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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.13</span>
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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>
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<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>
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<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
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<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
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<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 "AS IS" AND</span></div>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<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>
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<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></div>
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<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span> </div>
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<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span><span class="preprocessor">#ifndef SENSORDATA_H_</span></div>
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<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define SENSORDATA_H_</span></div>
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<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
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<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include <rtabmap/core/rtabmap_core_export.h></span></div>
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<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include <rtabmap/core/Transform.h></span></div>
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<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include <rtabmap/core/CameraModel.h></span></div>
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<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include <rtabmap/core/StereoCameraModel.h></span></div>
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<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include <opencv2/core/core.hpp></span></div>
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<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#if CV_MAJOR_VERSION < 5</span></div>
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<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include <opencv2/features2d/features2d.hpp></span></div>
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<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span><span class="preprocessor">#else</span></div>
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<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include <opencv2/features.hpp></span></div>
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<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#endif</span></div>
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<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span><span class="preprocessor">#include <rtabmap/core/LaserScan.h></span></div>
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<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="preprocessor">#include <rtabmap/core/IMU.h></span></div>
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<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span><span class="preprocessor">#include <rtabmap/core/GPS.h></span></div>
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<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="preprocessor">#include <rtabmap/core/EnvSensor.h></span></div>
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<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span><span class="preprocessor">#include <rtabmap/core/Landmark.h></span></div>
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<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span><span class="preprocessor">#include <rtabmap/core/GlobalDescriptor.h></span></div>
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<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span> </div>
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<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
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<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span>{</div>
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<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> </div>
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<div class="foldopen" id="foldopen00096" data-start="{" data-end="};">
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<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html"> 96</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a></div>
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<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span>{</div>
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<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span><span class="keyword">public</span>:</div>
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<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a941f907890fe9e0e9becec0a665581cd"> 105</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a941f907890fe9e0e9becec0a665581cd">SensorData</a>();</div>
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<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> </div>
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<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab6201ea27482207308f000bd4cc90081"> 119</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab6201ea27482207308f000bd4cc90081">SensorData</a>(</div>
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<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keyword">const</span> cv::Mat & image,</div>
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<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> </div>
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<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a14f7a5c64b5d27842cb654e247d1fd20"> 137</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a14f7a5c64b5d27842cb654e247d1fd20">SensorData</a>(</div>
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<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> <span class="keyword">const</span> cv::Mat & image,</div>
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<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_1CameraModel.html">CameraModel</a> & cameraModel,</div>
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<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span> </div>
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<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aead598774e0cb15375828a2965b3ab80"> 156</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aead598774e0cb15375828a2965b3ab80">SensorData</a>(</div>
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<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="keyword">const</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & cameraModel,</div>
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<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> </div>
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<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a87424cc9915dababe9aa3bc418e85197"> 177</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a87424cc9915dababe9aa3bc418e85197">SensorData</a>(</div>
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<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> <span class="keyword">const</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span> <span class="keyword">const</span> cv::Mat & depth_confidence,</div>
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<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & cameraModel,</div>
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<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> </div>
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<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ac06b8207850c5412cc52f5f0e0e4ba7b"> 199</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ac06b8207850c5412cc52f5f0e0e4ba7b">SensorData</a>(</div>
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<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan,</div>
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<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> <span class="keyword">const</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & cameraModel,</div>
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<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> </div>
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<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a52b215e8d320bbcbd464e3b7181a077b"> 222</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a52b215e8d320bbcbd464e3b7181a077b">SensorData</a>(</div>
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<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan,</div>
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<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> <span class="keyword">const</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keyword">const</span> cv::Mat & depthConfidence,</div>
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<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & cameraModel,</div>
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<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span> </div>
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<div class="line"><a id="l00281" name="l00281"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ae4498a6d017e83202dfe86618e91fa57"> 281</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ae4498a6d017e83202dfe86618e91fa57">SensorData</a>(</div>
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<div class="line"><a id="l00282" name="l00282"></a><span class="lineno"> 282</span> <span class="keyword">const</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00283" name="l00283"></a><span class="lineno"> 283</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00284" name="l00284"></a><span class="lineno"> 284</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
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<div class="line"><a id="l00285" name="l00285"></a><span class="lineno"> 285</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00286" name="l00286"></a><span class="lineno"> 286</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00287" name="l00287"></a><span class="lineno"> 287</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00288" name="l00288"></a><span class="lineno"> 288</span> </div>
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<div class="line"><a id="l00304" name="l00304"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a72a0250435fc194b1189241d4a47254d"> 304</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a72a0250435fc194b1189241d4a47254d">SensorData</a>(</div>
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<div class="line"><a id="l00305" name="l00305"></a><span class="lineno"> 305</span> <span class="keyword">const</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00306" name="l00306"></a><span class="lineno"> 306</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00307" name="l00307"></a><span class="lineno"> 307</span> <span class="keyword">const</span> cv::Mat & depthConfidence,</div>
