From fe4155944a9bb14327fae68bda8dfd40e2a998b9 Mon Sep 17 00:00:00 2001 From: "github-actions[bot]" Date: Thu, 20 Aug 2026 01:26:39 +0000 Subject: [PATCH] Preview for PR #1748 50cbe74bc6bb76bafc4b461e50d2288e3bb9fefa --- .../api/latest/BayesFilter_8h_source.html | 169 ++++++++--------- .../api/latest/CameraDepthAI_8h_source.html | 2 +- .../api/latest/CameraFreenect2_8h_source.html | 2 +- .../api/latest/CameraFreenect_8h_source.html | 2 +- .../api/latest/CameraImages_8h_source.html | 2 +- .../api/latest/CameraK4A_8h_source.html | 2 +- .../api/latest/CameraK4W2_8h_source.html | 2 +- .../api/latest/CameraModel_8h_source.html | 2 +- .../api/latest/CameraMyntEye_8h_source.html | 2 +- .../api/latest/CameraOpenNI2_8h_source.html | 2 +- .../api/latest/CameraOpenNICV_8h_source.html | 2 +- .../api/latest/CameraOpenni_8h_source.html | 2 +- .../api/latest/CameraOrbbecSDK_8h_source.html | 2 +- .../latest/CameraRGBDImages_8h_source.html | 2 +- .../latest/CameraRealSense2_8h_source.html | 2 +- .../api/latest/CameraRealSense_8h_source.html | 2 +- .../api/latest/CameraSeerSense_8h_source.html | 2 +- .../latest/CameraStereoDC1394_8h_source.html | 2 +- .../CameraStereoFlyCapture2_8h_source.html | 2 +- .../latest/CameraStereoImages_8h_source.html | 2 +- .../latest/CameraStereoTara_8h_source.html | 2 +- .../latest/CameraStereoVideo_8h_source.html | 2 +- .../latest/CameraStereoZedOC_8h_source.html | 2 +- .../api/latest/CameraStereoZed_8h_source.html | 2 +- .../api/latest/CameraVideo_8h_source.html | 2 +- .../pr-1748/api/latest/Camera_8h_source.html | 2 +- .../api/latest/CloudMap_8h_source.html | 2 +- .../api/latest/Compression_8h_source.html | 2 +- .../api/latest/DBDriverSqlite3_8h_source.html | 2 +- .../api/latest/DBDriver_8h_source.html | 2 +- .../api/latest/DBReader_8h_source.html | 2 +- .../api/latest/EnvSensor_8h_source.html | 2 +- .../latest/EpipolarGeometry_8h_source.html | 2 +- .../api/latest/Features2d_8h_source.html | 2 +- .../api/latest/FlannIndex_8h_source.html | 2 +- preview/pr-1748/api/latest/GPS_8h_source.html | 2 +- .../api/latest/GainCompensator_8h_source.html | 2 +- .../api/latest/GeodeticCoords_8h_source.html | 2 +- .../GlobalDescriptorExtractor_8h_source.html | 2 +- .../latest/GlobalDescriptor_8h_source.html | 2 +- .../api/latest/GlobalMap_8h_source.html | 2 +- .../pr-1748/api/latest/Graph_8h_source.html | 2 +- .../pr-1748/api/latest/GridMap_8h_source.html | 2 +- .../api/latest/IMUFilter_8h_source.html | 2 +- .../api/latest/IMUThread_8h_source.html | 2 +- preview/pr-1748/api/latest/IMU_8h_source.html | 2 +- .../pr-1748/api/latest/Image_8h_source.html | 2 +- .../api/latest/LASWriter_8h_source.html | 2 +- .../api/latest/Landmark_8h_source.html | 2 +- .../api/latest/LaserScan_8h_source.html | 2 +- .../api/latest/LidarVLP16_8h_source.html | 2 +- .../pr-1748/api/latest/Lidar_8h_source.html | 2 +- .../pr-1748/api/latest/Link_8h_source.html | 2 +- .../api/latest/LocalGridMaker_8h_source.html | 2 +- .../api/latest/LocalGrid_8h_source.html | 2 +- .../api/latest/LocalMapMaker_8hpp_source.html | 2 +- .../api/latest/MarkerDetector_8h_source.html | 2 +- .../pr-1748/api/latest/Memory_8h_source.html | 2 +- .../api/latest/OdometryCuVSLAM_8h_source.html | 2 +- .../api/latest/OdometryDVO_8h_source.html | 2 +- .../api/latest/OdometryEvent_8h_source.html | 2 +- .../api/latest/OdometryF2F_8h_source.html | 2 +- .../api/latest/OdometryF2M_8h_source.html | 2 +- .../api/latest/OdometryFLOAM_8h_source.html | 2 +- .../api/latest/OdometryFovis_8h_source.html | 2 +- .../api/latest/OdometryInfo_8h_source.html | 2 +- .../api/latest/OdometryLIOSAM_8h_source.html | 2 +- .../api/latest/OdometryLOAM_8h_source.html | 2 +- .../api/latest/OdometryMSCKF_8h_source.html | 2 +- .../api/latest/OdometryMono_8h_source.html | 2 +- .../latest/OdometryORBSLAM2_8h_source.html | 2 +- .../latest/OdometryORBSLAM3_8h_source.html | 2 +- .../api/latest/OdometryOkvis_8h_source.html | 2 +- .../api/latest/OdometryOpen3D_8h_source.html | 2 +- .../latest/OdometryOpenVINS_8h_source.html | 2 +- .../api/latest/OdometryThread_8h_source.html | 2 +- .../latest/OdometryVINSFusion_8h_source.html | 2 +- .../api/latest/OdometryViso2_8h_source.html | 2 +- .../api/latest/Odometry_8h_source.html | 2 +- .../api/latest/OptimizerCVSBA_8h_source.html | 2 +- .../api/latest/OptimizerCeres_8h_source.html | 2 +- .../api/latest/OptimizerG2O_8h_source.html | 2 +- .../api/latest/OptimizerGTSAM_8h_source.html | 2 +- .../api/latest/OptimizerTORO_8h_source.html | 2 +- .../api/latest/Optimizer_8h_source.html | 2 +- .../api/latest/PDALWriter_8h_source.html | 2 +- .../api/latest/ParamEvent_8h_source.html | 2 +- .../api/latest/Parameters_8h_source.html | 2 +- .../api/latest/ParticleFilter_8h_source.html | 2 +- .../api/latest/ProgressState_8h_source.html | 2 +- .../api/latest/PythonInterface_8h_source.html | 2 +- .../api/latest/Recovery_8h_source.html | 2 +- .../api/latest/RegistrationIcp_8h_source.html | 2 +- .../latest/RegistrationInfo_8h_source.html | 2 +- .../api/latest/RegistrationVis_8h_source.html | 2 +- .../api/latest/Registration_8h_source.html | 2 +- .../api/latest/RtabmapEvent_8h_source.html | 2 +- .../api/latest/RtabmapThread_8h_source.html | 2 +- .../pr-1748/api/latest/Rtabmap_8h_source.html | 4 +- .../latest/SensorCaptureInfo_8h_source.html | 2 +- .../latest/SensorCaptureThread_8h_source.html | 2 +- .../api/latest/SensorCapture_8h_source.html | 2 +- .../api/latest/SensorData_8h_source.html | 2 +- .../api/latest/SensorEvent_8h_source.html | 2 +- .../api/latest/Signature_8h_source.html | 2 +- .../api/latest/Statistics_8h_source.html | 2 +- .../api/latest/StereoBM_8h_source.html | 2 +- .../latest/StereoCameraModel_8h_source.html | 2 +- .../api/latest/StereoDense_8h_source.html | 2 +- .../api/latest/StereoSGBM_8h_source.html | 2 +- .../pr-1748/api/latest/Stereo_8h_source.html | 2 +- .../api/latest/Transform_8h_source.html | 2 +- .../api/latest/UserDataEvent_8h_source.html | 2 +- .../api/latest/VWDictionary_8h_source.html | 2 +- .../api/latest/VisualWord_8h_source.html | 2 +- .../classrtabmap_1_1BayesFilter-members.html | 19 +- .../latest/classrtabmap_1_1BayesFilter.html | 79 +++++--- .../api/latest/classrtabmap_1_1BayesFilter.js | 5 +- preview/pr-1748/api/latest/functions_c.html | 2 +- .../pr-1748/api/latest/functions_func_c.html | 2 +- .../pr-1748/api/latest/functions_func_g.html | 7 +- .../pr-1748/api/latest/functions_func_t.html | 2 +- preview/pr-1748/api/latest/functions_g.html | 3 +- preview/pr-1748/api/latest/functions_t.html | 6 +- .../global__map_2OccupancyGrid_8h_source.html | 2 +- .../global__map_2OctoMap_8h_source.html | 2 +- .../pr-1748/api/latest/group__UtiLite.html | 2 +- preview/pr-1748/api/latest/index.html | 2 +- preview/pr-1748/api/latest/navtreedata.js | 30 +-- preview/pr-1748/api/latest/navtreeindex1.js | 34 ++-- preview/pr-1748/api/latest/navtreeindex10.js | 132 ++++++------- preview/pr-1748/api/latest/navtreeindex11.js | 130 ++++++------- preview/pr-1748/api/latest/navtreeindex12.js | 126 ++++++------ preview/pr-1748/api/latest/navtreeindex13.js | 72 +++---- preview/pr-1748/api/latest/navtreeindex14.js | 6 +- preview/pr-1748/api/latest/navtreeindex15.js | 6 +- preview/pr-1748/api/latest/navtreeindex16.js | 2 + preview/pr-1748/api/latest/navtreeindex2.js | 134 ++++++------- preview/pr-1748/api/latest/navtreeindex3.js | 128 ++++++------- preview/pr-1748/api/latest/navtreeindex4.js | 114 +++++------ preview/pr-1748/api/latest/navtreeindex5.js | 134 ++++++------- preview/pr-1748/api/latest/navtreeindex6.js | 120 ++++++------ preview/pr-1748/api/latest/navtreeindex7.js | 154 +++++++-------- preview/pr-1748/api/latest/navtreeindex8.js | 140 +++++++------- preview/pr-1748/api/latest/navtreeindex9.js | 130 ++++++------- preview/pr-1748/api/latest/parameters.html | 2 +- .../api/latest/rvl__codec_8h_source.html | 2 +- preview/pr-1748/api/latest/search/all_14.js | 2 +- preview/pr-1748/api/latest/search/all_15.js | 2 +- preview/pr-1748/api/latest/search/all_5.js | 2 +- preview/pr-1748/api/latest/search/all_9.js | 179 +++++++++--------- .../pr-1748/api/latest/search/functions_11.js | 2 +- .../pr-1748/api/latest/search/functions_12.js | 2 +- .../pr-1748/api/latest/search/functions_2.js | 2 +- .../pr-1748/api/latest/search/functions_6.js | 141 +++++++------- .../stereoRectifyFisheye_8h_source.html | 2 +- .../api/latest/uResourceGeneratorPage.html | 2 +- .../pr-1748/api/latest/util2d_8h_source.html | 2 +- .../pr-1748/api/latest/util3d_8h_source.html | 2 +- .../api/latest/util3d_8hpp_source.html | 2 +- .../util3d__correspondences_8h_source.html | 2 +- .../latest/util3d__features_8h_source.html | 2 +- .../latest/util3d__filtering_8h_source.html | 2 +- .../api/latest/util3d__mapping_8h_source.html | 2 +- .../latest/util3d__mapping_8hpp_source.html | 2 +- .../util3d__motion__estimation_8h_source.html | 2 +- .../util3d__registration_8h_source.html | 2 +- .../api/latest/util3d__surface_8h_source.html | 2 +- .../latest/util3d__surface_8hpp_source.html | 2 +- .../latest/util3d__transforms_8h_source.html | 2 +- preview/pr-1748/index.html | 2 +- 171 files changed, 1257 insertions(+), 1235 deletions(-) diff --git a/preview/pr-1748/api/latest/BayesFilter_8h_source.html b/preview/pr-1748/api/latest/BayesFilter_8h_source.html index fd3f8f78..23bbc753 100644 --- a/preview/pr-1748/api/latest/BayesFilter_8h_source.html +++ b/preview/pr-1748/api/latest/BayesFilter_8h_source.html @@ -139,108 +139,99 @@ $(document).ready(function(){initNavTree('BayesFilter_8h_source.html',''); initR
31#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
32
33#include <opencv2/core/core.hpp>
-
34#include <Eigen/SparseCore>
-
35#include <list>
+
34#include <list>
+
35#include <map>
36#include <set>
-
37#include <vector>
-
38#include "rtabmap/utilite/UEventsHandler.h"
-
39#include "rtabmap/core/Parameters.h"
-
40
-
-
41namespace rtabmap {
-
42
-
43class Memory;
-
44class Signature;
-
45
-
-
74class RTABMAP_CORE_EXPORT BayesFilter
-
75{
-
76public:
-
81 BayesFilter(const ParametersMap & parameters = ParametersMap());
-
82 virtual ~BayesFilter();
-
83
-
88 virtual void parseParameters(const ParametersMap & parameters);
-
89
-
102 const std::map<int, float> & computePosterior(const Memory * memory, const std::map<int, float> & likelihood);
-
103
-
107 void reset();
-
108
-
122 void setPredictionLC(const std::string & prediction);
-
123
-
128 const std::map<int, float> & getPosterior() const {return _posterior;}
-
129
-
134 float getVirtualPlacePrior() const {return _virtualPlacePrior;}
-
135
-
140 const std::vector<double> & getPredictionLC() const;
-
141
-
146 std::string getPredictionLCStr() const;
-
147
-
159 cv::Mat generatePrediction(const Memory * memory, const std::vector<int> & ids);
-
160
-
165 unsigned long getMemoryUsed() const;
-
166
-
167private:
-
171 bool posteriorHasSameIds(const std::vector<int> & ids) const;
-
172
-
176 cv::Mat updatePrediction(const cv::Mat & oldPrediction,
-
177 const Memory * memory,
-
178 const std::vector<int> & oldIds,
-
179 const std::vector<int> & newIds);
-
180
-
184 void updatePosterior(const Memory * memory, const std::vector<int> & likelihoodIds);
-
185
-
194 void fillVirtualPlaceColumn(float * column, size_t stride, int size) const;
-
195
-
205 void normalize(float * column, size_t stride, int size, unsigned int index, float addedProbabilitiesSum, bool virtualPlaceUsed) const;
-
206
-
221 bool generateSparsePrediction(const Memory * memory, const std::vector<int> & ids);
-
222
-
231 void updateSparsePredictionFromDense();
-
232
-
236 void appendSparseColumn(std::vector<float> & column, int index,
-
237 std::vector<Eigen::Triplet<float> > & triplets) const;
-
238
-
242 void clearSparsePrediction();
-
243
-
247 unsigned long getSparsePredictionMemoryUsed() const;
-
248
-
258 void multiplySparsePrediction(const cv::Mat & posterior, cv::Mat & prior) const;
-
259
-
260private:
-
261 std::map<int, float> _posterior;
-
262 cv::Mat _prediction;
-
263 float _virtualPlacePrior;
-
264 std::vector<double> _predictionLC;
-
265 bool _fullPredictionUpdate;
-
266 float _totalPredictionLCValues;
-
267 float _predictionEpsilon;
-
268 bool _sparsePrediction;
-
269 bool _predictionChanged;
-
270 bool _sparsePredictionRejected;
-
271 Eigen::SparseMatrix<float, Eigen::RowMajor> _sparsePredictionMatrix;
-
272 std::map<int, std::map<int, int> > _neighborsIndex;
-
273};
+
37#include <utility>
+
38#include <vector>
+
39#include "rtabmap/utilite/UEventsHandler.h"
+
40#include "rtabmap/core/Parameters.h"
+
41
+
+
42namespace rtabmap {
+
43
+
44class Memory;
+
45class Signature;
+
46
+
47namespace bayes {
+
48class PredictionModel;
+
49class DensePrediction;
+
50class SparsePrediction;
+
51}
+
52
+
+
81class RTABMAP_CORE_EXPORT BayesFilter
+
82{
+
83public:
+
88 BayesFilter(const ParametersMap & parameters = ParametersMap());
+
89 virtual ~BayesFilter();
+
90
+
95 virtual void parseParameters(const ParametersMap & parameters);
+
96
+
111 bool computePosterior(const Memory * memory, const std::map<int, float> & likelihood);
+
112
+
116 void reset();
+
117
+
131 void setPredictionLC(const std::string & prediction);
+
132
+
138 const std::vector<int> & getPosteriorIds() const {return _posteriorIds;}
+
139
+
143 const std::vector<float> & getPosteriorValues() const {return _posteriorValues;}
+
144
+
149 float getVirtualPlacePrior() const;
+
150
+
155 const std::vector<double> & getPredictionLC() const;
+
156
+
161 std::string getPredictionLCStr() const;
+
162
+
176 cv::Mat generatePrediction(const Memory * memory, const std::vector<int> & ids);
+
177
+
182 unsigned long getMemoryUsed() const;
+
183
+
184private:
+
188 bool posteriorHasSameIds(const std::vector<int> & ids) const;
+
189
+
195 void updatePosterior(const Memory * memory, const std::map<int, float> & likelihood);
+
196
+
197private:
+
198 std::vector<int> _posteriorIds;
+
199 std::vector<float> _posteriorValues;
+
200 std::vector<int> _likelihoodIds;
+
201 std::vector<float> _likelihoodValues;
+
202 std::vector<float> _priorValues;
+
203
+
204 bayes::PredictionModel * _model;
+
205 bayes::DensePrediction * _dense;
+
206 bayes::SparsePrediction * _sparse;
+
207 std::map<int, std::map<int, int> > _neighborsIndex;
+
208
+
209 bool _fullPredictionUpdate;
+
210 bool _sparsePrediction;
+
211 bool _predictionChanged;
+
212 bool _sparsePredictionRejected;
+
213};
-
274
-
275} // namespace rtabmap
+
214
+
215} // namespace rtabmap
-
276
-
277#endif /* BAYESFILTER_H_ */
-
rtabmap::BayesFilter
Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.
Definition BayesFilter.h:75
+
216
+
217#endif /* BAYESFILTER_H_ */
+
rtabmap::BayesFilter
Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.
Definition BayesFilter.h:82
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:134
+
rtabmap::BayesFilter::getVirtualPlacePrior
float getVirtualPlacePrior() const
Returns the virtual place prior threshold.
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::getPosteriorIds
const std::vector< int > & getPosteriorIds() const
The locations the posterior is over, ascending by id.
Definition BayesFilter.h:138
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::computePosterior
bool computePosterior(const Memory *memory, const std::map< int, float > &likelihood)
Runs one Bayes filter iteration (prediction + update).
+
rtabmap::BayesFilter::getPosteriorValues
const std::vector< float > & getPosteriorValues() const
The probability of each location of getPosteriorIds(), in the same order.
Definition BayesFilter.h:143
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:128
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
- +
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/CameraDepthAI_8h_source.html b/preview/pr-1748/api/latest/CameraDepthAI_8h_source.html index 84091388..8a9da500 100644 --- a/preview/pr-1748/api/latest/CameraDepthAI_8h_source.html +++ b/preview/pr-1748/api/latest/CameraDepthAI_8h_source.html @@ -233,7 +233,7 @@ $(document).ready(function(){initNavTree('CameraDepthAI_8h_source.html',''); ini
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraFreenect2_8h_source.html b/preview/pr-1748/api/latest/CameraFreenect2_8h_source.html index 081479a3..893c68c1 100644 --- a/preview/pr-1748/api/latest/CameraFreenect2_8h_source.html +++ b/preview/pr-1748/api/latest/CameraFreenect2_8h_source.html @@ -217,7 +217,7 @@ $(document).ready(function(){initNavTree('CameraFreenect2_8h_source.html',''); i
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraFreenect_8h_source.html b/preview/pr-1748/api/latest/CameraFreenect_8h_source.html index 1be1d7ac..905c58b3 100644 --- a/preview/pr-1748/api/latest/CameraFreenect_8h_source.html +++ b/preview/pr-1748/api/latest/CameraFreenect_8h_source.html @@ -193,7 +193,7 @@ $(document).ready(function(){initNavTree('CameraFreenect_8h_source.html',''); in
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraImages_8h_source.html b/preview/pr-1748/api/latest/CameraImages_8h_source.html index 6814c6fc..dd8ac69f 100644 --- a/preview/pr-1748/api/latest/CameraImages_8h_source.html +++ b/preview/pr-1748/api/latest/CameraImages_8h_source.html @@ -350,7 +350,7 @@ $(document).ready(function(){initNavTree('CameraImages_8h_source.html',''); init
rtabmap::CameraImages::odomProvided
virtual bool odomProvided() const
Checks if the sensor provides odometry poses.
Definition CameraImages.h:53
rtabmap::Camera
Definition Camera.h:44
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraK4A_8h_source.html b/preview/pr-1748/api/latest/CameraK4A_8h_source.html index 82b1d2b6..c5739cb2 100644 --- a/preview/pr-1748/api/latest/CameraK4A_8h_source.html +++ b/preview/pr-1748/api/latest/CameraK4A_8h_source.html @@ -215,7 +215,7 @@ $(document).ready(function(){initNavTree('CameraK4A_8h_source.html',''); initRes
