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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">#pragma once</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</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="l00031" name="l00031"></a><span class="lineno"> 31</span> </div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include &lt;rtabmap/core/Parameters.h&gt;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &lt;rtabmap/core/Transform.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;rtabmap/utilite/UEventsSender.h&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>clams</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span>{</div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="keyword">class </span>DiscreteDepthDistortionModel;</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span>}</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span>{</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> </div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="keyword">class </span>Camera;</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="keyword">class </span>Lidar;</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">class </span>SensorCapture;</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="keyword">class </span>SensorCaptureInfo;</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span><span class="keyword">class </span>SensorData;</div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span><span class="keyword">class </span>StereoDense;</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span><span class="keyword">class </span>IMUFilter;</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span><span class="keyword">class </span>Feature2D;</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> </div>
<div class="foldopen" id="foldopen00097" data-start="{" data-end="};">
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html"> 97</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1SensorCaptureThread.html">SensorCaptureThread</a> :</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> <span class="keyword">public</span> <a class="code hl_class" href="classUThread.html">UThread</a>,</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <span class="keyword">public</span> <a class="code hl_class" href="classUEventsSender.html">UEventsSender</a></div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span>{</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c"> 113</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">SensorCaptureThread</a>(</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <a class="code hl_class" href="classrtabmap_1_1Camera.html">Camera</a> * camera,</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> </div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a76ad33a55009b7a7f7ec51acccbe0492"> 136</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a76ad33a55009b7a7f7ec51acccbe0492">SensorCaptureThread</a>(</div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <a class="code hl_class" href="classrtabmap_1_1Camera.html">Camera</a> * camera,</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <a class="code hl_class" href="classrtabmap_1_1SensorCapture.html">SensorCapture</a> * odomSensor,</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; extrinsics,</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keywordtype">double</span> poseTimeOffset = 0.0,</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keywordtype">float</span> poseScaleFactor = 1.0f,</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keywordtype">double</span> poseWaitTime = 0.1,</div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a834d1e5c389e7ef8eb23bf1361916ae2"> 155</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a834d1e5c389e7ef8eb23bf1361916ae2">SensorCaptureThread</a>(</div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <a class="code hl_class" href="classrtabmap_1_1Lidar.html">Lidar</a> * lidar,</div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> </div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a9cf0e883ace51a2a656395327beb74e5"> 170</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a9cf0e883ace51a2a656395327beb74e5">SensorCaptureThread</a>(</div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <a class="code hl_class" href="classrtabmap_1_1Lidar.html">Lidar</a> * lidar,</div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <a class="code hl_class" href="classrtabmap_1_1Camera.html">Camera</a> * camera,</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a590aee9497d8a3b6e14b68e1e17f9c6a"> 194</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a590aee9497d8a3b6e14b68e1e17f9c6a">SensorCaptureThread</a>(</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> <a class="code hl_class" href="classrtabmap_1_1Lidar.html">Lidar</a> * lidar,</div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> <a class="code hl_class" href="classrtabmap_1_1SensorCapture.html">SensorCapture</a> * odomSensor,</div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keywordtype">double</span> poseTimeOffset = 0.0,</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <span class="keywordtype">float</span> poseScaleFactor = 1.0f,</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> <span class="keywordtype">double</span> poseWaitTime = 