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<div class="line"><a id="l00308" name="l00308"></a><span class="lineno"> 308</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
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<div class="line"><a id="l00309" name="l00309"></a><span class="lineno"> 309</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00310" name="l00310"></a><span class="lineno"> 310</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00311" name="l00311"></a><span class="lineno"> 311</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00312" name="l00312"></a><span class="lineno"> 312</span> </div>
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<div class="line"><a id="l00328" name="l00328"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ada69a11125b0b3072add73a3a2f1b5f2"> 328</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ada69a11125b0b3072add73a3a2f1b5f2">SensorData</a>(</div>
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<div class="line"><a id="l00329" name="l00329"></a><span class="lineno"> 329</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan,</div>
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<div class="line"><a id="l00330" name="l00330"></a><span class="lineno"> 330</span> <span class="keyword">const</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00331" name="l00331"></a><span class="lineno"> 331</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00332" name="l00332"></a><span class="lineno"> 332</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
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<div class="line"><a id="l00333" name="l00333"></a><span class="lineno"> 333</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00334" name="l00334"></a><span class="lineno"> 334</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00335" name="l00335"></a><span class="lineno"> 335</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00336" name="l00336"></a><span class="lineno"> 336</span> </div>
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<div class="line"><a id="l00353" name="l00353"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ae0370b88671bb41812c2d39fd0cfc3ce"> 353</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ae0370b88671bb41812c2d39fd0cfc3ce">SensorData</a>(</div>
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<div class="line"><a id="l00354" name="l00354"></a><span class="lineno"> 354</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan,</div>
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<div class="line"><a id="l00355" name="l00355"></a><span class="lineno"> 355</span> <span class="keyword">const</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00356" name="l00356"></a><span class="lineno"> 356</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00357" name="l00357"></a><span class="lineno"> 357</span> <span class="keyword">const</span> cv::Mat & depthConfidence,</div>
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<div class="line"><a id="l00358" name="l00358"></a><span class="lineno"> 358</span> <span class="keyword">const</span> std::vector<CameraModel> & cameraModels,</div>
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<div class="line"><a id="l00359" name="l00359"></a><span class="lineno"> 359</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00360" name="l00360"></a><span class="lineno"> 360</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00361" name="l00361"></a><span class="lineno"> 361</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00362" name="l00362"></a><span class="lineno"> 362</span> </div>
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<div class="line"><a id="l00375" name="l00375"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1534d36fee45c3df70679438ec9d00a3"> 375</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a1534d36fee45c3df70679438ec9d00a3">SensorData</a>(</div>
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<div class="line"><a id="l00376" name="l00376"></a><span class="lineno"> 376</span> <span class="keyword">const</span> cv::Mat & left,</div>
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<div class="line"><a id="l00377" name="l00377"></a><span class="lineno"> 377</span> <span class="keyword">const</span> cv::Mat & right,</div>
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<div class="line"><a id="l00378" name="l00378"></a><span class="lineno"> 378</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & cameraModel,</div>
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<div class="line"><a id="l00379" name="l00379"></a><span class="lineno"> 379</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00380" name="l00380"></a><span class="lineno"> 380</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00381" name="l00381"></a><span class="lineno"> 381</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00382" name="l00382"></a><span class="lineno"> 382</span> </div>
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<div class="line"><a id="l00396" name="l00396"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#abdd07b6e248e165959468bb31897bc20"> 396</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#abdd07b6e248e165959468bb31897bc20">SensorData</a>(</div>
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<div class="line"><a id="l00397" name="l00397"></a><span class="lineno"> 397</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan,</div>
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<div class="line"><a id="l00398" name="l00398"></a><span class="lineno"> 398</span> <span class="keyword">const</span> cv::Mat & left,</div>
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<div class="line"><a id="l00399" name="l00399"></a><span class="lineno"> 399</span> <span class="keyword">const</span> cv::Mat & right,</div>
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<div class="line"><a id="l00400" name="l00400"></a><span class="lineno"> 400</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & cameraModel,</div>
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<div class="line"><a id="l00401" name="l00401"></a><span class="lineno"> 401</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00402" name="l00402"></a><span class="lineno"> 402</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00403" name="l00403"></a><span class="lineno"> 403</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00404" name="l00404"></a><span class="lineno"> 404</span> </div>
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<div class="line"><a id="l00419" name="l00419"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a6ccaccf892f950b0caa03c07de3eab98"> 419</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a6ccaccf892f950b0caa03c07de3eab98">SensorData</a>(</div>
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<div class="line"><a id="l00420" name="l00420"></a><span class="lineno"> 420</span> <span class="keyword">const</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00421" name="l00421"></a><span class="lineno"> 421</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00422" name="l00422"></a><span class="lineno"> 422</span> <span class="keyword">const</span> std::vector<StereoCameraModel> & cameraModels,</div>
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<div class="line"><a id="l00423" name="l00423"></a><span class="lineno"> 423</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00424" name="l00424"></a><span class="lineno"> 424</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00425" name="l00425"></a><span class="lineno"> 425</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00426" name="l00426"></a><span class="lineno"> 426</span> </div>
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<div class="line"><a id="l00440" name="l00440"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad34a0a4ca3eac4a1c91fb7fb5068fb04"> 440</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad34a0a4ca3eac4a1c91fb7fb5068fb04">SensorData</a>(</div>
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<div class="line"><a id="l00441" name="l00441"></a><span class="lineno"> 441</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan,</div>
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<div class="line"><a id="l00442" name="l00442"></a><span class="lineno"> 442</span> <span class="keyword">const</span> cv::Mat & rgb,</div>
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<div class="line"><a id="l00443" name="l00443"></a><span class="lineno"> 443</span> <span class="keyword">const</span> cv::Mat & depth,</div>
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<div class="line"><a id="l00444" name="l00444"></a><span class="lineno"> 444</span> <span class="keyword">const</span> std::vector<StereoCameraModel> & cameraModels,</div>
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<div class="line"><a id="l00445" name="l00445"></a><span class="lineno"> 445</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00446" name="l00446"></a><span class="lineno"> 446</span> <span class="keywordtype">double</span> stamp = 0.0,</div>
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<div class="line"><a id="l00447" name="l00447"></a><span class="lineno"> 447</span> <span class="keyword">const</span> cv::Mat & userData = cv::Mat());</div>
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<div class="line"><a id="l00448" name="l00448"></a><span class="lineno"> 448</span> </div>
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<div class="line"><a id="l00459" name="l00459"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff"> 459</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff">SensorData</a>(</div>
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<div class="line"><a id="l00460" name="l00460"></a><span class="lineno"> 460</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> & imu,</div>
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<div class="line"><a id="l00461" name="l00461"></a><span class="lineno"> 461</span> <span class="keywordtype">int</span> <span class="keywordtype">id</span> = 0,</div>
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<div class="line"><a id="l00462" name="l00462"></a><span class="lineno"> 462</span> <span class="keywordtype">double</span> stamp = 0.0);</div>
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<div class="line"><a id="l00463" name="l00463"></a><span class="lineno"> 463</span> </div>
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<div class="line"><a id="l00467" name="l00467"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a94f4e8970ae34d652100dce131cc9e44"> 467</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a94f4e8970ae34d652100dce131cc9e44">~SensorData</a>();</div>
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<div class="line"><a id="l00468" name="l00468"></a><span class="lineno"> 468</span> </div>
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<div class="foldopen" id="foldopen00491" data-start="{" data-end="}">
