo(
    +
    154 const std::vector<cv::Point2f> & leftCorners,
    +
    155 const std::vector<cv::Point2f> & rightCorners,
    +
    156 const StereoCameraModel & model,
    +
    157 const std::vector<unsigned char> & mask = std::vector<unsigned char>(),
    +
    158 float minDepth = 0,
    +
    159 float maxDepth = 0);
    +
    160
    +
    161std::map<int, cv::Point3f> RTABMAP_CORE_EXPORT generateWords3DMono(
    +
    162 const std::map<int, cv::KeyPoint> & kpts,
    +
    163 const std::map<int, cv::KeyPoint> & previousKpts,
    +
    164 const CameraModel & cameraModel,
    +
    165 Transform & cameraTransform,
    +
    166 float ransacReprojThreshold = 3.0f,
    +
    167 float ransacConfidence = 0.99f,
    +
    168 int varianceMedianRatio = 4,
    +
    169 const std::map<int, cv::Point3f> & refGuess3D = std::map<int, cv::Point3f>(),
    +
    170 double * variance = 0,
    +
    171 std::vector<int> * matchesOut = 0);
    +
    172
    +
    190std::multimap<int, cv::KeyPoint> RTABMAP_CORE_EXPORT aggregate(
    +
    191 const std::list<int> & wordIds,
    +
    192 const std::vector<cv::KeyPoint> & keypoints);
    +
    193
    +
    194} // namespace util3d
    +
    195} // namespace rtabmap
    +
    196
    +
    197#endif /* UTIL3D_FEATURES_H_ */
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/util3d__filtering_8h_source.html b/preview/pr-1492/api/latest/util3d__filtering_8h_source.html new file mode 100644 index 00000000..73280e48 --- /dev/null +++ b/preview/pr-1492/api/latest/util3d__filtering_8h_source.html @@ -0,0 +1,945 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/util3d_filtering.h Source File + + + + + + + + + + + + +
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    + + + + + + +
    +
    RTAB-Map 0.23.10 +
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    util3d_filtering.h
    +
    +
    +
    1/*
    +
    2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the Universite de Sherbrooke nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26*/
    +
    27
    +
    28#ifndef UTIL3D_FILTERING_H_
    +
    29#define UTIL3D_FILTERING_H_
    +
    30
    +
    31#include <rtabmap/core/rtabmap_core_export.h>
    +
    32#include <rtabmap/core/Transform.h>
    +
    33#include <pcl/point_cloud.h>
    +
    34#include <pcl/point_types.h>
    +
    35#include <pcl/pcl_base.h>
    +
    36#include <pcl/ModelCoefficients.h>
    +
    37#include <rtabmap/core/LaserScan.h>
    +
    38
    +
    39namespace rtabmap
    +
    40{
    +
    41
    +
    42namespace util3d
    +
    43{
    +
    44
    +
    77LaserScan RTABMAP_CORE_EXPORT commonFiltering(
    +
    78 const LaserScan & scan,
    +
    79 int downsamplingStep,
    +
    80 float rangeMin = 0.0f,
    +
    81 float rangeMax = 0.0f,
    +
    82 float voxelSize = 0.0f,
    +
    83 int normalK = 0,
    +
    84 float normalRadius = 0.0f,
    +
    85 float groundNormalsUp = 0.0f);
    +
    90RTABMAP_DEPRECATED LaserScan RTABMAP_CORE_EXPORT commonFiltering(
    +
    91 const LaserScan & scan,
    +
    92 int downsamplingStep,
    +
    93 float rangeMin,
    +
    94 float rangeMax,
    +
    95 float voxelSize,
    +
    96 int normalK,
    +
    97 float normalRadius,
    +
    98 bool forceGroundNormalsUp);
    +
    99
    +
    116LaserScan RTABMAP_CORE_EXPORT rangeFiltering(
    +
    117 const LaserScan & scan,
    +
    118 float rangeMin,
    +
    119 float rangeMax);
    +
    120
    +
    143pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    +
    144 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    145 const pcl::IndicesPtr & indices,
    +
    146 float rangeMin,
    +
    147 float rangeMax);
    +
    152pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    +
    153 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    154 const pcl::IndicesPtr & indices,
    +
    155 float rangeMin,
    +
    156 float rangeMax);
    +
    161pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    +
    162 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    163 const pcl::IndicesPtr & indices,
    +
    164 float rangeMin,
    +
    165 float rangeMax);
    +
    170pcl::IndicesPtr RTABMAP_CORE_EXPORT rangeFiltering(
    +
    171 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    172 const pcl::IndicesPtr & indices,
    +
    173 float rangeMin,
    +
    174 float rangeMax);
    +
    175
    +
    198void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    +
    199 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    200 const pcl::IndicesPtr & indices,
    +
    201 float range,
    +
    202 pcl::IndicesPtr & closeIndices,
    +
    203 pcl::IndicesPtr & farIndices);
    +
    208void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    +
    209 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    210 const pcl::IndicesPtr & indices,
    +
    211 float range,
    +
    212 pcl::IndicesPtr & closeIndices,
    +
    213 pcl::IndicesPtr & farIndices);
    +
    218void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    +
    219 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    220 const pcl::IndicesPtr & indices,
    +
    221 float range,
    +
    222 pcl::IndicesPtr & closeIndices,
    +
    223 pcl::IndicesPtr & farIndices);
    +
    228void RTABMAP_CORE_EXPORT rangeSplitFiltering(
    +
    229 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    230 const pcl::IndicesPtr & indices,
    +
    231 float range,
    +
    232 pcl::IndicesPtr & closeIndices,
    +
    233 pcl::IndicesPtr & farIndices);
    +
    234
    +
    259LaserScan RTABMAP_CORE_EXPORT downsample(
    +
    260 const LaserScan & cloud,
    +
    261 int step);
    +
    266pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT downsample(
    +
    267 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    268 int step);
    +
    273pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT downsample(
    +
    274 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    275 int step);
    +
    280pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT downsample(
    +
    281 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    282 int step);
    +
    287pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT downsample(
    +
    288 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    289 int step);
    +
    294pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT downsample(
    +
    295 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    296 int step);
    +
    301pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT downsample(
    +
    302 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    303 int step);
    +
    304
    +
    331pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    332 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    333 const pcl::IndicesPtr & indices,
    +
    334 float voxelSize);
    +
    339pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    340 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    341 const pcl::IndicesPtr & indices,
    +
    342 float voxelSize);
    +
    347pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    348 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    349 const pcl::IndicesPtr & indices,
    +
    350 float voxelSize);
    +
    355pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    356 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    357 const pcl::IndicesPtr & indices,
    +
    358 float voxelSize);
    +
    363pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    364 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    365 const pcl::IndicesPtr & indices,
    +
    366 float voxelSize);
    +
    371pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    372 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    373 const pcl::IndicesPtr & indices,
    +
    374 float voxelSize);
    +
    379pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    380 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    381 float voxelSize);
    +
    386pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    387 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    388 float voxelSize);
    +
    393pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    394 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    395 float voxelSize);
    +
    400pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    401 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    402 float voxelSize);
    +
    407pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    408 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    409 float voxelSize);
    +
    414pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT voxelize(
    +
    415 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    416 float voxelSize);
    +
    417
    +
    430inline pcl::PointCloud<pcl::PointXYZ>::Ptr uniformSampling(
    +
    431 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    432 float voxelSize)
    +
    433{
    +
    434 return voxelize(cloud, voxelSize);
    +
    435}
    +
    448inline pcl::PointCloud<pcl::PointXYZRGB>::Ptr uniformSampling(
    +
    449 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    450 float voxelSize)
    +
    451{
    +
    452 return voxelize(cloud, voxelSize);
    +
    453}
    +
    466inline pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr uniformSampling(
    +
    467 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    468 float voxelSize)
    +
    469{
    +
    470 return voxelize(cloud, voxelSize);
    +
    471}
    +
    472
    +
    473
    +
    492pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    +
    493 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    494 int samples);
    +
    499pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    +
    500 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    501 int samples);
    +
    506pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    +
    507 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    508 int samples);
    +
    513pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    +
    514 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    515 int samples);
    +
    520pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    +
    521 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    522 int samples);
    +
    527pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT randomSampling(
    +
    528 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    529 int samples);
    +
    530
    +
    557pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    +
    558 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    559 const pcl::IndicesPtr & indices,
    +
    560 const std::string & axis,
    +
    561 float min,
    +
    562 float max,
    +
    563 bool negative = false);
    +
    568pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    +
    569 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    570 const pcl::IndicesPtr & indices,
    +
    571 const std::string & axis,
    +
    572 float min,
    +
    573 float max,
    +
    574 bool negative = false);
    +
    579pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    +
    580 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    581 const pcl::IndicesPtr & indices,
    +
    582 const std::string & axis,
    +
    583 float min,
    +
    584 float max,
    +
    585 bool negative = false);
    +
    590pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    +
    591 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    592 const pcl::IndicesPtr & indices,
    +
    593 const std::string & axis,
    +
    594 float min,
    +
    595 float max,
    +
    596 bool negative = false);
    +
    601pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    +
    602 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    603 const pcl::IndicesPtr & indices,
    +
    604 const std::string & axis,
    +
    605 float min,
    +
    606 float max,
    +
    607 bool negative = false);
    +
    612pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(
    +
    613 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    614 const pcl::IndicesPtr & indices,
    +
    615 const std::string & axis,
    +
    616 float min,
    +
    617 float max,
    +
    618 bool negative = false);
    +
    623pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT passThrough(
    +
    624 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    625 const std::string & axis,
    +
    626 float min,
    +
    627 float max,
    +
    628 bool negative = false);
    +
    633pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT passThrough(
    +
    634 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    635 const std::string & axis,
    +
    636 float min,
    +
    637 float max,
    +
    638 bool negative = false);
    +
    643pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT passThrough(
    +
    644 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    645 const std::string & axis,
    +
    646 float min,
    +
    647 float max,
    +
    648 bool negative = false);
    +
    653pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
    +
    654 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    655 const std::string & axis,
    +
    656 float min,
    +
    657 float max,
    +
    658 bool negative = false);
    +
    663pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
    +
    664 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    665 const std::string & axis,
    +
    666 float min,
    +
    667 float max,
    +
    668 bool negative = false);
    +
    673pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT passThrough(
    +
    674 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    675 const std::string & axis,
    +
    676 float min,
    +
    677 float max,
    +
    678 bool negative = false);
    +
    679
    +
    705pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    706 const pcl::PCLPointCloud2::Ptr & cloud,
    +
    707 const pcl::IndicesPtr & indices,
    +
    708 const Eigen::Vector4f & min,
    +
    709 const Eigen::Vector4f & max,
    +
    710 const Transform & transform = Transform::getIdentity(),
    +
    711 bool negative = false);
    +
    716pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    717 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    718 const pcl::IndicesPtr & indices,
    +
    719 const Eigen::Vector4f & min,
    +
    720 const Eigen::Vector4f & max,
    +
    721 const Transform & transform = Transform::getIdentity(),
    +
    722 bool negative = false);
    +
    727pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    728 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    729 const pcl::IndicesPtr & indices,
    +
    730 const Eigen::Vector4f & min,
    +
    731 const Eigen::Vector4f & max,
    +
    732 const Transform & transform = Transform::getIdentity(),
    +
    733 bool negative = false);
    +
    738pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    739 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    740 const pcl::IndicesPtr & indices,
    +
    741 const Eigen::Vector4f & min,
    +
    742 const Eigen::Vector4f & max,
    +
    743 const Transform & transform = Transform::getIdentity(),
    +
    744 bool negative = false);
    +
    749pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    750 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    751 const pcl::IndicesPtr & indices,
    +
    752 const Eigen::Vector4f & min,
    +
    753 const Eigen::Vector4f & max,
    +
    754 const Transform & transform = Transform::getIdentity(),
    +
    755 bool negative = false);
    +
    760pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    761 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    762 const pcl::IndicesPtr & indices,
    +
    763 const Eigen::Vector4f & min,
    +
    764 const Eigen::Vector4f & max,
    +
    765 const Transform & transform = Transform::getIdentity(),
    +
    766 bool negative = false);
    +
    771pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(
    +
    772 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    773 const pcl::IndicesPtr & indices,
    +
    774 const Eigen::Vector4f & min,
    +
    775 const Eigen::Vector4f & max,
    +
    776 const Transform & transform = Transform::getIdentity(),
    +
    777 bool negative = false);
    +
    782pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT cropBox(
    +
    783 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    784 const Eigen::Vector4f & min,
    +
    785 const Eigen::Vector4f & max,
    +
    786 const Transform & transform = Transform::getIdentity(),
    +
    787 bool negative = false);
    +
    792pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
    +
    793 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    794 const Eigen::Vector4f & min,
    +
    795 const Eigen::Vector4f & max,
    +
    796 const Transform & transform = Transform::getIdentity(),
    +
    797 bool negative = false);
    +
    802pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT cropBox(
    +
    803 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    804 const Eigen::Vector4f & min,
    +
    805 const Eigen::Vector4f & max,
    +
    806 const Transform & transform = Transform::getIdentity(),
    +
    807 bool negative = false);
    +
    812pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT cropBox(
    +
    813 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    814 const Eigen::Vector4f & min,
    +
    815 const Eigen::Vector4f & max,
    +
    816 const Transform & transform = Transform::getIdentity(),
    +
    817 bool negative = false);
    +
    822pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
    +
    823 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    824 const Eigen::Vector4f & min,
    +
    825 const Eigen::Vector4f & max,
    +
    826 const Transform & transform = Transform::getIdentity(),
    +
    827 bool negative = false);
    +
    832pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT cropBox(
    +
    833 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    834 const Eigen::Vector4f & min,
    +
    835 const Eigen::Vector4f & max,
    +
    836 const Transform & transform = Transform::getIdentity(),
    +
    837 bool negative = false);
    +
    838
    +
    873pcl::IndicesPtr RTABMAP_CORE_EXPORT frustumFiltering(
    +
    874 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    875 const pcl::IndicesPtr & indices,
    +
    876 const Transform & cameraPose,
    +
    877 float horizontalFOV,
    +
    878 float verticalFOV,
    +
    879 float nearClipPlaneDistance,
    +
    880 float farClipPlaneDistance,
    +
    881 bool negative = false);
    +
    886pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT frustumFiltering(
    +
    887 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    888 const Transform & cameraPose,
    +
    889 float horizontalFOV,
    +
    890 float verticalFOV,
    +
    891 float nearClipPlaneDistance,
    +
    892 float farClipPlaneDistance,
    +
    893 bool negative = false);
    +
    898pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT frustumFiltering(
    +
    899 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    900 const Transform & cameraPose,
    +
    901 float horizontalFOV,
    +
    902 float verticalFOV,
    +
    903 float nearClipPlaneDistance,
    +
    904 float farClipPlaneDistance,
    +
    905 bool negative = false);
    +
    906
    +
    926pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    +
    927 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud);
    +
    932pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    +
    933 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud);
    +
    938pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    +
    939 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud);
    +
    944pcl::PCLPointCloud2::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(
    +
    945 const pcl::PCLPointCloud2::Ptr & cloud);
    +
    946
    +
    947
    +
    964pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
    +
    965 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud);
    +
    970pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
    +
    971 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud);
    +
    976pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(
    +
    977 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud);
    +
    978
    +
    1005pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    1006 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1007 float radiusSearch,
    +
    1008 int minNeighborsInRadius);
    +
    1013pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    1014 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1015 float radiusSearch,
    +
    1016 int minNeighborsInRadius);
    +
    1021pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    1022 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1023 float radiusSearch,
    +
    1024 int minNeighborsInRadius);
    +
    1029pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    1030 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1031 float radiusSearch,
    +
    1032 int minNeighborsInRadius);