0.1,</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> </div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a2a64df180f19d0a2ea9a8d66ea58fc42"> 224</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a2a64df180f19d0a2ea9a8d66ea58fc42">SensorCaptureThread</a>(</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <a class="code hl_class" href="classrtabmap_1_1Lidar.html">Lidar</a> * lidar,</div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <a class="code hl_class" href="classrtabmap_1_1Camera.html">Camera</a> * camera,</div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <a class="code hl_class" href="classrtabmap_1_1SensorCapture.html">SensorCapture</a> * odomSensor,</div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; extrinsics,</div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keywordtype">double</span> poseTimeOffset = 0.0,</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keywordtype">float</span> poseScaleFactor = 1.0f,</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> <span class="keywordtype">double</span> poseWaitTime = 0.1,</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> </div>
<div class="line"><a id="l00239" name="l00239"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#af8133c1b2332568c4699282f59c141c9"> 239</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#af8133c1b2332568c4699282f59c141c9">~SensorCaptureThread</a>();</div>
<div class="line"><a id="l00240" name="l00240"></a><span class="lineno"> 240</span> </div>
<div class="line"><a id="l00245" name="l00245"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a1cfabc2a5451ffe913f5691b80de514d"> 245</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a1cfabc2a5451ffe913f5691b80de514d">setMirroringEnabled</a>(<span class="keywordtype">bool</span> enabled) {_mirroring = enabled;}</div>
<div class="line"><a id="l00246" name="l00246"></a><span class="lineno"> 246</span> </div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a2c43f41518d914f2a3ae6959abcde989"> 255</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a2c43f41518d914f2a3ae6959abcde989">setStereoExposureCompensation</a>(<span class="keywordtype">bool</span> enabled) {_stereoExposureCompensation = enabled;}</div>
<div class="line"><a id="l00256" name="l00256"></a><span class="lineno"> 256</span> </div>
<div class="line"><a id="l00261" name="l00261"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a6308c79599bd90b77d243febff024a15"> 261</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a6308c79599bd90b77d243febff024a15">setColorOnly</a>(<span class="keywordtype">bool</span> colorOnly) {_colorOnly = colorOnly;}</div>
<div class="line"><a id="l00262" name="l00262"></a><span class="lineno"> 262</span> </div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a74383f4e31ed642520511eb822ed1d89"> 271</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a74383f4e31ed642520511eb822ed1d89">setImageDecimation</a>(<span class="keywordtype">int</span> decimation) {_imageDecimation = decimation;}</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> </div>
<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a3e55c70032141f75802b2339c102c063"> 287</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a3e55c70032141f75802b2339c102c063">setHistogramMethod</a>(<span class="keywordtype">int</span> histogramMethod) {_histogramMethod = histogramMethod;}</div>
<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> </div>
<div class="line"><a id="l00296" name="l00296"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#ae0658121bc03f0eafd469ee114bc61f8"> 296</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#ae0658121bc03f0eafd469ee114bc61f8">setStereoToDepth</a>(<span class="keywordtype">bool</span> enabled) {_stereoToDepth = enabled;}</div>
<div class="line"><a id="l00297" name="l00297"></a><span class="lineno"> 297</span> </div>
<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a416f1596701d6b9dbd8512cd1c617788"> 306</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a416f1596701d6b9dbd8512cd1c617788">setFrameRate</a>(<span class="keywordtype">float</span> frameRate);</div>
<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> </div>
<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a2a40e01eb8e61aae54feeb1458efb88e"> 312</a></span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a2a40e01eb8e61aae54feeb1458efb88e">setImageRate</a>(<span class="keywordtype">float</span> frameRate) {setFrameRate(frameRate);}</div>
<div class="line"><a id="l00313" name="l00313"></a><span class="lineno"> 313</span> </div>
<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#aa7f6dcffcd6646994c2a87d8b888edcc"> 330</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#aa7f6dcffcd6646994c2a87d8b888edcc">setDistortionModel</a>(<span class="keyword">const</span> std::string &amp; path);</div>
<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> </div>
<div class="line"><a id="l00340" name="l00340"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a5a6a9ad20c75150f86ef479fe74ae6f7"> 340</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a5a6a9ad20c75150f86ef479fe74ae6f7">setOdomAsGroundTruth</a>(<span class="keywordtype">bool</span> enabled) {_odomAsGt = enabled;}</div>
<div class="line"><a id="l00341" name="l00341"></a><span class="lineno"> 341</span> </div>