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<div class="line"><a id="l00491" name="l00491"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad620676ab1a971846ab80ef646aa5882"> 491</a></span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad620676ab1a971846ab80ef646aa5882">isValid</a>()<span class="keyword"> const </span>{</div>
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<div class="line"><a id="l00492" name="l00492"></a><span class="lineno"> 492</span> <span class="keywordtype">bool</span> hasCameraModel = <span class="keyword">false</span>;</div>
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<div class="line"><a id="l00493" name="l00493"></a><span class="lineno"> 493</span> <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i < _cameraModels.size() && !hasCameraModel; ++i)</div>
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<div class="line"><a id="l00494" name="l00494"></a><span class="lineno"> 494</span> hasCameraModel = _cameraModels[i].isValidForProjection();</div>
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<div class="line"><a id="l00495" name="l00495"></a><span class="lineno"> 495</span> <span class="keywordflow">if</span> (!hasCameraModel)</div>
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<div class="line"><a id="l00496" name="l00496"></a><span class="lineno"> 496</span> <span class="keywordflow">for</span> (<span class="keywordtype">size_t</span> i=0; i < _stereoCameraModels.size() && !hasCameraModel; ++i)</div>
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<div class="line"><a id="l00497" name="l00497"></a><span class="lineno"> 497</span> hasCameraModel = _stereoCameraModels[i].isValidForProjection();</div>
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<div class="line"><a id="l00498" name="l00498"></a><span class="lineno"> 498</span> </div>
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<div class="line"><a id="l00499" name="l00499"></a><span class="lineno"> 499</span> <span class="keywordflow">return</span> !(_id == 0 &&</div>
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<div class="line"><a id="l00500" name="l00500"></a><span class="lineno"> 500</span> _imageRaw.empty() &&</div>
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<div class="line"><a id="l00501" name="l00501"></a><span class="lineno"> 501</span> _imageCompressed.empty() &&</div>
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<div class="line"><a id="l00502" name="l00502"></a><span class="lineno"> 502</span> _depthOrRightRaw.empty() &&</div>
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<div class="line"><a id="l00503" name="l00503"></a><span class="lineno"> 503</span> _depthOrRightCompressed.empty() &&</div>
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<div class="line"><a id="l00504" name="l00504"></a><span class="lineno"> 504</span> _depthConfidenceRaw.empty() &&</div>
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<div class="line"><a id="l00505" name="l00505"></a><span class="lineno"> 505</span> _depthConfidenceCompressed.empty() &&</div>
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<div class="line"><a id="l00506" name="l00506"></a><span class="lineno"> 506</span> _laserScanRaw.isEmpty() &&</div>
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<div class="line"><a id="l00507" name="l00507"></a><span class="lineno"> 507</span> _laserScanCompressed.isEmpty() &&</div>
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<div class="line"><a id="l00508" name="l00508"></a><span class="lineno"> 508</span> !hasCameraModel &&</div>
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<div class="line"><a id="l00509" name="l00509"></a><span class="lineno"> 509</span> _userDataRaw.empty() &&</div>
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<div class="line"><a id="l00510" name="l00510"></a><span class="lineno"> 510</span> _userDataCompressed.empty() &&</div>
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<div class="line"><a id="l00511" name="l00511"></a><span class="lineno"> 511</span> _keypoints.size() == 0 &&</div>
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<div class="line"><a id="l00512" name="l00512"></a><span class="lineno"> 512</span> _descriptors.empty() &&</div>
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<div class="line"><a id="l00513" name="l00513"></a><span class="lineno"> 513</span> _groundCellsRaw.empty() &&</div>
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<div class="line"><a id="l00514" name="l00514"></a><span class="lineno"> 514</span> _groundCellsCompressed.empty() &&</div>
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<div class="line"><a id="l00515" name="l00515"></a><span class="lineno"> 515</span> _obstacleCellsRaw.empty() &&</div>
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<div class="line"><a id="l00516" name="l00516"></a><span class="lineno"> 516</span> _obstacleCellsCompressed.empty() &&</div>
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<div class="line"><a id="l00517" name="l00517"></a><span class="lineno"> 517</span> _emptyCellsRaw.empty() &&</div>
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<div class="line"><a id="l00518" name="l00518"></a><span class="lineno"> 518</span> _emptyCellsCompressed.empty() &&</div>
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<div class="line"><a id="l00519" name="l00519"></a><span class="lineno"> 519</span> imu_.empty());</div>
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<div class="line"><a id="l00520" name="l00520"></a><span class="lineno"> 520</span> }</div>
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</div>
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<div class="line"><a id="l00521" name="l00521"></a><span class="lineno"> 521</span> </div>
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<div class="line"><a id="l00526" name="l00526"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a84fbcb16e51018d96065d3ce240650c6"> 526</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a84fbcb16e51018d96065d3ce240650c6">id</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _id;}</div>
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<div class="line"><a id="l00527" name="l00527"></a><span class="lineno"> 527</span> </div>
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<div class="line"><a id="l00532" name="l00532"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a4d0f4615a747eaef142b51a1ab1e5527"> 532</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a4d0f4615a747eaef142b51a1ab1e5527">setId</a>(<span class="keywordtype">int</span> <span class="keywordtype">id</span>) {_id = id;}</div>
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<div class="line"><a id="l00533" name="l00533"></a><span class="lineno"> 533</span> </div>
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<div class="line"><a id="l00538" name="l00538"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb"> 538</a></span> <span class="keywordtype">double</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb">stamp</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _stamp;}</div>
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<div class="line"><a id="l00539" name="l00539"></a><span class="lineno"> 539</span> </div>
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<div class="line"><a id="l00544" name="l00544"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5c0844e94d3fff50a8bfec2decf2f94c"> 544</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a5c0844e94d3fff50a8bfec2decf2f94c">setStamp</a>(<span class="keywordtype">double</span> stamp) {_stamp = stamp;}</div>
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<div class="line"><a id="l00545" name="l00545"></a><span class="lineno"> 545</span> </div>
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<div class="line"><a id="l00551" name="l00551"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029"> 551</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029">imageCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imageCompressed;}</div>
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<div class="line"><a id="l00552" name="l00552"></a><span class="lineno"> 552</span> </div>
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<div class="line"><a id="l00558" name="l00558"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a85b36ca12b0936a99d61b768908097da"> 558</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a85b36ca12b0936a99d61b768908097da">depthOrRightCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightCompressed;}</div>
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<div class="line"><a id="l00559" name="l00559"></a><span class="lineno"> 559</span> </div>
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<div class="line"><a id="l00565" name="l00565"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aebbab80906082f6e35ce5731fa67ca26"> 565</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aebbab80906082f6e35ce5731fa67ca26">depthConfidenceCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthConfidenceCompressed;}</div>
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<div class="line"><a id="l00566" name="l00566"></a><span class="lineno"> 566</span> </div>
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<div class="line"><a id="l00571" name="l00571"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1522af81a95c27b76e316919df95a869"> 571</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a1522af81a95c27b76e316919df95a869">laserScanCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _laserScanCompressed;}</div>
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<div class="line"><a id="l00572" name="l00572"></a><span class="lineno"> 572</span> </div>
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<div class="line"><a id="l00577" name="l00577"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef"> 577</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef">imageRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imageRaw;}</div>
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<div class="line"><a id="l00578" name="l00578"></a><span class="lineno"> 578</span> </div>
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<div class="line"><a id="l00584" name="l00584"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2476c59283ef2e24d7a3f10301433327"> 584</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a2476c59283ef2e24d7a3f10301433327">depthOrRightRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightRaw;}</div>
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<div class="line"><a id="l00585" name="l00585"></a><span class="lineno"> 585</span> </div>
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<div class="line"><a id="l00590" name="l00590"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a0cfb7cee085b7959c9ddf1d7854ed910"> 590</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a0cfb7cee085b7959c9ddf1d7854ed910">depthConfidenceRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthConfidenceRaw;}</div>
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<div class="line"><a id="l00591" name="l00591"></a><span class="lineno"> 591</span> </div>
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<div class="line"><a id="l00596" name="l00596"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d"> 596</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d">laserScanRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _laserScanRaw;}</div>