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraK4W2_8h_source.html b/preview/pr-1748/api/latest/CameraK4W2_8h_source.html index eb415c67..43c1f1be 100644 --- a/preview/pr-1748/api/latest/CameraK4W2_8h_source.html +++ b/preview/pr-1748/api/latest/CameraK4W2_8h_source.html @@ -211,7 +211,7 @@ $(document).ready(function(){initNavTree('CameraK4W2_8h_source.html',''); initRe
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraModel_8h_source.html b/preview/pr-1748/api/latest/CameraModel_8h_source.html index 999a3daa..e19f8c7e 100644 --- a/preview/pr-1748/api/latest/CameraModel_8h_source.html +++ b/preview/pr-1748/api/latest/CameraModel_8h_source.html @@ -327,7 +327,7 @@ $(document).ready(function(){initNavTree('CameraModel_8h_source.html',''); initR
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
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.
diff --git a/preview/pr-1748/api/latest/CameraMyntEye_8h_source.html b/preview/pr-1748/api/latest/CameraMyntEye_8h_source.html index 10b3639a..5f056717 100644 --- a/preview/pr-1748/api/latest/CameraMyntEye_8h_source.html +++ b/preview/pr-1748/api/latest/CameraMyntEye_8h_source.html @@ -224,7 +224,7 @@ $(document).ready(function(){initNavTree('CameraMyntEye_8h_source.html',''); ini
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraOpenNI2_8h_source.html b/preview/pr-1748/api/latest/CameraOpenNI2_8h_source.html index 4f87d490..83581a06 100644 --- a/preview/pr-1748/api/latest/CameraOpenNI2_8h_source.html +++ b/preview/pr-1748/api/latest/CameraOpenNI2_8h_source.html @@ -209,7 +209,7 @@ $(document).ready(function(){initNavTree('CameraOpenNI2_8h_source.html',''); ini
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraOpenNICV_8h_source.html b/preview/pr-1748/api/latest/CameraOpenNICV_8h_source.html index ad501cf5..b3429ed7 100644 --- a/preview/pr-1748/api/latest/CameraOpenNICV_8h_source.html +++ b/preview/pr-1748/api/latest/CameraOpenNICV_8h_source.html @@ -177,7 +177,7 @@ $(document).ready(function(){initNavTree('CameraOpenNICV_8h_source.html',''); in
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraOpenni_8h_source.html b/preview/pr-1748/api/latest/CameraOpenni_8h_source.html index 2bf798fa..c02a8432 100644 --- a/preview/pr-1748/api/latest/CameraOpenni_8h_source.html +++ b/preview/pr-1748/api/latest/CameraOpenni_8h_source.html @@ -215,7 +215,7 @@ $(document).ready(function(){initNavTree('CameraOpenni_8h_source.html',''); init
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraOrbbecSDK_8h_source.html b/preview/pr-1748/api/latest/CameraOrbbecSDK_8h_source.html index 63d5a60d..3672ee55 100644 --- a/preview/pr-1748/api/latest/CameraOrbbecSDK_8h_source.html +++ b/preview/pr-1748/api/latest/CameraOrbbecSDK_8h_source.html @@ -222,7 +222,7 @@ $(document).ready(function(){initNavTree('CameraOrbbecSDK_8h_source.html',''); i
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraRGBDImages_8h_source.html b/preview/pr-1748/api/latest/CameraRGBDImages_8h_source.html index 16c0fa90..78c7fd76 100644 --- a/preview/pr-1748/api/latest/CameraRGBDImages_8h_source.html +++ b/preview/pr-1748/api/latest/CameraRGBDImages_8h_source.html @@ -174,7 +174,7 @@ $(document).ready(function(){initNavTree('CameraRGBDImages_8h_source.html','');
rtabmap::CameraRGBDImages
Definition CameraRGBDImages.h:37
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraRealSense2_8h_source.html b/preview/pr-1748/api/latest/CameraRealSense2_8h_source.html index 7eb3cc67..ea77ef4a 100644 --- a/preview/pr-1748/api/latest/CameraRealSense2_8h_source.html +++ b/preview/pr-1748/api/latest/CameraRealSense2_8h_source.html @@ -274,7 +274,7 @@ $(document).ready(function(){initNavTree('CameraRealSense2_8h_source.html','');
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraRealSense_8h_source.html b/preview/pr-1748/api/latest/CameraRealSense_8h_source.html index 90f55d95..1aa14b6e 100644 --- a/preview/pr-1748/api/latest/CameraRealSense_8h_source.html +++ b/preview/pr-1748/api/latest/CameraRealSense_8h_source.html @@ -220,7 +220,7 @@ $(document).ready(function(){initNavTree('CameraRealSense_8h_source.html',''); i
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraSeerSense_8h_source.html b/preview/pr-1748/api/latest/CameraSeerSense_8h_source.html index b67667e9..d2acc8d8 100644 --- a/preview/pr-1748/api/latest/CameraSeerSense_8h_source.html +++ b/preview/pr-1748/api/latest/CameraSeerSense_8h_source.html @@ -172,7 +172,7 @@ $(document).ready(function(){initNavTree('CameraSeerSense_8h_source.html',''); i
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraStereoDC1394_8h_source.html b/preview/pr-1748/api/latest/CameraStereoDC1394_8h_source.html index 096e0a3b..3818652d 100644 --- a/preview/pr-1748/api/latest/CameraStereoDC1394_8h_source.html +++ b/preview/pr-1748/api/latest/CameraStereoDC1394_8h_source.html @@ -180,7 +180,7 @@ $(document).ready(function(){initNavTree('CameraStereoDC1394_8h_source.html','')
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraStereoFlyCapture2_8h_source.html b/preview/pr-1748/api/latest/CameraStereoFlyCapture2_8h_source.html index e6019438..a0890ba5 100644 --- a/preview/pr-1748/api/latest/CameraStereoFlyCapture2_8h_source.html +++ b/preview/pr-1748/api/latest/CameraStereoFlyCapture2_8h_source.html @@ -181,7 +181,7 @@ $(document).ready(function(){initNavTree('CameraStereoFlyCapture2_8h_source.html
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraStereoImages_8h_source.html b/preview/pr-1748/api/latest/CameraStereoImages_8h_source.html index d9bd2f29..d6a28d2f 100644 --- a/preview/pr-1748/api/latest/CameraStereoImages_8h_source.html +++ b/preview/pr-1748/api/latest/CameraStereoImages_8h_source.html @@ -216,7 +216,7 @@ $(document).ready(function(){initNavTree('CameraStereoImages_8h_source.html','')
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraStereoTara_8h_source.html b/preview/pr-1748/api/latest/CameraStereoTara_8h_source.html index 333926bd..66147ced 100644 --- a/preview/pr-1748/api/latest/CameraStereoTara_8h_source.html +++ b/preview/pr-1748/api/latest/CameraStereoTara_8h_source.html @@ -184,7 +184,7 @@ $(document).ready(function(){initNavTree('CameraStereoTara_8h_source.html','');
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraStereoVideo_8h_source.html b/preview/pr-1748/api/latest/CameraStereoVideo_8h_source.html index d4a8742d..600a6e43 100644 --- a/preview/pr-1748/api/latest/CameraStereoVideo_8h_source.html +++ b/preview/pr-1748/api/latest/CameraStereoVideo_8h_source.html @@ -208,7 +208,7 @@ $(document).ready(function(){initNavTree('CameraStereoVideo_8h_source.html','');
rtabmap::CameraStereoVideo::init
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
Initializes the sensor.
rtabmap::Camera
Definition Camera.h:44
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraStereoZedOC_8h_source.html b/preview/pr-1748/api/latest/CameraStereoZedOC_8h_source.html index e91d0059..08cbfbb1 100644 --- a/preview/pr-1748/api/latest/CameraStereoZedOC_8h_source.html +++ b/preview/pr-1748/api/latest/CameraStereoZedOC_8h_source.html @@ -200,7 +200,7 @@ $(document).ready(function(){initNavTree('CameraStereoZedOC_8h_source.html','');
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraStereoZed_8h_source.html b/preview/pr-1748/api/latest/CameraStereoZed_8h_source.html index 8dbaa1c7..8d508515 100644 --- a/preview/pr-1748/api/latest/CameraStereoZed_8h_source.html +++ b/preview/pr-1748/api/latest/CameraStereoZed_8h_source.html @@ -232,7 +232,7 @@ $(document).ready(function(){initNavTree('CameraStereoZed_8h_source.html',''); i
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CameraVideo_8h_source.html b/preview/pr-1748/api/latest/CameraVideo_8h_source.html index 56c426bf..e6655f04 100644 --- a/preview/pr-1748/api/latest/CameraVideo_8h_source.html +++ b/preview/pr-1748/api/latest/CameraVideo_8h_source.html @@ -198,7 +198,7 @@ $(document).ready(function(){initNavTree('CameraVideo_8h_source.html',''); initR
rtabmap::CameraVideo::getSerial
virtual std::string getSerial() const
Returns the sensor's serial number or unique identifier.
rtabmap::Camera
Definition Camera.h:44
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/Camera_8h_source.html b/preview/pr-1748/api/latest/Camera_8h_source.html index d0fc9865..623b1c21 100644 --- a/preview/pr-1748/api/latest/Camera_8h_source.html +++ b/preview/pr-1748/api/latest/Camera_8h_source.html @@ -186,7 +186,7 @@ $(document).ready(function(){initNavTree('Camera_8h_source.html',''); initResiza
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/CloudMap_8h_source.html b/preview/pr-1748/api/latest/CloudMap_8h_source.html index 76da8a59..444ae6bf 100644 --- a/preview/pr-1748/api/latest/CloudMap_8h_source.html +++ b/preview/pr-1748/api/latest/CloudMap_8h_source.html @@ -178,7 +178,7 @@ $(document).ready(function(){initNavTree('CloudMap_8h_source.html',''); initResi
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/Compression_8h_source.html b/preview/pr-1748/api/latest/Compression_8h_source.html index 4d2303cf..4e435372 100644 --- a/preview/pr-1748/api/latest/Compression_8h_source.html +++ b/preview/pr-1748/api/latest/Compression_8h_source.html @@ -192,7 +192,7 @@ $(document).ready(function(){initNavTree('Compression_8h_source.html',''); initR
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
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).
diff --git a/preview/pr-1748/api/latest/DBDriverSqlite3_8h_source.html b/preview/pr-1748/api/latest/DBDriverSqlite3_8h_source.html index a1bbfc00..3850e031 100644 --- a/preview/pr-1748/api/latest/DBDriverSqlite3_8h_source.html +++ b/preview/pr-1748/api/latest/DBDriverSqlite3_8h_source.html @@ -353,7 +353,7 @@ $(document).ready(function(){initNavTree('DBDriverSqlite3_8h_source.html',''); i
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
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
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/DBDriver_8h_source.html b/preview/pr-1748/api/latest/DBDriver_8h_source.html index 5a150adc..1f163b37 100644 --- a/preview/pr-1748/api/latest/DBDriver_8h_source.html +++ b/preview/pr-1748/api/latest/DBDriver_8h_source.html @@ -467,7 +467,7 @@ $(document).ready(function(){initNavTree('DBDriver_8h_source.html',''); initResi
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
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
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/DBReader_8h_source.html b/preview/pr-1748/api/latest/DBReader_8h_source.html index 173c3960..1e9f1a1e 100644 --- a/preview/pr-1748/api/latest/DBReader_8h_source.html +++ b/preview/pr-1748/api/latest/DBReader_8h_source.html @@ -251,7 +251,7 @@ $(document).ready(function(){initNavTree('DBReader_8h_source.html',''); initResi
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/EnvSensor_8h_source.html b/preview/pr-1748/api/latest/EnvSensor_8h_source.html index 117c17f7..affc191c 100644 --- a/preview/pr-1748/api/latest/EnvSensor_8h_source.html +++ b/preview/pr-1748/api/latest/EnvSensor_8h_source.html @@ -222,7 +222,7 @@ $(document).ready(function(){initNavTree('EnvSensor_8h_source.html',''); initRes
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
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rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
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
diff --git a/preview/pr-1748/api/latest/EpipolarGeometry_8h_source.html b/preview/pr-1748/api/latest/EpipolarGeometry_8h_source.html index 7ea98341..98a82e23 100644 --- a/preview/pr-1748/api/latest/EpipolarGeometry_8h_source.html +++ b/preview/pr-1748/api/latest/EpipolarGeometry_8h_source.html @@ -362,7 +362,7 @@ $(document).ready(function(){initNavTree('EpipolarGeometry_8h_source.html','');
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/Features2d_8h_source.html b/preview/pr-1748/api/latest/Features2d_8h_source.html index 5e68c78a..037dd067 100644 --- a/preview/pr-1748/api/latest/Features2d_8h_source.html +++ b/preview/pr-1748/api/latest/Features2d_8h_source.html @@ -907,7 +907,7 @@ $(document).ready(function(){initNavTree('Features2d_8h_source.html',''); initRe
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....
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/FlannIndex_8h_source.html b/preview/pr-1748/api/latest/FlannIndex_8h_source.html index f16fa4e4..05414a11 100644 --- a/preview/pr-1748/api/latest/FlannIndex_8h_source.html +++ b/preview/pr-1748/api/latest/FlannIndex_8h_source.html @@ -257,7 +257,7 @@ $(document).ready(function(){initNavTree('FlannIndex_8h_source.html',''); initRe
rtabmap::FlannIndex::buildIndex
void buildIndex(flann_algorithm_t algorithm, const cv::Mat &features, bool useDistanceL1=false, float rebalancingFactor=2.0f)
Build the index over the given features, releasing any previous one.
rtabmap::FlannIndex::knnSearch
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
Search the k nearest neighbors of each query.
rtabmap::FlannIndex::featuresType
int featuresType() const
Definition FlannIndex.h:169
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/GPS_8h_source.html b/preview/pr-1748/api/latest/GPS_8h_source.html index dc5d4e41..8a79c216 100644 --- a/preview/pr-1748/api/latest/GPS_8h_source.html +++ b/preview/pr-1748/api/latest/GPS_8h_source.html @@ -201,7 +201,7 @@ $(document).ready(function(){initNavTree('GPS_8h_source.html',''); initResizable
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/GainCompensator_8h_source.html b/preview/pr-1748/api/latest/GainCompensator_8h_source.html index 9dba5ed0..c0687542 100644 --- a/preview/pr-1748/api/latest/GainCompensator_8h_source.html +++ b/preview/pr-1748/api/latest/GainCompensator_8h_source.html @@ -215,7 +215,7 @@ $(document).ready(function(){initNavTree('GainCompensator_8h_source.html',''); i
108#endif /* CORELIB_SRC_GAINCOMPENSATOR_H_ */
rtabmap::GainCompensator
Definition GainCompensator.h:44
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
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Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/GeodeticCoords_8h_source.html b/preview/pr-1748/api/latest/GeodeticCoords_8h_source.html index 37e6f1ed..5647a67a 100644 --- a/preview/pr-1748/api/latest/GeodeticCoords_8h_source.html +++ b/preview/pr-1748/api/latest/GeodeticCoords_8h_source.html @@ -209,7 +209,7 @@ $(document).ready(function(){initNavTree('GeodeticCoords_8h_source.html',''); in
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/GlobalDescriptorExtractor_8h_source.html b/preview/pr-1748/api/latest/GlobalDescriptorExtractor_8h_source.html index e7349d4b..2dc30fd2 100644 --- a/preview/pr-1748/api/latest/GlobalDescriptorExtractor_8h_source.html +++ b/preview/pr-1748/api/latest/GlobalDescriptorExtractor_8h_source.html @@ -184,7 +184,7 @@ $(document).ready(function(){initNavTree('GlobalDescriptorExtractor_8h_source.ht
rtabmap::GlobalDescriptorExtractor
Definition GlobalDescriptorExtractor.h:40
rtabmap::GlobalDescriptor
Definition GlobalDescriptor.h:36
rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97
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rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/GlobalDescriptor_8h_source.html b/preview/pr-1748/api/latest/GlobalDescriptor_8h_source.html index 93ea7907..06fc7243 100644 --- a/preview/pr-1748/api/latest/GlobalDescriptor_8h_source.html +++ b/preview/pr-1748/api/latest/GlobalDescriptor_8h_source.html @@ -168,7 +168,7 @@ $(document).ready(function(){initNavTree('GlobalDescriptor_8h_source.html','');
58
59} // namespace rtabmap
rtabmap::GlobalDescriptor
Definition GlobalDescriptor.h:36
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Definition BayesFilter.h:41
+
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Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/GlobalMap_8h_source.html b/preview/pr-1748/api/latest/GlobalMap_8h_source.html index 5a875b78..2282cc8e 100644 --- a/preview/pr-1748/api/latest/GlobalMap_8h_source.html +++ b/preview/pr-1748/api/latest/GlobalMap_8h_source.html @@ -238,7 +238,7 @@ $(document).ready(function(){initNavTree('GlobalMap_8h_source.html',''); initRes
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/Graph_8h_source.html b/preview/pr-1748/api/latest/Graph_8h_source.html index e918246b..9ea81d7b 100644 --- a/preview/pr-1748/api/latest/Graph_8h_source.html +++ b/preview/pr-1748/api/latest/Graph_8h_source.html @@ -403,7 +403,7 @@ $(document).ready(function(){initNavTree('Graph_8h_source.html',''); initResizab
rtabmap::graph::getPosesInRadius
RTABMAP_DEPRECATED std::map< int, Transform > RTABMAP_CORE_EXPORT getPosesInRadius(int nodeId, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)
rtabmap::graph::exportPoses
bool RTABMAP_CORE_EXPORT exportPoses(const std::string &filePath, int format, const std::map< int, Transform > &poses, const std::multimap< int, Link > &constraints=std::multimap< int, Link >(), const std::map< int, double > &stamps=std::map< int, double >(), const ParametersMap &parameters=ParametersMap())
Writes poses (and optional constraints) to disk.
rtabmap::graph::getNodesInRadius
RTABMAP_DEPRECATED std::map< int, float > RTABMAP_CORE_EXPORT getNodesInRadius(int nodeId, const std::map< int, Transform > &nodes, float radius)
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
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
diff --git a/preview/pr-1748/api/latest/GridMap_8h_source.html b/preview/pr-1748/api/latest/GridMap_8h_source.html index 3a72120a..bb79b1c8 100644 --- a/preview/pr-1748/api/latest/GridMap_8h_source.html +++ b/preview/pr-1748/api/latest/GridMap_8h_source.html @@ -185,7 +185,7 @@ $(document).ready(function(){initNavTree('GridMap_8h_source.html',''); initResiz