<div class="line"><a id="l00350" name="l00350"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a429011ef7b39d30fc98413d727cccf4b"> 350</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a429011ef7b39d30fc98413d727cccf4b">enableBilateralFiltering</a>(<span class="keywordtype">float</span> sigmaS, <span class="keywordtype">float</span> sigmaR);</div>
<div class="line"><a id="l00351" name="l00351"></a><span class="lineno"> 351</span> </div>
<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a57beeb2c34d4430e37da05ef8e400a9b"> 355</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a57beeb2c34d4430e37da05ef8e400a9b">disableBilateralFiltering</a>() {_bilateralFiltering = <span class="keyword">false</span>;}</div>
<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> </div>
<div class="line"><a id="l00374" name="l00374"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a97ef5e49b994fcd2a3c87d6f7ef244ec"> 374</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a97ef5e49b994fcd2a3c87d6f7ef244ec">enableIMUFiltering</a>(<span class="keywordtype">int</span> filteringStrategy=1, <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>(), <span class="keywordtype">bool</span> baseFrameConversion = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"> 375</span> </div>
<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a75c2426adc532854f1d7119256b1cf0d"> 379</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a75c2426adc532854f1d7119256b1cf0d">disableIMUFiltering</a>();</div>
<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> </div>
<div class="line"><a id="l00394" name="l00394"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#aa0a6c975417a655029470aea2ea5d01a"> 394</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#aa0a6c975417a655029470aea2ea5d01a">enableFeatureDetection</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a> &amp; parameters = <a class="code hl_typedef" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>());</div>
<div class="line"><a id="l00395" name="l00395"></a><span class="lineno"> 395</span> </div>
<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#aeddec5c0c55aab261b31d0a980a7d327"> 399</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#aeddec5c0c55aab261b31d0a980a7d327">disableFeatureDetection</a>();</div>
<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> </div>
<div class="line"><a id="l00409" name="l00409"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a40f1016ea142c6117ffb080f64b4a854"> 409</a></span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a40f1016ea142c6117ffb080f64b4a854">setScanParameters</a>(</div>
<div class="line"><a id="l00410" name="l00410"></a><span class="lineno"> 410</span> <span class="keywordtype">bool</span> fromDepth,</div>
<div class="line"><a id="l00411" name="l00411"></a><span class="lineno"> 411</span> <span class="keywordtype">int</span> downsampleStep, <span class="comment">// decimation of the depth image in case the scan is from depth image</span></div>
<div class="line"><a id="l00412" name="l00412"></a><span class="lineno"> 412</span> <span class="keywordtype">float</span> rangeMin,</div>
<div class="line"><a id="l00413" name="l00413"></a><span class="lineno"> 413</span> <span class="keywordtype">float</span> rangeMax,</div>
<div class="line"><a id="l00414" name="l00414"></a><span class="lineno"> 414</span> <span class="keywordtype">float</span> voxelSize,</div>
<div class="line"><a id="l00415" name="l00415"></a><span class="lineno"> 415</span> <span class="keywordtype">int</span> normalsK,</div>
<div class="line"><a id="l00416" name="l00416"></a><span class="lineno"> 416</span> <span class="keywordtype">float</span> normalsRadius,</div>
<div class="line"><a id="l00417" name="l00417"></a><span class="lineno"> 417</span> <span class="keywordtype">bool</span> forceGroundNormalsUp,</div>
<div class="line"><a id="l00418" name="l00418"></a><span class="lineno"> 418</span> <span class="keywordtype">bool</span> deskewing);</div>
<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"> 419</span> </div>
<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a00a7a0e4f5277f6c6ed53bf832624c00"> 440</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a00a7a0e4f5277f6c6ed53bf832624c00">setScanParameters</a>(</div>
<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keywordtype">bool</span> fromDepth,</div>
<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <span class="keywordtype">int</span> downsampleStep=1, <span class="comment">// decimation of the depth image in case the scan is from depth image</span></div>
<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keywordtype">float</span> rangeMin=0.0f,</div>
<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> <span class="keywordtype">float</span> rangeMax=0.0f,</div>
<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> <span class="keywordtype">float</span> voxelSize = 0.0f,</div>
<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> <span class="keywordtype">int</span> normalsK = 0,</div>
<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> <span class="keywordtype">float</span> normalsRadius = 0.0f,</div>
<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> <span class="keywordtype">float</span> groundNormalsUp = 0.0f,</div>
<div class="line"><a id="l00449" name="l00449"></a><span class="lineno"> 449</span> <span class="keywordtype">bool</span> deskewing = <span class="keyword">false</span>);</div>