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<div class="line"><a id="l00597" name="l00597"></a><span class="lineno"> 597</span> </div>
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<div class="line"><a id="l00603" name="l00603"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24"> 603</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24">setRGBDImage</a>(<span class="keyword">const</span> cv::Mat & rgb, <span class="keyword">const</span> cv::Mat & depth, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00604" name="l00604"></a><span class="lineno"> 604</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat & rgb, <span class="keyword">const</span> cv::Mat & depth, <span class="keyword">const</span> cv::Mat & depth_confidence, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00605" name="l00605"></a><span class="lineno"> 605</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat & rgb, <span class="keyword">const</span> cv::Mat & depth, <span class="keyword">const</span> std::vector<CameraModel> & models, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00606" name="l00606"></a><span class="lineno"> 606</span> <span class="keywordtype">void</span> setRGBDImage(<span class="keyword">const</span> cv::Mat & rgb, <span class="keyword">const</span> cv::Mat & depth, <span class="keyword">const</span> cv::Mat & depth_confidence, <span class="keyword">const</span> std::vector<CameraModel> & models, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00607" name="l00607"></a><span class="lineno"> 607</span> <span class="keywordtype">void</span> setStereoImage(<span class="keyword">const</span> cv::Mat & left, <span class="keyword">const</span> cv::Mat & right, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & stereoCameraModel, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00608" name="l00608"></a><span class="lineno"> 608</span> <span class="keywordtype">void</span> setStereoImage(<span class="keyword">const</span> cv::Mat & left, <span class="keyword">const</span> cv::Mat & right, <span class="keyword">const</span> std::vector<StereoCameraModel> & stereoCameraModels, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00609" name="l00609"></a><span class="lineno"> 609</span> </div>
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<div class="line"><a id="l00615" name="l00615"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0"> 615</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0">setLaserScan</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & laserScan, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00616" name="l00616"></a><span class="lineno"> 616</span> </div>
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<div class="line"><a id="l00621" name="l00621"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f"> 621</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f">setCameraModel</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> & model) {_cameraModels.clear(); _cameraModels.push_back(model);}</div>
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<div class="line"><a id="l00622" name="l00622"></a><span class="lineno"> 622</span> </div>
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<div class="line"><a id="l00627" name="l00627"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719"> 627</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719">setCameraModels</a>(<span class="keyword">const</span> std::vector<CameraModel> & models) {_cameraModels = models;}</div>
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<div class="line"><a id="l00628" name="l00628"></a><span class="lineno"> 628</span> </div>
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<div class="line"><a id="l00633" name="l00633"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003"> 633</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003">setStereoCameraModel</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> & stereoCameraModel) {_stereoCameraModels.clear(); _stereoCameraModels.push_back(stereoCameraModel);}</div>
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<div class="line"><a id="l00634" name="l00634"></a><span class="lineno"> 634</span> </div>
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<div class="line"><a id="l00639" name="l00639"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e"> 639</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e">setStereoCameraModels</a>(<span class="keyword">const</span> std::vector<StereoCameraModel> & stereoCameraModels) {_stereoCameraModels = stereoCameraModels;}</div>
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<div class="line"><a id="l00640" name="l00640"></a><span class="lineno"> 640</span> </div>
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<div class="line"><a id="l00650" name="l00650"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73"> 650</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73">depthRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> !(_depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3) ? _depthOrRightRaw : cv::Mat();}</div>
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<div class="line"><a id="l00651" name="l00651"></a><span class="lineno"> 651</span> </div>
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<div class="line"><a id="l00661" name="l00661"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30"> 661</a></span> cv::Mat <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30">rightRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightRaw.type()==CV_8UC1 || _depthOrRightRaw.type()==CV_8UC3 ? _depthOrRightRaw : cv::Mat();}</div>
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<div class="line"><a id="l00662" name="l00662"></a><span class="lineno"> 662</span> </div>
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<div class="line"><a id="l00663" name="l00663"></a><span class="lineno"> 663</span> <span class="comment">// Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.</span></div>
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<div class="line"><a id="l00664" name="l00664"></a><span class="lineno"> 664</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setImageRaw(<span class="keyword">const</span> cv::Mat & image);</div>
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<div class="line"><a id="l00665" name="l00665"></a><span class="lineno"> 665</span> <span class="comment">// Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.</span></div>
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<div class="line"><a id="l00666" name="l00666"></a><span class="lineno"> 666</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setDepthOrRightRaw(<span class="keyword">const</span> cv::Mat & image);</div>
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<div class="line"><a id="l00667" name="l00667"></a><span class="lineno"> 667</span> <span class="comment">// Use setLaserScan() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.</span></div>
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<div class="line"><a id="l00668" name="l00668"></a><span class="lineno"> 668</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setLaserScanRaw(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> & scan);</div>
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<div class="line"><a id="l00669" name="l00669"></a><span class="lineno"> 669</span> <span class="comment">// Use setUserData() or removeRawData() instead.</span></div>
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<div class="line"><a id="l00670" name="l00670"></a><span class="lineno"> 670</span> RTABMAP_DEPRECATED <span class="keywordtype">void</span> setUserDataRaw(<span class="keyword">const</span> cv::Mat & data);</div>
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<div class="line"><a id="l00671" name="l00671"></a><span class="lineno"> 671</span> </div>
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<div class="line"><a id="l00678" name="l00678"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52"> 678</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52">uncompressData</a>();</div>
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<div class="line"><a id="l00679" name="l00679"></a><span class="lineno"> 679</span> </div>
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<div class="line"><a id="l00697" name="l00697"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158"> 697</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158">uncompressData</a>(</div>
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<div class="line"><a id="l00698" name="l00698"></a><span class="lineno"> 698</span> cv::Mat * imageRaw,</div>
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<div class="line"><a id="l00699" name="l00699"></a><span class="lineno"> 699</span> cv::Mat * depthOrRightRaw,</div>
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<div class="line"><a id="l00700" name="l00700"></a><span class="lineno"> 700</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> * laserScanRaw = 0,</div>
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<div class="line"><a id="l00701" name="l00701"></a><span class="lineno"> 701</span> cv::Mat * userDataRaw = 0,</div>
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<div class="line"><a id="l00702" name="l00702"></a><span class="lineno"> 702</span> cv::Mat * groundCellsRaw = 0,</div>
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<div class="line"><a id="l00703" name="l00703"></a><span class="lineno"> 703</span> cv::Mat * obstacleCellsRaw = 0,</div>
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<div class="line"><a id="l00704" name="l00704"></a><span class="lineno"> 704</span> cv::Mat * emptyCellsRaw = 0,</div>
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<div class="line"><a id="l00705" name="l00705"></a><span class="lineno"> 705</span> cv::Mat * depthConfidenceRaw = 0);</div>
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<div class="line"><a id="l00706" name="l00706"></a><span class="lineno"> 706</span> </div>
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<div class="line"><a id="l00721" name="l00721"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f"> 721</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f">uncompressDataConst</a>(</div>
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<div class="line"><a id="l00722" name="l00722"></a><span class="lineno"> 722</span> cv::Mat * imageRaw,</div>
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<div class="line"><a id="l00723" name="l00723"></a><span class="lineno"> 723</span> cv::Mat * depthOrRightRaw,</div>
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<div class="line"><a id="l00724" name="l00724"></a><span class="lineno"> 724</span> <a class="code hl_class" href="classrtabmap_1_1LaserScan.html">LaserScan</a> * laserScanRaw = 0,</div>
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<div class="line"><a id="l00725" name="l00725"></a><span class="lineno"> 725</span> cv::Mat * userDataRaw = 0,</div>
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<div class="line"><a id="l00726" name="l00726"></a><span class="lineno"> 726</span> cv::Mat * groundCellsRaw = 0,</div>
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<div class="line"><a id="l00727" name="l00727"></a><span class="lineno"> 727</span> cv::Mat * obstacleCellsRaw = 0,</div>