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/IMUFilter_8h_source.html b/preview/pr-1748/api/latest/IMUFilter_8h_source.html index 90607be5..003914e8 100644 --- a/preview/pr-1748/api/latest/IMUFilter_8h_source.html +++ b/preview/pr-1748/api/latest/IMUFilter_8h_source.html @@ -197,7 +197,7 @@ $(document).ready(function(){initNavTree('IMUFilter_8h_source.html',''); initRes
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.
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/IMUThread_8h_source.html b/preview/pr-1748/api/latest/IMUThread_8h_source.html index bf7b991f..f53e343a 100644 --- a/preview/pr-1748/api/latest/IMUThread_8h_source.html +++ b/preview/pr-1748/api/latest/IMUThread_8h_source.html @@ -194,7 +194,7 @@ $(document).ready(function(){initNavTree('IMUThread_8h_source.html',''); initRes
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/IMU_8h_source.html b/preview/pr-1748/api/latest/IMU_8h_source.html index 60acba8e..32495ba2 100644 --- a/preview/pr-1748/api/latest/IMU_8h_source.html +++ b/preview/pr-1748/api/latest/IMU_8h_source.html @@ -267,7 +267,7 @@ $(document).ready(function(){initNavTree('IMU_8h_source.html',''); initResizable
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/Image_8h_source.html b/preview/pr-1748/api/latest/Image_8h_source.html index dc7ea086..cdf8ccab 100644 --- a/preview/pr-1748/api/latest/Image_8h_source.html +++ b/preview/pr-1748/api/latest/Image_8h_source.html @@ -144,7 +144,7 @@ $(document).ready(function(){initNavTree('Image_8h_source.html',''); initResizab
36
37
38#endif /* IMAGE_H_ */
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/LASWriter_8h_source.html b/preview/pr-1748/api/latest/LASWriter_8h_source.html index b3a601ba..57939367 100644 --- a/preview/pr-1748/api/latest/LASWriter_8h_source.html +++ b/preview/pr-1748/api/latest/LASWriter_8h_source.html @@ -163,7 +163,7 @@ $(document).ready(function(){initNavTree('LASWriter_8h_source.html',''); initRes
82} // namespace rtabmap
83
84#endif /* CORELIB_INCLUDE_RTABMAP_CORE_LASWRITER_H_ */
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
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).
diff --git a/preview/pr-1748/api/latest/Landmark_8h_source.html b/preview/pr-1748/api/latest/Landmark_8h_source.html index 3e245425..4e61ddf4 100644 --- a/preview/pr-1748/api/latest/Landmark_8h_source.html +++ b/preview/pr-1748/api/latest/Landmark_8h_source.html @@ -230,7 +230,7 @@ $(document).ready(function(){initNavTree('Landmark_8h_source.html',''); initResi
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::Landmarks
std::map< int, Landmark > Landmarks
Map of landmark id → Landmark (typically positive keys).
Definition Landmark.h:113
diff --git a/preview/pr-1748/api/latest/LaserScan_8h_source.html b/preview/pr-1748/api/latest/LaserScan_8h_source.html index b6b82ded..bb2cd878 100644 --- a/preview/pr-1748/api/latest/LaserScan_8h_source.html +++ b/preview/pr-1748/api/latest/LaserScan_8h_source.html @@ -313,7 +313,7 @@ $(document).ready(function(){initNavTree('LaserScan_8h_source.html',''); initRes
rtabmap::LaserScan::clear
void clear()
Clear the scan data.
Definition LaserScan.h:209
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/LidarVLP16_8h_source.html b/preview/pr-1748/api/latest/LidarVLP16_8h_source.html index 8d53d9d4..250b218b 100644 --- a/preview/pr-1748/api/latest/LidarVLP16_8h_source.html +++ b/preview/pr-1748/api/latest/LidarVLP16_8h_source.html @@ -261,7 +261,7 @@ $(document).ready(function(){initNavTree('LidarVLP16_8h_source.html',''); initRe
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::PointXYZIT
Definition LidarVLP16.h:53
diff --git a/preview/pr-1748/api/latest/Lidar_8h_source.html b/preview/pr-1748/api/latest/Lidar_8h_source.html index d4b1fd77..44537783 100644 --- a/preview/pr-1748/api/latest/Lidar_8h_source.html +++ b/preview/pr-1748/api/latest/Lidar_8h_source.html @@ -161,7 +161,7 @@ $(document).ready(function(){initNavTree('Lidar_8h_source.html',''); initResizab
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/Link_8h_source.html b/preview/pr-1748/api/latest/Link_8h_source.html index 103c0d4f..3054be11 100644 --- a/preview/pr-1748/api/latest/Link_8h_source.html +++ b/preview/pr-1748/api/latest/Link_8h_source.html @@ -251,7 +251,7 @@ $(document).ready(function(){initNavTree('Link_8h_source.html',''); initResizabl
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
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rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/LocalGridMaker_8h_source.html b/preview/pr-1748/api/latest/LocalGridMaker_8h_source.html index bf173fc8..7a6bf172 100644 --- a/preview/pr-1748/api/latest/LocalGridMaker_8h_source.html +++ b/preview/pr-1748/api/latest/LocalGridMaker_8h_source.html @@ -235,7 +235,7 @@ $(document).ready(function(){initNavTree('LocalGridMaker_8h_source.html',''); in
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/LocalGrid_8h_source.html b/preview/pr-1748/api/latest/LocalGrid_8h_source.html index f958ddd9..08d412d4 100644 --- a/preview/pr-1748/api/latest/LocalGrid_8h_source.html +++ b/preview/pr-1748/api/latest/LocalGrid_8h_source.html @@ -216,7 +216,7 @@ $(document).ready(function(){initNavTree('LocalGrid_8h_source.html',''); initRes
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/LocalMapMaker_8hpp_source.html b/preview/pr-1748/api/latest/LocalMapMaker_8hpp_source.html index d075590e..f8bce822 100644 --- a/preview/pr-1748/api/latest/LocalMapMaker_8hpp_source.html +++ b/preview/pr-1748/api/latest/LocalMapMaker_8hpp_source.html @@ -382,7 +382,7 @@ $(document).ready(function(){initNavTree('LocalMapMaker_8hpp_source.html',''); i
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.
rtabmap::util3d::concatenate
pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector< pcl::IndicesPtr > &indices)
Concatenates multiple sets of indices into a single index vector.
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rtabmap
Definition BayesFilter.h:41
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rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/MarkerDetector_8h_source.html b/preview/pr-1748/api/latest/MarkerDetector_8h_source.html index ac633938..56d7299d 100644 --- a/preview/pr-1748/api/latest/MarkerDetector_8h_source.html +++ b/preview/pr-1748/api/latest/MarkerDetector_8h_source.html @@ -219,7 +219,7 @@ $(document).ready(function(){initNavTree('MarkerDetector_8h_source.html',''); in
rtabmap::MarkerDetector
Definition MarkerDetector.h:59
rtabmap::MarkerInfo
Definition MarkerDetector.h:43
rtabmap::Transform
Represents a 3D rigid body transformation (rotation + translation).
Definition Transform.h:53
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/Memory_8h_source.html b/preview/pr-1748/api/latest/Memory_8h_source.html index a9c4fb24..dd17c416 100644 --- a/preview/pr-1748/api/latest/Memory_8h_source.html +++ b/preview/pr-1748/api/latest/Memory_8h_source.html @@ -630,7 +630,7 @@ $(document).ready(function(){initNavTree('Memory_8h_source.html',''); initResiza
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
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
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryCuVSLAM_8h_source.html b/preview/pr-1748/api/latest/OdometryCuVSLAM_8h_source.html index c7a549b3..c4786e14 100644 --- a/preview/pr-1748/api/latest/OdometryCuVSLAM_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryCuVSLAM_8h_source.html @@ -217,7 +217,7 @@ $(document).ready(function(){initNavTree('OdometryCuVSLAM_8h_source.html',''); i
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryDVO_8h_source.html b/preview/pr-1748/api/latest/OdometryDVO_8h_source.html index 479711c4..999bda8a 100644 --- a/preview/pr-1748/api/latest/OdometryDVO_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryDVO_8h_source.html @@ -185,7 +185,7 @@ $(document).ready(function(){initNavTree('OdometryDVO_8h_source.html',''); initR
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryEvent_8h_source.html b/preview/pr-1748/api/latest/OdometryEvent_8h_source.html index 21e2d6f4..6708da4a 100644 --- a/preview/pr-1748/api/latest/OdometryEvent_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryEvent_8h_source.html @@ -255,7 +255,7 @@ $(document).ready(function(){initNavTree('OdometryEvent_8h_source.html',''); ini
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).
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/OdometryF2F_8h_source.html b/preview/pr-1748/api/latest/OdometryF2F_8h_source.html index daf8eedd..b35cf218 100644 --- a/preview/pr-1748/api/latest/OdometryF2F_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryF2F_8h_source.html @@ -185,7 +185,7 @@ $(document).ready(function(){initNavTree('OdometryF2F_8h_source.html',''); initR
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryF2M_8h_source.html b/preview/pr-1748/api/latest/OdometryF2M_8h_source.html index c5253717..070f5f30 100644 --- a/preview/pr-1748/api/latest/OdometryF2M_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryF2M_8h_source.html @@ -219,7 +219,7 @@ $(document).ready(function(){initNavTree('OdometryF2M_8h_source.html',''); initR
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryFLOAM_8h_source.html b/preview/pr-1748/api/latest/OdometryFLOAM_8h_source.html index 9313a25e..c70b81ae 100644 --- a/preview/pr-1748/api/latest/OdometryFLOAM_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryFLOAM_8h_source.html @@ -180,7 +180,7 @@ $(document).ready(function(){initNavTree('OdometryFLOAM_8h_source.html',''); ini
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryFovis_8h_source.html b/preview/pr-1748/api/latest/OdometryFovis_8h_source.html index 44584683..68c4e0ff 100644 --- a/preview/pr-1748/api/latest/OdometryFovis_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryFovis_8h_source.html @@ -186,7 +186,7 @@ $(document).ready(function(){initNavTree('OdometryFovis_8h_source.html',''); ini
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryInfo_8h_source.html b/preview/pr-1748/api/latest/OdometryInfo_8h_source.html index e0208150..9975d480 100644 --- a/preview/pr-1748/api/latest/OdometryInfo_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryInfo_8h_source.html @@ -247,7 +247,7 @@ $(document).ready(function(){initNavTree('OdometryInfo_8h_source.html',''); init
rtabmap::OdometryInfo::localBundleTime
float localBundleTime
Time spent in the local bundle adjustment (s).
Definition OdometryInfo.h:84
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/OdometryLIOSAM_8h_source.html b/preview/pr-1748/api/latest/OdometryLIOSAM_8h_source.html index 323f7fea..b3feb9ea 100644 --- a/preview/pr-1748/api/latest/OdometryLIOSAM_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryLIOSAM_8h_source.html @@ -199,7 +199,7 @@ $(document).ready(function(){initNavTree('OdometryLIOSAM_8h_source.html',''); in
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryLOAM_8h_source.html b/preview/pr-1748/api/latest/OdometryLOAM_8h_source.html index def87c4c..cf7a1d29 100644 --- a/preview/pr-1748/api/latest/OdometryLOAM_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryLOAM_8h_source.html @@ -191,7 +191,7 @@ $(document).ready(function(){initNavTree('OdometryLOAM_8h_source.html',''); init
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryMSCKF_8h_source.html b/preview/pr-1748/api/latest/OdometryMSCKF_8h_source.html index b020251b..17d52fa2 100644 --- a/preview/pr-1748/api/latest/OdometryMSCKF_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryMSCKF_8h_source.html @@ -185,7 +185,7 @@ $(document).ready(function(){initNavTree('OdometryMSCKF_8h_source.html',''); ini
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryMono_8h_source.html b/preview/pr-1748/api/latest/OdometryMono_8h_source.html index a00d66d5..ba137b16 100644 --- a/preview/pr-1748/api/latest/OdometryMono_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryMono_8h_source.html @@ -201,7 +201,7 @@ $(document).ready(function(){initNavTree('OdometryMono_8h_source.html',''); init
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryORBSLAM2_8h_source.html b/preview/pr-1748/api/latest/OdometryORBSLAM2_8h_source.html index 214d9496..8d911ecb 100644 --- a/preview/pr-1748/api/latest/OdometryORBSLAM2_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryORBSLAM2_8h_source.html @@ -178,7 +178,7 @@ $(document).ready(function(){initNavTree('OdometryORBSLAM2_8h_source.html','');
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryORBSLAM3_8h_source.html b/preview/pr-1748/api/latest/OdometryORBSLAM3_8h_source.html index bb7276b9..5cfc188e 100644 --- a/preview/pr-1748/api/latest/OdometryORBSLAM3_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryORBSLAM3_8h_source.html @@ -189,7 +189,7 @@ $(document).ready(function(){initNavTree('OdometryORBSLAM3_8h_source.html','');
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryOkvis_8h_source.html b/preview/pr-1748/api/latest/OdometryOkvis_8h_source.html index 3f38c921..f92b6b16 100644 --- a/preview/pr-1748/api/latest/OdometryOkvis_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryOkvis_8h_source.html @@ -188,7 +188,7 @@ $(document).ready(function(){initNavTree('OdometryOkvis_8h_source.html',''); ini
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryOpen3D_8h_source.html b/preview/pr-1748/api/latest/OdometryOpen3D_8h_source.html index fb617301..3a04d7f1 100644 --- a/preview/pr-1748/api/latest/OdometryOpen3D_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryOpen3D_8h_source.html @@ -175,7 +175,7 @@ $(document).ready(function(){initNavTree('OdometryOpen3D_8h_source.html',''); in
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryOpenVINS_8h_source.html b/preview/pr-1748/api/latest/OdometryOpenVINS_8h_source.html index 7ea3c8a8..d6e385d0 100644 --- a/preview/pr-1748/api/latest/OdometryOpenVINS_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryOpenVINS_8h_source.html @@ -184,7 +184,7 @@ $(document).ready(function(){initNavTree('OdometryOpenVINS_8h_source.html','');
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryThread_8h_source.html b/preview/pr-1748/api/latest/OdometryThread_8h_source.html index e39289e6..847ef527 100644 --- a/preview/pr-1748/api/latest/OdometryThread_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryThread_8h_source.html @@ -197,7 +197,7 @@ $(document).ready(function(){initNavTree('OdometryThread_8h_source.html',''); in
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/OdometryVINSFusion_8h_source.html b/preview/pr-1748/api/latest/OdometryVINSFusion_8h_source.html index c2c264fd..f6b118e5 100644 --- a/preview/pr-1748/api/latest/OdometryVINSFusion_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryVINSFusion_8h_source.html @@ -183,7 +183,7 @@ $(document).ready(function(){initNavTree('OdometryVINSFusion_8h_source.html','')
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OdometryViso2_8h_source.html b/preview/pr-1748/api/latest/OdometryViso2_8h_source.html index 10ccd25a..9c793ed9 100644 --- a/preview/pr-1748/api/latest/OdometryViso2_8h_source.html +++ b/preview/pr-1748/api/latest/OdometryViso2_8h_source.html @@ -181,7 +181,7 @@ $(document).ready(function(){initNavTree('OdometryViso2_8h_source.html',''); ini
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/Odometry_8h_source.html b/preview/pr-1748/api/latest/Odometry_8h_source.html index 3587fe8b..8d4d02e3 100644 --- a/preview/pr-1748/api/latest/Odometry_8h_source.html +++ b/preview/pr-1748/api/latest/Odometry_8h_source.html @@ -265,7 +265,7 @@ $(document).ready(function(){initNavTree('Odometry_8h_source.html',''); initResi
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OptimizerCVSBA_8h_source.html b/preview/pr-1748/api/latest/OptimizerCVSBA_8h_source.html index c3b890cd..3e3bba80 100644 --- a/preview/pr-1748/api/latest/OptimizerCVSBA_8h_source.html +++ b/preview/pr-1748/api/latest/OptimizerCVSBA_8h_source.html @@ -176,7 +176,7 @@ $(document).ready(function(){initNavTree('OptimizerCVSBA_8h_source.html',''); in
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:91
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:94
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OptimizerCeres_8h_source.html b/preview/pr-1748/api/latest/OptimizerCeres_8h_source.html index 71c3af82..2cf098a9 100644 --- a/preview/pr-1748/api/latest/OptimizerCeres_8h_source.html +++ b/preview/pr-1748/api/latest/OptimizerCeres_8h_source.html @@ -199,7 +199,7 @@ $(document).ready(function(){initNavTree('OptimizerCeres_8h_source.html',''); in
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, BAOutliers *outliers=0)
Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:91
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:94
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OptimizerG2O_8h_source.html b/preview/pr-1748/api/latest/OptimizerG2O_8h_source.html index 22269f71..b4099898 100644 --- a/preview/pr-1748/api/latest/OptimizerG2O_8h_source.html +++ b/preview/pr-1748/api/latest/OptimizerG2O_8h_source.html @@ -206,7 +206,7 @@ $(document).ready(function(){initNavTree('OptimizerG2O_8h_source.html',''); init
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, BAOutliers *outliers=0)
Bundle adjustment: jointly refine poses and 3D points (back-end-level entry point).
rtabmap::Optimizer
Abstract base for pose-graph and bundle-adjustment optimizers.
Definition Optimizer.h:91
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:94