<div class="line"><a id="l00450" name="l00450"></a><span class="lineno"> 450</span> </div>
<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a43cb04de41b589b3f6069fff553a4dd7"> 461</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a43cb04de41b589b3f6069fff553a4dd7">postUpdate</a>(<a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> * data, <a class="code hl_class" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> * info = 0) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> </div>
<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> <span class="comment">// Getters</span></div>
<div class="line"><a id="l00464" name="l00464"></a><span class="lineno"> 464</span> </div>
<div class="line"><a id="l00469" name="l00469"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a435f89b6a3186462f6ee860afa88644c"> 469</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a435f89b6a3186462f6ee860afa88644c">isPaused</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> !this-&gt;isRunning();}</div>
<div class="line"><a id="l00470" name="l00470"></a><span class="lineno"> 470</span> </div>
<div class="line"><a id="l00475" name="l00475"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#ab2654b31ebdf06b375045fadbc83731a"> 475</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#ab2654b31ebdf06b375045fadbc83731a">isCapturing</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> this-&gt;isRunning();}</div>
<div class="line"><a id="l00476" name="l00476"></a><span class="lineno"> 476</span> </div>
<div class="line"><a id="l00481" name="l00481"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a88269150d6fd6fd39685fe9e926d98e6"> 481</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a88269150d6fd6fd39685fe9e926d98e6">odomProvided</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00482" name="l00482"></a><span class="lineno"> 482</span> </div>
<div class="line"><a id="l00487" name="l00487"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#ad6750f6280bdcbb386a051ba9cc36857"> 487</a></span> <a class="code hl_class" href="classrtabmap_1_1Camera.html">Camera</a> * <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#ad6750f6280bdcbb386a051ba9cc36857">camera</a>() {<span class="keywordflow">return</span> _camera;}</div>
<div class="line"><a id="l00488" name="l00488"></a><span class="lineno"> 488</span> </div>
<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#a0f4e3814d203ded5735ebb7abba1451e"> 493</a></span> <a class="code hl_class" href="classrtabmap_1_1SensorCapture.html">SensorCapture</a> * <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#a0f4e3814d203ded5735ebb7abba1451e">odomSensor</a>() {<span class="keywordflow">return</span> _odomSensor;}</div>
<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> </div>
<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureThread.html#aa6e5a6a53d621cda6e0b7f2ff35d33f0"> 499</a></span> <a class="code hl_class" href="classrtabmap_1_1Lidar.html">Lidar</a> * <a class="code hl_function" href="classrtabmap_1_1SensorCaptureThread.html#aa6e5a6a53d621cda6e0b7f2ff35d33f0">lidar</a>() {<span class="keywordflow">return</span> _lidar;}</div>
<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span> </div>
<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopBegin();</div>
<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> </div>
<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoop();</div>
<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> </div>
<div class="line"><a id="l00522" name="l00522"></a><span class="lineno"> 522</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> mainLoopKill();</div>
<div class="line"><a id="l00523" name="l00523"></a><span class="lineno"> 523</span> </div>
<div class="line"><a id="l00524" name="l00524"></a><span class="lineno"> 524</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00525" name="l00525"></a><span class="lineno"> 525</span> <a class="code hl_class" href="classrtabmap_1_1Camera.html">Camera</a> * _camera; </div>
<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"> 526</span> <a class="code hl_class" href="classrtabmap_1_1SensorCapture.html">SensorCapture</a> * _odomSensor; </div>
<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> <a class="code hl_class" href="classrtabmap_1_1Lidar.html">Lidar</a> * _lidar; </div>
<div class="line"><a id="l00528" name="l00528"></a><span class="lineno"> 528</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _extrinsicsOdomToCamera; </div>
<div class="line"><a id="l00529" name="l00529"></a><span class="lineno"> 529</span> <span class="keywordtype">bool</span> _odomAsGt; </div>
<div class="line"><a id="l00530" name="l00530"></a><span class="lineno"> 530</span> <span class="keywordtype">double</span> _poseTimeOffset; </div>
<div class="line"><a id="l00531" name="l00531"></a><span class="lineno"> 531</span> <span class="keywordtype">float</span> _poseScaleFactor; </div>
<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"> 532</span> <span class="keywordtype">double</span> _poseWaitTime; </div>
<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> <span class="keywordtype">bool</span> _mirroring; </div>
<div class="line"><a id="l00534" name="l00534"></a><span class="lineno"> 534</span> <span class="keywordtype">bool</span> _stereoExposureCompensation; </div>