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<div class="line"><a id="l00728" name="l00728"></a><span class="lineno"> 728</span> cv::Mat * emptyCellsRaw = 0,</div>
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<div class="line"><a id="l00729" name="l00729"></a><span class="lineno"> 729</span> cv::Mat * depthConfidenceRaw = 0) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00730" name="l00730"></a><span class="lineno"> 730</span> </div>
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<div class="line"><a id="l00735" name="l00735"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92"> 735</a></span> <span class="keyword">const</span> std::vector<CameraModel> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">cameraModels</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _cameraModels;}</div>
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<div class="line"><a id="l00736" name="l00736"></a><span class="lineno"> 736</span> </div>
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<div class="line"><a id="l00741" name="l00741"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87"> 741</a></span> <span class="keyword">const</span> std::vector<StereoCameraModel> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87">stereoCameraModels</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _stereoCameraModels;}</div>
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<div class="line"><a id="l00742" name="l00742"></a><span class="lineno"> 742</span> </div>
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<div class="line"><a id="l00755" name="l00755"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072"> 755</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072">setUserData</a>(<span class="keyword">const</span> cv::Mat & userData, <span class="keywordtype">bool</span> clearPreviousData = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00756" name="l00756"></a><span class="lineno"> 756</span> <span class="keyword">const</span> cv::Mat & userDataRaw()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataRaw;}</div>
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<div class="line"><a id="l00757" name="l00757"></a><span class="lineno"> 757</span> <span class="keyword">const</span> cv::Mat & userDataCompressed()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _userDataCompressed;}</div>
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<div class="line"><a id="l00758" name="l00758"></a><span class="lineno"> 758</span> </div>
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<div class="line"><a id="l00772" name="l00772"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b"> 772</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b">setOccupancyGrid</a>(</div>
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<div class="line"><a id="l00773" name="l00773"></a><span class="lineno"> 773</span> <span class="keyword">const</span> cv::Mat & ground,</div>
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<div class="line"><a id="l00774" name="l00774"></a><span class="lineno"> 774</span> <span class="keyword">const</span> cv::Mat & obstacles,</div>
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<div class="line"><a id="l00775" name="l00775"></a><span class="lineno"> 775</span> <span class="keyword">const</span> cv::Mat & empty,</div>
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<div class="line"><a id="l00776" name="l00776"></a><span class="lineno"> 776</span> <span class="keywordtype">float</span> cellSize,</div>
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<div class="line"><a id="l00777" name="l00777"></a><span class="lineno"> 777</span> <span class="keyword">const</span> cv::Point3f & viewPoint);</div>
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<div class="line"><a id="l00782" name="l00782"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4"> 782</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4">gridGroundCellsRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _groundCellsRaw;}</div>
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<div class="line"><a id="l00783" name="l00783"></a><span class="lineno"> 783</span> </div>
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|
<div class="line"><a id="l00789" name="l00789"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43"> 789</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43">gridGroundCellsCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _groundCellsCompressed;}</div>
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|
<div class="line"><a id="l00790" name="l00790"></a><span class="lineno"> 790</span> </div>
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|
<div class="line"><a id="l00795" name="l00795"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc"> 795</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc">gridObstacleCellsRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _obstacleCellsRaw;}</div>
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<div class="line"><a id="l00796" name="l00796"></a><span class="lineno"> 796</span> </div>
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|
<div class="line"><a id="l00802" name="l00802"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0"> 802</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0">gridObstacleCellsCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _obstacleCellsCompressed;}</div>
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<div class="line"><a id="l00803" name="l00803"></a><span class="lineno"> 803</span> </div>
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|
<div class="line"><a id="l00808" name="l00808"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe"> 808</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe">gridEmptyCellsRaw</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _emptyCellsRaw;}</div>
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|
<div class="line"><a id="l00809" name="l00809"></a><span class="lineno"> 809</span> </div>
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|
<div class="line"><a id="l00815" name="l00815"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3"> 815</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3">gridEmptyCellsCompressed</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _emptyCellsCompressed;}</div>
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|
<div class="line"><a id="l00816" name="l00816"></a><span class="lineno"> 816</span> </div>
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<div class="line"><a id="l00821" name="l00821"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c"> 821</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">gridCellSize</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _cellSize;}</div>
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<div class="line"><a id="l00822" name="l00822"></a><span class="lineno"> 822</span> </div>
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<div class="line"><a id="l00827" name="l00827"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200"> 827</a></span> <span class="keyword">const</span> cv::Point3f & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200">gridViewPoint</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _viewPoint;}</div>
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<div class="line"><a id="l00828" name="l00828"></a><span class="lineno"> 828</span> </div>
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|
<div class="line"><a id="l00839" name="l00839"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3"> 839</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3">setFeatures</a>(<span class="keyword">const</span> std::vector<cv::KeyPoint> & keypoints, <span class="keyword">const</span> std::vector<cv::Point3f> & keypoints3D, <span class="keyword">const</span> cv::Mat & descriptors);</div>
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<div class="line"><a id="l00840" name="l00840"></a><span class="lineno"> 840</span> </div>
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|
<div class="line"><a id="l00845" name="l00845"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94"> 845</a></span> <span class="keyword">const</span> std::vector<cv::KeyPoint> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94">keypoints</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _keypoints;}</div>
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<div class="line"><a id="l00846" name="l00846"></a><span class="lineno"> 846</span> </div>
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|
<div class="line"><a id="l00851" name="l00851"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df"> 851</a></span> <span class="keyword">const</span> std::vector<cv::Point3f> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df">keypoints3D</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _keypoints3D;}</div>
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<div class="line"><a id="l00852" name="l00852"></a><span class="lineno"> 852</span> </div>
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|
<div class="line"><a id="l00857" name="l00857"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26"> 857</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26">descriptors</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _descriptors;}</div>
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<div class="line"><a id="l00858" name="l00858"></a><span class="lineno"> 858</span> </div>
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|
<div class="line"><a id="l00863" name="l00863"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e"> 863</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e">addGlobalDescriptor</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GlobalDescriptor.html">GlobalDescriptor</a> & descriptor) {_globalDescriptors.push_back(descriptor);}</div>
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<div class="line"><a id="l00864" name="l00864"></a><span class="lineno"> 864</span> </div>
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|
<div class="line"><a id="l00869" name="l00869"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe"> 869</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe">setGlobalDescriptors</a>(<span class="keyword">const</span> std::vector<GlobalDescriptor> & descriptors) {_globalDescriptors = descriptors;}</div>
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|
<div class="line"><a id="l00870" name="l00870"></a><span class="lineno"> 870</span> </div>
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<div class="line"><a id="l00874" name="l00874"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505"> 874</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505">clearGlobalDescriptors</a>() {_globalDescriptors.clear();}</div>
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<div class="line"><a id="l00875" name="l00875"></a><span class="lineno"> 875</span> </div>
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|
<div class="line"><a id="l00880" name="l00880"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8"> 880</a></span> <span class="keyword">const</span> std::vector<GlobalDescriptor> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8">globalDescriptors</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _globalDescriptors;}</div>