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OptimizerGTSAM_8h_source.html b/preview/pr-1748/api/latest/OptimizerGTSAM_8h_source.html index bed2aac5..266398fa 100644 --- a/preview/pr-1748/api/latest/OptimizerGTSAM_8h_source.html +++ b/preview/pr-1748/api/latest/OptimizerGTSAM_8h_source.html @@ -213,7 +213,7 @@ $(document).ready(function(){initNavTree('OptimizerGTSAM_8h_source.html',''); in
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:91
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:94
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/OptimizerTORO_8h_source.html b/preview/pr-1748/api/latest/OptimizerTORO_8h_source.html index 7eee8c77..0d584677 100644 --- a/preview/pr-1748/api/latest/OptimizerTORO_8h_source.html +++ b/preview/pr-1748/api/latest/OptimizerTORO_8h_source.html @@ -188,7 +188,7 @@ $(document).ready(function(){initNavTree('OptimizerTORO_8h_source.html',''); ini
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:91
rtabmap::Optimizer::Type
Type
Graph-optimizer back-end identifier.
Definition Optimizer.h:94
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/Optimizer_8h_source.html b/preview/pr-1748/api/latest/Optimizer_8h_source.html index 019eadd2..173526b8 100644 --- a/preview/pr-1748/api/latest/Optimizer_8h_source.html +++ b/preview/pr-1748/api/latest/Optimizer_8h_source.html @@ -362,7 +362,7 @@ $(document).ready(function(){initNavTree('Optimizer_8h_source.html',''); initRes
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/PDALWriter_8h_source.html b/preview/pr-1748/api/latest/PDALWriter_8h_source.html index 1943ca8d..a0e53b49 100644 --- a/preview/pr-1748/api/latest/PDALWriter_8h_source.html +++ b/preview/pr-1748/api/latest/PDALWriter_8h_source.html @@ -153,7 +153,7 @@ $(document).ready(function(){initNavTree('PDALWriter_8h_source.html',''); initRe
45
46
47#endif /* CORELIB_INCLUDE_RTABMAP_CORE_PDALWRITER_H_ */
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/ParamEvent_8h_source.html b/preview/pr-1748/api/latest/ParamEvent_8h_source.html index c76496dd..4f622767 100644 --- a/preview/pr-1748/api/latest/ParamEvent_8h_source.html +++ b/preview/pr-1748/api/latest/ParamEvent_8h_source.html @@ -168,7 +168,7 @@ $(document).ready(function(){initNavTree('ParamEvent_8h_source.html',''); initRe
UEvent
Definition UEvent.h:57
rtabmap::ParamEvent
Definition ParamEvent.h:42
rtabmap::ParamEvent::getClassName
virtual std::string getClassName() const
Definition ParamEvent.h:50
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/Parameters_8h_source.html b/preview/pr-1748/api/latest/Parameters_8h_source.html index a6c92cb3..b22004aa 100644 --- a/preview/pr-1748/api/latest/Parameters_8h_source.html +++ b/preview/pr-1748/api/latest/Parameters_8h_source.html @@ -1093,7 +1093,7 @@ $(document).ready(function(){initNavTree('Parameters_8h_source.html',''); initRe
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersPair
std::pair< std::string, std::string > ParametersPair
A single parameter key/value pair, the entry type of ParametersMap.
Definition Parameters.h:46
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/ParticleFilter_8h_source.html b/preview/pr-1748/api/latest/ParticleFilter_8h_source.html index 10a8ba57..264bb317 100644 --- a/preview/pr-1748/api/latest/ParticleFilter_8h_source.html +++ b/preview/pr-1748/api/latest/ParticleFilter_8h_source.html @@ -291,7 +291,7 @@ $(document).ready(function(){initNavTree('ParticleFilter_8h_source.html',''); in
uSum
T uSum(const std::list< T > &list)
Definition UMath.h:318
uIsFinite
bool uIsFinite(const T &value)
Definition UMath.h:53
rtabmap::ParticleFilter
Definition ParticleFilter.h:116
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/ProgressState_8h_source.html b/preview/pr-1748/api/latest/ProgressState_8h_source.html index 19203c1e..324be441 100644 --- a/preview/pr-1748/api/latest/ProgressState_8h_source.html +++ b/preview/pr-1748/api/latest/ProgressState_8h_source.html @@ -173,7 +173,7 @@ $(document).ready(function(){initNavTree('ProgressState_8h_source.html',''); ini
ULogger.h
ULogger class and convenient macros.
UDEBUG
#define UDEBUG(...)
Definition ULogger.h:59
rtabmap::ProgressState
Definition ProgressState.h:36
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/PythonInterface_8h_source.html b/preview/pr-1748/api/latest/PythonInterface_8h_source.html index 25c114ec..1a55a3a8 100644 --- a/preview/pr-1748/api/latest/PythonInterface_8h_source.html +++ b/preview/pr-1748/api/latest/PythonInterface_8h_source.html @@ -154,7 +154,7 @@ $(document).ready(function(){initNavTree('PythonInterface_8h_source.html',''); i
49
50#endif /* CORELIB_SRC_PYTHON_PYTHONINTERFACE_H_ */
rtabmap::PythonInterface
Definition PythonInterface.h:29
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/Recovery_8h_source.html b/preview/pr-1748/api/latest/Recovery_8h_source.html index 0546047f..ce7ba56b 100644 --- a/preview/pr-1748/api/latest/Recovery_8h_source.html +++ b/preview/pr-1748/api/latest/Recovery_8h_source.html @@ -155,7 +155,7 @@ $(document).ready(function(){initNavTree('Recovery_8h_source.html',''); initResi
55
56#endif /* RECOVERY_H_ */
rtabmap::ProgressState
Definition ProgressState.h:36
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::databaseRecovery
bool RTABMAP_CORE_EXPORT databaseRecovery(const std::string &corruptedDatabase, bool keepCorruptedDatabase=true, std::string *errorMsg=0, ProgressState *progressState=0)
diff --git a/preview/pr-1748/api/latest/RegistrationIcp_8h_source.html b/preview/pr-1748/api/latest/RegistrationIcp_8h_source.html index 5f5ede9e..b44adfdd 100644 --- a/preview/pr-1748/api/latest/RegistrationIcp_8h_source.html +++ b/preview/pr-1748/api/latest/RegistrationIcp_8h_source.html @@ -231,7 +231,7 @@ $(document).ready(function(){initNavTree('RegistrationIcp_8h_source.html',''); i
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/RegistrationInfo_8h_source.html b/preview/pr-1748/api/latest/RegistrationInfo_8h_source.html index cbf91513..c46926fc 100644 --- a/preview/pr-1748/api/latest/RegistrationInfo_8h_source.html +++ b/preview/pr-1748/api/latest/RegistrationInfo_8h_source.html @@ -243,7 +243,7 @@ $(document).ready(function(){initNavTree('RegistrationInfo_8h_source.html','');
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
rtabmap::RegistrationInfo::rejectedMsg
std::string rejectedMsg
Definition RegistrationInfo.h:96
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/RegistrationVis_8h_source.html b/preview/pr-1748/api/latest/RegistrationVis_8h_source.html index a397243e..587b6a2b 100644 --- a/preview/pr-1748/api/latest/RegistrationVis_8h_source.html +++ b/preview/pr-1748/api/latest/RegistrationVis_8h_source.html @@ -250,7 +250,7 @@ $(document).ready(function(){initNavTree('RegistrationVis_8h_source.html',''); i
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/Registration_8h_source.html b/preview/pr-1748/api/latest/Registration_8h_source.html index 876bc069..310e18fa 100644 --- a/preview/pr-1748/api/latest/Registration_8h_source.html +++ b/preview/pr-1748/api/latest/Registration_8h_source.html @@ -250,7 +250,7 @@ $(document).ready(function(){initNavTree('Registration_8h_source.html',''); init
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/RtabmapEvent_8h_source.html b/preview/pr-1748/api/latest/RtabmapEvent_8h_source.html index 32cb13a8..a1c66a14 100644 --- a/preview/pr-1748/api/latest/RtabmapEvent_8h_source.html +++ b/preview/pr-1748/api/latest/RtabmapEvent_8h_source.html @@ -425,7 +425,7 @@ $(document).ready(function(){initNavTree('RtabmapEvent_8h_source.html',''); init
rtabmap::RtabmapLabelErrorEvent
Definition RtabmapEvent.h:249
rtabmap::RtabmapLabelErrorEvent::getClassName
virtual std::string getClassName() const
Definition RtabmapEvent.h:258
rtabmap::Statistics
Collects and manages runtime statistics for RTAB-Map.
Definition Statistics.h:108
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/RtabmapThread_8h_source.html b/preview/pr-1748/api/latest/RtabmapThread_8h_source.html index 8b7b1120..8ad6b18f 100644 --- a/preview/pr-1748/api/latest/RtabmapThread_8h_source.html +++ b/preview/pr-1748/api/latest/RtabmapThread_8h_source.html @@ -247,7 +247,7 @@ $(document).ready(function(){initNavTree('RtabmapThread_8h_source.html',''); ini
rtabmap::RtabmapThread::clearBufferedData
void clearBufferedData()
Drops the buffered frames, the pending user data and the odometry state.
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/Rtabmap_8h_source.html b/preview/pr-1748/api/latest/Rtabmap_8h_source.html index f44f2fc0..28553c40 100644 --- a/preview/pr-1748/api/latest/Rtabmap_8h_source.html +++ b/preview/pr-1748/api/latest/Rtabmap_8h_source.html @@ -472,7 +472,7 @@ $(document).ready(function(){initNavTree('Rtabmap_8h_source.html',''); initResiz
1068
1069} // namespace rtabmap
1070#endif /* RTABMAP_H_ */
-
rtabmap::BayesFilter
Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.
Definition BayesFilter.h:75
+
rtabmap::BayesFilter
Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map.
Definition BayesFilter.h:82
rtabmap::EpipolarGeometry
Definition EpipolarGeometry.h:50
rtabmap::LaserScan
Represents 2D or 3D laser scan data with support for multiple point data formats.
Definition LaserScan.h:46
@@ -564,7 +564,7 @@ $(document).ready(function(){initNavTree('Rtabmap_8h_source.html',''); initResiz
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
rtabmap::graph::MaxGraphErrors
Largest pose-graph constraint violations after optimization.
Definition Graph.h:232
diff --git a/preview/pr-1748/api/latest/SensorCaptureInfo_8h_source.html b/preview/pr-1748/api/latest/SensorCaptureInfo_8h_source.html index 78b5fb08..02d7c21a 100644 --- a/preview/pr-1748/api/latest/SensorCaptureInfo_8h_source.html +++ b/preview/pr-1748/api/latest/SensorCaptureInfo_8h_source.html @@ -217,7 +217,7 @@ $(document).ready(function(){initNavTree('SensorCaptureInfo_8h_source.html','');
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::CameraInfo
RTABMAP_DEPRECATED typedef SensorCaptureInfo CameraInfo
Backward compatibility typedef.
Definition SensorCaptureInfo.h:133
diff --git a/preview/pr-1748/api/latest/SensorCaptureThread_8h_source.html b/preview/pr-1748/api/latest/SensorCaptureThread_8h_source.html index c9b46bd8..aead657a 100644 --- a/preview/pr-1748/api/latest/SensorCaptureThread_8h_source.html +++ b/preview/pr-1748/api/latest/SensorCaptureThread_8h_source.html @@ -368,7 +368,7 @@ $(document).ready(function(){initNavTree('SensorCaptureThread_8h_source.html',''
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::CameraThread
RTABMAP_DEPRECATED typedef SensorCaptureThread CameraThread
Backward compatibility typedef.
Definition SensorCaptureThread.h:565
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/SensorCapture_8h_source.html b/preview/pr-1748/api/latest/SensorCapture_8h_source.html index 777c0532..d910f664 100644 --- a/preview/pr-1748/api/latest/SensorCapture_8h_source.html +++ b/preview/pr-1748/api/latest/SensorCapture_8h_source.html @@ -217,7 +217,7 @@ $(document).ready(function(){initNavTree('SensorCapture_8h_source.html',''); ini
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/SensorData_8h_source.html b/preview/pr-1748/api/latest/SensorData_8h_source.html index d1d3f702..70a247e7 100644 --- a/preview/pr-1748/api/latest/SensorData_8h_source.html +++ b/preview/pr-1748/api/latest/SensorData_8h_source.html @@ -639,7 +639,7 @@ $(document).ready(function(){initNavTree('SensorData_8h_source.html',''); initRe
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
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
diff --git a/preview/pr-1748/api/latest/SensorEvent_8h_source.html b/preview/pr-1748/api/latest/SensorEvent_8h_source.html index 74eca71c..a8706171 100644 --- a/preview/pr-1748/api/latest/SensorEvent_8h_source.html +++ b/preview/pr-1748/api/latest/SensorEvent_8h_source.html @@ -234,7 +234,7 @@ $(document).ready(function(){initNavTree('SensorEvent_8h_source.html',''); initR
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::CameraEvent
RTABMAP_DEPRECATED typedef SensorEvent CameraEvent
Backward compatibility typedef.
Definition SensorEvent.h:207
diff --git a/preview/pr-1748/api/latest/Signature_8h_source.html b/preview/pr-1748/api/latest/Signature_8h_source.html index e4daedf1..9cca0096 100644 --- a/preview/pr-1748/api/latest/Signature_8h_source.html +++ b/preview/pr-1748/api/latest/Signature_8h_source.html @@ -376,7 +376,7 @@ $(document).ready(function(){initNavTree('Signature_8h_source.html',''); initRes
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/Statistics_8h_source.html b/preview/pr-1748/api/latest/Statistics_8h_source.html index fde31af3..fdbccb06 100644 --- a/preview/pr-1748/api/latest/Statistics_8h_source.html +++ b/preview/pr-1748/api/latest/Statistics_8h_source.html @@ -580,7 +580,7 @@ $(document).ready(function(){initNavTree('Statistics_8h_source.html',''); initRe
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/StereoBM_8h_source.html b/preview/pr-1748/api/latest/StereoBM_8h_source.html index d4da31c6..006fc278 100644 --- a/preview/pr-1748/api/latest/StereoBM_8h_source.html +++ b/preview/pr-1748/api/latest/StereoBM_8h_source.html @@ -181,7 +181,7 @@ $(document).ready(function(){initNavTree('StereoBM_8h_source.html',''); initResi
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/StereoCameraModel_8h_source.html b/preview/pr-1748/api/latest/StereoCameraModel_8h_source.html index a738dd9c..9ad8b1ed 100644 --- a/preview/pr-1748/api/latest/StereoCameraModel_8h_source.html +++ b/preview/pr-1748/api/latest/StereoCameraModel_8h_source.html @@ -316,7 +316,7 @@ $(document).ready(function(){initNavTree('StereoCameraModel_8h_source.html','');
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
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.
diff --git a/preview/pr-1748/api/latest/StereoDense_8h_source.html b/preview/pr-1748/api/latest/StereoDense_8h_source.html index a1402866..a1f723e5 100644 --- a/preview/pr-1748/api/latest/StereoDense_8h_source.html +++ b/preview/pr-1748/api/latest/StereoDense_8h_source.html @@ -182,7 +182,7 @@ $(document).ready(function(){initNavTree('StereoDense_8h_source.html',''); initR
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.
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/StereoSGBM_8h_source.html b/preview/pr-1748/api/latest/StereoSGBM_8h_source.html index 4fb586f6..dac94b32 100644 --- a/preview/pr-1748/api/latest/StereoSGBM_8h_source.html +++ b/preview/pr-1748/api/latest/StereoSGBM_8h_source.html @@ -179,7 +179,7 @@ $(document).ready(function(){initNavTree('StereoSGBM_8h_source.html',''); initRe
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.
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/Stereo_8h_source.html b/preview/pr-1748/api/latest/Stereo_8h_source.html index 004fb8b8..335cb619 100644 --- a/preview/pr-1748/api/latest/Stereo_8h_source.html +++ b/preview/pr-1748/api/latest/Stereo_8h_source.html @@ -263,7 +263,7 @@ $(document).ready(function(){initNavTree('Stereo_8h_source.html',''); initResiza
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.
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/Transform_8h_source.html b/preview/pr-1748/api/latest/Transform_8h_source.html index 02ca3912..ea4a77ac 100644 --- a/preview/pr-1748/api/latest/Transform_8h_source.html +++ b/preview/pr-1748/api/latest/Transform_8h_source.html @@ -368,7 +368,7 @@ $(document).ready(function(){initNavTree('Transform_8h_source.html',''); initRes
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
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
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.
diff --git a/preview/pr-1748/api/latest/UserDataEvent_8h_source.html b/preview/pr-1748/api/latest/UserDataEvent_8h_source.html index 0fe57201..055a056e 100644 --- a/preview/pr-1748/api/latest/UserDataEvent_8h_source.html +++ b/preview/pr-1748/api/latest/UserDataEvent_8h_source.html @@ -167,7 +167,7 @@ $(document).ready(function(){initNavTree('UserDataEvent_8h_source.html',''); ini
UEvent
Definition UEvent.h:57
rtabmap::UserDataEvent
Definition UserDataEvent.h:41
rtabmap::UserDataEvent::getClassName
virtual std::string getClassName() const
Definition UserDataEvent.h:48
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/VWDictionary_8h_source.html b/preview/pr-1748/api/latest/VWDictionary_8h_source.html index 7f2ece0c..84822701 100644 --- a/preview/pr-1748/api/latest/VWDictionary_8h_source.html +++ b/preview/pr-1748/api/latest/VWDictionary_8h_source.html @@ -399,7 +399,7 @@ $(document).ready(function(){initNavTree('VWDictionary_8h_source.html',''); init
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
rtabmap::ParametersMap
std::map< std::string, std::string > ParametersMap
Parameter keys mapped to their values, as used by every configurable class (see Parameters).
Definition Parameters.h:44
diff --git a/preview/pr-1748/api/latest/VisualWord_8h_source.html b/preview/pr-1748/api/latest/VisualWord_8h_source.html index 440dcb82..ea3db926 100644 --- a/preview/pr-1748/api/latest/VisualWord_8h_source.html +++ b/preview/pr-1748/api/latest/VisualWord_8h_source.html @@ -192,7 +192,7 @@ $(document).ready(function(){initNavTree('VisualWord_8h_source.html',''); initRe
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
-
rtabmap
Definition BayesFilter.h:41
+
rtabmap
Definition BayesFilter.h:42
diff --git a/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter-members.html b/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter-members.html index e64a8a04..1e7c6f6f 100644 --- a/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter-members.html +++ b/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter-members.html @@ -105,17 +105,18 @@ $(document).ready(function(){initNavTree('classrtabmap_1_1BayesFilter.html','');