<div class="line"><a id="l00535" name="l00535"></a><span class="lineno"> 535</span> <span class="keywordtype">bool</span> _colorOnly; </div>
<div class="line"><a id="l00536" name="l00536"></a><span class="lineno"> 536</span> <span class="keywordtype">int</span> _imageDecimation; </div>
<div class="line"><a id="l00537" name="l00537"></a><span class="lineno"> 537</span> <span class="keywordtype">int</span> _histogramMethod; </div>
<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"> 538</span> <span class="keywordtype">bool</span> _stereoToDepth; </div>
<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> <span class="keywordtype">bool</span> _scanDeskewing; </div>
<div class="line"><a id="l00540" name="l00540"></a><span class="lineno"> 540</span> <span class="keywordtype">bool</span> _scanFromDepth; </div>
<div class="line"><a id="l00541" name="l00541"></a><span class="lineno"> 541</span> <span class="keywordtype">int</span> _scanDownsampleStep; </div>
<div class="line"><a id="l00542" name="l00542"></a><span class="lineno"> 542</span> <span class="keywordtype">float</span> _scanRangeMin; </div>
<div class="line"><a id="l00543" name="l00543"></a><span class="lineno"> 543</span> <span class="keywordtype">float</span> _scanRangeMax; </div>
<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"> 544</span> <span class="keywordtype">float</span> _scanVoxelSize; </div>
<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> <span class="keywordtype">int</span> _scanNormalsK; </div>
<div class="line"><a id="l00546" name="l00546"></a><span class="lineno"> 546</span> <span class="keywordtype">float</span> _scanNormalsRadius; </div>
<div class="line"><a id="l00547" name="l00547"></a><span class="lineno"> 547</span> <span class="keywordtype">float</span> _scanForceGroundNormalsUp; </div>
<div class="line"><a id="l00548" name="l00548"></a><span class="lineno"> 548</span> <a class="code hl_class" href="classrtabmap_1_1StereoDense.html">StereoDense</a> * _stereoDense; </div>
<div class="line"><a id="l00549" name="l00549"></a><span class="lineno"> 549</span> <a class="code hl_class" href="classclams_1_1DiscreteDepthDistortionModel.html">clams::DiscreteDepthDistortionModel</a> * _distortionModel; </div>
<div class="line"><a id="l00550" name="l00550"></a><span class="lineno"> 550</span> <span class="keywordtype">bool</span> _bilateralFiltering; </div>
<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"> 551</span> <span class="keywordtype">float</span> _bilateralSigmaS; </div>
<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> <span class="keywordtype">float</span> _bilateralSigmaR; </div>
<div class="line"><a id="l00553" name="l00553"></a><span class="lineno"> 553</span> <a class="code hl_class" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a> * _imuFilter; </div>
<div class="line"><a id="l00554" name="l00554"></a><span class="lineno"> 554</span> <span class="keywordtype">bool</span> _imuBaseFrameConversion; </div>
<div class="line"><a id="l00555" name="l00555"></a><span class="lineno"> 555</span> <a class="code hl_class" href="classrtabmap_1_1Feature2D.html">Feature2D</a> * _featureDetector; </div>
<div class="line"><a id="l00556" name="l00556"></a><span class="lineno"> 556</span> <span class="keywordtype">bool</span> _depthAsMask; </div>
<div class="line"><a id="l00557" name="l00557"></a><span class="lineno"> 557</span>};</div>
</div>
<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"> 558</span> </div>
<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"><a class="line" href="namespacertabmap.html#acd001e2ea3d2e44d9e24faab74d36324"> 565</a></span>RTABMAP_DEPRECATED <span class="keyword">typedef</span> <a class="code hl_class" href="classrtabmap_1_1SensorCaptureThread.html">SensorCaptureThread</a> <a class="code hl_variable" href="namespacertabmap.html#acd001e2ea3d2e44d9e24faab74d36324">CameraThread</a>;</div>
<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> </div>
<div class="line"><a id="l00567" name="l00567"></a><span class="lineno"> 567</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="ttc" id="aclassUEventsSender_html"><div class="ttname"><a href="classUEventsSender.html">UEventsSender</a></div><div class="ttdef"><b>Definition</b> <a href="UEventsSender_8h_source.html#l00015">UEventsSender.h:16</a></div></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="aclassclams_1_1DiscreteDepthDistortionModel_html"><div class="ttname"><a href="classclams_1_1DiscreteDepthDistortionModel.html">clams::DiscreteDepthDistortionModel</a></div><div class="ttdef"><b>Definition</b> <a href="discrete__depth__distortion__model_8h_source.html#l00068">discrete_depth_distortion_model.h:69</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Camera_html"><div class="ttname"><a href="classrtabmap_1_1Camera.html">rtabmap::Camera</a></div><div class="ttdef"><b>Definition</b> <a href="Camera_8h_source.html#l00043">Camera.h:44</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Feature2D_html"><div class="ttname"><a href="classrtabmap_1_1Feature2D.html">rtabmap::Feature2D</a></div><div class="ttdoc">Abstract 2D feature detector and descriptor extractor for visual SLAM.