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<div class="line"><a id="l00881" name="l00881"></a><span class="lineno"> 881</span> </div>
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|
<div class="line"><a id="l00886" name="l00886"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808"> 886</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808">setGroundTruth</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose) {groundTruth_ = pose;}</div>
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<div class="line"><a id="l00887" name="l00887"></a><span class="lineno"> 887</span> </div>
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<div class="line"><a id="l00892" name="l00892"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689"> 892</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689">groundTruth</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> groundTruth_;}</div>
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<div class="line"><a id="l00893" name="l00893"></a><span class="lineno"> 893</span> </div>
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|
<div class="line"><a id="l00899" name="l00899"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556"> 899</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556">setGlobalPose</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & pose, <span class="keyword">const</span> cv::Mat & covariance) {globalPose_ = pose; globalPoseCovariance_ = covariance;}</div>
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<div class="line"><a id="l00900" name="l00900"></a><span class="lineno"> 900</span> </div>
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<div class="line"><a id="l00905" name="l00905"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87"> 905</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87">globalPose</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> globalPose_;}</div>
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<div class="line"><a id="l00906" name="l00906"></a><span class="lineno"> 906</span> </div>
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|
<div class="line"><a id="l00911" name="l00911"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97"> 911</a></span> <span class="keyword">const</span> cv::Mat & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97">globalPoseCovariance</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> globalPoseCovariance_;}</div>
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<div class="line"><a id="l00912" name="l00912"></a><span class="lineno"> 912</span> </div>
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<div class="line"><a id="l00917" name="l00917"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a"> 917</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a">setGPS</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> & gps) {gps_ = gps;}</div>
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<div class="line"><a id="l00918" name="l00918"></a><span class="lineno"> 918</span> </div>
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<div class="line"><a id="l00923" name="l00923"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957"> 923</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1GPS.html">GPS</a> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957">gps</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> gps_;}</div>
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<div class="line"><a id="l00924" name="l00924"></a><span class="lineno"> 924</span> </div>
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<div class="line"><a id="l00931" name="l00931"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139"> 931</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139">setIMU</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> & imu);</div>
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<div class="line"><a id="l00932" name="l00932"></a><span class="lineno"> 932</span> </div>
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<div class="line"><a id="l00937" name="l00937"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7"> 937</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1IMU.html">IMU</a> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7">imu</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> imu_;}</div>
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<div class="line"><a id="l00938" name="l00938"></a><span class="lineno"> 938</span> </div>
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<div class="line"><a id="l00943" name="l00943"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1"> 943</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1">setEnvSensors</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> & sensors) {_envSensors = sensors;}</div>
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<div class="line"><a id="l00944" name="l00944"></a><span class="lineno"> 944</span> </div>
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<div class="line"><a id="l00949" name="l00949"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae"> 949</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae">addEnvSensor</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1EnvSensor.html">EnvSensor</a> & sensor) {_envSensors.insert(std::make_pair(sensor.<a class="code hl_function" href="classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24">type</a>(), sensor));}</div>
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<div class="line"><a id="l00950" name="l00950"></a><span class="lineno"> 950</span> </div>
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<div class="line"><a id="l00955" name="l00955"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9"> 955</a></span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9">envSensors</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _envSensors;}</div>
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<div class="line"><a id="l00956" name="l00956"></a><span class="lineno"> 956</span> </div>
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<div class="line"><a id="l00962" name="l00962"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14"> 962</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14">setLandmarks</a>(<span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> & landmarks) {_landmarks = landmarks;}</div>
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<div class="line"><a id="l00963" name="l00963"></a><span class="lineno"> 963</span> </div>
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<div class="line"><a id="l00968" name="l00968"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8"> 968</a></span> <span class="keyword">const</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> & <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8">landmarks</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _landmarks;}</div>
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<div class="line"><a id="l00969" name="l00969"></a><span class="lineno"> 969</span> </div>
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<div class="line"><a id="l00978" name="l00978"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc"> 978</a></span> <span class="keywordtype">unsigned</span> <span class="keywordtype">long</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc">getMemoryUsed</a>() <span class="keyword">const</span>;</div>
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<div class="line"><a id="l00983" name="l00983"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29"> 983</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29">clearCompressedData</a>(<span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00988" name="l00988"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2"> 988</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2">clearRawData</a>(<span class="keywordtype">bool</span> images = <span class="keyword">true</span>, <span class="keywordtype">bool</span> scan = <span class="keyword">true</span>, <span class="keywordtype">bool</span> userData = <span class="keyword">true</span>, <span class="keywordtype">bool</span> occupancyGrid = <span class="keyword">true</span>);</div>
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<div class="line"><a id="l00989" name="l00989"></a><span class="lineno"> 989</span> </div>
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<div class="line"><a id="l00999" name="l00999"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03"> 999</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03">isPointVisibleFromCameras</a>(<span class="keyword">const</span> cv::Point3f & pt) <span class="keyword">const</span>;</div>
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<div class="line"><a id="l01000" name="l01000"></a><span class="lineno"> 1000</span> </div>
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<div class="line"><a id="l01001" name="l01001"></a><span class="lineno"> 1001</span><span class="preprocessor">#ifdef HAVE_OPENCV_CUDEV</span></div>
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<div class="line"><a id="l01006" name="l01006"></a><span class="lineno"> 1006</span> <span class="keyword">const</span> cv::cuda::GpuMat & imageRawGpu()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _imageRawGpu;}</div>
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<div class="line"><a id="l01007" name="l01007"></a><span class="lineno"> 1007</span> </div>
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<div class="line"><a id="l01012" name="l01012"></a><span class="lineno"> 1012</span> <span class="keywordtype">void</span> setImageRawGpu(<span class="keyword">const</span> cv::cuda::GpuMat & image) {_imageRawGpu = image;}</div>
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<div class="line"><a id="l01013" name="l01013"></a><span class="lineno"> 1013</span> </div>
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<div class="line"><a id="l01018" name="l01018"></a><span class="lineno"> 1018</span> <span class="keyword">const</span> cv::cuda::GpuMat & depthOrRightRawGpu()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _depthOrRightRawGpu;}</div>
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<div class="line"><a id="l01019" name="l01019"></a><span class="lineno"> 1019</span> </div>
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<div class="line"><a id="l01024" name="l01024"></a><span class="lineno"> 1024</span> <span class="keywordtype">void</span> setDepthOrRightRawGpu(<span class="keyword">const</span> cv::cuda::GpuMat & image) {_depthOrRightRawGpu = image;}</div>
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<div class="line"><a id="l01025" name="l01025"></a><span class="lineno"> 1025</span><span class="preprocessor">#endif</span></div>
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<div class="line"><a id="l01026" name="l01026"></a><span class="lineno"> 1026</span> </div>
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<div class="line"><a id="l01027" name="l01027"></a><span class="lineno"> 1027</span><span class="keyword">private</span>:</div>
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<div class="line"><a id="l01028" name="l01028"></a><span class="lineno"> 1028</span> <span class="keywordtype">int</span> _id; </div>