    +
    1037pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    1038 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1039 float radiusSearch,
    +
    1040 int minNeighborsInRadius);
    +
    1045pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    1046 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1047 float radiusSearch,
    +
    1048 int minNeighborsInRadius);
    +
    1053pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    1054 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1055 const pcl::IndicesPtr & indices,
    +
    1056 float radiusSearch,
    +
    1057 int minNeighborsInRadius);
    +
    1062pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    1063 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1064 const pcl::IndicesPtr & indices,
    +
    1065 float radiusSearch,
    +
    1066 int minNeighborsInRadius);
    +
    1071pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    1072 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1073 const pcl::IndicesPtr & indices,
    +
    1074 float radiusSearch,
    +
    1075 int minNeighborsInRadius);
    +
    1080pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    1081 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1082 const pcl::IndicesPtr & indices,
    +
    1083 float radiusSearch,
    +
    1084 int minNeighborsInRadius);
    +
    1089pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    1090 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1091 const pcl::IndicesPtr & indices,
    +
    1092 float radiusSearch,
    +
    1093 int minNeighborsInRadius);
    +
    1098pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(
    +
    1099 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1100 const pcl::IndicesPtr & indices,
    +
    1101 float radiusSearch,
    +
    1102 int minNeighborsInRadius);
    +
    1103
    +
    1144pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1145 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1146 const std::vector<int> & viewpointIndices,
    +
    1147 const std::map<int, Transform> & viewpoints,
    +
    1148 float factor=0.01f,
    +
    1149 float neighborScale=2.0f);
    +
    1154pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1155 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1156 const std::vector<int> & viewpointIndices,
    +
    1157 const std::map<int, Transform> & viewpoints,
    +
    1158 float factor=0.01f,
    +
    1159 float neighborScale=2.0f);
    +
    1164pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1165 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1166 const std::vector<int> & viewpointIndices,
    +
    1167 const std::map<int, Transform> & viewpoints,
    +
    1168 float factor=0.01f,
    +
    1169 float neighborScale=2.0f);
    +
    1174pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1175 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1176 const std::vector<int> & viewpointIndices,
    +
    1177 const std::map<int, Transform> & viewpoints,
    +
    1178 float factor=0.01f,
    +
    1179 float neighborScale=2.0f);
    +
    1184pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1185 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1186 const std::vector<int> & viewpointIndices,
    +
    1187 const std::map<int, Transform> & viewpoints,
    +
    1188 float factor=0.01f,
    +
    1189 float neighborScale=2.0f);
    +
    1194pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1195 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1196 const std::vector<int> & viewpointIndices,
    +
    1197 const std::map<int, Transform> & viewpoints,
    +
    1198 float factor=0.01f,
    +
    1199 float neighborScale=2.0f);
    +
    1200
    +
    1205pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1206 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1207 const pcl::IndicesPtr & indices,
    +
    1208 const std::vector<int> & viewpointIndices,
    +
    1209 const std::map<int, Transform> & viewpoints,
    +
    1210 float factor=0.01f,
    +
    1211 float neighborScale=2.0f);
    +
    1216pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1217 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1218 const pcl::IndicesPtr & indices,
    +
    1219 const std::vector<int> & viewpointIndices,
    +
    1220 const std::map<int, Transform> & viewpoints,
    +
    1221 float factor=0.01f,
    +
    1222 float neighborScale=2.0f);
    +
    1227pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1228 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1229 const pcl::IndicesPtr & indices,
    +
    1230 const std::vector<int> & viewpointIndices,
    +
    1231 const std::map<int, Transform> & viewpoints,
    +
    1232 float factor=0.01f,
    +
    1233 float neighborScale=2.0f);
    +
    1238pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1239 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1240 const pcl::IndicesPtr & indices,
    +
    1241 const std::vector<int> & viewpointIndices,
    +
    1242 const std::map<int, Transform> & viewpoints,
    +
    1243 float factor=0.01f,
    +
    1244 float neighborScale=2.0f);
    +
    1249pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1250 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1251 const pcl::IndicesPtr & indices,
    +
    1252 const std::vector<int> & viewpointIndices,
    +
    1253 const std::map<int, Transform> & viewpoints,
    +
    1254 float factor=0.01f,
    +
    1255 float neighborScale=2.0f);
    +
    1260pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(
    +
    1261 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1262 const pcl::IndicesPtr & indices,
    +
    1263 const std::vector<int> & viewpointIndices,
    +
    1264 const std::map<int, Transform> & viewpoints,
    +
    1265 float factor=0.01f,
    +
    1266 float neighborScale=2.0f);
    +
    1267
    +
    1292pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1293 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1294 const pcl::IndicesPtr & indices,
    +
    1295 const pcl::PointCloud<pcl::PointXYZ>::Ptr & subtractCloud,
    +
    1296 const pcl::IndicesPtr & subtractIndices,
    +
    1297 float radiusSearch,
    +
    1298 int minNeighborsInRadius = 1);
    +
    1303pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1304 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1305 const pcl::IndicesPtr & indices,
    +
    1306 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    +
    1307 const pcl::IndicesPtr & subtractIndices,
    +
    1308 float radiusSearch,
    +
    1309 int minNeighborsInRadius = 1);
    +
    1314pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1315 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1316 const pcl::IndicesPtr & indices,
    +
    1317 const pcl::PointCloud<pcl::PointNormal>::Ptr & subtractCloud,
    +
    1318 const pcl::IndicesPtr & subtractIndices,
    +
    1319 float radiusSearch,
    +
    1320 float maxAngle = M_PI/4.0f,
    +
    1321 int minNeighborsInRadius = 1);
    +
    1326pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1327 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1328 const pcl::IndicesPtr & indices,
    +
    1329 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & subtractCloud,
    +
    1330 const pcl::IndicesPtr & subtractIndices,
    +
    1331 float radiusSearch,
    +
    1332 float maxAngle = M_PI/4.0f,
    +
    1333 int minNeighborsInRadius = 1);
    +
    1338pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1339 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1340 const pcl::IndicesPtr & indices,
    +
    1341 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    +
    1342 const pcl::IndicesPtr & subtractIndices,
    +
    1343 float radiusSearch,
    +
    1344 float maxAngle = M_PI/4.0f,
    +
    1345 int minNeighborsInRadius = 1);
    +
    1350pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1351 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1352 const pcl::PointCloud<pcl::PointXYZ>::Ptr & subtractCloud,
    +
    1353 float radiusSearch,
    +
    1354 int minNeighborsInRadius = 1);
    +
    1359pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1360 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1361 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    +
    1362 float radiusSearch,
    +
    1363 int minNeighborsInRadius = 1);
    +
    1368pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1369 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1370 const pcl::PointCloud<pcl::PointNormal>::Ptr & subtractCloud,
    +
    1371 float radiusSearch,
    +
    1372 float maxAngle = M_PI/4.0f,
    +
    1373 int minNeighborsInRadius = 1);
    +
    1378pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1379 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1380 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & subtractCloud,
    +
    1381 float radiusSearch,
    +
    1382 float maxAngle = M_PI/4.0f,
    +
    1383 int minNeighborsInRadius = 1);
    +
    1388pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT subtractFiltering(
    +
    1389 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1390 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    +
    1391 float radiusSearch,
    +
    1392 float maxAngle = M_PI/4.0f,
    +
    1393 int minNeighborsInRadius = 1);
    +
    1394
    +
    1416pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
    +
    1417 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1418 const pcl::IndicesPtr & indices,
    +
    1419 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & subtractCloud,
    +
    1420 const pcl::IndicesPtr & subtractIndices,
    +
    1421 float radiusSearchRatio = 0.01,
    +
    1422 int minNeighborsInRadius = 1,
    +
    1423 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
    +
    1424
    +
    1452pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractAdaptiveFiltering(
    +
    1453 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1454 const pcl::IndicesPtr & indices,
    +
    1455 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & subtractCloud,
    +
    1456 const pcl::IndicesPtr & subtractIndices,
    +
    1457 float radiusSearchRatio = 0.01,
    +
    1458 float maxAngle = M_PI/4.0f,
    +
    1459 int minNeighborsInRadius = 1,
    +
    1460 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
    +
    1461
    +
    1462
    +
    1495pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1496 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1497 float angleMax,
    +
    1498 const Eigen::Vector4f & normal,
    +
    1499 int normalKSearch,
    +
    1500 const Eigen::Vector4f & viewpoint,
    +
    1501 float groundNormalsUp = 0.0f);
    +
    1506pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1507 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1508 float angleMax,
    +
    1509 const Eigen::Vector4f & normal,
    +
    1510 int normalKSearch,
    +
    1511 const Eigen::Vector4f & viewpoint,
    +
    1512 float groundNormalsUp = 0.0f);
    +
    1517pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1518 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1519 const pcl::IndicesPtr & indices,
    +
    1520 float angleMax,
    +
    1521 const Eigen::Vector4f & normal,
    +
    1522 int normalKSearch,
    +
    1523 const Eigen::Vector4f & viewpoint,
    +
    1524 float groundNormalsUp = 0.0f);
    +
    1529pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1530 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1531 const pcl::IndicesPtr & indices,
    +
    1532 float angleMax,
    +
    1533 const Eigen::Vector4f & normal,
    +
    1534 int normalKSearch,
    +
    1535 const Eigen::Vector4f & viewpoint,
    +
    1536 float groundNormalsUp = 0.0f);
    +
    1541pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1542 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1543 const pcl::IndicesPtr & indices,
    +
    1544 float angleMax,
    +
    1545 const Eigen::Vector4f & normal,
    +
    1546 int normalKSearch,
    +
    1547 const Eigen::Vector4f & viewpoint,
    +
    1548 float groundNormalsUp = 0.0f);
    +
    1553pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1554 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1555 const pcl::IndicesPtr & indices,
    +
    1556 float angleMax,
    +
    1557 const Eigen::Vector4f & normal,
    +
    1558 int normalKSearch,
    +
    1559 const Eigen::Vector4f & viewpoint,
    +
    1560 float groundNormalsUp = 0.0f);
    +
    1565pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1566 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1567 const pcl::IndicesPtr & indices,
    +
    1568 float angleMax,
    +
    1569 const Eigen::Vector4f & normal,
    +
    1570 int normalKSearch,
    +
    1571 const Eigen::Vector4f & viewpoint,
    +
    1572 float groundNormalsUp = 0.0f);
    +
    1577pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(
    +
    1578 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1579 const pcl::IndicesPtr & indices,
    +
    1580 float angleMax,
    +
    1581 const Eigen::Vector4f & normal,
    +
    1582 int normalKSearch,
    +
    1583 const Eigen::Vector4f & viewpoint,
    +
    1584 float groundNormalsUp = 0.0f);
    +
    1585
    +
    1613std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1614 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1615 float clusterTolerance,
    +
    1616 int minClusterSize,
    +
    1617 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1618 int * biggestClusterIndex = 0);
    +
    1623std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1624 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1625 float clusterTolerance,
    +
    1626 int minClusterSize,
    +
    1627 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1628 int * biggestClusterIndex = 0);
    +
    1633std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1634 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1635 const pcl::IndicesPtr & indices,
    +
    1636 float clusterTolerance,
    +
    1637 int minClusterSize,
    +
    1638 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1639 int * biggestClusterIndex = 0);
    +
    1644std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1645 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1646 const pcl::IndicesPtr & indices,
    +
    1647 float clusterTolerance,
    +
    1648 int minClusterSize,
    +
    1649 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1650 int * biggestClusterIndex = 0);
    +
    1655std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1656 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1657 const pcl::IndicesPtr & indices,
    +
    1658 float clusterTolerance,
    +
    1659 int minClusterSize,
    +
    1660 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1661 int * biggestClusterIndex = 0);
    +
    1666std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1667 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1668 const pcl::IndicesPtr & indices,
    +
    1669 float clusterTolerance,
    +
    1670 int minClusterSize,
    +
    1671 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1672 int * biggestClusterIndex = 0);
    +
    1677std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1678 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1679 const pcl::IndicesPtr & indices,
    +
    1680 float clusterTolerance,
    +
    1681 int minClusterSize,
    +
    1682 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1683 int * biggestClusterIndex = 0);
    +
    1688std::vector<pcl::IndicesPtr> RTABMAP_CORE_EXPORT extractClusters(
    +
    1689 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1690 const pcl::IndicesPtr & indices,
    +
    1691 float clusterTolerance,
    +
    1692 int minClusterSize,
    +
    1693 int maxClusterSize = std::numeric_limits<int>::max(),
    +
    1694 int * biggestClusterIndex = 0);
    +
    1695
    +
    1722pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    +
    1723 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1724 const pcl::IndicesPtr & indices,
    +
    1725 bool negative);
    +
    1730pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    +
    1731 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    1732 const pcl::IndicesPtr & indices,
    +
    1733 bool negative);
    +
    1738pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    +
    1739 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1740 const pcl::IndicesPtr & indices,
    +
    1741 bool negative);
    +
    1746pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    +
    1747 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1748 const pcl::IndicesPtr & indices,
    +
    1749 bool negative);
    +
    1754pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    +
    1755 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1756 const pcl::IndicesPtr & indices,
    +
    1757 bool negative);
    +
    1762pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(
    +
    1763 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1764 const pcl::IndicesPtr & indices,
    +
    1765 bool negative);
    +
    1770pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    +
    1771 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1772 const pcl::IndicesPtr & indices,
    +
    1773 bool negative,
    +
    1774 bool keepOrganized);
    +
    1779pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    +
    1780 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    1781 const pcl::IndicesPtr & indices,
    +
    1782 bool negative,
    +
    1783 bool keepOrganized);
    +
    1788pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    +
    1789 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    1790 const pcl::IndicesPtr & indices,
    +
    1791 bool negative,
    +
    1792 bool keepOrganized);
    +
    1797pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    +
    1798 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    1799 const pcl::IndicesPtr & indices,
    +
    1800 bool negative,
    +
    1801 bool keepOrganized);
    +
    1806pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT extractIndices(
    +
    1807 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    1808 const pcl::IndicesPtr & indices,
    +
    1809 bool negative,
    +
    1810 bool keepOrganized);
    +
    1811
    +
    1832pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(
    +
    1833 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1834 const pcl::IndicesPtr & indices,
    +
    1835 float distanceThreshold,
    +
    1836 int maxIterations = 100,
    +
    1837 pcl::ModelCoefficients * coefficientsOut = 0);
    +
    1838pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(
    +
    1839 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    1840 float distanceThreshold,
    +
    1841 int maxIterations = 100,
    +
    1842 pcl::ModelCoefficients * coefficientsOut = 0);
    +
    1843
    +
    1844} // namespace util3d
    +
    1845} // namespace rtabmap
    +
    1846
    +
    1847#endif /* UTIL3D_FILTERING_H_ */
    +
    rtabmap::LaserScan
    Represents 2D or 3D laser scan data with support for multiple point data formats.
    Definition LaserScan.h:46
    +
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    +
    rtabmap::Transform::getIdentity
    static Transform getIdentity()
    Returns identity transform.
    +
    rtabmap::util3d::cropBox
    pcl::IndicesPtr RTABMAP_CORE_EXPORT cropBox(const pcl::PCLPointCloud2::Ptr &cloud, const pcl::IndicesPtr &indices, const Eigen::Vector4f &min, const Eigen::Vector4f &max, const Transform &transform=Transform::getIdentity(), bool negative=false)
    Performs crop box filtering on a point cloud of type pcl::PCLPointCloud2 and returns filtered indices...
    +
    rtabmap::util3d::extractClusters
    std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT extractClusters(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
    Extract clusters from point cloud of type pcl::PointXYZ.
    +
    rtabmap::util3d::extractIndices
    pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
    Extract indices from point cloud of type pcl::PointXYZ.
    +
    rtabmap::util3d::frustumFiltering
    pcl::IndicesPtr RTABMAP_CORE_EXPORT frustumFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const Transform &cameraPose, float horizontalFOV, float verticalFOV, float nearClipPlaneDistance, float farClipPlaneDistance, bool negative=false)
    Performs frustum filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.
    +
    rtabmap::util3d::passThrough
    pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
    Performs pass-through filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.
    +
    rtabmap::util3d::downsample
    LaserScan RTABMAP_CORE_EXPORT downsample(const LaserScan &cloud, int step)
    Downsamples a LaserScan.
    +
    rtabmap::util3d::rangeSplitFiltering
    void RTABMAP_CORE_EXPORT rangeSplitFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float range, pcl::IndicesPtr &closeIndices, pcl::IndicesPtr &farIndices)
    Splits a point cloud of type pcl::PointXYZ.
    +
    rtabmap::util3d::normalFiltering
    pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
    Point normal filtering for point cloud of type pcl::PointXYZ.