</div><div class="ttdef"><b>Definition</b> <a href="Features2d_8h_source.html#l00145">Features2d.h:145</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1IMUFilter_html"><div class="ttname"><a href="classrtabmap_1_1IMUFilter.html">rtabmap::IMUFilter</a></div><div class="ttdoc">Fuses gyroscope and accelerometer samples into an orientation quaternion.</div><div class="ttdef"><b>Definition</b> <a href="IMUFilter_8h_source.html#l00058">IMUFilter.h:59</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Lidar_html"><div class="ttname"><a href="classrtabmap_1_1Lidar.html">rtabmap::Lidar</a></div><div class="ttdef"><b>Definition</b> <a href="Lidar_8h_source.html#l00040">Lidar.h:41</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html">rtabmap::SensorCaptureInfo</a></div><div class="ttdoc">Metadata structure for sensor data capture and processing.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00064">SensorCaptureInfo.h:65</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html">rtabmap::SensorCaptureThread</a></div><div class="ttdoc">Thread-based sensor data capture and event posting for RTAB-Map.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00097">SensorCaptureThread.h:100</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a00a7a0e4f5277f6c6ed53bf832624c00"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a00a7a0e4f5277f6c6ed53bf832624c00">rtabmap::SensorCaptureThread::setScanParameters</a></div><div class="ttdeci">void setScanParameters(bool fromDepth, int downsampleStep=1, float rangeMin=0.0f, float rangeMax=0.0f, float voxelSize=0.0f, int normalsK=0, float normalsRadius=0.0f, float groundNormalsUp=0.0f, bool deskewing=false)</div><div class="ttdoc">Sets lidar scan processing parameters.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a0f4e3814d203ded5735ebb7abba1451e"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a0f4e3814d203ded5735ebb7abba1451e">rtabmap::SensorCaptureThread::odomSensor</a></div><div class="ttdeci">SensorCapture * odomSensor()</div><div class="ttdoc">Returns the odometry sensor pointer.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00493">SensorCaptureThread.h:493</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a1cfabc2a5451ffe913f5691b80de514d"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a1cfabc2a5451ffe913f5691b80de514d">rtabmap::SensorCaptureThread::setMirroringEnabled</a></div><div class="ttdeci">void setMirroringEnabled(bool enabled)</div><div class="ttdoc">Enables or disables image mirroring (horizontal flip)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00245">SensorCaptureThread.h:245</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a2a40e01eb8e61aae54feeb1458efb88e"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a2a40e01eb8e61aae54feeb1458efb88e">rtabmap::SensorCaptureThread::setImageRate</a></div><div class="ttdeci">RTABMAP_DEPRECATED void setImageRate(float frameRate)</div><div class="ttdoc">Sets the target image capture rate (deprecated)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00312">SensorCaptureThread.h:312</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a2a64df180f19d0a2ea9a8d66ea58fc42"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a2a64df180f19d0a2ea9a8d66ea58fc42">rtabmap::SensorCaptureThread::SensorCaptureThread</a></div><div class="ttdeci">SensorCaptureThread(Lidar *lidar, Camera *camera, SensorCapture *odomSensor, const Transform &amp;extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Constructor for lidar with camera and odometry sensor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a2c43f41518d914f2a3ae6959abcde989"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a2c43f41518d914f2a3ae6959abcde989">rtabmap::SensorCaptureThread::setStereoExposureCompensation</a></div><div class="ttdeci">void setStereoExposureCompensation(bool enabled)</div><div class="ttdoc">Enables or disables stereo exposure compensation.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00255">SensorCaptureThread.h:255</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a3e55c70032141f75802b2339c102c063"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a3e55c70032141f75802b2339c102c063">rtabmap::SensorCaptureThread::setHistogramMethod</a></div><div class="ttdeci">void setHistogramMethod(int histogramMethod)</div><div class="ttdoc">Sets histogram equalization method.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00287">SensorCaptureThread.h:287</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a40f1016ea142c6117ffb080f64b4a854"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a40f1016ea142c6117ffb080f64b4a854">rtabmap::SensorCaptureThread::setScanParameters</a></div><div class="ttdeci">RTABMAP_DEPRECATED void setScanParameters(bool fromDepth, int downsampleStep, float rangeMin, float rangeMax, float voxelSize, int normalsK, float normalsRadius, bool forceGroundNormalsUp, bool deskewing)</div><div class="ttdoc">Sets lidar scan processing parameters (deprecated)</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a416f1596701d6b9dbd8512cd1c617788"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a416f1596701d6b9dbd8512cd1c617788">rtabmap::SensorCaptureThread::setFrameRate</a></div><div class="ttdeci">void setFrameRate(float frameRate)</div><div class="ttdoc">Sets the target frame rate for capture.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a429011ef7b39d30fc98413d727cccf4b"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a429011ef7b39d30fc98413d727cccf4b">rtabmap::SensorCaptureThread::enableBilateralFiltering</a></div><div class="ttdeci">void enableBilateralFiltering(float sigmaS, float sigmaR)</div><div class="ttdoc">Enables bilateral filtering for depth images.