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<div class="line"><a id="l01029" name="l01029"></a><span class="lineno"> 1029</span> <span class="keywordtype">double</span> _stamp; </div>
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<div class="line"><a id="l01030" name="l01030"></a><span class="lineno"> 1030</span> </div>
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<div class="line"><a id="l01031" name="l01031"></a><span class="lineno"> 1031</span> <span class="comment">// Compressed data</span></div>
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<div class="line"><a id="l01032" name="l01032"></a><span class="lineno"> 1032</span> cv::Mat _imageCompressed; </div>
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<div class="line"><a id="l01033" name="l01033"></a><span class="lineno"> 1033</span> cv::Mat _depthOrRightCompressed; </div>
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<div class="line"><a id="l01034" name="l01034"></a><span class="lineno"> 1034</span> cv::Mat _depthConfidenceCompressed; </div>
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<div class="line"><a id="l01035" name="l01035"></a><span class="lineno"> 1035</span> LaserScan _laserScanCompressed; </div>
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<div class="line"><a id="l01036" name="l01036"></a><span class="lineno"> 1036</span> </div>
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<div class="line"><a id="l01037" name="l01037"></a><span class="lineno"> 1037</span> <span class="comment">// Raw data</span></div>
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<div class="line"><a id="l01038" name="l01038"></a><span class="lineno"> 1038</span> cv::Mat _imageRaw; </div>
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<div class="line"><a id="l01039" name="l01039"></a><span class="lineno"> 1039</span> cv::Mat _depthOrRightRaw; </div>
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<div class="line"><a id="l01040" name="l01040"></a><span class="lineno"> 1040</span> cv::Mat _depthConfidenceRaw; </div>
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<div class="line"><a id="l01041" name="l01041"></a><span class="lineno"> 1041</span> LaserScan _laserScanRaw; </div>
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<div class="line"><a id="l01042" name="l01042"></a><span class="lineno"> 1042</span> </div>
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<div class="line"><a id="l01043" name="l01043"></a><span class="lineno"> 1043</span> <span class="comment">// Camera models</span></div>
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<div class="line"><a id="l01044" name="l01044"></a><span class="lineno"> 1044</span> std::vector<CameraModel> _cameraModels; </div>
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|
<div class="line"><a id="l01045" name="l01045"></a><span class="lineno"> 1045</span> std::vector<StereoCameraModel> _stereoCameraModels; </div>
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<div class="line"><a id="l01046" name="l01046"></a><span class="lineno"> 1046</span> </div>
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<div class="line"><a id="l01047" name="l01047"></a><span class="lineno"> 1047</span> <span class="comment">// User data</span></div>
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|
<div class="line"><a id="l01048" name="l01048"></a><span class="lineno"> 1048</span> cv::Mat _userDataCompressed; </div>
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|
<div class="line"><a id="l01049" name="l01049"></a><span class="lineno"> 1049</span> cv::Mat _userDataRaw; </div>
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|
<div class="line"><a id="l01050" name="l01050"></a><span class="lineno"> 1050</span> </div>
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<div class="line"><a id="l01051" name="l01051"></a><span class="lineno"> 1051</span> <span class="comment">// Occupancy grid</span></div>
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|
<div class="line"><a id="l01052" name="l01052"></a><span class="lineno"> 1052</span> cv::Mat _groundCellsCompressed; </div>
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<div class="line"><a id="l01053" name="l01053"></a><span class="lineno"> 1053</span> cv::Mat _obstacleCellsCompressed; </div>
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<div class="line"><a id="l01054" name="l01054"></a><span class="lineno"> 1054</span> cv::Mat _emptyCellsCompressed; </div>
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<div class="line"><a id="l01055" name="l01055"></a><span class="lineno"> 1055</span> cv::Mat _groundCellsRaw; </div>
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<div class="line"><a id="l01056" name="l01056"></a><span class="lineno"> 1056</span> cv::Mat _obstacleCellsRaw; </div>
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<div class="line"><a id="l01057" name="l01057"></a><span class="lineno"> 1057</span> cv::Mat _emptyCellsRaw; </div>
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<div class="line"><a id="l01058" name="l01058"></a><span class="lineno"> 1058</span> <span class="keywordtype">float</span> _cellSize; </div>
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<div class="line"><a id="l01059" name="l01059"></a><span class="lineno"> 1059</span> cv::Point3f _viewPoint; </div>
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<div class="line"><a id="l01060" name="l01060"></a><span class="lineno"> 1060</span> </div>
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<div class="line"><a id="l01061" name="l01061"></a><span class="lineno"> 1061</span> <span class="comment">// Environmental sensors</span></div>
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|
<div class="line"><a id="l01062" name="l01062"></a><span class="lineno"> 1062</span> <a class="code hl_typedef" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a> _envSensors; </div>
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|
<div class="line"><a id="l01063" name="l01063"></a><span class="lineno"> 1063</span> </div>
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|
<div class="line"><a id="l01064" name="l01064"></a><span class="lineno"> 1064</span> <span class="comment">// Landmarks</span></div>
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|
<div class="line"><a id="l01065" name="l01065"></a><span class="lineno"> 1065</span> <a class="code hl_typedef" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a> _landmarks; </div>
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|
<div class="line"><a id="l01066" name="l01066"></a><span class="lineno"> 1066</span> </div>
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|
<div class="line"><a id="l01067" name="l01067"></a><span class="lineno"> 1067</span> <span class="comment">// Visual features</span></div>
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|
<div class="line"><a id="l01068" name="l01068"></a><span class="lineno"> 1068</span> std::vector<cv::KeyPoint> _keypoints; </div>
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|
<div class="line"><a id="l01069" name="l01069"></a><span class="lineno"> 1069</span> std::vector<cv::Point3f> _keypoints3D; </div>
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|
<div class="line"><a id="l01070" name="l01070"></a><span class="lineno"> 1070</span> cv::Mat _descriptors; </div>
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|
<div class="line"><a id="l01071" name="l01071"></a><span class="lineno"> 1071</span> </div>
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|
<div class="line"><a id="l01072" name="l01072"></a><span class="lineno"> 1072</span> <span class="comment">// Global descriptors</span></div>
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|
<div class="line"><a id="l01073" name="l01073"></a><span class="lineno"> 1073</span> std::vector<GlobalDescriptor> _globalDescriptors; </div>
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|
<div class="line"><a id="l01074" name="l01074"></a><span class="lineno"> 1074</span> </div>
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|
<div class="line"><a id="l01075" name="l01075"></a><span class="lineno"> 1075</span> <span class="comment">// Poses</span></div>
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|
<div class="line"><a id="l01076" name="l01076"></a><span class="lineno"> 1076</span> Transform groundTruth_; </div>
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|
<div class="line"><a id="l01077" name="l01077"></a><span class="lineno"> 1077</span> Transform globalPose_; </div>
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|
<div class="line"><a id="l01078" name="l01078"></a><span class="lineno"> 1078</span> cv::Mat globalPoseCovariance_; </div>
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|
<div class="line"><a id="l01079" name="l01079"></a><span class="lineno"> 1079</span> </div>
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|
<div class="line"><a id="l01080" name="l01080"></a><span class="lineno"> 1080</span> <span class="comment">// Sensor fusion</span></div>
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|
<div class="line"><a id="l01081" name="l01081"></a><span class="lineno"> 1081</span> GPS gps_; </div>
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|
<div class="line"><a id="l01082" name="l01082"></a><span class="lineno"> 1082</span> IMU imu_; </div>
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|
<div class="line"><a id="l01083" name="l01083"></a><span class="lineno"> 1083</span> </div>
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|
<div class="line"><a id="l01084" name="l01084"></a><span class="lineno"> 1084</span><span class="preprocessor">#ifdef HAVE_OPENCV_CUDEV</span></div>
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|
<div class="line"><a id="l01091" name="l01091"></a><span class="lineno"> 1091</span> cv::cuda::GpuMat _imageRawGpu; </div>
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|
<div class="line"><a id="l01092" name="l01092"></a><span class="lineno"> 1092</span> cv::cuda::GpuMat _depthOrRightRawGpu; </div>
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|
<div class="line"><a id="l01093" name="l01093"></a><span class="lineno"> 1093</span><span class="preprocessor">#endif</span></div>
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|
<div class="line"><a id="l01094" name="l01094"></a><span class="lineno"> 1094</span>};</div>
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|
</div>
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|
<div class="line"><a id="l01095" name="l01095"></a><span class="lineno"> 1095</span> </div>
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|
<div class="line"><a id="l01096" name="l01096"></a><span class="lineno"> 1096</span>}</div>
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<div class="line"><a id="l01097" name="l01097"></a><span class="lineno"> 1097</span> </div>
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<div class="line"><a id="l01098" name="l01098"></a><span class="lineno"> 1098</span> </div>
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<div class="line"><a id="l01099" name="l01099"></a><span class="lineno"> 1099</span><span class="preprocessor">#endif </span><span class="comment">/* SENSORDATA_H_ */</span><span class="preprocessor"></span></div>