    +
    rtabmap::util3d::proportionalRadiusFiltering
    pcl::IndicesPtr RTABMAP_CORE_EXPORT proportionalRadiusFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const std::vector< int > &viewpointIndices, const std::map< int, Transform > &viewpoints, float factor=0.01f, float neighborScale=2.0f)
    Proportional radius filtering for point cloud of type pcl::PointXYZ.
    +
    rtabmap::util3d::radiusFiltering
    pcl::IndicesPtr RTABMAP_CORE_EXPORT radiusFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float radiusSearch, int minNeighborsInRadius)
    Radius filtering for point cloud of type pcl::PointXYZ.
    +
    rtabmap::util3d::randomSampling
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT randomSampling(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, int samples)
    Performs random sampling on a point cloud of type pcl::PointXYZ.
    +
    rtabmap::util3d::removeNaNFromPointCloud
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT removeNaNFromPointCloud(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud)
    Remove NaN points from a point cloud of type pcl::PointXYZ.
    +
    rtabmap::util3d::removeNaNNormalsFromPointCloud
    pcl::PointCloud< pcl::PointNormal >::Ptr RTABMAP_CORE_EXPORT removeNaNNormalsFromPointCloud(const pcl::PointCloud< pcl::PointNormal >::Ptr &cloud)
    Removes points with NaN normal values from a point cloud of type pcl::PointNormal.
    +
    rtabmap::util3d::subtractFiltering
    pcl::IndicesPtr RTABMAP_CORE_EXPORT subtractFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const pcl::PointCloud< pcl::PointXYZ >::Ptr &subtractCloud, const pcl::IndicesPtr &subtractIndices, float radiusSearch, int minNeighborsInRadius=1)
    Subtract filtering for point cloud of type pcl::PointXYZ, returning filtered indices.
    +
    rtabmap::util3d::voxelize
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
    Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/util3d__mapping_8h_source.html b/preview/pr-1492/api/latest/util3d__mapping_8h_source.html new file mode 100644 index 00000000..b9a3c281 --- /dev/null +++ b/preview/pr-1492/api/latest/util3d__mapping_8h_source.html @@ -0,0 +1,302 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/util3d_mapping.h Source File + + + + + + + + + + + + +
    +
    + + + + + + +
    +
    RTAB-Map 0.23.10 +
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    util3d_mapping.h
    +
    +
    +
    1/*
    +
    2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the Universite de Sherbrooke nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26*/
    +
    27
    +
    28#ifndef UTIL3D_MAPPING_H_
    +
    29#define UTIL3D_MAPPING_H_
    +
    30
    +
    31#include "rtabmap/core/rtabmap_core_export.h"
    +
    32
    +
    33#include <opencv2/core/core.hpp>
    +
    34#include <map>
    +
    35#include <rtabmap/core/Transform.h>
    +
    36#include <pcl/pcl_base.h>
    +
    37#include <pcl/point_cloud.h>
    +
    38#include <pcl/point_types.h>
    +
    39
    +
    40namespace rtabmap
    +
    41{
    +
    42
    +
    43namespace util3d
    +
    44{
    +
    45
    +
    46// Use interface with \"viewpoint\" parameter to make sure the ray tracing origin is from the sensor and not the base.
    +
    47RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(
    +
    48 const cv::Mat & scan, // in /base_link frame
    +
    49 cv::Mat & empty,
    +
    50 cv::Mat & occupied,
    +
    51 float cellSize,
    +
    52 bool unknownSpaceFilled = false,
    +
    53 float scanMaxRange = 0.0f);
    +
    54
    +
    55// Use interface with scanHit/scanNoHit parameters: scanNoHit set to null matrix has the same functionality than this method.
    +
    56RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(
    +
    57 const cv::Mat & scan, // in /base_link frame
    +
    58 const cv::Point3f & viewpoint, // /base_link -> /base_scan
    +
    59 cv::Mat & empty,
    +
    60 cv::Mat & occupied,
    +
    61 float cellSize,
    +
    62 bool unknownSpaceFilled = false,
    +
    63 float scanMaxRange = 0.0f);
    +
    64
    +
    92void RTABMAP_CORE_EXPORT occupancy2DFromLaserScan(
    +
    93 const cv::Mat & scanHit, // in /base_link frame
    +
    94 const cv::Mat & scanNoHit, // in /base_link frame
    +
    95 const cv::Point3f & viewpoint, // /base_link -> /base_scan
    +
    96 cv::Mat & empty,
    +
    97 cv::Mat & occupied,
    +
    98 float cellSize,
    +
    99 bool unknownSpaceFilled = false,
    +
    100 float scanMaxRange = 0.0f); // would be set if unknownSpaceFilled=true
    +
    101
    +
    138cv::Mat RTABMAP_CORE_EXPORT create2DMapFromOccupancyLocalMaps(
    +
    139 const std::map<int, Transform> & poses,
    +
    140 const std::map<int, std::pair<cv::Mat, cv::Mat> > & occupancy,
    +
    141 float cellSize,
    +
    142 float & xMin,
    +
    143 float & yMin,
    +
    144 float minMapSize = 0.0f,
    +
    145 bool erode = false,
    +
    146 float footprintRadius = 0.0f);
    +
    147
    +
    148// Use interface with \"viewpoints\" parameter to make sure the ray tracing origin is from the sensor and not the base.
    +
    149RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map<int, Transform> & poses,
    +
    150 const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, // in /base_link frame
    +
    151 float cellSize,
    +
    152 bool unknownSpaceFilled,
    +
    153 float & xMin,
    +
    154 float & yMin,
    +
    155 float minMapSize = 0.0f,
    +
    156 float scanMaxRange = 0.0f);
    +
    157
    +
    158// Use interface with cv::Mat scans.
    +
    159RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map<int, Transform> & poses,
    +
    160 const std::map<int, pcl::PointCloud<pcl::PointXYZ>::Ptr > & scans, // in /base_link frame
    +
    161 const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
    +
    162 float cellSize,
    +
    163 bool unknownSpaceFilled,
    +
    164 float & xMin,
    +
    165 float & yMin,
    +
    166 float minMapSize = 0.0f,
    +
    167 float scanMaxRange = 0.0f);
    +
    168
    +
    204cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map<int, Transform> & poses,
    +
    205 const std::map<int, std::pair<cv::Mat, cv::Mat> > & scans, // <id, <hit, no hit> >, in /base_link frame
    +
    206 const std::map<int, cv::Point3f > & viewpoints, // /base_link -> /base_scan
    +
    207 float cellSize,
    +
    208 bool unknownSpaceFilled,
    +
    209 float & xMin,
    +
    210 float & yMin,
    +
    211 float minMapSize = 0.0f,
    +
    212 float scanMaxRange = 0.0f);
    +
    213
    +
    235void RTABMAP_CORE_EXPORT rayTrace(const cv::Point2i & start,
    +
    236 const cv::Point2i & end,
    +
    237 cv::Mat & grid,
    +
    238 bool stopOnObstacle);
    +
    239
    +
    263cv::Mat RTABMAP_CORE_EXPORT convertMap2Image8U(const cv::Mat & map8S, bool pgmFormat = false);
    +
    264
    +
    293cv::Mat RTABMAP_CORE_EXPORT convertImage8U2Map(const cv::Mat & map8U, bool pgmFormat = false);
    +
    294
    +
    312cv::Mat RTABMAP_CORE_EXPORT erodeMap(const cv::Mat & map);
    +
    313
    +
    314// templated methods
    +
    315
    +
    327template<typename PointT>
    +
    328typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
    +
    329 const typename pcl::PointCloud<PointT> & cloud);
    +
    330
    +
    331
    +
    362template<typename PointT>
    +
    363void segmentObstaclesFromGround(
    +
    364 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    +
    365 const pcl::IndicesPtr & indices,
    +
    366 pcl::IndicesPtr & ground,
    +
    367 pcl::IndicesPtr & obstacles,
    +
    368 int normalKSearch,
    +
    369 float groundNormalAngle,
    +
    370 float clusterRadius,
    +
    371 int minClusterSize,
    +
    372 bool segmentFlatObstacles = false,
    +
    373 float maxGroundHeight = 0.0f,
    +
    374 pcl::IndicesPtr * flatObstacles = 0,
    +
    375 const Eigen::Vector4f & viewPoint = Eigen::Vector4f(0,0,100,0),
    +
    376 float groundNormalsUp = 0);
    +
    381template<typename PointT>
    +
    382void segmentObstaclesFromGround(
    +
    383 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    +
    384 pcl::IndicesPtr & ground,
    +
    385 pcl::IndicesPtr & obstacles,
    +
    386 int normalKSearch,
    +
    387 float groundNormalAngle,
    +
    388 float clusterRadius,
    +
    389 int minClusterSize,
    +
    390 bool segmentFlatObstacles = false,
    +
    391 float maxGroundHeight = 0.0f,
    +
    392 pcl::IndicesPtr * flatObstacles = 0,
    +
    393 const Eigen::Vector4f & viewPoint = Eigen::Vector4f(0,0,100,0),
    +
    394 float groundNormalsUp = 0);
    +
    395
    +
    412template<typename PointT>
    +
    413void occupancy2DFromGroundObstacles(
    +
    414 const typename pcl::PointCloud<PointT>::Ptr & groundCloud,
    +
    415 const typename pcl::PointCloud<PointT>::Ptr & obstaclesCloud,
    +
    416 cv::Mat & ground,
    +
    417 cv::Mat & obstacles,
    +
    418 float cellSize);
    +
    423template<typename PointT>
    +
    424void occupancy2DFromGroundObstacles(
    +
    425 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    +
    426 const pcl::IndicesPtr & groundIndices,
    +
    427 const pcl::IndicesPtr & obstaclesIndices,
    +
    428 cv::Mat & ground,
    +
    429 cv::Mat & obstacles,
    +
    430 float cellSize);
    +
    431
    +
    458template<typename PointT>
    +
    459void occupancy2DFromCloud3D(
    +
    460 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    +
    461 const pcl::IndicesPtr & indices,
    +
    462 cv::Mat & ground,
    +
    463 cv::Mat & obstacles,
    +
    464 float cellSize = 0.05f,
    +
    465 float groundNormalAngle = M_PI_4,
    +
    466 int minClusterSize = 20,
    +
    467 bool segmentFlatObstacles = false,
    +
    468 float maxGroundHeight = 0.0f);
    +
    473template<typename PointT>
    +
    474void occupancy2DFromCloud3D(
    +
    475 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    +
    476 cv::Mat & ground,
    +
    477 cv::Mat & obstacles,
    +
    478 float cellSize = 0.05f,
    +
    479 float groundNormalAngle = M_PI_4,
    +
    480 int minClusterSize = 20,
    +
    481 bool segmentFlatObstacles = false,
    +
    482 float maxGroundHeight = 0.0f);
    +
    483
    +
    484} // namespace util3d
    +
    485} // namespace rtabmap
    +
    486
    +
    487#include "rtabmap/core/impl/util3d_mapping.hpp"
    +
    488
    +
    489#endif /* UTIL3D_MAPPING_H_ */
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/util3d__mapping_8hpp_source.html b/preview/pr-1492/api/latest/util3d__mapping_8hpp_source.html new file mode 100644 index 00000000..6927e836 --- /dev/null +++ b/preview/pr-1492/api/latest/util3d__mapping_8hpp_source.html @@ -0,0 +1,465 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/impl/util3d_mapping.hpp Source File + + + + + + + + + + + + +
    +
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    RTAB-Map 0.23.10 +
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    util3d_mapping.hpp
    +
    +
    +
    1/*
    +
    2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the Universite de Sherbrooke nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26*/
    +
    27
    +
    28#ifndef UTIL3D_MAPPING_HPP_
    +
    29#define UTIL3D_MAPPING_HPP_
    +
    30
    +
    31#include <rtabmap/core/util3d_filtering.h>
    +
    32#include <rtabmap/core/util3d.h>
    +
    33#include <pcl/common/common.h>
    +
    34#include <pcl/common/centroid.h>
    +
    35#include <pcl/common/io.h>
    +
    36
    +
    37namespace rtabmap{
    +
    38namespace util3d{
    +
    39
    +
    40template<typename PointT>
    +
    41typename pcl::PointCloud<PointT>::Ptr projectCloudOnXYPlane(
    +
    42 const typename pcl::PointCloud<PointT> & cloud)
    +
    43{
    +
    44 typename pcl::PointCloud<PointT>::Ptr output(new pcl::PointCloud<PointT>);
    +
    45 *output = cloud;
    +
    46 for(unsigned int i=0; i<output->size(); ++i)
    +
    47 {
    +
    48 output->at(i).z = 0;
    +
    49 }
    +
    50 return output;
    +
    51}
    +
    52
    +
    53template<typename PointT>
    +
    54void segmentObstaclesFromGround(
    +
    55 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    +
    56 const typename pcl::IndicesPtr & indices,
    +
    57 pcl::IndicesPtr & ground,
    +
    58 pcl::IndicesPtr & obstacles,
    +
    59 int normalKSearch,
    +
    60 float groundNormalAngle,
    +
    61 float clusterRadius,
    +
    62 int minClusterSize,
    +
    63 bool segmentFlatObstacles,
    +
    64 float maxGroundHeight,
    +
    65 pcl::IndicesPtr * flatObstacles,
    +
    66 const Eigen::Vector4f & viewPoint,
    +
    67 float groundNormalsUp)
    +
    68{
    +
    69 ground.reset(new std::vector<int>);
    +
    70 obstacles.reset(new std::vector<int>);
    +
    71 if(flatObstacles)
    +
    72 {
    +
    73 flatObstacles->reset(new std::vector<int>);
    +
    74 }
    +
    75
    +
    76 if(cloud->size())
    +
    77 {
    +
    78 // Find the ground
    +
    79 pcl::IndicesPtr flatSurfaces = normalFiltering(
    +
    80 cloud,
    +
    81 indices,
    +
    82 groundNormalAngle,
    +
    83 Eigen::Vector4f(0,0,1,0),
    +
    84 normalKSearch,
    +
    85 viewPoint,
    +
    86 groundNormalsUp);
    +
    87
    +
    88 if(flatSurfaces->size() &&
    +
    89 (segmentFlatObstacles || maxGroundHeight != 0.0f || minClusterSize>1))
    +
    90 {
    +
    91 int biggestFlatSurfaceIndex;
    +
    92 std::vector<pcl::IndicesPtr> clusteredFlatSurfaces = extractClusters(
    +
    93 cloud,
    +
    94 flatSurfaces,
    +
    95 clusterRadius,
    +
    96 minClusterSize,
    +
    97 std::numeric_limits<int>::max(),
    +
    98 &biggestFlatSurfaceIndex);
    +
    99
    +
    100 // cluster all surfaces for which the centroid is in the Z-range of the bigger surface
    +
    101 if(clusteredFlatSurfaces.size())
    +
    102 {
    +
    103 Eigen::Vector4f biggestSurfaceMin,biggestSurfaceMax;
    +
    104 if(maxGroundHeight != 0.0f)
    +
    105 {
    +
    106 // Search for biggest surface under max ground height
    +
    107 size_t points = 0;
    +
    108 biggestFlatSurfaceIndex = -1;
    +
    109 for(size_t i=0;i<clusteredFlatSurfaces.size();++i)
    +
    110 {
    +
    111 Eigen::Vector4f min,max;
    +
    112 pcl::getMinMax3D(*cloud, *clusteredFlatSurfaces.at(i), min, max);
    +
    113 if(min[2]<maxGroundHeight && clusteredFlatSurfaces.at(i)->size() > points)
    +
    114 {
    +
    115 points = clusteredFlatSurfaces.at(i)->size();
    +
    116 biggestFlatSurfaceIndex = i;
    +
    117 biggestSurfaceMin = min;
    +
    118 biggestSurfaceMax = max;
    +
    119 }
    +
    120 }
    +
    121 }
    +
    122 else
    +
    123 {
    +
    124 pcl::getMinMax3D(*cloud, *clusteredFlatSurfaces.at(biggestFlatSurfaceIndex), biggestSurfaceMin, biggestSurfaceMax);
    +
    125 }
    +
    126 if(biggestFlatSurfaceIndex>=0)
    +
    127 {
    +
    128 ground = clusteredFlatSurfaces.at(biggestFlatSurfaceIndex);
    +
    129 }
    +
    130
    +
    131 if(!ground->empty() && (maxGroundHeight == 0.0f || biggestSurfaceMin[2] < maxGroundHeight))
    +
    132 {
    +
    133 for(unsigned int i=0; i<clusteredFlatSurfaces.size(); ++i)
    +
    134 {
    +
    135 if((int)i!=biggestFlatSurfaceIndex)
    +
    136 {
    +
    137 Eigen::Vector4f centroid(0,0,0,1);
    +
    138 pcl::compute3DCentroid(*cloud, *clusteredFlatSurfaces.at(i), centroid);
    +
    139 if((maxGroundHeight!=0.0f && centroid[2] <= maxGroundHeight) ||
    +
    140 centroid[2] <= biggestSurfaceMax[2] ||
    +
    141 (maxGroundHeight==0.0f && !segmentFlatObstacles))
    +
    142 {
    +
    143 ground = util3d::concatenate(ground, clusteredFlatSurfaces.at(i));
    +
    144 }
    +
    145 else if(flatObstacles)
    +
    146 {
    +
    147 *flatObstacles = util3d::concatenate(*flatObstacles, clusteredFlatSurfaces.at(i));
    +
    148 }
    +
    149 }
    +
    150 }
    +
    151 }
    +
    152 else
    +
    153 {
    +
    154 // reject ground!