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a435f89b6a3186462f6ee860afa88644c"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a435f89b6a3186462f6ee860afa88644c">rtabmap::SensorCaptureThread::isPaused</a></div><div class="ttdeci">bool isPaused() const</div><div class="ttdoc">Checks if the capture thread is paused.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00469">SensorCaptureThread.h:469</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a43cb04de41b589b3f6069fff553a4dd7"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a43cb04de41b589b3f6069fff553a4dd7">rtabmap::SensorCaptureThread::postUpdate</a></div><div class="ttdeci">void postUpdate(SensorData *data, SensorCaptureInfo *info=0) const</div><div class="ttdoc">Post-processing hook called before posting SensorEvent.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a57beeb2c34d4430e37da05ef8e400a9b"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a57beeb2c34d4430e37da05ef8e400a9b">rtabmap::SensorCaptureThread::disableBilateralFiltering</a></div><div class="ttdeci">void disableBilateralFiltering()</div><div class="ttdoc">Disables bilateral filtering.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00355">SensorCaptureThread.h:355</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a590aee9497d8a3b6e14b68e1e17f9c6a"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a590aee9497d8a3b6e14b68e1e17f9c6a">rtabmap::SensorCaptureThread::SensorCaptureThread</a></div><div class="ttdeci">SensorCaptureThread(Lidar *lidar, SensorCapture *odomSensor, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Constructor for lidar with odometry sensor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a5a6a9ad20c75150f86ef479fe74ae6f7"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a5a6a9ad20c75150f86ef479fe74ae6f7">rtabmap::SensorCaptureThread::setOdomAsGroundTruth</a></div><div class="ttdeci">void setOdomAsGroundTruth(bool enabled)</div><div class="ttdoc">Sets whether odometry poses should be treated as ground truth.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00340">SensorCaptureThread.h:340</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a6308c79599bd90b77d243febff024a15"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a6308c79599bd90b77d243febff024a15">rtabmap::SensorCaptureThread::setColorOnly</a></div><div class="ttdeci">void setColorOnly(bool colorOnly)</div><div class="ttdoc">Sets whether to capture color images only (skip depth)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00261">SensorCaptureThread.h:261</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a74383f4e31ed642520511eb822ed1d89"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a74383f4e31ed642520511eb822ed1d89">rtabmap::SensorCaptureThread::setImageDecimation</a></div><div class="ttdeci">void setImageDecimation(int decimation)</div><div class="ttdoc">Sets image decimation factor.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00271">SensorCaptureThread.h:271</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a75c2426adc532854f1d7119256b1cf0d"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a75c2426adc532854f1d7119256b1cf0d">rtabmap::SensorCaptureThread::disableIMUFiltering</a></div><div class="ttdeci">void disableIMUFiltering()</div><div class="ttdoc">Disables IMU data filtering.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a76ad33a55009b7a7f7ec51acccbe0492"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a76ad33a55009b7a7f7ec51acccbe0492">rtabmap::SensorCaptureThread::SensorCaptureThread</a></div><div class="ttdeci">SensorCaptureThread(Camera *camera, SensorCapture *odomSensor, const Transform &amp;extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Constructor for camera with odometry sensor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a834d1e5c389e7ef8eb23bf1361916ae2"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a834d1e5c389e7ef8eb23bf1361916ae2">rtabmap::SensorCaptureThread::SensorCaptureThread</a></div><div class="ttdeci">SensorCaptureThread(Lidar *lidar, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Constructor for lidar-only capture.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a88269150d6fd6fd39685fe9e926d98e6"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a88269150d6fd6fd39685fe9e926d98e6">rtabmap::SensorCaptureThread::odomProvided</a></div><div class="ttdeci">bool odomProvided() const</div><div class="ttdoc">Checks if odometry is provided by the sensors.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a97ef5e49b994fcd2a3c87d6f7ef244ec"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a97ef5e49b994fcd2a3c87d6f7ef244ec">rtabmap::SensorCaptureThread::enableIMUFiltering</a></div><div class="ttdeci">void enableIMUFiltering(int filteringStrategy=1, const ParametersMap &amp;parameters=ParametersMap(), bool baseFrameConversion=false)</div><div class="ttdoc">Enables IMU data filtering.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_a9cf0e883ace51a2a656395327beb74e5"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#a9cf0e883ace51a2a656395327beb74e5">rtabmap::SensorCaptureThread::SensorCaptureThread</a></div><div class="ttdeci">SensorCaptureThread(Lidar *lidar, Camera *camera, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Constructor for lidar with camera.