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
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
getPosteriorIds() constrtabmap::BayesFilterinline
getPosteriorValues() constrtabmap::BayesFilterinline
getPredictionLC() constrtabmap::BayesFilter
getPredictionLCStr() constrtabmap::BayesFilter
getVirtualPlacePrior() constrtabmap::BayesFilter
parseParameters(const ParametersMap &parameters)rtabmap::BayesFiltervirtual
reset()rtabmap::BayesFilter
setPredictionLC(const std::string &prediction)rtabmap::BayesFilter
~BayesFilter() (defined in rtabmap::BayesFilter)rtabmap::BayesFiltervirtual
diff --git a/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter.html b/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter.html index 0c26cbb2..66788a56 100644 --- a/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter.html +++ b/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter.html @@ -118,9 +118,9 @@ Public Member Functions 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).
-  +bool 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.
@@ -128,9 +128,12 @@ void reset ()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.
-  +const std::vector< int > & getPosteriorIds () const + The locations the posterior is over, ascending by id.
+  +const std::vector< float > & getPosteriorValues () const + The probability of each location of getPosteriorIds(), in the same order.
+  float getVirtualPlacePrior () const  Returns the virtual place prior threshold.
  @@ -165,7 +168,7 @@ void reset () Rtabmap -

Definition at line 74 of file BayesFilter.h.