    +
    155 ground.reset(new std::vector<int>);
    +
    156 if(flatObstacles)
    +
    157 {
    +
    158 *flatObstacles = flatSurfaces;
    +
    159 }
    +
    160 }
    +
    161 }
    +
    162 }
    +
    163 else
    +
    164 {
    +
    165 ground = flatSurfaces;
    +
    166 }
    +
    167
    +
    168 if(ground->size() != cloud->size())
    +
    169 {
    +
    170 // Remove ground
    +
    171 pcl::IndicesPtr notObstacles = ground;
    +
    172 if(indices->size())
    +
    173 {
    +
    174 notObstacles = util3d::extractIndices(cloud, indices, true);
    +
    175 notObstacles = util3d::concatenate(notObstacles, ground);
    +
    176 }
    +
    177 pcl::IndicesPtr otherStuffIndices = util3d::extractIndices(cloud, notObstacles, true);
    +
    178
    +
    179 // If ground height is set, remove obstacles under it
    +
    180 if(maxGroundHeight != 0.0f)
    +
    181 {
    +
    182 otherStuffIndices = rtabmap::util3d::passThrough(cloud, otherStuffIndices, "z", maxGroundHeight, std::numeric_limits<float>::max());
    +
    183 }
    +
    184
    +
    185 //Cluster remaining stuff (obstacles)
    +
    186 if(otherStuffIndices->size())
    +
    187 {
    +
    188 std::vector<pcl::IndicesPtr> clusteredObstaclesSurfaces = util3d::extractClusters(
    +
    189 cloud,
    +
    190 otherStuffIndices,
    +
    191 clusterRadius,
    +
    192 minClusterSize);
    +
    193
    +
    194 // merge indices
    +
    195 obstacles = util3d::concatenate(clusteredObstaclesSurfaces);
    +
    196 }
    +
    197 }
    +
    198 }
    +
    199}
    +
    200
    +
    201template<typename PointT>
    +
    202void segmentObstaclesFromGround(
    +
    203 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    +
    204 pcl::IndicesPtr & ground,
    +
    205 pcl::IndicesPtr & obstacles,
    +
    206 int normalKSearch,
    +
    207 float groundNormalAngle,
    +
    208 float clusterRadius,
    +
    209 int minClusterSize,
    +
    210 bool segmentFlatObstacles,
    +
    211 float maxGroundHeight,
    +
    212 pcl::IndicesPtr * flatObstacles,
    +
    213 const Eigen::Vector4f & viewPoint,
    +
    214 float groundNormalsUp)
    +
    215{
    +
    216 pcl::IndicesPtr indices(new std::vector<int>);
    +
    217 segmentObstaclesFromGround<PointT>(
    +
    218 cloud,
    +
    219 indices,
    +
    220 ground,
    +
    221 obstacles,
    +
    222 normalKSearch,
    +
    223 groundNormalAngle,
    +
    224 clusterRadius,
    +
    225 minClusterSize,
    +
    226 segmentFlatObstacles,
    +
    227 maxGroundHeight,
    +
    228 flatObstacles,
    +
    229 viewPoint,
    +
    230 groundNormalsUp);
    +
    231}
    +
    232
    +
    233template<typename PointT>
    +
    234void occupancy2DFromGroundObstacles(
    +
    235 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    +
    236 const pcl::IndicesPtr & groundIndices,
    +
    237 const pcl::IndicesPtr & obstaclesIndices,
    +
    238 cv::Mat & ground,
    +
    239 cv::Mat & obstacles,
    +
    240 float cellSize)
    +
    241{
    +
    242 typename pcl::PointCloud<PointT>::Ptr groundCloud(new pcl::PointCloud<PointT>);
    +
    243 typename pcl::PointCloud<PointT>::Ptr obstaclesCloud(new pcl::PointCloud<PointT>);
    +
    244
    +
    245 if(groundIndices->size())
    +
    246 {
    +
    247 pcl::copyPointCloud(*cloud, *groundIndices, *groundCloud);
    +
    248 }
    +
    249
    +
    250 if(obstaclesIndices->size())
    +
    251 {
    +
    252 pcl::copyPointCloud(*cloud, *obstaclesIndices, *obstaclesCloud);
    +
    253 }
    +
    254
    +
    255 occupancy2DFromGroundObstacles<PointT>(
    +
    256 groundCloud,
    +
    257 obstaclesCloud,
    +
    258 ground,
    +
    259 obstacles,
    +
    260 cellSize);
    +
    261}
    +
    262
    +
    263template<typename PointT>
    +
    264void occupancy2DFromGroundObstacles(
    +
    265 const typename pcl::PointCloud<PointT>::Ptr & groundCloud,
    +
    266 const typename pcl::PointCloud<PointT>::Ptr & obstaclesCloud,
    +
    267 cv::Mat & ground,
    +
    268 cv::Mat & obstacles,
    +
    269 float cellSize)
    +
    270{
    +
    271 ground = cv::Mat();
    +
    272 if(groundCloud->size())
    +
    273 {
    +
    274 //project on XY plane
    +
    275 typename pcl::PointCloud<PointT>::Ptr groundCloudProjected;
    +
    276 groundCloudProjected = util3d::projectCloudOnXYPlane(*groundCloud);
    +
    277 //voxelize to grid cell size
    +
    278 groundCloudProjected = util3d::voxelize(groundCloudProjected, cellSize);
    +
    279
    +
    280 ground = cv::Mat(1, (int)groundCloudProjected->size(), CV_32FC2);
    +
    281 for(unsigned int i=0;i<groundCloudProjected->size(); ++i)
    +
    282 {
    +
    283 cv::Vec2f * ptr = ground.ptr<cv::Vec2f>();
    +
    284 ptr[i][0] = groundCloudProjected->at(i).x;
    +
    285 ptr[i][1] = groundCloudProjected->at(i).y;
    +
    286 }
    +
    287 }
    +
    288
    +
    289 obstacles = cv::Mat();
    +
    290 if(obstaclesCloud->size())
    +
    291 {
    +
    292 //project on XY plane
    +
    293 typename pcl::PointCloud<PointT>::Ptr obstaclesCloudProjected;
    +
    294 obstaclesCloudProjected = util3d::projectCloudOnXYPlane(*obstaclesCloud);
    +
    295 //voxelize to grid cell size
    +
    296 obstaclesCloudProjected = util3d::voxelize(obstaclesCloudProjected, cellSize);
    +
    297
    +
    298 obstacles = cv::Mat(1, (int)obstaclesCloudProjected->size(), CV_32FC2);
    +
    299 for(unsigned int i=0;i<obstaclesCloudProjected->size(); ++i)
    +
    300 {
    +
    301 cv::Vec2f * ptr = obstacles.ptr<cv::Vec2f>();
    +
    302 ptr[i][0] = obstaclesCloudProjected->at(i).x;
    +
    303 ptr[i][1] = obstaclesCloudProjected->at(i).y;
    +
    304 }
    +
    305 }
    +
    306}
    +
    307
    +
    308template<typename PointT>
    +
    309void occupancy2DFromCloud3D(
    +
    310 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    +
    311 const pcl::IndicesPtr & indices,
    +
    312 cv::Mat & ground,
    +
    313 cv::Mat & obstacles,
    +
    314 float cellSize,
    +
    315 float groundNormalAngle,
    +
    316 int minClusterSize,
    +
    317 bool segmentFlatObstacles,
    +
    318 float maxGroundHeight)
    +
    319{
    +
    320 if(cloud->size() == 0)
    +
    321 {
    +
    322 return;
    +
    323 }
    +
    324 pcl::IndicesPtr groundIndices, obstaclesIndices;
    +
    325
    +
    326 segmentObstaclesFromGround<PointT>(
    +
    327 cloud,
    +
    328 indices,
    +
    329 groundIndices,
    +
    330 obstaclesIndices,
    +
    331 20,
    +
    332 groundNormalAngle,
    +
    333 cellSize*2.0f,
    +
    334 minClusterSize,
    +
    335 segmentFlatObstacles,
    +
    336 maxGroundHeight);
    +
    337
    +
    338 occupancy2DFromGroundObstacles<PointT>(
    +
    339 cloud,
    +
    340 groundIndices,
    +
    341 obstaclesIndices,
    +
    342 ground,
    +
    343 obstacles,
    +
    344 cellSize);
    +
    345}
    +
    346
    +
    347template<typename PointT>
    +
    348void occupancy2DFromCloud3D(
    +
    349 const typename pcl::PointCloud<PointT>::Ptr & cloud,
    +
    350 cv::Mat & ground,
    +
    351 cv::Mat & obstacles,
    +
    352 float cellSize,
    +
    353 float groundNormalAngle,
    +
    354 int minClusterSize,
    +
    355 bool segmentFlatObstacles,
    +
    356 float maxGroundHeight)
    +
    357{
    +
    358 pcl::IndicesPtr indices(new std::vector<int>);
    +
    359 occupancy2DFromCloud3D<PointT>(cloud, indices, ground, obstacles, cellSize, groundNormalAngle, minClusterSize, segmentFlatObstacles, maxGroundHeight);
    +
    360}
    +
    361
    +
    362}
    +
    363}
    +
    364
    +
    365#endif /* UTIL3D_MAPPING_HPP_ */
    +
    rtabmap::util3d::extractClusters
    std::vector< pcl::IndicesPtr > RTABMAP_CORE_EXPORT extractClusters(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float clusterTolerance, int minClusterSize, int maxClusterSize=std::numeric_limits< int >::max(), int *biggestClusterIndex=0)
    Extract clusters from point cloud of type pcl::PointXYZ.
    +
    rtabmap::util3d::extractIndices
    pcl::IndicesPtr RTABMAP_CORE_EXPORT extractIndices(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, bool negative)
    Extract indices from point cloud of type pcl::PointXYZ.
    +
    rtabmap::util3d::passThrough
    pcl::IndicesPtr RTABMAP_CORE_EXPORT passThrough(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, const std::string &axis, float min, float max, bool negative=false)
    Performs pass-through filtering on a point cloud of type pcl::PointXYZ and returns filtered indices.
    +
    rtabmap::util3d::normalFiltering
    pcl::IndicesPtr RTABMAP_CORE_EXPORT normalFiltering(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float angleMax, const Eigen::Vector4f &normal, int normalKSearch, const Eigen::Vector4f &viewpoint, float groundNormalsUp=0.0f)
    Point normal filtering for point cloud of type pcl::PointXYZ.
    +
    rtabmap::util3d::voxelize
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT voxelize(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float voxelSize)
    Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/util3d__motion__estimation_8h_source.html b/preview/pr-1492/api/latest/util3d__motion__estimation_8h_source.html new file mode 100644 index 00000000..c8f1b67d --- /dev/null +++ b/preview/pr-1492/api/latest/util3d__motion__estimation_8h_source.html @@ -0,0 +1,227 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/util3d_motion_estimation.h Source File + + + + + + + + + + + + +
    +
    + + + + + + +
    +
    RTAB-Map 0.23.10 +
    +
    +
    + + + + + + + + + +
    +
    + + +
    +
    +
    +
    +
    +
    Loading...
    +
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    +
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    +
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    + + +
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    +
    util3d_motion_estimation.h
    +
    +
    +
    1/*
    +
    2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the Universite de Sherbrooke nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26*/
    +
    27
    +
    28#ifndef UTIL3D_MOTION_ESTIMATION_H_
    +
    29#define UTIL3D_MOTION_ESTIMATION_H_
    +
    30
    +
    31#include <rtabmap/core/rtabmap_core_export.h>
    +
    32
    +
    33#include <rtabmap/core/Transform.h>
    +
    34#include <rtabmap/core/CameraModel.h>
    +
    35
    +
    36namespace rtabmap
    +
    37{
    +
    38
    +
    39namespace util3d
    +
    40{
    +
    41
    +
    100void RTABMAP_CORE_EXPORT setRansacDeterministicSeed(bool enable);
    +
    101
    +
    103bool RTABMAP_CORE_EXPORT ransacDeterministicSeedEnabled();
    +
    104
    +
    105Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
    +
    106 const std::map<int, cv::Point3f> & words3A,
    +
    107 const std::map<int, cv::KeyPoint> & words2B,
    +
    108 const CameraModel & cameraModel,
    +
    109 int minInliers = 10,
    +
    110 int iterations = 100,
    +
    111 double reprojError = 5.,
    +
    112 int flagsPnP = 0,
    +
    113 int pnpRefineIterations = 1,
    +
    114 int varianceMedianRatio = 4,
    +
    115 float maxVariance = 0,
    +
    116 const Transform & guess = Transform::getIdentity(),
    +
    117 const std::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),
    +
    118 cv::Mat * covariance = 0, // mean reproj error if words3B is not set
    +
    119 std::vector<int> * matchesOut = 0,
    +
    120 std::vector<int> * inliersOut = 0,
    +
    121 bool splitLinearCovarianceComponents = false);
    +
    122
    +
    157Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
    +
    158 const std::map<int, cv::Point3f> & words3A,
    +
    159 const std::map<int, cv::KeyPoint> & words2B,
    +
    160 const std::vector<CameraModel> & cameraModels,
    +
    161 unsigned int samplingPolicy,
    +
    162 int minInliers,
    +
    163 int iterations,
    +
    164 double reprojError,
    +
    165 int flagsPnP,
    +
    166 int refineIterations,
    +
    167 int varianceMedianRatio,
    +
    168 float maxVariance,
    +
    169 const Transform & guess,
    +
    170 const std::map<int, cv::Point3f> & words3B,
    +
    171 cv::Mat * covariance,
    +
    172 std::vector<std::vector<int> > * matchesOut,
    +
    173 std::vector<std::vector<int> > * inliersOut,
    +
    174 bool splitLinearCovarianceComponents);
    +
    179Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(
    +
    180 const std::map<int, cv::Point3f> & words3A,
    +
    181 const std::map<int, cv::KeyPoint> & words2B,
    +
    182 const std::vector<CameraModel> & cameraModels,
    +
    183 unsigned int samplingPolicy = 0, // 0=AUTO, 1=ANY, 2=HOMOGENEOUS
    +
    184 int minInliers = 10,
    +
    185 int iterations = 100,
    +
    186 double reprojError = 5.,
    +
    187 int flagsPnP = 0,
    +
    188 int pnpRefineIterations = 1,
    +
    189 int varianceMedianRatio = 4,
    +
    190 float maxVariance = 0,
    +
    191 const Transform & guess = Transform::getIdentity(),
    +
    192 const std::map<int, cv::Point3f> & words3B = std::map<int, cv::Point3f>(),
    +
    193 cv::Mat * covariance = 0, // mean reproj error if words3B is not set
    +
    194 std::vector<int> * matchesOut = 0,
    +
    195 std::vector<int> * inliersOut = 0,
    +
    196 bool splitLinearCovarianceComponents = false);
    +
    197
    +
    219Transform RTABMAP_CORE_EXPORT estimateMotion3DTo3D(
    +
    220 const std::map<int, cv::Point3f> & words3A,
    +
    221 const std::map<int, cv::Point3f> & words3B,
    +
    222 int minInliers = 10,
    +
    223 double inliersDistance = 0.1,
    +
    224 int iterations = 100,
    +
    225 int refineIterations = 5,
    +
    226 cv::Mat * covariance = 0,
    +
    227 std::vector<int> * matchesOut = 0,
    +
    228 std::vector<int> * inliersOut = 0);
    +
    229
    +
    260void RTABMAP_CORE_EXPORT solvePnPRansac(
    +
    261 const std::vector<cv::Point3f> & objectPoints,
    +
    262 const std::vector<cv::Point2f> & imagePoints,
    +
    263 const cv::Mat & cameraMatrix,
    +
    264 const cv::Mat & distCoeffs,
    +
    265 cv::Mat & rvec,
    +
    266 cv::Mat & tvec,
    +
    267 bool useExtrinsicGuess,
    +
    268 int iterationsCount,
    +
    269 float reprojectionError,
    +
    270 int minInliersCount,
    +
    271 std::vector<int> & inliers,
    +
    272 int flags,
    +
    273 int refineIterations = 1,
    +
    274 float refineSigma = 3.0f);
    +
    275
    +
    276} // namespace util3d
    +
    277} // namespace rtabmap
    +
    278
    +
    279#endif /* UTIL3D_TRANSFORMS_H_ */
    +
    rtabmap::Transform::getIdentity
    static Transform getIdentity()
    Returns identity transform.
