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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef COMPRESSION_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define COMPRESSION_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span> </div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;rtabmap/core/rvl_codec.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;rtabmap/utilite/UThread.h&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;opencv2/opencv.hpp&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="foldopen" id="foldopen00067" data-start="{" data-end="};">
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CompressionThread.html"> 67</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1CompressionThread.html">CompressionThread</a> : <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThread</a></div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span>{</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CompressionThread.html#a6bdec4c44e47774291bc9f98b3b5c146"> 75</a></span> <a class="code hl_function" href="classrtabmap_1_1CompressionThread.html#a6bdec4c44e47774291bc9f98b3b5c146">CompressionThread</a>(<span class="keyword">const</span> cv::Mat &amp; mat, <span class="keyword">const</span> std::string &amp; format = <span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CompressionThread.html#a8cfe0e3d632c888c143b4e7902145fde"> 81</a></span> <a class="code hl_function" href="classrtabmap_1_1CompressionThread.html#a8cfe0e3d632c888c143b4e7902145fde">CompressionThread</a>(<span class="keyword">const</span> cv::Mat &amp; bytes, <span class="keywordtype">bool</span> isImage);</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CompressionThread.html#a6908afb16364f91c7d0744decf6c970d"> 83</a></span> <span class="keyword">const</span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1CompressionThread.html#a6908afb16364f91c7d0744decf6c970d">getCompressedData</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> compressedData_;}</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CompressionThread.html#aafdc57cad744cbe94b30a8abfe7711a4"> 85</a></span> cv::Mat &amp; <a class="code hl_function" href="classrtabmap_1_1CompressionThread.html#aafdc57cad744cbe94b30a8abfe7711a4">getUncompressedData</a>() {<span class="keywordflow">return</span> uncompressedData_;}</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CompressionThread.html#a4948c2a9c84ee4e15699f08c2d4bac22"> 87</a></span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1CompressionThread.html#a4948c2a9c84ee4e15699f08c2d4bac22">mainLoop</a>();</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> cv::Mat compressedData_;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> cv::Mat uncompressedData_;</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> std::string format_;</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="keywordtype">bool</span> image_;</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keywordtype">bool</span> compressMode_;</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span>};</div>
</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> </div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a52beb14eea422420c95fd69bdf3ab9dc"> 97</a></span>std::vector&lt;unsigned char&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a52beb14eea422420c95fd69bdf3ab9dc">compressImage</a>(<span class="keyword">const</span> cv::Mat &amp; image, <span class="keyword">const</span> std::string &amp; format = <span class="stringliteral">&quot;.png&quot;</span>);</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"><a class="line" href="namespacertabmap.html#abd9d5523210562abd9b5dc8fa9dbeb99"> 99</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#abd9d5523210562abd9b5dc8fa9dbeb99">compressImage2</a>(<span class="keyword">const</span> cv::Mat &amp; image, <span class="keyword">const</span> std::string &amp; format = <span class="stringliteral">&quot;.png&quot;</span>);</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a462f181a147c9f5315f70b0cd89210e5"> 102</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a462f181a147c9f5315f70b0cd89210e5">uncompressImage</a>(<span class="keyword">const</span> cv::Mat &amp; bytes);</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="namespacertabmap.html#af56ea8b86f7a873959588d35a7ede187"> 104</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a462f181a147c9f5315f70b0cd89210e5">uncompressImage</a>(<span class="keyword">const</span> std::vector&lt;unsigned char&gt; &amp; bytes);</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a749adef593d09b887926afb6ebdb5834"> 107</a></span>std::vector&lt;unsigned