+

Definition at line 81 of file BayesFilter.h.

Constructor & Destructor Documentation

◆ BayesFilter()

@@ -228,14 +231,14 @@ void reset () - -

◆ computePosterior()

+ +

◆ computePosterior()

- + @@ -256,6 +259,7 @@ void 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.

+

Read the result with getPosteriorIds() and getPosteriorValues().

Parameters
const std::map< int, float > & rtabmap::BayesFilter::computePosterior bool rtabmap::BayesFilter::computePosterior ( const Memory *  memory, reset ()
@@ -263,7 +267,7 @@ void  -
Returns
Reference to the internal posterior map (id → probability). On error (null memory, empty likelihood, or invalid prediction model), returns the unchanged posterior.
+
Returns
False on error (null memory, empty likelihood, or invalid prediction model), the posterior being left unchanged.
@@ -299,8 +303,8 @@ void  - -

◆ getPosterior()

+ +

◆ getPosteriorIds()

@@ -309,7 +313,7 @@ void 
memoryWorking memory instance (must not be null).
reset ()
reset ()
reset ()
- + @@ -322,10 +326,39 @@ void 
-

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.
+

The locations the posterior is over, ascending by id.

+

The virtual place (Memory::kIdVirtual) is the first of them when it is one.

-

Definition at line 128 of file BayesFilter.h.

+

Definition at line 138 of file BayesFilter.h.

+ +
+ + +

◆ getPosteriorValues()

+ +
+
+
const std::map< int, float > & rtabmap::BayesFilter::getPosterior const std::vector< int > & rtabmap::BayesFilter::getPosteriorIds ( ) constreset ()
+ + + + +
+ + + + + + + +
const std::vector< float > & rtabmap::BayesFilter::getPosteriorValues () const
+ 		+inline
+
+ +

The probability of each location of getPosteriorIds(), in the same order.

+ +

Definition at line 143 of file BayesFilter.h.

@@ -334,9 +367,6 @@ void reset ()
- - - - - -
@@ -345,18 +375,11 @@ void  const
float rtabmap::BayesFilter::getVirtualPlacePrior reset ()
- 		-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 134 of file BayesFilter.h.