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/util3d__registration_8h_source.html b/preview/pr-1492/api/latest/util3d__registration_8h_source.html new file mode 100644 index 00000000..18a6b467 --- /dev/null +++ b/preview/pr-1492/api/latest/util3d__registration_8h_source.html @@ -0,0 +1,239 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/util3d_registration.h Source File + + + + + + + + + + + + +
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    + + + + + + +
    +
    RTAB-Map 0.23.10 +
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    util3d_registration.h
    +
    +
    +
    1/*
    +
    2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the Universite de Sherbrooke nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26*/
    +
    27
    +
    28#ifndef UTIL3D_REGISTRATION_H_
    +
    29#define UTIL3D_REGISTRATION_H_
    +
    30
    +
    31#include <rtabmap/core/rtabmap_core_export.h>
    +
    32
    +
    33#include <pcl/point_cloud.h>
    +
    34#include <pcl/point_types.h>
    +
    35#include <rtabmap/core/Transform.h>
    +
    36#include <opencv2/core/core.hpp>
    +
    37
    +
    38namespace rtabmap
    +
    39{
    +
    40
    +
    41namespace util3d
    +
    42{
    +
    43
    +
    44int RTABMAP_CORE_EXPORT getCorrespondencesCount(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
    +
    45 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
    +
    46 float maxDistance);
    +
    47
    +
    68Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondencesSVD(
    +
    69 const pcl::PointCloud<pcl::PointXYZ> & cloud1,
    +
    70 const pcl::PointCloud<pcl::PointXYZ> & cloud2);
    +
    71
    +
    101Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(
    +
    102 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud1,
    +
    103 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud2,
    +
    104 double inlierThreshold = 0.02,
    +
    105 int iterations = 100,
    +
    106 int refineModelIterations = 10,
    +
    107 double refineModelSigma = 3.0,
    +
    108 std::vector<int> * inliers = 0,
    +
    109 cv::Mat * variance = 0);
    +
    110
    +
    141void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
    +
    142 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudA,
    +
    143 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloudB,
    +
    144 double maxCorrespondenceDistance,
    +
    145 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
    +
    146 double & variance,
    +
    147 int & correspondencesOut,
    +
    148 bool reciprocal);
    +
    153void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
    +
    154 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudA,
    +
    155 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloudB,
    +
    156 double maxCorrespondenceDistance,
    +
    157 double maxCorrespondenceAngle, // <=0 means that we don't care about normal angle difference
    +
    158 double & variance,
    +
    159 int & correspondencesOut,
    +
    160 bool reciprocal);
    +
    165void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
    +
    166 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudA,
    +
    167 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloudB,
    +
    168 double maxCorrespondenceDistance,
    +
    169 double & variance,
    +
    170 int & correspondencesOut,
    +
    171 bool reciprocal);
    +
    176void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(
    +
    177 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudA,
    +
    178 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloudB,
    +
    179 double maxCorrespondenceDistance,
    +
    180 double & variance,
    +
    181 int & correspondencesOut,
    +
    182 bool reciprocal);
    +
    183
    +
    209Transform RTABMAP_CORE_EXPORT icp(
    +
    210 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_source,
    +
    211 const pcl::PointCloud<pcl::PointXYZ>::ConstPtr & cloud_target,
    +
    212 double maxCorrespondenceDistance,
    +
    213 int maximumIterations,
    +
    214 bool & hasConverged,
    +
    215 pcl::PointCloud<pcl::PointXYZ> & cloud_source_registered,
    +
    216 float epsilon = 0.0f,
    +
    217 bool icp2D = false,
    +
    218 float ransacOutlierRatio = 0.0f,
    +
    219 int * iterationsDone = nullptr);
    +
    228Transform RTABMAP_CORE_EXPORT icp(
    +
    229 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_source,
    +
    230 const pcl::PointCloud<pcl::PointXYZI>::ConstPtr & cloud_target,
    +
    231 double maxCorrespondenceDistance,
    +
    232 int maximumIterations,
    +
    233 bool & hasConverged,
    +
    234 pcl::PointCloud<pcl::PointXYZI> & cloud_source_registered,
    +
    235 float epsilon = 0.0f,
    +
    236 bool icp2D = false,
    +
    237 float ransacOutlierRatio = 0.0f,
    +
    238 int * iterationsDone = nullptr);
    +
    239
    +
    265Transform RTABMAP_CORE_EXPORT icpPointToPlane(
    +
    266 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_source,
    +
    267 const pcl::PointCloud<pcl::PointNormal>::ConstPtr & cloud_target,
    +
    268 double maxCorrespondenceDistance,
    +
    269 int maximumIterations,
    +
    270 bool & hasConverged,
    +
    271 pcl::PointCloud<pcl::PointNormal> & cloud_source_registered,
    +
    272 float epsilon = 0.0f,
    +
    273 bool icp2D = false,
    +
    274 float ransacOutlierRatio = 0.0f,
    +
    275 int * iterationsDone = nullptr);
    +
    284Transform RTABMAP_CORE_EXPORT icpPointToPlane(
    +
    285 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_source,
    +
    286 const pcl::PointCloud<pcl::PointXYZINormal>::ConstPtr & cloud_target,
    +
    287 double maxCorrespondenceDistance,
    +
    288 int maximumIterations,
    +
    289 bool & hasConverged,
    +
    290 pcl::PointCloud<pcl::PointXYZINormal> & cloud_source_registered,
    +
    291 float epsilon = 0.0f,
    +
    292 bool icp2D = false,
    +
    293 float ransacOutlierRatio = 0.0f,
    +
    294 int * iterationsDone = nullptr);
    +
    295
    +
    296} // namespace util3d
    +
    297} // namespace rtabmap
    +
    298
    +
    299#endif /* UTIL3D_REGISTRATION_H_ */
    +
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    +
    rtabmap::util3d::computeVarianceAndCorrespondences
    void RTABMAP_CORE_EXPORT computeVarianceAndCorrespondences(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudA, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloudB, double maxCorrespondenceDistance, double maxCorrespondenceAngle, double &variance, int &correspondencesOut, bool reciprocal)
    Compute with variance and correspondences of pcl::PointNormal point cloud type.
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/util3d__surface_8h_source.html b/preview/pr-1492/api/latest/util3d__surface_8h_source.html new file mode 100644 index 00000000..6e989c5f --- /dev/null +++ b/preview/pr-1492/api/latest/util3d__surface_8h_source.html @@ -0,0 +1,647 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/util3d_surface.h Source File + + + + + + + + + + + + +
    +
    + + + + + + +
    +
    RTAB-Map 0.23.10 +
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    +
    util3d_surface.h
    +
    +
    +
    1/*
    +
    2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the Universite de Sherbrooke nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26*/
    +
    27
    +
    28#ifndef UTIL3D_SURFACE_H_
    +
    29#define UTIL3D_SURFACE_H_
    +
    30
    +
    31#include <rtabmap/core/rtabmap_core_export.h>
    +
    32
    +
    33#include <pcl/PolygonMesh.h>
    +
    34#include <pcl/point_cloud.h>
    +
    35#include <pcl/point_types.h>
    +
    36#include <pcl/TextureMesh.h>
    +
    37#include <pcl/pcl_base.h>
    +
    38#include <rtabmap/core/Transform.h>
    +
    39#include <rtabmap/core/CameraModel.h>
    +
    40#include <rtabmap/core/ProgressState.h>
    +
    41#include <rtabmap/core/LaserScan.h>
    +
    42#include <rtabmap/core/Version.h>
    +
    43#include <set>
    +
    44#include <list>
    +
    45
    +
    46namespace rtabmap
    +
    47{
    +
    48
    +
    49class Memory;
    +
    50class DBDriver;
    +
    51
    +
    52namespace util3d
    +
    53{
    +
    54
    +
    64void RTABMAP_CORE_EXPORT createPolygonIndexes(
    +
    65 const std::vector<pcl::Vertices> & polygons,
    +
    66 int cloudSize,
    +
    67 std::vector<std::set<int> > & neighborPolygons,
    +
    68 std::vector<std::set<int> > & vertexPolygons);
    +
    69
    +
    70std::list<std::list<int> > RTABMAP_CORE_EXPORT clusterPolygons(
    +
    71 const std::vector<std::set<int> > & neighborPolygons,
    +
    72 int minClusterSize = 0);
    +
    73
    +
    74std::vector<pcl::Vertices> RTABMAP_CORE_EXPORT organizedFastMesh(
    +
    75 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    76 double angleTolerance,
    +
    77 bool quad,
    +
    78 int trianglePixelSize,
    +
    79 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
    +
    80std::vector<pcl::Vertices> RTABMAP_CORE_EXPORT organizedFastMesh(
    +
    81 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    82 double angleTolerance = M_PI/16,
    +
    83 bool quad=true,
    +
    84 int trianglePixelSize = 2,
    +
    85 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
    +
    86std::vector<pcl::Vertices> RTABMAP_CORE_EXPORT organizedFastMesh(
    +
    87 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    88 double angleTolerance = M_PI/16,
    +
    89 bool quad=true,
    +
    90 int trianglePixelSize = 2,
    +
    91 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0));
    +
    92
    +
    93void RTABMAP_CORE_EXPORT appendMesh(
    +
    94 pcl::PointCloud<pcl::PointXYZRGBNormal> & cloudA,
    +
    95 std::vector<pcl::Vertices> & polygonsA,
    +
    96 const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloudB,
    +
    97 const std::vector<pcl::Vertices> & polygonsB);
    +
    98void RTABMAP_CORE_EXPORT appendMesh(
    +
    99 pcl::PointCloud<pcl::PointXYZRGB> & cloudA,
    +
    100 std::vector<pcl::Vertices> & polygonsA,
    +
    101 const pcl::PointCloud<pcl::PointXYZRGB> & cloudB,
    +
    102 const std::vector<pcl::Vertices> & polygonsB);
    +
    103
    +
    104// return map from new to old polygon indices
    +
    105std::vector<int> RTABMAP_CORE_EXPORT filterNotUsedVerticesFromMesh(
    +
    106 const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
    +
    107 const std::vector<pcl::Vertices> & polygons,
    +
    108 pcl::PointCloud<pcl::PointXYZRGBNormal> & outputCloud,
    +
    109 std::vector<pcl::Vertices> & outputPolygons);
    +
    110std::vector<int> RTABMAP_CORE_EXPORT filterNotUsedVerticesFromMesh(
    +
    111 const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
    +
    112 const std::vector<pcl::Vertices> & polygons,
    +
    113 pcl::PointCloud<pcl::PointXYZRGB> & outputCloud,
    +
    114 std::vector<pcl::Vertices> & outputPolygons);
    +
    115std::vector<int> RTABMAP_CORE_EXPORT filterNaNPointsFromMesh(
    +
    116 const pcl::PointCloud<pcl::PointXYZRGB> & cloud,
    +
    117 const std::vector<pcl::Vertices> & polygons,
    +
    118 pcl::PointCloud<pcl::PointXYZRGB> & outputCloud,
    +
    119 std::vector<pcl::Vertices> & outputPolygons);
    +
    120
    +
    121std::vector<pcl::Vertices> RTABMAP_CORE_EXPORT filterCloseVerticesFromMesh(
    +
    122 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud,
    +
    123 const std::vector<pcl::Vertices> & polygons,
    +
    124 float radius,
    +
    125 float angle,
    +
    126 bool keepLatestInRadius);
    +
    127
    +
    128std::vector<pcl::Vertices> RTABMAP_CORE_EXPORT filterInvalidPolygons(
    +
    129 const std::vector<pcl::Vertices> & polygons);
    +
    130
    +
    131pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT createMesh(
    +
    132 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloudWithNormals,
    +
    133 float gp3SearchRadius = 0.025,
    +
    134 float gp3Mu = 2.5,
    +
    135 int gp3MaximumNearestNeighbors = 100,
    +
    136 float gp3MaximumSurfaceAngle = M_PI/4,
    +
    137 float gp3MinimumAngle = M_PI/18,
    +
    138 float gp3MaximumAngle = 2*M_PI/3,
    +
    139 bool gp3NormalConsistency = true);
    +
    140
    +
    141pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT createTextureMesh(
    +
    142 const pcl::PolygonMesh::Ptr & mesh,
    +
    143 const std::map<int, Transform> & poses,
    +
    144 const std::map<int, CameraModel> & cameraModels,
    +
    145 const std::map<int, cv::Mat> & cameraDepths,
    +
    146 float maxDistance = 0.0f, // max camera distance to polygon to apply texture
    +
    147 float maxDepthError = 0.0f, // maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used)
    +
    148 float maxAngle = 0.0f, // maximum angle between camera and face (0=disabled)
    +
    149 int minClusterSize = 50, // minimum size of polygons clusters textured
    +
    150 const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
    +
    151 const ProgressState * state = 0,
    +
    152 std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0, // For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don't correspond to pose ids, they are indexes from 0 to total camera models and texture's materials.
    +
    153 bool distanceToCamPolicy = false);
    +
    154pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT createTextureMesh(
    +
    155 const pcl::PolygonMesh::Ptr & mesh,
    +
    156 const std::map<int, Transform> & poses,
    +
    157 const std::map<int, std::vector<CameraModel> > & cameraModels,
    +
    158 const std::map<int, cv::Mat> & cameraDepths,
    +
    159 float maxDistance = 0.0f, // max camera distance to polygon to apply texture
    +
    160 float maxDepthError = 0.0f, // maximum depth error between reprojected mesh and depth image to texture a face (-1=disabled, 0=edge length is used)
    +
    161 float maxAngle = 0.0f, // maximum angle between camera and face (0=disabled)
    +
    162 int minClusterSize = 50, // minimum size of polygons clusters textured
    +
    163 const std::vector<float> & roiRatios = std::vector<float>(), // [left, right, top, bottom] region of interest (in ratios) of the image projected.
    +
    164 const ProgressState * state = 0,
    +
    165 std::vector<std::map<int, pcl::PointXY> > * vertexToPixels = 0, // For each point, we have a list of cameras with corresponding pixel in it. Beware that the camera ids don't correspond to pose ids, they are indexes from 0 to total camera models and texture's materials.