char&gt; RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a749adef593d09b887926afb6ebdb5834">compressData</a>(<span class="keyword">const</span> cv::Mat &amp; data);</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b"> 109</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b">compressData2</a>(<span class="keyword">const</span> cv::Mat &amp; data);</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a696fffaafe542bfb49fc9ab0da2c66b9"> 112</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a696fffaafe542bfb49fc9ab0da2c66b9">uncompressData</a>(<span class="keyword">const</span> cv::Mat &amp; bytes);</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="namespacertabmap.html#aa15a9e946d6571254fc3c808b624e6cd"> 114</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a696fffaafe542bfb49fc9ab0da2c66b9">uncompressData</a>(<span class="keyword">const</span> std::vector&lt;unsigned char&gt; &amp; bytes);</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a5b02b6a5cd3c620aff7e76c05f78b20f"> 116</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a696fffaafe542bfb49fc9ab0da2c66b9">uncompressData</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * bytes, <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> size);</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> </div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a4f0dfae296aa7029e959d573b286285a"> 119</a></span>cv::Mat RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a4f0dfae296aa7029e959d573b286285a">compressString</a>(<span class="keyword">const</span> std::string &amp; str);</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a811701fc1452e49e82fcab8d4476832f"> 121</a></span>std::string RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a811701fc1452e49e82fcab8d4476832f">uncompressString</a>(<span class="keyword">const</span> cv::Mat &amp; bytes);</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> </div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a67c525e80a7187b3106e5fd76155cabc"> 127</a></span>std::string RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a67c525e80a7187b3106e5fd76155cabc">compressedDepthFormat</a>(<span class="keyword">const</span> cv::Mat &amp; bytes);</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"><a class="line" href="namespacertabmap.html#ab5cb2dcd6db7fe3bbe25d847177582c2"> 129</a></span>std::string RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a67c525e80a7187b3106e5fd76155cabc">compressedDepthFormat</a>(<span class="keyword">const</span> std::vector&lt;unsigned char&gt; &amp; bytes);</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"><a class="line" href="namespacertabmap.html#a58b406e413250675abbf0ec2956e3de8"> 131</a></span>std::string RTABMAP_CORE_EXPORT <a class="code hl_function" href="namespacertabmap.html#a67c525e80a7187b3106e5fd76155cabc">compressedDepthFormat</a>(<span class="keyword">const</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">char</span> * bytes, <span class="keywordtype">size_t</span> size);</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> </div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span><span class="preprocessor">#endif </span><span class="comment">/* COMPRESSION_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassUThread_html"><div class="ttname"><a href="classUThread.html">UThread</a></div><div class="ttdef"><b>Definition</b> <a href="UThread_8h_source.html#l00086">UThread.h:87</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1CompressionThread_html"><div class="ttname"><a href="classrtabmap_1_1CompressionThread.html">rtabmap::CompressionThread</a></div><div class="ttdoc">Background thread to compress or uncompress images and generic matrices.</div><div class="ttdef"><b>Definition</b> <a href="Compression_8h_source.html#l00067">Compression.h:68</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1CompressionThread_html_a4948c2a9c84ee4e15699f08c2d4bac22"><div class="ttname"><a href="classrtabmap_1_1CompressionThread.html#a4948c2a9c84ee4e15699f08c2d4bac22">rtabmap::CompressionThread::mainLoop</a></div><div class="ttdeci">virtual void mainLoop()</div></div>
<div class="ttc" id="aclassrtabmap_1_1CompressionThread_html_a6908afb16364f91c7d0744decf6c970d"><div class="ttname"><a href="classrtabmap_1_1CompressionThread.html#a6908afb16364f91c7d0744decf6c970d">rtabmap::CompressionThread::getCompressedData</a></div><div class="ttdeci">const cv::Mat &amp; getCompressedData() const</div><div class="ttdef"><b>Definition</b> <a href="Compression_8h_source.html#l00083">Compression.h:83</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1CompressionThread_html_a6bdec4c44e47774291bc9f98b3b5c146"><div class="ttname"><a href="classrtabmap_1_1CompressionThread.html#a6bdec4c44e47774291bc9f98b3b5c146">rtabmap::CompressionThread::CompressionThread</a></div><div class="ttdeci">CompressionThread(const cv::Mat &amp;mat, const std::string &amp;format=&quot;&quot;)</div><div class="ttdoc">Constructs a thread in compress mode.</div></div>