-
@@ -434,7 +457,7 @@ void reset () -
Returns
Square CV_32FC1 matrix of size ids.size() × ids.size().
+
Returns
Square CV_32FC1 matrix of size ids.size() × ids.size(), or an empty matrix when Parameters::kBayesSparsePrediction() is enabled and the prediction is being kept in its sparse form, in which case no matrix exists to return.
diff --git a/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter.js b/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter.js index c1dd2f51..d1dae1bf 100644 --- a/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter.js +++ b/preview/pr-1748/api/latest/classrtabmap_1_1BayesFilter.js @@ -2,10 +2,11 @@ var classrtabmap_1_1BayesFilter = [ [ "BayesFilter", "classrtabmap_1_1BayesFilter.html#a2955edc4b79110b5bd1bd03f1616056e", null ], [ "parseParameters", "classrtabmap_1_1BayesFilter.html#a6d7d48b32c853f46eee9290d5c82cd28", null ], - [ "computePosterior", "classrtabmap_1_1BayesFilter.html#a7ab8bc28ec172a18a80001585161b238", null ], + [ "computePosterior", "classrtabmap_1_1BayesFilter.html#aa3ec78130d67d9cca8c2f11c31bc28d2", null ], [ "reset", "classrtabmap_1_1BayesFilter.html#ad415ee334d31eebc3685e61862f32573", null ], [ "setPredictionLC", "classrtabmap_1_1BayesFilter.html#a3255a54c1d2fc5b9a6db91fb38d591ae", null ], - [ "getPosterior", "classrtabmap_1_1BayesFilter.html#aceaa52e62af32f176185305f5359ee79", null ], + [ "getPosteriorIds", "classrtabmap_1_1BayesFilter.html#a4b476a9fa8b1c67562be4134c936081c", null ], + [ "getPosteriorValues", "classrtabmap_1_1BayesFilter.html#aaebf1bee8c904dabdf1d8ea0f446c143", null ], [ "getVirtualPlacePrior", "classrtabmap_1_1BayesFilter.html#a1f479b2d242f05eef69532f454dc851f", null ], [ "getPredictionLC", "classrtabmap_1_1BayesFilter.html#ab13c8acecfbb4fcfff4e809e2b0a7538", null ], [ "getPredictionLCStr", "classrtabmap_1_1BayesFilter.html#a18a6d97fe3088a4a356a85358f641376", null ], diff --git a/preview/pr-1748/api/latest/functions_c.html b/preview/pr-1748/api/latest/functions_c.html index e7db3db8..a89b9f15 100644 --- a/preview/pr-1748/api/latest/functions_c.html +++ b/preview/pr-1748/api/latest/functions_c.html @@ -140,7 +140,7 @@ $(document).ready(function(){initNavTree('functions_c.html',''); initResizable()
  • computeIcpTransformMulti() : rtabmap::Memory
  • computeLikelihood() : rtabmap::Memory
  • computePath() : rtabmap::Rtabmap
    • -
  • computePosterior() : rtabmap::BayesFilter
    • +
  • computePosterior() : rtabmap::BayesFilter
  • computeRoi() : rtabmap::Feature2D
  • computeTransform() : rtabmap::Memory
  • computeTransformation() : rtabmap::Registration
    • diff --git a/preview/pr-1748/api/latest/functions_func_c.html b/preview/pr-1748/api/latest/functions_func_c.html index 638b1574..e9d53f93 100644 --- a/preview/pr-1748/api/latest/functions_func_c.html +++ b/preview/pr-1748/api/latest/functions_func_c.html @@ -136,7 +136,7 @@ $(document).ready(function(){initNavTree('functions_func_c.html',''); initResiza
  • computeIcpTransformMulti() : rtabmap::Memory
  • computeLikelihood() : rtabmap::Memory
  • computePath() : rtabmap::Rtabmap
    • -
  • computePosterior() : rtabmap::BayesFilter
    • +
  • computePosterior() : rtabmap::BayesFilter
  • computeRoi() : rtabmap::Feature2D
  • computeTransform() : rtabmap::Memory
  • computeTransformation() : rtabmap::Registration
    • diff --git a/preview/pr-1748/api/latest/functions_func_g.html b/preview/pr-1748/api/latest/functions_func_g.html index d0674997..da2263f8 100644 --- a/preview/pr-1748/api/latest/functions_func_g.html +++ b/preview/pr-1748/api/latest/functions_func_g.html @@ -146,7 +146,7 @@ $(document).ready(function(){initNavTree('functions_func_g.html',''); initResiza
  • getGoalReachedRadius() : rtabmap::Rtabmap
  • getGPS() : rtabmap::Memory
  • getGraph() : rtabmap::Rtabmap
    • -
  • getGridMax() : rtabmap::GlobalMap
    • +
  • getGridMax() : rtabmap::GlobalMap
  • getGridMin() : rtabmap::GlobalMap
  • getGroundTruthPose() : rtabmap::Memory, rtabmap::Signature
  • getGroundTruths() : rtabmap::Memory
    • @@ -209,7 +209,7 @@ $(document).ready(function(){initNavTree('functions_func_g.html',''); initResiza
  • getNodeCalibration() : rtabmap::Memory
  • getNodeData() : rtabmap::Memory
  • getNodeInfo() : rtabmap::Memory
    • -
  • getNodesInRadius() : rtabmap::Rtabmap
    • +
  • getNodesInRadius() : rtabmap::Rtabmap
  • getNodesObservingLandmark() : rtabmap::Memory
  • getNodeWordsAndGlobalDescriptors() : rtabmap::Memory
  • getNorm() : rtabmap::Transform
    • @@ -230,7 +230,8 @@ $(document).ready(function(){initNavTree('functions_func_g.html',''); initResiza
  • getPathTransformToGoal() : rtabmap::Rtabmap
  • getPose() : rtabmap::CameraRealSense2, rtabmap::CameraSeerSense, rtabmap::CameraStereoZed, rtabmap::DBReader, rtabmap::Odometry, rtabmap::OdometryResetEvent, rtabmap::Rtabmap, rtabmap::SensorCapture, rtabmap::Signature
  • getPoseCovariance() : rtabmap::Signature
    • -
  • getPosterior() : rtabmap::BayesFilter
    • +
  • getPosteriorIds() : rtabmap::BayesFilter
    • +
  • getPosteriorValues() : rtabmap::BayesFilter
  • getPredictionLC() : rtabmap::BayesFilter
  • getPredictionLCStr() : rtabmap::BayesFilter
  • getReferences() : rtabmap::VisualWord
    • diff --git a/preview/pr-1748/api/latest/functions_func_t.html b/preview/pr-1748/api/latest/functions_func_t.html index 68256bcd..8dc83313 100644 --- a/preview/pr-1748/api/latest/functions_func_t.html +++ b/preview/pr-1748/api/latest/functions_func_t.html @@ -129,7 +129,7 @@ $(document).ready(function(){initNavTree('functions_func_t.html',''); initResiza
  • toUShort() : UVariant
  • toUShortArray() : UVariant
  • transform() : rtabmap::Link
    • -
  • Transform() : rtabmap::Transform
    • +
  • Transform() : rtabmap::Transform
  • translation() : rtabmap::Transform
  • translationMatrix() : rtabmap::Transform
  • transVariance() : rtabmap::Link
    • diff --git a/preview/pr-1748/api/latest/functions_g.html b/preview/pr-1748/api/latest/functions_g.html index cf3572bc..b6f4d556 100644 --- a/preview/pr-1748/api/latest/functions_g.html +++ b/preview/pr-1748/api/latest/functions_g.html @@ -230,7 +230,8 @@ $(document).ready(function(){initNavTree('functions_g.html',''); initResizable()
  • getPathTransformToGoal() : rtabmap::Rtabmap
  • getPose() : rtabmap::CameraRealSense2, rtabmap::CameraSeerSense, rtabmap::CameraStereoZed, rtabmap::DBReader, rtabmap::Odometry, rtabmap::OdometryResetEvent, rtabmap::Rtabmap, rtabmap::SensorCapture, rtabmap::Signature
  • getPoseCovariance() : rtabmap::Signature
    • -
  • getPosterior() : rtabmap::BayesFilter
    • +
  • getPosteriorIds() : rtabmap::BayesFilter
    • +
  • getPosteriorValues() : rtabmap::BayesFilter
  • getPredictionLC() : rtabmap::BayesFilter
  • getPredictionLCStr() : rtabmap::BayesFilter
  • getReferences() : rtabmap::VisualWord
    • diff --git a/preview/pr-1748/api/latest/functions_t.html b/preview/pr-1748/api/latest/functions_t.html index 6e7ea70c..a0cc050a 100644 --- a/preview/pr-1748/api/latest/functions_t.html +++ b/preview/pr-1748/api/latest/functions_t.html @@ -143,7 +143,7 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
  • toUShort() : UVariant
  • toUShortArray() : UVariant
  • transform() : rtabmap::Link, rtabmap::OdometryInfo
    • -
  • Transform() : rtabmap::Transform
    • +
  • Transform() : rtabmap::Transform
  • transformFiltered : rtabmap::OdometryInfo
  • transformGroundTruth : rtabmap::OdometryInfo
  • translation() : rtabmap::Transform
    • @@ -153,9 +153,9 @@ $(document).ready(function(){initNavTree('functions_t.html',''); initResizable()
  • Tx() : rtabmap::CameraModel
  • Type : rtabmap::EnvSensor
  • type() : rtabmap::EnvSensor
    • -
  • Type : rtabmap::Feature2D, rtabmap::IMUFilter
    • +
  • Type : rtabmap::Feature2D
  • type() : rtabmap::IMUFilter
    • -
  • Type : rtabmap::Link
    • +
  • Type : rtabmap::IMUFilter, rtabmap::Link
  • type() : rtabmap::Link
  • Type : rtabmap::Odometry
  • type : rtabmap::OdometryInfo
    • diff --git a/preview/pr-1748/api/latest/global__map_2OccupancyGrid_8h_source.html b/preview/pr-1748/api/latest/global__map_2OccupancyGrid_8h_source.html index 7f38eeaf..d6a12750 100644 --- a/preview/pr-1748/api/latest/global__map_2OccupancyGrid_8h_source.html +++ b/preview/pr-1748/api/latest/global__map_2OccupancyGrid_8h_source.html @@ -182,7 +182,7 @@ $(document).ready(function(){initNavTree('global__map_2OccupancyGrid_8h_source.h
    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.
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    diff --git a/preview/pr-1748/api/latest/global__map_2OctoMap_8h_source.html b/preview/pr-1748/api/latest/global__map_2OctoMap_8h_source.html index aebe5584..a8d06ba5 100644 --- a/preview/pr-1748/api/latest/global__map_2OctoMap_8h_source.html +++ b/preview/pr-1748/api/latest/global__map_2OctoMap_8h_source.html @@ -333,7 +333,7 @@ $(document).ready(function(){initNavTree('global__map_2OctoMap_8h_source.html','
    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)
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    diff --git a/preview/pr-1748/api/latest/group__UtiLite.html b/preview/pr-1748/api/latest/group__UtiLite.html index 56b828c2..ffed0b38 100644 --- a/preview/pr-1748/api/latest/group__UtiLite.html +++ b/preview/pr-1748/api/latest/group__UtiLite.html @@ -105,7 +105,7 @@ $(document).ready(function(){initNavTree('group__UtiLite.html',''); initResizabl 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:

    $ rtabmap-res_tool 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;
    diff --git a/preview/pr-1748/api/latest/index.html b/preview/pr-1748/api/latest/index.html index c03ed655..9af02c93 100644 --- a/preview/pr-1748/api/latest/index.html +++ b/preview/pr-1748/api/latest/index.html @@ -168,7 +168,7 @@ Start here
    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::getIdentity
    static Transform getIdentity()
    Returns identity transform.
    - +

    Throttling is the caller's job here: rtabmap::Rtabmap::process() maps every frame it is given. rtabmap::RtabmapThread does this same stamp comparison internally, from Rtabmap/DetectionRate, so the threaded pipeline only needs the parameter to be set.

    Odometry drifts and the graph gets re-optimized, so the odometry pose is not a map pose. rtabmap::Statistics::mapCorrection() is what reconciles the two, and since it only changes on a map update it can be applied to every incoming frame – which is how the pose stays available at full rate while the map is built at 1 Hz. This is the transform published as /map → /odom by the ROS wrapper, and what the MapBuilder of each example composes with the live odometry pose to place the clouds. It is also readable outside the statistics, as rtabmap::Rtabmap::getMapCorrection().

    Complete programs live under examples/ in the source tree:

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    static std::string kMemSTMSize()
    Key of parameter Mem/STMSize : "Short-term memory size." Default value: 10 ( unsigned int ).
    Definition Parameters.h:226
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    rtabmap::ParametersPair
    std::pair< std::string, std::string > ParametersPair
    A single parameter key/value pair, the entry type of ParametersMap.
    Definition Parameters.h:46
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44

    Each key links to its accessor on rtabmap::Parameters, which is also how the key is spelled in code (Parameters::kMemSTMSize() for Mem/STMSize). Defaults given with a condition depend on how RTAB-Map was built; call rtabmap::Parameters::getDefaultParameters() to read the values of the build in use.

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    36
    37#endif // RVL_CODEC_H_
    rtabmap::RvlCodec
    Definition rvl_codec.h:14
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
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    1252
    1253
    1254#endif /* CORELIB_SRC_OPENCV_STEREORECTIFYFISHEYE_H_ */
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    diff --git a/preview/pr-1748/api/latest/uResourceGeneratorPage.html b/preview/pr-1748/api/latest/uResourceGeneratorPage.html index 1d288a6d..4a384943 100644 --- a/preview/pr-1748/api/latest/uResourceGeneratorPage.html +++ b/preview/pr-1748/api/latest/uResourceGeneratorPage.html @@ -102,7 +102,7 @@ $(document).ready(function(){initNavTree('uResourceGeneratorPage.html',''); init

    UtiLite provides a utility application called uResourceGenerator to generate resources to include in an executable. For example:

    $ rtabmap-res_tool 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;
    diff --git a/preview/pr-1748/api/latest/util2d_8h_source.html b/preview/pr-1748/api/latest/util2d_8h_source.html index 520d4984..5022cb37 100644 --- a/preview/pr-1748/api/latest/util2d_8h_source.html +++ b/preview/pr-1748/api/latest/util2d_8h_source.html @@ -331,7 +331,7 @@ $(document).ready(function(){initNavTree('util2d_8h_source.html',''); initResiza
    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.
    - +
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    diff --git a/preview/pr-1748/api/latest/util3d_8h_source.html b/preview/pr-1748/api/latest/util3d_8h_source.html index 2fea52ad..4709132b 100644 --- a/preview/pr-1748/api/latest/util3d_8h_source.html +++ b/preview/pr-1748/api/latest/util3d_8h_source.html @@ -554,7 +554,7 @@ $(document).ready(function(){initNavTree('util3d_8h_source.html',''); initResiza
    rtabmap::util3d::cloudFromDisparity
    pcl::PointCloud< pcl::PointXYZ >::Ptr RTABMAP_CORE_EXPORT cloudFromDisparity(const cv::Mat &imageDisparity, const StereoCameraModel &model, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)
    Converts a disparity image to a 3D point cloud.
    rtabmap::util3d::loadScan
    LaserScan RTABMAP_CORE_EXPORT loadScan(const std::string &path)
    Loads a 3D scan from a file (.pcd, .ply, or .bin format).
    rtabmap::util3d::concatenate
    pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector< pcl::IndicesPtr > &indices)
    Concatenates multiple sets of indices into a single index vector.
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    rtabmap::ParametersMap
    std::map< std::string, std::string > ParametersMap
    Parameter keys mapped to their values, as used by every configurable class (see Parameters).
    Definition Parameters.h:44
    rtabmap::PointXYZIRT
    This namespace contains 3D point cloud processing utilities.
    Definition util3d.h:58
    diff --git a/preview/pr-1748/api/latest/util3d_8hpp_source.html b/preview/pr-1748/api/latest/util3d_8hpp_source.html index dff2debf..2d48cb22 100644 --- a/preview/pr-1748/api/latest/util3d_8hpp_source.html +++ b/preview/pr-1748/api/latest/util3d_8hpp_source.html @@ -539,7 +539,7 @@ $(document).ready(function(){initNavTree('util3d_8hpp_source.html',''); initResi
    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.
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    diff --git a/preview/pr-1748/api/latest/util3d__correspondences_8h_source.html b/preview/pr-1748/api/latest/util3d__correspondences_8h_source.html index ac6bae3a..89fdf5ff 100644 --- a/preview/pr-1748/api/latest/util3d__correspondences_8h_source.html +++ b/preview/pr-1748/api/latest/util3d__correspondences_8h_source.html @@ -225,7 +225,7 @@ $(document).ready(function(){initNavTree('util3d__correspondences_8h_source.html
    rtabmap::util3d::filterMaxDepth
    void RTABMAP_CORE_EXPORT filterMaxDepth(pcl::PointCloud< pcl::PointXYZ > &inliers1, pcl::PointCloud< pcl::PointXYZ > &inliers2, float maxDepth, char depthAxis, bool removeDuplicates)
    Filters pairs of 3D points by maximum depth along a specified axis and optionally removes duplicates.
    rtabmap::util3d::extractXYZCorrespondencesRANSAC
    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)
    Extracts reliable 3D point correspondences between two sets of labeled 3D points using RANSAC filteri...
    rtabmap::util3d::countUniquePairs
    int RTABMAP_CORE_EXPORT countUniquePairs(const std::multimap< int, pcl::PointXYZ > &wordsA, const std::multimap< int, pcl::PointXYZ > &wordsB)
    Counts the number of unique 3D point correspondences between two sets of word-indexed features.
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    diff --git a/preview/pr-1748/api/latest/util3d__features_8h_source.html b/preview/pr-1748/api/latest/util3d__features_8h_source.html index 0599bc8c..6e49cc7f 100644 --- a/preview/pr-1748/api/latest/util3d__features_8h_source.html +++ b/preview/pr-1748/api/latest/util3d__features_8h_source.html @@ -211,7 +211,7 @@ $(document).ready(function(){initNavTree('util3d__features_8h_source.html','');
    rtabmap::util3d::generateKeypoints3DStereo
    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DStereo(const std::vector< cv::Point2f > &leftCorners, const std::vector< cv::Point2f > &rightCorners, const StereoCameraModel &model, const std::vector< unsigned char > &mask=std::vector< unsigned char >(), float minDepth=0, float maxDepth=0)
    Computes 3D keypoints from corresponding 2D points in a stereo image pair.
    rtabmap::util3d::aggregate
    std::multimap< int, cv::KeyPoint > RTABMAP_CORE_EXPORT aggregate(const std::list< int > &wordIds, const std::vector< cv::KeyPoint > &keypoints)
    Aggregates word IDs and corresponding keypoints into a multimap.
    rtabmap::util3d::generateKeypoints3DDisparity
    std::vector< cv::Point3f > RTABMAP_CORE_EXPORT generateKeypoints3DDisparity(const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &disparity, const StereoCameraModel &stereoCameraModel, float minDepth=0, float maxDepth=0)
    Projects 2D keypoints into 3D space using a disparity image and a stereo camera model.
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    diff --git a/preview/pr-1748/api/latest/util3d__filtering_8h_source.html b/preview/pr-1748/api/latest/util3d__filtering_8h_source.html index 380789b5..55cda390 100644 --- a/preview/pr-1748/api/latest/util3d__filtering_8h_source.html +++ b/preview/pr-1748/api/latest/util3d__filtering_8h_source.html @@ -950,7 +950,7 @@ $(document).ready(function(){initNavTree('util3d__filtering_8h_source.html','');
    rtabmap::util3d::uniformSampling
    pcl::PointCloud< pcl::PointXYZ >::Ptr uniformSampling(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)
    DEPRECATED: Use voxelize() instead.
    Definition util3d_filtering.h:359
    rtabmap::util3d::extractPlane
    pcl::IndicesPtr RTABMAP_CORE_EXPORT extractPlane(const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, const pcl::IndicesPtr &indices, float distanceThreshold, int maxIterations=100, pcl::ModelCoefficients *coefficientsOut=0)
    Extracts the indices of the inliers that belong to a plane using RANSAC.
    rtabmap::util3d::rangeFiltering
    LaserScan RTABMAP_CORE_EXPORT rangeFiltering(const LaserScan &scan, float rangeMin, float rangeMax)
    Filters a LaserScan data on a minimum and maximum Euclidean range.
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    diff --git a/preview/pr-1748/api/latest/util3d__mapping_8h_source.html b/preview/pr-1748/api/latest/util3d__mapping_8h_source.html index a004ff24..5f30ae6c 100644 --- a/preview/pr-1748/api/latest/util3d__mapping_8h_source.html +++ b/preview/pr-1748/api/latest/util3d__mapping_8h_source.html @@ -319,7 +319,7 @@ $(document).ready(function(){initNavTree('util3d__mapping_8h_source.html',''); i
    rtabmap::util3d::convertImage8U2Map
    cv::Mat RTABMAP_CORE_EXPORT convertImage8U2Map(const cv::Mat &map8U, bool pgmFormat=false)
    Converts a grayscale occupancy image (CV_8U) to an occupancy grid map (CV_8S).
    rtabmap::util3d::convertMap2Image8U
    cv::Mat RTABMAP_CORE_EXPORT convertMap2Image8U(const cv::Mat &map8S, bool pgmFormat=false)
    Converts an occupancy grid map (CV_8S) to a grayscale image (CV_8U).
    rtabmap::util3d::create2DMap
    RTABMAP_DEPRECATED cv::Mat RTABMAP_CORE_EXPORT create2DMap(const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    diff --git a/preview/pr-1748/api/latest/util3d__mapping_8hpp_source.html b/preview/pr-1748/api/latest/util3d__mapping_8hpp_source.html index 80ac64e2..97da819a 100644 --- a/preview/pr-1748/api/latest/util3d__mapping_8hpp_source.html +++ b/preview/pr-1748/api/latest/util3d__mapping_8hpp_source.html @@ -492,7 +492,7 @@ $(document).ready(function(){initNavTree('util3d__mapping_8hpp_source.html','');
    rtabmap::util3d::occupancy2DFromCloud3D
    void occupancy2DFromCloud3D(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &indices, cv::Mat &ground, cv::Mat &obstacles, float cellSize, float groundNormalAngle, int minClusterSize, bool segmentFlatObstacles, float maxGroundHeight)
    Generates 2D ground and obstacle occupancy data from a 3D point cloud.
    Definition util3d_mapping.hpp:309
    rtabmap::util3d::occupancy2DFromGroundObstacles
    void occupancy2DFromGroundObstacles(const typename pcl::PointCloud< PointT >::Ptr &cloud, const pcl::IndicesPtr &groundIndices, const pcl::IndicesPtr &obstaclesIndices, cv::Mat &ground, cv::Mat &obstacles, float cellSize)
    Projects 3D ground and obstacle point clouds onto the 2D XY plane and voxelizes them into 2D occupanc...
    Definition util3d_mapping.hpp:234
    rtabmap::util3d::concatenate
    pcl::IndicesPtr RTABMAP_CORE_EXPORT concatenate(const std::vector< pcl::IndicesPtr > &indices)
    Concatenates multiple sets of indices into a single index vector.
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    diff --git a/preview/pr-1748/api/latest/util3d__motion__estimation_8h_source.html b/preview/pr-1748/api/latest/util3d__motion__estimation_8h_source.html index dec3e9d4..8feaa09f 100644 --- a/preview/pr-1748/api/latest/util3d__motion__estimation_8h_source.html +++ b/preview/pr-1748/api/latest/util3d__motion__estimation_8h_source.html @@ -245,7 +245,7 @@ $(document).ready(function(){initNavTree('util3d__motion__estimation_8h_source.h
    rtabmap::util3d::estimateMotion3DTo2D
    Transform RTABMAP_CORE_EXPORT estimateMotion3DTo2D(const std::map< int, cv::Point3f > &words3A, const std::map< int, cv::KeyPoint > &words2B, const CameraModel &cameraModel, int minInliers=10, int iterations=100, double reprojError=5., int flagsPnP=0, int pnpRefineIterations=1, int varianceMedianRatio=4, float maxVariance=0, const Transform &guess=Transform::getIdentity(), const std::map< int, cv::Point3f > &words3B=std::map< int, cv::Point3f >(), cv::Mat *covariance=0, std::vector< int > *matchesOut=0, std::vector< int > *inliersOut=0, bool splitLinearCovarianceComponents=false)
    Estimates a 6-DOF camera transform from 3D-2D point correspondences using PnP RANSAC.
    rtabmap::util3d::solvePnPRansac
    void RTABMAP_CORE_EXPORT solvePnPRansac(const std::vector< cv::Point3f > &objectPoints, const std::vector< cv::Point2f > &imagePoints, const cv::Mat &cameraMatrix, const cv::Mat &distCoeffs, cv::Mat &rvec, cv::Mat &tvec, bool useExtrinsicGuess, int iterationsCount, float reprojectionError, int minInliersCount, std::vector< int > &inliers, int flags, int refineIterations=1, float refineSigma=3.0f)
    Estimates the camera pose using the PnP RANSAC algorithm and optionally refines it.
    rtabmap::util3d::ransacDeterministicSeedEnabled
    bool RTABMAP_CORE_EXPORT ransacDeterministicSeedEnabled()
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    diff --git a/preview/pr-1748/api/latest/util3d__registration_8h_source.html b/preview/pr-1748/api/latest/util3d__registration_8h_source.html index 70a750cd..94abdf6d 100644 --- a/preview/pr-1748/api/latest/util3d__registration_8h_source.html +++ b/preview/pr-1748/api/latest/util3d__registration_8h_source.html @@ -253,7 +253,7 @@ $(document).ready(function(){initNavTree('util3d__registration_8h_source.html','
    rtabmap::util3d::icpPointToPlane
    Transform RTABMAP_CORE_EXPORT icpPointToPlane(const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointNormal >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointNormal > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)
    Performs Iterative Closest Point (ICP) alignment using a point-to-plane error metric.
    rtabmap::util3d::transformFromXYZCorrespondences
    Transform RTABMAP_CORE_EXPORT transformFromXYZCorrespondences(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud1, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud2, double inlierThreshold=0.02, int iterations=100, int refineModelIterations=10, double refineModelSigma=3.0, std::vector< int > *inliers=0, cv::Mat *variance=0)
    Estimates a rigid transformation between two point clouds using RANSAC with optional refinement.
    rtabmap::util3d::icp
    Transform RTABMAP_CORE_EXPORT icp(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_source, const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &cloud_target, double maxCorrespondenceDistance, int maximumIterations, bool &hasConverged, pcl::PointCloud< pcl::PointXYZ > &cloud_source_registered, float epsilon=0.0f, bool icp2D=false, float ransacOutlierRatio=0.0f, int *iterationsDone=nullptr)
    Performs Iterative Closest Point (ICP) alignment between two point clouds and returns the resulting t...
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    diff --git a/preview/pr-1748/api/latest/util3d__surface_8h_source.html b/preview/pr-1748/api/latest/util3d__surface_8h_source.html index 5330a523..76c6ab11 100644 --- a/preview/pr-1748/api/latest/util3d__surface_8h_source.html +++ b/preview/pr-1748/api/latest/util3d__surface_8h_source.html @@ -663,7 +663,7 @@ $(document).ready(function(){initNavTree('util3d__surface_8h_source.html',''); i
    rtabmap::util3d::createPolygonIndexes
    void RTABMAP_CORE_EXPORT createPolygonIndexes(const std::vector< pcl::Vertices > &polygons, int cloudSize, std::vector< std::set< int > > &neighborPolygons, std::vector< std::set< int > > &vertexPolygons)
    Given a set of polygons, create two indexes: polygons to neighbor polygons and vertices to polygons.
    rtabmap::util3d::intersectRayTriangle
    bool RTABMAP_CORE_EXPORT intersectRayTriangle(const Eigen::Vector3f &p, const Eigen::Vector3f &dir, const Eigen::Vector3f &v0, const Eigen::Vector3f &v1, const Eigen::Vector3f &v2, float &distance, Eigen::Vector3f &normal)
    rtabmap::util3d::mergeTextures
    cv::Mat RTABMAP_CORE_EXPORT mergeTextures(pcl::TextureMesh &mesh, const std::map< int, cv::Mat > &images, const std::map< int, CameraModel > &calibrations, const Memory *memory=0, const DBDriver *dbDriver=0, int textureSize=4096, int textureCount=1, const std::vector< std::map< int, pcl::PointXY > > &vertexToPixels=std::vector< std::map< int, pcl::PointXY > >(), bool gainCompensation=true, float gainBeta=10.0f, bool gainRGB=true, bool blending=true, int blendingDecimation=0, int brightnessContrastRatioLow=0, int brightnessContrastRatioHigh=0, bool exposureFusion=false, const ProgressState *state=0, unsigned char blankValue=255, bool clearVertexColorUnderTexture=true, std::map< int, std::map< int, cv::Vec4d > > *gains=0, std::map< int, std::map< int, cv::Mat > > *blendingGains=0, std::pair< float, float > *contrastValues=0)
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    diff --git a/preview/pr-1748/api/latest/util3d__surface_8hpp_source.html b/preview/pr-1748/api/latest/util3d__surface_8hpp_source.html index c9b010e1..4c90afb5 100644 --- a/preview/pr-1748/api/latest/util3d__surface_8hpp_source.html +++ b/preview/pr-1748/api/latest/util3d__surface_8hpp_source.html @@ -466,7 +466,7 @@ $(document).ready(function(){initNavTree('util3d__surface_8hpp_source.html','');
    UASSERT
    #define UASSERT(condition)
    Definition ULogger.h:66
    rtabmap::util3d::createPolygonIndexes
    void RTABMAP_CORE_EXPORT createPolygonIndexes(const std::vector< pcl::Vertices > &polygons, int cloudSize, std::vector< std::set< int > > &neighborPolygons, std::vector< std::set< int > > &vertexPolygons)
    Given a set of polygons, create two indexes: polygons to neighbor polygons and vertices to polygons.
    rtabmap::util3d::intersectRayTriangle
    bool RTABMAP_CORE_EXPORT intersectRayTriangle(const Eigen::Vector3f &p, const Eigen::Vector3f &dir, const Eigen::Vector3f &v0, const Eigen::Vector3f &v1, const Eigen::Vector3f &v2, float &distance, Eigen::Vector3f &normal)
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    diff --git a/preview/pr-1748/api/latest/util3d__transforms_8h_source.html b/preview/pr-1748/api/latest/util3d__transforms_8h_source.html index 5e092434..397a458e 100644 --- a/preview/pr-1748/api/latest/util3d__transforms_8h_source.html +++ b/preview/pr-1748/api/latest/util3d__transforms_8h_source.html @@ -230,7 +230,7 @@ $(document).ready(function(){initNavTree('util3d__transforms_8h_source.html','')
    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.
    rtabmap::util3d::transformLaserScan
    LaserScan RTABMAP_CORE_EXPORT transformLaserScan(const LaserScan &laserScan, const Transform &transform)
    Applies a 3D transform to all points (and normals if present) in a LaserScan.
    -
    rtabmap
    Definition BayesFilter.h:41
    +
    rtabmap
    Definition BayesFilter.h:42
    diff --git a/preview/pr-1748/index.html b/preview/pr-1748/index.html index adf8eda9..7c4e6832 100644 --- a/preview/pr-1748/index.html +++ b/preview/pr-1748/index.html @@ -5,7 +5,7 @@ - + RTAB-Map | Real-Time Appearance-Based Mapping