    +
    166 bool distanceToCamPolicy = false);
    +
    167
    +
    171void RTABMAP_CORE_EXPORT cleanTextureMesh(
    +
    172 pcl::TextureMesh & textureMesh,
    +
    173 int minClusterSize);
    +
    174
    +
    175pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT concatenateTextureMeshes(
    +
    176 const std::list<pcl::TextureMesh::Ptr> & meshes);
    +
    177
    +
    178void RTABMAP_CORE_EXPORT concatenateTextureMaterials(
    +
    179 pcl::TextureMesh & mesh, const cv::Size & imageSize, int textureSize, int maxTextures, float & scale, std::vector<bool> * materialsKept=0);
    +
    180
    +
    181std::vector<std::vector<RTABMAP_PCL_INDEX> > RTABMAP_CORE_EXPORT convertPolygonsFromPCL(
    +
    182 const std::vector<pcl::Vertices> & polygons);
    +
    183std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > RTABMAP_CORE_EXPORT convertPolygonsFromPCL(
    +
    184 const std::vector<std::vector<pcl::Vertices> > & polygons);
    +
    185std::vector<pcl::Vertices> RTABMAP_CORE_EXPORT convertPolygonsToPCL(
    +
    186 const std::vector<std::vector<RTABMAP_PCL_INDEX> > & polygons);
    +
    187std::vector<std::vector<pcl::Vertices> > RTABMAP_CORE_EXPORT convertPolygonsToPCL(
    +
    188 const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & tex_polygons);
    +
    189
    +
    190pcl::TextureMesh::Ptr RTABMAP_CORE_EXPORT assembleTextureMesh(
    +
    191 const cv::Mat & cloudMat,
    +
    192 const std::vector<std::vector<std::vector<RTABMAP_PCL_INDEX> > > & polygons,
    +
    193#if PCL_VERSION_COMPARE(>=, 1, 8, 0)
    +
    194 const std::vector<std::vector<Eigen::Vector2f, Eigen::aligned_allocator<Eigen::Vector2f> > > & texCoords,
    +
    195#else
    +
    196 const std::vector<std::vector<Eigen::Vector2f> > & texCoords,
    +
    197#endif
    +
    198 cv::Mat & textures,
    +
    199 bool mergeTextures = false);
    +
    200
    +
    201pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT assemblePolygonMesh(
    +
    202 const cv::Mat & cloudMat,
    +
    203 const std::vector<std::vector<RTABMAP_PCL_INDEX> > & polygons);
    +
    204
    +
    209cv::Mat RTABMAP_CORE_EXPORT mergeTextures(
    +
    210 pcl::TextureMesh & mesh,
    +
    211 const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
    +
    212 const std::map<int, CameraModel> & calibrations, // Should match images
    +
    213 const Memory * memory = 0, // Should be set if images are not set
    +
    214 const DBDriver * dbDriver = 0, // Should be set if images and memory are not set
    +
    215 int textureSize = 4096,
    +
    216 int textureCount = 1,
    +
    217 const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), // needed for parameters below
    +
    218 bool gainCompensation = true,
    +
    219 float gainBeta = 10.0f,
    +
    220 bool gainRGB = true, //Do gain compensation on each channel
    +
    221 bool blending = true,
    +
    222 int blendingDecimation = 0, //0=auto depending on projected polygon size and texture size
    +
    223 int brightnessContrastRatioLow = 0, //0=disabled, values between 0 and 100
    +
    224 int brightnessContrastRatioHigh = 0, //0=disabled, values between 0 and 100
    +
    225 bool exposureFusion = false, //Exposure fusion can be used only with OpenCV3
    +
    226 const ProgressState * state = 0,
    +
    227 unsigned char blankValue = 255, //Gray value for blank polygons (without texture)
    +
    228 bool clearVertexColorUnderTexture = true,
    +
    229 std::map<int, std::map<int, cv::Vec4d> > * gains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B>
    +
    230 std::map<int, std::map<int, cv::Mat> > * blendingGains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains>
    +
    231 std::pair<float, float> * contrastValues = 0); // Alpha/beta contrast values
    +
    232cv::Mat RTABMAP_CORE_EXPORT mergeTextures(
    +
    233 pcl::TextureMesh & mesh,
    +
    234 const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
    +
    235 const std::map<int, std::vector<CameraModel> > & calibrations, // Should match images
    +
    236 const Memory * memory = 0, // Should be set if images are not set
    +
    237 const DBDriver * dbDriver = 0, // Should be set if images and memory are not set
    +
    238 int textureSize = 4096,
    +
    239 int textureCount = 1,
    +
    240 const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels = std::vector<std::map<int, pcl::PointXY> >(), // needed for parameters below
    +
    241 bool gainCompensation = true,
    +
    242 float gainBeta = 10.0f,
    +
    243 bool gainRGB = true, //Do gain compensation on each channel
    +
    244 bool blending = true,
    +
    245 int blendingDecimation = 0, //0=auto depending on projected polygon size and texture size
    +
    246 int brightnessContrastRatioLow = 0, //0=disabled, values between 0 and 100
    +
    247 int brightnessContrastRatioHigh = 0, //0=disabled, values between 0 and 100
    +
    248 bool exposureFusion = false, //Exposure fusion can be used only with OpenCV3
    +
    249 const ProgressState * state = 0,
    +
    250 unsigned char blankValue = 255, //Gray value for blank polygons (without texture)
    +
    251 bool clearVertexColorUnderTexture = true,
    +
    252 std::map<int, std::map<int, cv::Vec4d> > * gains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains Gray-R-G-B>
    +
    253 std::map<int, std::map<int, cv::Mat> > * blendingGains = 0, // <Camera ID, Camera Sub Index (multi-cameras), gains>
    +
    254 std::pair<float, float> * contrastValues = 0); // Alpha/beta contrast values
    +
    255
    +
    256void RTABMAP_CORE_EXPORT fixTextureMeshForVisualization(pcl::TextureMesh & textureMesh);
    +
    257
    +
    258// Use the same method with 22 parameters instead.
    +
    259RTABMAP_DEPRECATED bool RTABMAP_CORE_EXPORT multiBandTexturing(
    +
    260 const std::string & outputOBJPath,
    +
    261 const pcl::PCLPointCloud2 & cloud,
    +
    262 const std::vector<pcl::Vertices> & polygons,
    +
    263 const std::map<int, Transform> & cameraPoses,
    +
    264 const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels, // required output of util3d::createTextureMesh()
    +
    265 const std::map<int, cv::Mat> & images, // raw or compressed, can be empty if memory or dbDriver should be used
    +
    266 const std::map<int, std::vector<CameraModel> > & cameraModels, // Should match images
    +
    267 const Memory * memory = 0, // Should be set if images are not set
    +
    268 const DBDriver * dbDriver = 0, // Should be set if images and memory are not set
    +
    269 int textureSize = 8192,
    +
    270 const std::string & textureFormat = "jpg", // png, jpg
    +
    271 const std::map<int, std::map<int, cv::Vec4d> > & gains = std::map<int, std::map<int, cv::Vec4d> >(), // optional output of util3d::mergeTextures()
    +
    272 const std::map<int, std::map<int, cv::Mat> > & blendingGains = std::map<int, std::map<int, cv::Mat> >(), // optional output of util3d::mergeTextures()
    +
    273 const std::pair<float, float> & contrastValues = std::pair<float, float>(0,0), // optional output of util3d::mergeTextures()
    +
    274 bool gainRGB = true);
    +
    275
    +
    302bool RTABMAP_CORE_EXPORT multiBandTexturing(
    +
    303 const std::string & outputOBJPath,
    +
    304 const pcl::PCLPointCloud2 & cloud,
    +
    305 const std::vector<pcl::Vertices> & polygons,
    +
    306 const std::map<int, Transform> & cameraPoses,
    +
    307 const std::vector<std::map<int, pcl::PointXY> > & vertexToPixels,
    +
    308 const std::map<int, cv::Mat> & images,
    +
    309 const std::map<int, std::vector<CameraModel> > & cameraModels,
    +
    310 const Memory * memory = 0,
    +
    311 const DBDriver * dbDriver = 0,
    +
    312 unsigned int textureSize = 8192,
    +
    313 unsigned int textureDownscale = 2,
    +
    314 const std::string & nbContrib = "1 5 10 0",
    +
    315 const std::string & textureFormat = "jpg",
    +
    316 const std::map<int, std::map<int, cv::Vec4d> > & gains = std::map<int, std::map<int, cv::Vec4d> >(),
    +
    317 const std::map<int, std::map<int, cv::Mat> > & blendingGains = std::map<int, std::map<int, cv::Mat> >(),
    +
    318 const std::pair<float, float> & contrastValues = std::pair<float, float>(0,0),
    +
    319 bool gainRGB = true,
    +
    320 unsigned int unwrapMethod = 0,
    +
    321 bool fillHoles = false,
    +
    322 unsigned int padding = 5,
    +
    323 double bestScoreThreshold = 0.1,
    +
    324 double angleHardThreshold = 90.0,
    +
    325 bool forceVisibleByAllVertices = false);
    +
    326
    +
    327cv::Mat RTABMAP_CORE_EXPORT computeNormals(
    +
    328 const cv::Mat & laserScan,
    +
    329 int searchK,
    +
    330 float searchRadius);
    +
    331pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(
    +
    332 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    333 int searchK = 20,
    +
    334 float searchRadius = 0.0f,
    +
    335 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    +
    336pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(
    +
    337 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    338 int searchK = 20,
    +
    339 float searchRadius = 0.0f,
    +
    340 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    +
    341pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(
    +
    342 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    343 int searchK = 20,
    +
    344 float searchRadius = 0.0f,
    +
    345 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    +
    346pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(
    +
    347 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    348 const pcl::IndicesPtr & indices,
    +
    349 int searchK = 20,
    +
    350 float searchRadius = 0.0f,
    +
    351 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    +
    352pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(
    +
    353 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    354 const pcl::IndicesPtr & indices,
    +
    355 int searchK = 20,
    +
    356 float searchRadius = 0.0f,
    +
    357 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    +
    358pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals(
    +
    359 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    360 const pcl::IndicesPtr & indices,
    +
    361 int searchK = 20,
    +
    362 float searchRadius = 0.0f,
    +
    363 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    +
    364
    +
    365pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals2D(
    +
    366 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    367 int searchK = 5,
    +
    368 float searchRadius = 0.0f,
    +
    369 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    +
    370pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeNormals2D(
    +
    371 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    372 int searchK = 5,
    +
    373 float searchRadius = 0.0f,
    +
    374 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    +
    375pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals2D(
    +
    376 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    377 int searchK = 5,
    +
    378 float searchRadius = 0.0f,
    +
    379 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    +
    380pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals2D(
    +
    381 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    382 int searchK = 5,
    +
    383 float searchRadius = 0.0f,
    +
    384 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    +
    385
    +
    386pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals(
    +
    387 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    388 float maxDepthChangeFactor = 0.02f,
    +
    389 float normalSmoothingSize = 10.0f,
    +
    390 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    +
    391pcl::PointCloud<pcl::Normal>::Ptr RTABMAP_CORE_EXPORT computeFastOrganizedNormals(
    +
    392 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    393 const pcl::IndicesPtr & indices,
    +
    394 float maxDepthChangeFactor = 0.02f,
    +
    395 float normalSmoothingSize = 10.0f,
    +
    396 const Eigen::Vector3f & viewPoint = Eigen::Vector3f(0,0,0));
    +
    397
    +
    435float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    +
    436 const LaserScan & scan,
    +
    437 const Transform & t = Transform::getIdentity(),
    +
    438 cv::Mat * pcaEigenVectors = 0,
    +
    439 cv::Mat * pcaEigenValues = 0,
    +
    440 bool centered = true);
    +
    445float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    +
    446 const pcl::PointCloud<pcl::Normal> & normals,
    +
    447 const Transform & t = Transform::getIdentity(),
    +
    448 bool is2d = false,
    +
    449 cv::Mat * pcaEigenVectors = 0,
    +
    450 cv::Mat * pcaEigenValues = 0,
    +
    451 bool centered = true);
    +
    456float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    +
    457 const pcl::PointCloud<pcl::PointNormal> & cloud,
    +
    458 const Transform & t = Transform::getIdentity(),
    +
    459 bool is2d = false,
    +
    460 cv::Mat * pcaEigenVectors = 0,
    +
    461 cv::Mat * pcaEigenValues = 0,
    +
    462 bool centered = true);
    +
    467float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    +
    468 const pcl::PointCloud<pcl::PointXYZINormal> & cloud,
    +
    469 const Transform & t = Transform::getIdentity(),
    +
    470 bool is2d = false,
    +
    471 cv::Mat * pcaEigenVectors = 0,
    +
    472 cv::Mat * pcaEigenValues = 0,
    +
    473 bool centered = true);
    +
    478float RTABMAP_CORE_EXPORT computeNormalsComplexity(
    +
    479 const pcl::PointCloud<pcl::PointXYZRGBNormal> & cloud,
    +
    480 const Transform & t = Transform::getIdentity(),
    +
    481 bool is2d = false,
    +
    482 cv::Mat * pcaEigenVectors = 0,
    +
    483 cv::Mat * pcaEigenValues = 0,
    +
    484 bool centered = true);
    +
    485
    +
    486pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT mls(
    +
    487 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    488 float searchRadius = 0.0f,
    +
    489 int polygonialOrder = 2,
    +
    490 int upsamplingMethod = 0, // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION
    +
    491 float upsamplingRadius = 0.0f, // SAMPLE_LOCAL_PLANE
    +
    492 float upsamplingStep = 0.0f, // SAMPLE_LOCAL_PLANE
    +
    493 int pointDensity = 0, // RANDOM_UNIFORM_DENSITY
    +
    494 float dilationVoxelSize = 1.0f, // VOXEL_GRID_DILATION
    +
    495 int dilationIterations = 0); // VOXEL_GRID_DILATION
    +
    496pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT mls(
    +
    497 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    498 const pcl::IndicesPtr & indices,
    +
    499 float searchRadius = 0.0f,
    +
    500 int polygonialOrder = 2,
    +
    501 int upsamplingMethod = 0, // NONE, DISTINCT_CLOUD, SAMPLE_LOCAL_PLANE, RANDOM_UNIFORM_DENSITY, VOXEL_GRID_DILATION
    +
    502 float upsamplingRadius = 0.0f, // SAMPLE_LOCAL_PLANE
    +
    503 float upsamplingStep = 0.0f, // SAMPLE_LOCAL_PLANE
    +
    504 int pointDensity = 0, // RANDOM_UNIFORM_DENSITY
    +
    505 float dilationVoxelSize = 1.0f, // VOXEL_GRID_DILATION
    +
    506 int dilationIterations = 0); // VOXEL_GRID_DILATION
    +
    507
    +
    508// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.
    +
    509RTABMAP_DEPRECATED LaserScan RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    510 const LaserScan & scan,
    +
    511 const Eigen::Vector3f & viewpoint,
    +
    512 bool forceGroundNormalsUp);
    +
    513LaserScan RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    514 const LaserScan & scan,
    +
    515 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
    +
    516 float groundNormalsUp = 0.0f);
    +
    517// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.
    +
    518RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    519 pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    520 const Eigen::Vector3f & viewpoint,
    +
    521 bool forceGroundNormalsUp);
    +
    522void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    523 pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    524 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
    +
    525 float groundNormalsUp = 0.0f);
    +
    526// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.
    +
    527RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    528 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    529 const Eigen::Vector3f & viewpoint,
    +
    530 bool forceGroundNormalsUp);
    +
    531void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    532 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    533 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
    +
    534 float groundNormalsUp = 0.0f);
    +
    535// Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUp to 0.8f, otherwise set groundNormalsUp to 0.0f.