<div class="ttc" id="aclassrtabmap_1_1CompressionThread_html_a8cfe0e3d632c888c143b4e7902145fde"><div class="ttname"><a href="classrtabmap_1_1CompressionThread.html#a8cfe0e3d632c888c143b4e7902145fde">rtabmap::CompressionThread::CompressionThread</a></div><div class="ttdeci">CompressionThread(const cv::Mat &amp;bytes, bool isImage)</div><div class="ttdoc">Constructs a thread in uncompress mode.</div></div>
<div class="ttc" id="aclassrtabmap_1_1CompressionThread_html_aafdc57cad744cbe94b30a8abfe7711a4"><div class="ttname"><a href="classrtabmap_1_1CompressionThread.html#aafdc57cad744cbe94b30a8abfe7711a4">rtabmap::CompressionThread::getUncompressedData</a></div><div class="ttdeci">cv::Mat &amp; getUncompressedData()</div><div class="ttdef"><b>Definition</b> <a href="Compression_8h_source.html#l00085">Compression.h:85</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_a462f181a147c9f5315f70b0cd89210e5"><div class="ttname"><a href="namespacertabmap.html#a462f181a147c9f5315f70b0cd89210e5">rtabmap::uncompressImage</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT uncompressImage(const cv::Mat &amp;bytes)</div><div class="ttdoc">Decodes compressed image bytes to a @cv::Mat.</div></div>
<div class="ttc" id="anamespacertabmap_html_a4f0dfae296aa7029e959d573b286285a"><div class="ttname"><a href="namespacertabmap.html#a4f0dfae296aa7029e959d573b286285a">rtabmap::compressString</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT compressString(const std::string &amp;str)</div><div class="ttdoc">Compresses a null-terminated string using compressData2().</div></div>
<div class="ttc" id="anamespacertabmap_html_a52beb14eea422420c95fd69bdf3ab9dc"><div class="ttname"><a href="namespacertabmap.html#a52beb14eea422420c95fd69bdf3ab9dc">rtabmap::compressImage</a></div><div class="ttdeci">std::vector&lt; unsigned char &gt; RTABMAP_CORE_EXPORT compressImage(const cv::Mat &amp;image, const std::string &amp;format=&quot;.png&quot;)</div><div class="ttdoc">Encodes image to a byte buffer (OpenCV imencode or RVL for depth).</div></div>
<div class="ttc" id="anamespacertabmap_html_a67c525e80a7187b3106e5fd76155cabc"><div class="ttname"><a href="namespacertabmap.html#a67c525e80a7187b3106e5fd76155cabc">rtabmap::compressedDepthFormat</a></div><div class="ttdeci">std::string RTABMAP_CORE_EXPORT compressedDepthFormat(const cv::Mat &amp;bytes)</div><div class="ttdoc">Detects the compression format of depth image bytes.</div></div>
<div class="ttc" id="anamespacertabmap_html_a696fffaafe542bfb49fc9ab0da2c66b9"><div class="ttname"><a href="namespacertabmap.html#a696fffaafe542bfb49fc9ab0da2c66b9">rtabmap::uncompressData</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT uncompressData(const cv::Mat &amp;bytes)</div><div class="ttdoc">Restores a matrix compressed with compressData() or compressData2().</div></div>
<div class="ttc" id="anamespacertabmap_html_a749adef593d09b887926afb6ebdb5834"><div class="ttname"><a href="namespacertabmap.html#a749adef593d09b887926afb6ebdb5834">rtabmap::compressData</a></div><div class="ttdeci">std::vector&lt; unsigned char &gt; RTABMAP_CORE_EXPORT compressData(const cv::Mat &amp;data)</div><div class="ttdoc">Compresses a matrix with zlib; appends rows, cols and type at the end.</div></div>
<div class="ttc" id="anamespacertabmap_html_a811701fc1452e49e82fcab8d4476832f"><div class="ttname"><a href="namespacertabmap.html#a811701fc1452e49e82fcab8d4476832f">rtabmap::uncompressString</a></div><div class="ttdeci">std::string RTABMAP_CORE_EXPORT uncompressString(const cv::Mat &amp;bytes)</div><div class="ttdoc">Decompresses a string produced by compressString().</div></div>
<div class="ttc" id="anamespacertabmap_html_abd9d5523210562abd9b5dc8fa9dbeb99"><div class="ttname"><a href="namespacertabmap.html#abd9d5523210562abd9b5dc8fa9dbeb99">rtabmap::compressImage2</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT compressImage2(const cv::Mat &amp;image, const std::string &amp;format=&quot;.png&quot;)</div><div class="ttdoc">Same as compressImage() but returns a CV_8UC1 row matrix.</div></div>
<div class="ttc" id="anamespacertabmap_html_aca82ee9efc46461c648c7ab8999e1d5b"><div class="ttname"><a href="namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b">rtabmap::compressData2</a></div><div class="ttdeci">cv::Mat RTABMAP_CORE_EXPORT compressData2(const cv::Mat &amp;data)</div><div class="ttdoc">Same as compressData() but returns a CV_8UC1 row matrix.</div></div>
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