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_aa0a6c975417a655029470aea2ea5d01a"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#aa0a6c975417a655029470aea2ea5d01a">rtabmap::SensorCaptureThread::enableFeatureDetection</a></div><div class="ttdeci">void enableFeatureDetection(const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Enables automatic feature detection on captured images.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_aa6e5a6a53d621cda6e0b7f2ff35d33f0"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#aa6e5a6a53d621cda6e0b7f2ff35d33f0">rtabmap::SensorCaptureThread::lidar</a></div><div class="ttdeci">Lidar * lidar()</div><div class="ttdoc">Returns the lidar pointer.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00499">SensorCaptureThread.h:499</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_aa7f6dcffcd6646994c2a87d8b888edcc"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#aa7f6dcffcd6646994c2a87d8b888edcc">rtabmap::SensorCaptureThread::setDistortionModel</a></div><div class="ttdeci">void setDistortionModel(const std::string &amp;path)</div><div class="ttdoc">Sets the depth distortion model file path.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_ab2654b31ebdf06b375045fadbc83731a"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#ab2654b31ebdf06b375045fadbc83731a">rtabmap::SensorCaptureThread::isCapturing</a></div><div class="ttdeci">bool isCapturing() const</div><div class="ttdoc">Checks if the capture thread is actively capturing.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00475">SensorCaptureThread.h:475</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_acae15b44b2fb05da9421dc88ff0be75c"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#acae15b44b2fb05da9421dc88ff0be75c">rtabmap::SensorCaptureThread::SensorCaptureThread</a></div><div class="ttdeci">SensorCaptureThread(Camera *camera, const ParametersMap &amp;parameters=ParametersMap())</div><div class="ttdoc">Constructor for camera-only capture.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_ad6750f6280bdcbb386a051ba9cc36857"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#ad6750f6280bdcbb386a051ba9cc36857">rtabmap::SensorCaptureThread::camera</a></div><div class="ttdeci">Camera * camera()</div><div class="ttdoc">Returns the camera pointer.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00487">SensorCaptureThread.h:487</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_ae0658121bc03f0eafd469ee114bc61f8"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#ae0658121bc03f0eafd469ee114bc61f8">rtabmap::SensorCaptureThread::setStereoToDepth</a></div><div class="ttdeci">void setStereoToDepth(bool enabled)</div><div class="ttdoc">Enables or disables stereo-to-depth conversion.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00296">SensorCaptureThread.h:296</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_aeddec5c0c55aab261b31d0a980a7d327"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#aeddec5c0c55aab261b31d0a980a7d327">rtabmap::SensorCaptureThread::disableFeatureDetection</a></div><div class="ttdeci">void disableFeatureDetection()</div><div class="ttdoc">Disables automatic feature detection.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureThread_html_af8133c1b2332568c4699282f59c141c9"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureThread.html#af8133c1b2332568c4699282f59c141c9">rtabmap::SensorCaptureThread::~SensorCaptureThread</a></div><div class="ttdeci">virtual ~SensorCaptureThread()</div><div class="ttdoc">Virtual destructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html">rtabmap::SensorCapture</a></div><div class="ttdoc">Abstract base class for sensor data capture (cameras, lidars, etc.)</div><div class="ttdef"><b>Definition</b> <a href="SensorCapture_8h_source.html#l00078">SensorCapture.h:79</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1StereoDense_html"><div class="ttname"><a href="classrtabmap_1_1StereoDense.html">rtabmap::StereoDense</a></div><div class="ttdoc">Abstract base class for dense stereo matching algorithms.</div><div class="ttdef"><b>Definition</b> <a href="StereoDense_8h_source.html#l00053">StereoDense.h:53</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></div></div>
<div class="ttc" id="anamespacertabmap_html_acd001e2ea3d2e44d9e24faab74d36324"><div class="ttname"><a href="namespacertabmap.html#acd001e2ea3d2e44d9e24faab74d36324">rtabmap::CameraThread</a></div><div class="ttdeci">RTABMAP_DEPRECATED typedef SensorCaptureThread CameraThread</div><div class="ttdoc">Backward compatibility typedef.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureThread_8h_source.html#l00565">SensorCaptureThread.h:565</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ad08b6f1796a27dd7316c99c385e2cc55"><div class="ttname"><a href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></div><div class="ttdeci">std::map&lt; std::string, std::string &gt; ParametersMap</div><div class="ttdoc">Parameter keys mapped to their values, as used by every configurable class (see Parameters).</div><div class="ttdef"><b>Definition</b> <a href="Parameters_8h_source.html#l00044">Parameters.h:44</a></div></div>
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