    +
    536RTABMAP_DEPRECATED void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    537 pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    538 const Eigen::Vector3f & viewpoint,
    +
    539 bool forceGroundNormalsUp);
    +
    540void RTABMAP_CORE_EXPORT adjustNormalsToViewPoint(
    +
    541 pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    542 const Eigen::Vector3f & viewpoint = Eigen::Vector3f(0,0,0),
    +
    543 float groundNormalsUp = 0.0f);
    +
    544
    +
    545void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    546 const std::map<int, Transform> & poses,
    +
    547 const std::vector<int> & cameraIndices,
    +
    548 pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    549 float groundNormalsUp = 0.0f);
    +
    550void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    551 const std::map<int, Transform> & poses,
    +
    552 const std::vector<int> & cameraIndices,
    +
    553 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    554 float groundNormalsUp = 0.0f);
    +
    555void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    556 const std::map<int, Transform> & poses,
    +
    557 const std::vector<int> & cameraIndices,
    +
    558 pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    559 float groundNormalsUp = 0.0f);
    +
    560
    +
    561void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    562 const std::map<int, Transform> & poses,
    +
    563 const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
    +
    564 const std::vector<int> & rawCameraIndices,
    +
    565 pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    566 float groundNormalsUp = 0.0f);
    +
    567void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    568 const std::map<int, Transform> & poses,
    +
    569 const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
    +
    570 const std::vector<int> & rawCameraIndices,
    +
    571 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    572 float groundNormalsUp = 0.0f);
    +
    573void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    574 const std::map<int, Transform> & poses,
    +
    575 const pcl::PointCloud<pcl::PointXYZ>::Ptr & rawCloud,
    +
    576 const std::vector<int> & rawCameraIndices,
    +
    577 pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    578 float groundNormalsUp = 0.0f);
    +
    579
    +
    580void RTABMAP_CORE_EXPORT adjustNormalsToViewPoints(
    +
    581 const std::map<int, Transform> & viewpoints,
    +
    582 const LaserScan & rawScan,
    +
    583 const std::vector<int> & viewpointIds,
    +
    584 LaserScan & scan,
    +
    585 float groundNormalsUp = 0.0f);
    +
    586
    +
    587pcl::PolygonMesh::Ptr RTABMAP_CORE_EXPORT meshDecimation(const pcl::PolygonMesh::Ptr & mesh, float factor);
    +
    588
    +
    589template<typename pointT>
    +
    590std::vector<pcl::Vertices> normalizePolygonsSide(
    +
    591 const pcl::PointCloud<pointT> & cloud,
    +
    592 const std::vector<pcl::Vertices> & polygons,
    +
    593 const pcl::PointXYZ & viewPoint = pcl::PointXYZ(0,0,0));
    +
    594
    +
    595template<typename pointRGBT>
    +
    596void denseMeshPostProcessing(
    +
    597 pcl::PolygonMeshPtr & mesh,
    +
    598 float meshDecimationFactor = 0.0f, // value between 0 and 1, 0=disabled
    +
    599 int maximumPolygons = 0, // 0=disabled
    +
    600 const typename pcl::PointCloud<pointRGBT>::Ptr & cloud = pcl::PointCloud<pointRGBT>::Ptr(), // A RGB point cloud used to transfer colors back to mesh (needed for parameters below)
    +
    601 float transferColorRadius = 0.05f, // <0=disabled, 0=nearest color
    +
    602 bool coloredOutput = true, // Not used anymore, output is colored if transferColorRadius>=0
    +
    603 bool cleanMesh = true, // Remove polygons not colored (if coloredOutput is disabled, transferColorRadius is still used to clean the mesh)
    +
    604 int minClusterSize = 50, // Remove small polygon clusters after the mesh has been cleaned (0=disabled)
    +
    605 ProgressState * progressState = 0);
    +
    606
    +
    629bool RTABMAP_CORE_EXPORT intersectRayTriangle(
    +
    630 const Eigen::Vector3f & p,
    +
    631 const Eigen::Vector3f & dir,
    +
    632 const Eigen::Vector3f & v0,
    +
    633 const Eigen::Vector3f & v1,
    +
    634 const Eigen::Vector3f & v2,
    +
    635 float & distance,
    +
    636 Eigen::Vector3f & normal);
    +
    637
    +
    638template<typename PointT>
    +
    639bool intersectRayMesh(
    +
    640 const Eigen::Vector3f & origin,
    +
    641 const Eigen::Vector3f & dir,
    +
    642 const typename pcl::PointCloud<PointT> & cloud,
    +
    643 const std::vector<pcl::Vertices> & polygons,
    +
    644 bool ignoreBackFaces,
    +
    645 float & distance,
    +
    646 Eigen::Vector3f & normal,
    +
    647 int & index);
    +
    648
    +
    649int RTABMAP_CORE_EXPORT saveOBJFile(
    +
    650 const std::string &file_name,
    +
    651 const pcl::TextureMesh &tex_mesh,
    +
    652 unsigned precision = 5);
    +
    653
    +
    654int RTABMAP_CORE_EXPORT saveOBJFile(
    +
    655 const std::string &file_name,
    +
    656 const pcl::PolygonMesh &mesh,
    +
    657 unsigned precision = 5);
    +
    658
    +
    659} // namespace util3d
    +
    660} // namespace rtabmap
    +
    661
    +
    662#include "rtabmap/core/impl/util3d_surface.hpp"
    +
    663
    +
    664#endif /* UTIL3D_SURFACE_H_ */
    +
    rtabmap::LaserScan
    Represents 2D or 3D laser scan data with support for multiple point data formats.
    Definition LaserScan.h:46
    + +
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    +
    rtabmap::Transform::getIdentity
    static Transform getIdentity()
    Returns identity transform.
    +
    rtabmap::util3d::computeNormalsComplexity
    float RTABMAP_CORE_EXPORT computeNormalsComplexity(const LaserScan &scan, const Transform &t=Transform::getIdentity(), cv::Mat *pcaEigenVectors=0, cv::Mat *pcaEigenValues=0, bool centered=true)
    Computes the complexity of surface normals in a point cloud of type LaserScan.
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/util3d__surface_8hpp_source.html b/preview/pr-1492/api/latest/util3d__surface_8hpp_source.html new file mode 100644 index 00000000..9d877ac3 --- /dev/null +++ b/preview/pr-1492/api/latest/util3d__surface_8hpp_source.html @@ -0,0 +1,453 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/impl/util3d_surface.hpp Source File + + + + + + + + + + + + +
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    + + + + + + +
    +
    RTAB-Map 0.23.10 +
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    util3d_surface.hpp
    +
    +
    +
    1/*
    +
    2 * util3d_surface.hpp
    +
    3 *
    +
    4 * Created on: Sep 3, 2016
    +
    5 * Author: mathieu
    +
    6 */
    +
    7
    +
    8#ifndef CORELIB_INCLUDE_RTABMAP_CORE_IMPL_UTIL3D_SURFACE_HPP_
    +
    9#define CORELIB_INCLUDE_RTABMAP_CORE_IMPL_UTIL3D_SURFACE_HPP_
    +
    10
    +
    11#include <pcl/search/kdtree.h>
    +
    12#include <pcl/conversions.h>
    +
    13#include <rtabmap/utilite/UConversion.h>
    +
    14
    +
    15namespace rtabmap {
    +
    16
    +
    17namespace util3d {
    +
    18
    +
    19template<typename pointT>
    +
    20std::vector<pcl::Vertices> normalizePolygonsSide(
    +
    21 const typename pcl::PointCloud<pointT> & cloud,
    +
    22 const std::vector<pcl::Vertices> & polygons,
    +
    23 const pcl::PointXYZ & viewPoint)
    +
    24{
    +
    25 std::vector<pcl::Vertices> output(polygons.size());
    +
    26 for(unsigned int i=0; i<polygons.size(); ++i)
    +
    27 {
    +
    28 pcl::Vertices polygon = polygons[i];
    +
    29 Eigen::Vector3f v1 = cloud.at(polygon.vertices[1]).getVector3fMap() - cloud.at(polygon.vertices[0]).getVector3fMap();
    +
    30 Eigen::Vector3f v2 = cloud.at(polygon.vertices[2]).getVector3fMap() - cloud.at(polygon.vertices[0]).getVector3fMap();
    +
    31 Eigen::Vector3f n = (v1.cross(v2)).normalized();
    +
    32
    +
    33 Eigen::Vector3f p = Eigen::Vector3f(viewPoint.x, viewPoint.y, viewPoint.z) - cloud.at(polygon.vertices[1]).getVector3fMap();
    +
    34
    +
    35 float result = n.dot(p);
    +
    36 if(result < 0)
    +
    37 {
    +
    38 //reverse vertices order
    +
    39 int tmp = polygon.vertices[0];
    +
    40 polygon.vertices[0] = polygon.vertices[2];
    +
    41 polygon.vertices[2] = tmp;
    +
    42 }
    +
    43
    +
    44 output[i] = polygon;
    +
    45 }
    +
    46 return output;
    +
    47}
    +
    48
    +
    49template<typename pointRGBT>
    +
    50void denseMeshPostProcessing(
    +
    51 pcl::PolygonMeshPtr & mesh,
    +
    52 float meshDecimationFactor,
    +
    53 int maximumPolygons,
    +
    54 const typename pcl::PointCloud<pointRGBT>::Ptr & cloud,
    +
    55 float transferColorRadius,
    +
    56 bool coloredOutput,
    +
    57 bool cleanMesh,
    +
    58 int minClusterSize,
    +
    59 ProgressState * progressState)
    +
    60{
    +
    61 // compute normals for the mesh if not already here
    +
    62 bool hasNormals = false;
    +
    63 bool hasColors = false;
    +
    64 for(unsigned int i=0; i<mesh->cloud.fields.size(); ++i)
    +
    65 {
    +
    66 if(mesh->cloud.fields[i].name.compare("normal_x") == 0)
    +
    67 {
    +
    68 hasNormals = true;
    +
    69 }
    +
    70 else if(mesh->cloud.fields[i].name.compare("rgb") == 0)
    +
    71 {
    +
    72 hasColors = true;
    +
    73 }
    +
    74 }
    +
    75
    +
    76 if(maximumPolygons > 0)
    +
    77 {
    +
    78 double factor = 1.0-double(maximumPolygons)/double(mesh->polygons.size());
    +
    79 if(factor > meshDecimationFactor)
    +
    80 {
    +
    81 meshDecimationFactor = factor;
    +
    82 }
    +
    83 }
    +
    84 if(meshDecimationFactor > 0.0)
    +
    85 {
    +
    86 unsigned int count = mesh->polygons.size();
    +
    87 if(progressState) progressState->callback(uFormat("Mesh decimation (factor=%f) from %d polygons...",meshDecimationFactor, (int)count));
    +
    88
    +
    89 mesh = util3d::meshDecimation(mesh, (float)meshDecimationFactor);
    +
    90 if(progressState) progressState->callback(uFormat("Mesh decimated (factor=%f) from %d to %d polygons", meshDecimationFactor, (int)count, (int)mesh->polygons.size()));
    +
    91 if(count < mesh->polygons.size())
    +
    92 {
    +
    93 if(progressState) progressState->callback(uFormat("Decimated mesh has more polygons than before!"));
    +
    94 }
    +
    95 hasNormals = false;
    +
    96 hasColors = false;
    +
    97 }
    +
    98
    +
    99 if(cloud.get()!=0 &&
    +
    100 !hasColors &&
    +
    101 transferColorRadius >= 0.0)
    +
    102 {
    +
    103 if(progressState) progressState->callback(uFormat("Transferring color from point cloud to mesh..."));
    +
    104
    +
    105 // transfer color from point cloud to mesh
    +
    106 typename pcl::search::KdTree<pointRGBT>::Ptr tree (new pcl::search::KdTree<pointRGBT>(true));
    +
    107 tree->setInputCloud(cloud);
    +
    108 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr coloredCloud(new pcl::PointCloud<pcl::PointXYZRGBNormal>);
    +
    109 pcl::fromPCLPointCloud2(mesh->cloud, *coloredCloud);
    +
    110 std::vector<bool> coloredPts(coloredCloud->size());
    +
    111 for(unsigned int i=0; i<coloredCloud->size(); ++i)
    +
    112 {
    +
    113 std::vector<int> kIndices;
    +
    114 std::vector<float> kDistances;
    +
    115 pointRGBT pt;
    +
    116 pt.x = coloredCloud->at(i).x;
    +
    117 pt.y = coloredCloud->at(i).y;
    +
    118 pt.z = coloredCloud->at(i).z;
    +
    119 if(transferColorRadius > 0.0)
    +
    120 {
    +
    121 tree->radiusSearch(pt, transferColorRadius, kIndices, kDistances);
    +
    122 }
    +
    123 else
    +
    124 {
    +
    125 tree->nearestKSearch(pt, 1, kIndices, kDistances);
    +
    126 }
    +
    127 if(kIndices.size())
    +
    128 {
    +
    129 //compute average color
    +
    130 int r=0;
    +
    131 int g=0;
    +
    132 int b=0;
    +
    133 int a=0;
    +
    134 for(unsigned int j=0; j<kIndices.size(); ++j)
    +
    135 {
    +
    136 r+=(int)cloud->at(kIndices[j]).r;
    +
    137 g+=(int)cloud->at(kIndices[j]).g;
    +
    138 b+=(int)cloud->at(kIndices[j]).b;
    +
    139 a+=(int)cloud->at(kIndices[j]).a;
    +
    140 }
    +
    141 coloredCloud->at(i).r = r/kIndices.size();
    +
    142 coloredCloud->at(i).g = g/kIndices.size();
    +
    143 coloredCloud->at(i).b = b/kIndices.size();
    +
    144 coloredCloud->at(i).a = a/kIndices.size();
    +
    145 coloredPts.at(i) = true;
    +
    146 }
    +
    147 else
    +
    148 {
    +
    149 //white
    +
    150 coloredCloud->at(i).r = coloredCloud->at(i).g = coloredCloud->at(i).b = 255;
    +
    151 coloredPts.at(i) = false;
    +
    152 }
    +
    153 }
    +
    154 if(coloredOutput) {
    +
    155 pcl::toPCLPointCloud2(*coloredCloud, mesh->cloud);
    +
    156 hasColors = true;
    +
    157 }
    +
    158
    +
    159 // remove polygons with no color
    +
    160 if(cleanMesh)
    +
    161 {
    +
    162 std::vector<pcl::Vertices> filteredPolygons(mesh->polygons.size());
    +
    163 int oi=0;
    +
    164 for(unsigned int i=0; i<mesh->polygons.size(); ++i)
    +
    165 {
    +
    166 bool coloredPolygon = true;
    +
    167 for(unsigned int j=0; j<mesh->polygons[i].vertices.size(); ++j)
    +
    168 {
    +
    169 if(!coloredPts.at(mesh->polygons[i].vertices[j]))
    +
    170 {
    +
    171 coloredPolygon = false;
    +
    172 break;
    +
    173 }
    +
    174 }
    +
    175 if(coloredPolygon)
    +
    176 {
    +
    177 filteredPolygons[oi++] = mesh->polygons[i];
    +
    178 }
    +
    179 }
    +
    180 filteredPolygons.resize(oi);
    +
    181 mesh->polygons = filteredPolygons;
    +
    182 }
    +
    183 }
    +
    184
    +
    185 if(minClusterSize)
    +
    186 {
    +
    187 if(progressState) progressState->callback(uFormat("Filter small polygon clusters..."));
    +
    188
    +
    189 // filter polygons
    +
    190 std::vector<std::set<int> > neighbors;
    +
    191 std::vector<std::set<int> > vertexToPolygons;
    +
    192 util3d::createPolygonIndexes(mesh->polygons,
    +
    193 mesh->cloud.height*mesh->cloud.width,
    +
    194 neighbors,
    +
    195 vertexToPolygons);
    +
    196 std::list<std::list<int> > clusters = util3d::clusterPolygons(
    +
    197 neighbors,
    +
    198 minClusterSize<0?0:minClusterSize);
    +
    199
    +
    200 std::vector<pcl::Vertices> filteredPolygons(mesh->polygons.size());
    +
    201 if(minClusterSize < 0)
    +
    202 {
    +
    203 // only keep the biggest cluster
    +
    204 std::list<std::list<int> >::iterator biggestClusterIndex = clusters.end();
    +
    205 unsigned int biggestClusterSize = 0;
    +
    206 for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
    +
    207 {
    +
    208 if(iter->size() > biggestClusterSize)
    +
    209 {
    +
    210 biggestClusterIndex = iter;
    +
    211 biggestClusterSize = iter->size();
    +
    212 }
    +
    213 }
    +
    214 if(biggestClusterIndex != clusters.end())
    +
    215 {
    +
    216 int oi=0;
    +
    217 for(std::list<int>::iterator jter=biggestClusterIndex->begin(); jter!=biggestClusterIndex->end(); ++jter)
    +
    218 {
    +
    219 filteredPolygons[oi++] = mesh->polygons.at(*jter);
    +
    220 }
    +
    221 filteredPolygons.resize(oi);
    +
    222 }
    +
    223 }
    +
    224 else
    +
    225 {
    +
    226 int oi=0;
    +
    227 for(std::list<std::list<int> >::iterator iter=clusters.begin(); iter!=clusters.end(); ++iter)
    +
    228 {
    +
    229 for(std::list<int>::iterator jter=iter->begin(); jter!=iter->end(); ++jter)
    +
    230 {
    +
    231 filteredPolygons[oi++] = mesh->polygons.at(*jter);
    +
    232 }
    +
    233 }
    +
    234 filteredPolygons.resize(oi);
    +
    235 }
    +
    236
    +
    237 int before = (int)mesh->polygons.size();
    +
    238 mesh->polygons = filteredPolygons;
    +
    239
    +
    240 if(progressState) progressState->callback(uFormat("Filtered %d polygons.", before-(int)mesh->polygons.size()));
    +
    241 }
    +
    242
    +
    243 // compute normals for the mesh if not already here
    +
    244 if(!hasNormals)
    +
    245 {
    +
    246 // use polygons
    +
    247 if(hasColors)
    +
    248 {
    +
    249 pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr cloud (new pcl::PointCloud<pcl::PointXYZRGBNormal>);
    +
    250 pcl::fromPCLPointCloud2(mesh->cloud, *cloud);
    +
    251
    +
    252 Eigen::Vector3f normal(1,0,0);
    +
    253 for(unsigned int i=0; i<mesh->polygons.size(); ++i)
    +
    254 {
    +
    255 pcl::Vertices & v = mesh->polygons[i];
    +
    256 if(!hasNormals)
    +
    257 {
    +
    258 UASSERT(v.vertices.size()>2);
    +
    259 Eigen::Vector3f v0(
    +
    260 cloud->at(v.vertices[1]).x - cloud->at(v.vertices[0]).x,
    +
    261 cloud->at(v.vertices[1]).y - cloud->at(v.vertices[0]).y,
    +
    262 cloud->at(v.vertices[1]).z - cloud->at(v.vertices[0]).z);
    +
    263 int last = v.vertices.size()-1;
    +
    264 Eigen::Vector3f v1(
    +
    265 cloud->at(v.vertices[last]).x - cloud->at(v.vertices[0]).x,
    +
    266 cloud->at(v.vertices[last]).y - cloud->at(v.vertices[0]).y,
    +
    267 cloud->at(v.vertices[last]).z - cloud->at(v.vertices[0]).z);
    +
    268 normal = v0.cross(v1);
    +
    269 normal.normalize();
    +
    270 }
    +
    271 // flat normal (per face)
    +
    272 for(unsigned int j=0; j<v.vertices.size(); ++j)
    +
    273 {
    +
    274 cloud->at(v.vertices[j]).normal_x = normal[0];
    +
    275 cloud->at(v.vertices[j]).normal_y = normal[1];
    +
    276 cloud->at(v.vertices[j]).normal_z = normal[2];
    +
    277 }
    +
    278 }
    +
    279 pcl::toPCLPointCloud2 (*cloud, mesh->cloud);
    +
    280 }
    +
    281 else
    +
    282 {
    +
    283 pcl::PointCloud<pcl::PointNormal>::Ptr cloud (new pcl::PointCloud<pcl::PointNormal>);
    +
    284 pcl::fromPCLPointCloud2(mesh->cloud, *cloud);
    +
    285
    +
    286 for(unsigned int i=0; i<mesh->polygons.size(); ++i)
    +
    287 {
    +
    288 pcl::Vertices & v = mesh->polygons[i];
    +
    289 UASSERT(v.vertices.size()>2);
    +
    290 Eigen::Vector3f v0(
    +
    291 cloud->at(v.vertices[1]).x - cloud->at(v.vertices[0]).x,
    +
    292 cloud->at(v.vertices[1]).y - cloud->at(v.vertices[0]).y,
    +
    293 cloud->at(v.vertices[1]).z - cloud->at(v.vertices[0]).z);
    +
    294 int last = v.vertices.size()-1;
    +
    295 Eigen::Vector3f v1(
    +
    296 cloud->at(v.vertices[last]).x - cloud->at(v.vertices[0]).x,
    +
    297 cloud->at(v.vertices[last]).y - cloud->at(v.vertices[0]).y,
    +
    298 cloud->at(v.vertices[last]).z - cloud->at(v.vertices[0]).z);
    +
    299 Eigen::Vector3f normal = v0.cross(v1);
    +
    300 normal.normalize();
    +
    301 // flat normal (per face)
    +
    302 for(unsigned int j=0; j<v.vertices.size(); ++j)
    +
    303 {
    +
    304 cloud->at(v.vertices[j]).normal_x = normal[0];
    +
    305 cloud->at(v.vertices[j]).normal_y = normal[1];
    +
    306 cloud->at(v.vertices[j]).normal_z = normal[2];
    +
    307 }
    +
    308 }
    +
    309 pcl::toPCLPointCloud2 (*cloud, mesh->cloud);
    +
    310 }
    +
    311 }
    +
    312}
    +
    313
    +
    314template<typename PointT>
    +
    315bool intersectRayMesh(
    +
    316 const Eigen::Vector3f & origin,
    +
    317 const Eigen::Vector3f & dir,
    +
    318 const typename pcl::PointCloud<PointT> & cloud,
    +
    319 const std::vector<pcl::Vertices> & polygons,
    +
    320 bool ignoreBackFaces,
    +
    321 float & distance,
    +
    322 Eigen::Vector3f & normal,
    +
    323 int & index)
    +
    324{
    +
    325 bool intersect = false;
    +
    326 distance = std::numeric_limits<float>::max();
    +
    327 for (size_t i = 0; i < polygons.size(); ++i)
    +
    328 {
    +
    329 const pcl::Vertices & vert = polygons.at(i);
    +
    330 UASSERT(vert.vertices.size()==3);
    +
    331 float d;
    +
    332 Eigen::Vector3f n;
    +
    333 if (intersectRayTriangle(origin, dir,
    +
    334 cloud.at(vert.vertices.at(0)).getVector3fMap(),
    +
    335 cloud.at(vert.vertices.at(1)).getVector3fMap(),
    +
    336 cloud.at(vert.vertices.at(2)).getVector3fMap(), d, n) &&
    +
    337 d < distance &&
    +
    338 (!ignoreBackFaces || n.dot(dir)<0))
    +
    339 {
    +
    340 distance = d;
    +
    341 index = i;
    +
    342 normal = n;
    +
    343 intersect |= true;
    +
    344 }
    +
    345 }
    +
    346 normal.normalize();
    +
    347 return intersect;
    +
    348}
    +
    349
    +
    350}
    +
    351
    +
    352}
    +
    353
    +
    354
    +
    355#endif /* CORELIB_INCLUDE_RTABMAP_CORE_IMPL_UTIL3D_SURFACE_HPP_ */
    +
    UConversion.h
    Some conversion functions.
    +
    uFormat
    std::string UTILITE_EXPORT uFormat(const char *fmt,...)
    +
    UASSERT
    #define UASSERT(condition)
    Definition ULogger.h:66
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/util3d__transforms_8h_source.html b/preview/pr-1492/api/latest/util3d__transforms_8h_source.html new file mode 100644 index 00000000..3a4bbf58 --- /dev/null +++ b/preview/pr-1492/api/latest/util3d__transforms_8h_source.html @@ -0,0 +1,219 @@ + + + + + + + + +RTAB-Map: corelib/include/rtabmap/core/util3d_transforms.h Source File + + + + + + + + + + + + +
    +
    + + + + + + +
    +
    RTAB-Map 0.23.10 +
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    +
    + + + + + + + + + +
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    + + +
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    +
    util3d_transforms.h
    +
    +
    +
    1/*
    +
    2Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
    +
    3All rights reserved.
    +
    4
    +
    5Redistribution and use in source and binary forms, with or without
    +
    6modification, are permitted provided that the following conditions are met:
    +
    7 * Redistributions of source code must retain the above copyright
    +
    8 notice, this list of conditions and the following disclaimer.
    +
    9 * Redistributions in binary form must reproduce the above copyright
    +
    10 notice, this list of conditions and the following disclaimer in the
    +
    11 documentation and/or other materials provided with the distribution.
    +
    12 * Neither the name of the Universite de Sherbrooke nor the
    +
    13 names of its contributors may be used to endorse or promote products
    +
    14 derived from this software without specific prior written permission.
    +
    15
    +
    16THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
    +
    17ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
    +
    18WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
    +
    19DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
    +
    20DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
    +
    21(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
    +
    22LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
    +
    23ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
    +
    24(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
    +
    25SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
    +
    26*/
    +
    27
    +
    28#ifndef UTIL3D_TRANSFORMS_H_
    +
    29#define UTIL3D_TRANSFORMS_H_
    +
    30
    +
    31#include <rtabmap/core/rtabmap_core_export.h>
    +
    32
    +
    33#include <pcl/point_cloud.h>
    +
    34#include <pcl/point_types.h>
    +
    35#include <pcl/pcl_base.h>
    +
    36#include <rtabmap/core/Transform.h>
    +
    37#include <rtabmap/core/LaserScan.h>
    +
    38
    +
    39namespace rtabmap
    +
    40{
    +
    41
    +
    42namespace util3d
    +
    43{
    +
    44
    +
    75LaserScan RTABMAP_CORE_EXPORT transformLaserScan(
    +
    76 const LaserScan & laserScan,
    +
    77 const Transform & transform);
    +
    78
    +
    95pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    96 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    97 const Transform & transform);
    +
    102pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    103 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    104 const Transform & transform);
    +
    109pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    110 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    111 const Transform & transform);
    +
    116pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    117 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    118 const Transform & transform);
    +
    123pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    124 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    125 const Transform & transform);
    +
    130pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    131 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    132 const Transform & transform);
    +
    133
    +
    138pcl::PointCloud<pcl::PointXYZ>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    139 const pcl::PointCloud<pcl::PointXYZ>::Ptr & cloud,
    +
    140 const pcl::IndicesPtr & indices,
    +
    141 const Transform & transform);
    +
    146pcl::PointCloud<pcl::PointXYZI>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    147 const pcl::PointCloud<pcl::PointXYZI>::Ptr & cloud,
    +
    148 const pcl::IndicesPtr & indices,
    +
    149 const Transform & transform);
    +
    154pcl::PointCloud<pcl::PointXYZRGB>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    155 const pcl::PointCloud<pcl::PointXYZRGB>::Ptr & cloud,
    +
    156 const pcl::IndicesPtr & indices,
    +
    157 const Transform & transform);
    +
    162pcl::PointCloud<pcl::PointNormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    163 const pcl::PointCloud<pcl::PointNormal>::Ptr & cloud,
    +
    164 const pcl::IndicesPtr & indices,
    +
    165 const Transform & transform);
    +
    170pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    171 const pcl::PointCloud<pcl::PointXYZRGBNormal>::Ptr & cloud,
    +
    172 const pcl::IndicesPtr & indices,
    +
    173 const Transform & transform);
    +
    178pcl::PointCloud<pcl::PointXYZINormal>::Ptr RTABMAP_CORE_EXPORT transformPointCloud(
    +
    179 const pcl::PointCloud<pcl::PointXYZINormal>::Ptr & cloud,
    +
    180 const pcl::IndicesPtr & indices,
    +
    181 const Transform & transform);
    +
    182
    +
    197cv::Point3f RTABMAP_CORE_EXPORT transformPoint(
    +
    198 const cv::Point3f & pt,
    +
    199 const Transform & transform);
    +
    204cv::Point3d RTABMAP_CORE_EXPORT transformPoint(
    +
    205 const cv::Point3d & pt,
    +
    206 const Transform & transform);
    +
    211pcl::PointXYZ RTABMAP_CORE_EXPORT transformPoint(
    +
    212 const pcl::PointXYZ & pt,
    +
    213 const Transform & transform);
    +
    218pcl::PointXYZI RTABMAP_CORE_EXPORT transformPoint(
    +
    219 const pcl::PointXYZI & pt,
    +
    220 const Transform & transform);
    +
    225pcl::PointXYZRGB RTABMAP_CORE_EXPORT transformPoint(
    +
    226 const pcl::PointXYZRGB & pt,
    +
    227 const Transform & transform);
    +
    232pcl::PointNormal RTABMAP_CORE_EXPORT transformPoint(
    +
    233 const pcl::PointNormal & point,
    +
    234 const Transform & transform);
    +
    239pcl::PointXYZRGBNormal RTABMAP_CORE_EXPORT transformPoint(
    +
    240 const pcl::PointXYZRGBNormal & point,
    +
    241 const Transform & transform);
    +
    246pcl::PointXYZINormal RTABMAP_CORE_EXPORT transformPoint(
    +
    247 const pcl::PointXYZINormal & point,
    +
    248 const Transform & transform);
    +
    249
    +
    250} // namespace util3d
    +
    251} // namespace rtabmap
    +
    252
    +
    253#endif /* UTIL3D_TRANSFORMS_H_ */
    +
    rtabmap::Transform
    Represents a 3D rigid body transformation (rotation + translation).
    Definition Transform.h:53
    +
    rtabmap::util3d::transformPoint
    cv::Point3f RTABMAP_CORE_EXPORT transformPoint(const cv::Point3f &pt, const Transform &transform)
    Transforms cv::Point3f point type.
    +
    rtabmap::util3d::transformPointCloud
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT transformPointCloud(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const Transform &transform)
    Transforms pcl::PointXYZ point cloud type.
    + +
    + +
    +Generated by doxygen 1.9.8 +
    + + diff --git a/preview/pr-1492/api/latest/version-switcher.js b/preview/pr-1492/api/latest/version-switcher.js new file mode 100644 index 00000000..7602c6c2 --- /dev/null +++ b/preview/pr-1492/api/latest/version-switcher.js @@ -0,0 +1,74 @@ +/* Renders the version dropdown into Doxygen's #projectnumber element. + * + * Expects two things set up by the generated HTML header (see Doxyfile.in): + * - window.RTABMAP_DOC_ROOT: Doxygen's $relpath^, i.e. the path from the + * current page back to the root of *this* version's documentation. + * - versions.js loaded from the API root, defining RTABMAP_DOC_VERSIONS. + * + * Everything is computed relative to those two, so the same files work for a + * local preview (file:// or a static server) and for the published site, + * whatever prefix it is served under. + */ +(function () { + 'use strict'; + + function onReady(fn) { + if (document.readyState !== 'loading') { + fn(); + } else { + document.addEventListener('DOMContentLoaded', fn); + } + } + + onReady(function () { + var versions = window.RTABMAP_DOC_VERSIONS; + var holder = document.getElementById('projectnumber'); + if (!versions || !versions.length || !holder) { + return; // no version list deployed, or an unexpected Doxygen layout + } + + // Absolute path of this version's doc root, then of the API root above it. + var anchor = document.createElement('a'); + anchor.href = window.RTABMAP_DOC_ROOT || './'; + var versionRoot = anchor.pathname.replace(/[^/]*$/, ''); // .../api// + var apiRoot = versionRoot.replace(/[^/]+\/$/, ''); // .../api/ + var currentDir = versionRoot.slice(apiRoot.length).replace(/\/$/, ''); + var pageInVersion = window.location.pathname.slice(versionRoot.length); + + var select = document.createElement('select'); + select.className = 'rtabmap-version-switcher'; + select.setAttribute('aria-label', 'Documentation version'); + + var matched = false; + versions.forEach(function (entry) { + var option = document.createElement('option'); + option.textContent = entry[0]; + option.value = entry[1]; + if (entry[1] === currentDir) { + option.selected = true; + matched = true; + } + select.appendChild(option); + }); + + // Version not in the list (a local build, or a folder not published yet): + // show it so the box never lies about which docs are open. + if (!matched && currentDir) { + var current = document.createElement('option'); + current.textContent = currentDir; + current.value = currentDir; + current.selected = true; + select.insertBefore(current, select.firstChild); + } + + select.addEventListener('change', function () { + // Keep the reader on the same page in the target version. Pages that + // did not exist back then 404, which is the usual trade-off; the + // alternative (always landing on index.html) is worse for deep links. + window.location.href = apiRoot + select.value + '/' + pageInVersion; + }); + + holder.textContent = ''; + holder.appendChild(select); + }); +})(); diff --git a/preview/pr-1492/api/versions.js b/preview/pr-1492/api/versions.js new file mode 100644 index 00000000..9c3b074e --- /dev/null +++ b/preview/pr-1492/api/versions.js @@ -0,0 +1,17 @@ +/* Single source of truth for the API documentation version dropdown. + * + * This file is deployed ONCE at the root of the API docs (e.g. /api/versions.js), + * NOT inside each version folder. Every published version loads this same file, + * so adding an entry here makes the new release appear in the dropdown of all + * previously published versions at once. + * + * To publish a new release, add ONE entry at the top and redeploy this file to + * the API docs root. Format: ['

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