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<div class="ttc" id="aclassrtabmap_1_1CameraModel_html"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><div class="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00052">CameraModel.h:53</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html">rtabmap::EnvSensor</a></div><div class="ttdoc">Single environmental measurement (type, value, timestamp).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00050">EnvSensor.h:51</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1EnvSensor_html_abae79475fe7e568269a4b4ef4c5a7d24"><div class="ttname"><a href="classrtabmap_1_1EnvSensor.html#abae79475fe7e568269a4b4ef4c5a7d24">rtabmap::EnvSensor::type</a></div><div class="ttdeci">const Type & type() const</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00101">EnvSensor.h:101</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1GPS_html"><div class="ttname"><a href="classrtabmap_1_1GPS.html">rtabmap::GPS</a></div><div class="ttdoc">WGS84 GPS fix attached to a sensor sample or graph node.</div><div class="ttdef"><b>Definition</b> <a href="GPS_8h_source.html#l00046">GPS.h:47</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1GlobalDescriptor_html"><div class="ttname"><a href="classrtabmap_1_1GlobalDescriptor.html">rtabmap::GlobalDescriptor</a></div><div class="ttdef"><b>Definition</b> <a href="GlobalDescriptor_8h_source.html#l00035">GlobalDescriptor.h:36</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1IMU_html"><div class="ttname"><a href="classrtabmap_1_1IMU.html">rtabmap::IMU</a></div><div class="ttdoc">Inertial measurement sample (ROS sensor_msgs/Imu-like fields).</div><div class="ttdef"><b>Definition</b> <a href="IMU_8h_source.html#l00056">IMU.h:57</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1LaserScan_html"><div class="ttname"><a href="classrtabmap_1_1LaserScan.html">rtabmap::LaserScan</a></div><div class="ttdoc">Represents 2D or 3D laser scan data with support for multiple point data formats.</div><div class="ttdef"><b>Definition</b> <a href="LaserScan_8h_source.html#l00045">LaserScan.h:46</a></div></div>
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<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>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a056056de80edf1bc20505fd992cdc6e7"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a056056de80edf1bc20505fd992cdc6e7">rtabmap::SensorData::imu</a></div><div class="ttdeci">const IMU & imu() const</div><div class="ttdoc">Returns IMU data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00937">SensorData.h:937</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a0cfb7cee085b7959c9ddf1d7854ed910"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a0cfb7cee085b7959c9ddf1d7854ed910">rtabmap::SensorData::depthConfidenceRaw</a></div><div class="ttdeci">const cv::Mat & depthConfidenceRaw() const</div><div class="ttdoc">Returns the raw depth confidence map.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00590">SensorData.h:590</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a0f2e804ebbcff5be648a43f0a41e9dfc"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a0f2e804ebbcff5be648a43f0a41e9dfc">rtabmap::SensorData::gridObstacleCellsRaw</a></div><div class="ttdeci">const cv::Mat & gridObstacleCellsRaw() const</div><div class="ttdoc">Returns raw obstacle cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00795">SensorData.h:795</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a1006dbcfb640b599f0587af3b0ba46ae"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a1006dbcfb640b599f0587af3b0ba46ae">rtabmap::SensorData::addEnvSensor</a></div><div class="ttdeci">void addEnvSensor(const EnvSensor &sensor)</div><div class="ttdoc">Adds a single environmental sensor.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00949">SensorData.h:949</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a14f7a5c64b5d27842cb654e247d1fd20"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a14f7a5c64b5d27842cb654e247d1fd20">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &image, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">Mono camera constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a1522af81a95c27b76e316919df95a869"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a1522af81a95c27b76e316919df95a869">rtabmap::SensorData::laserScanCompressed</a></div><div class="ttdeci">const LaserScan & laserScanCompressed() const</div><div class="ttdoc">Returns the compressed laser scan.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00571">SensorData.h:571</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a1534d36fee45c3df70679438ec9d00a3"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a1534d36fee45c3df70679438ec9d00a3">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">Stereo camera constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a176b8160afc549fc6eaa2d0567c12957"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a176b8160afc549fc6eaa2d0567c12957">rtabmap::SensorData::gps</a></div><div class="ttdeci">const GPS & gps() const</div><div class="ttdoc">Returns GPS data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00923">SensorData.h:923</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a1970cd319999fb371873553b53b07d73"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a1970cd319999fb371873553b53b07d73">rtabmap::SensorData::depthRaw</a></div><div class="ttdeci">cv::Mat depthRaw() const</div><div class="ttdoc">Returns the depth image (convenience method)</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00650">SensorData.h:650</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a203770ef217dfdc67b98ca593b2cab24"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a203770ef217dfdc67b98ca593b2cab24">rtabmap::SensorData::setRGBDImage</a></div><div class="ttdeci">void setRGBDImage(const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &model, bool clearPreviousData=true)</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a2297bfc9d81c077852d8f832231ba139"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a2297bfc9d81c077852d8f832231ba139">rtabmap::SensorData::setIMU</a></div><div class="ttdeci">void setIMU(const IMU &imu)</div><div class="ttdoc">Sets IMU data.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a2476c59283ef2e24d7a3f10301433327"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a2476c59283ef2e24d7a3f10301433327">rtabmap::SensorData::depthOrRightRaw</a></div><div class="ttdeci">const cv::Mat & depthOrRightRaw() const</div><div class="ttdoc">Returns the raw depth or right stereo image.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00584">SensorData.h:584</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a25efb0e7904a3daa7f4ee7cd814a24ff"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a25efb0e7904a3daa7f4ee7cd814a24ff">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const IMU &imu, int id=0, double stamp=0.0)</div><div class="ttdoc">IMU-only constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a2db9b9dbbe3d0943a47cdc4a5a9051d4"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a2db9b9dbbe3d0943a47cdc4a5a9051d4">rtabmap::SensorData::gridGroundCellsRaw</a></div><div class="ttdeci">const cv::Mat & gridGroundCellsRaw() const</div><div class="ttdoc">Returns raw ground cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00782">SensorData.h:782</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a2e0be45871fa8dbce1c3cf727953358f"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a2e0be45871fa8dbce1c3cf727953358f">rtabmap::SensorData::uncompressDataConst</a></div><div class="ttdeci">void uncompressDataConst(cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0, cv::Mat *depthConfidenceRaw=0) const</div><div class="ttdoc">Uncompresses compressed data into provided output buffers (const version)</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a30f069ee8ffa263ec2c18bc714713e03"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a30f069ee8ffa263ec2c18bc714713e03">rtabmap::SensorData::isPointVisibleFromCameras</a></div><div class="ttdeci">int isPointVisibleFromCameras(const cv::Point3f &pt) const</div><div class="ttdoc">Checks if a 3D point is visible from any camera.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a33244e8049bfae5bea9ecf80057bcd29"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a33244e8049bfae5bea9ecf80057bcd29">rtabmap::SensorData::clearCompressedData</a></div><div class="ttdeci">void clearCompressedData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a37c2569419731afc855a3ce984c11505"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a37c2569419731afc855a3ce984c11505">rtabmap::SensorData::clearGlobalDescriptors</a></div><div class="ttdeci">void clearGlobalDescriptors()</div><div class="ttdoc">Clears all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00874">SensorData.h:874</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a490e96f3f1d16cc559b3a004e2ec4fbe"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a490e96f3f1d16cc559b3a004e2ec4fbe">rtabmap::SensorData::gridEmptyCellsRaw</a></div><div class="ttdeci">const cv::Mat & gridEmptyCellsRaw() const</div><div class="ttdoc">Returns raw empty cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00808">SensorData.h:808</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a4cce095c69f9fa8f0035c9f2f51c0ff9"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a4cce095c69f9fa8f0035c9f2f51c0ff9">rtabmap::SensorData::envSensors</a></div><div class="ttdeci">const EnvSensors & envSensors() const</div><div class="ttdoc">Returns all environmental sensors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00955">SensorData.h:955</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a4d0f4615a747eaef142b51a1ab1e5527"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a4d0f4615a747eaef142b51a1ab1e5527">rtabmap::SensorData::setId</a></div><div class="ttdeci">void setId(int id)</div><div class="ttdoc">Sets the sensor data ID.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00532">SensorData.h:532</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a50b09c52de6c8c6a6a95ee08886845a0"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a50b09c52de6c8c6a6a95ee08886845a0">rtabmap::SensorData::gridObstacleCellsCompressed</a></div><div class="ttdeci">const cv::Mat & gridObstacleCellsCompressed() const</div><div class="ttdoc">Returns compressed obstacle cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00802">SensorData.h:802</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a51f21b98088ceec4c5d108d0fbe03200"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a51f21b98088ceec4c5d108d0fbe03200">rtabmap::SensorData::gridViewPoint</a></div><div class="ttdeci">const cv::Point3f & gridViewPoint() const</div><div class="ttdoc">Returns the occupancy grid viewpoint.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00827">SensorData.h:827</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a52b215e8d320bbcbd464e3b7181a077b"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a52b215e8d320bbcbd464e3b7181a077b">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">RGB-D constructor with depth confidence and laser scan.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a53040403970a08a677e69d824a31f7b2"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a53040403970a08a677e69d824a31f7b2">rtabmap::SensorData::clearRawData</a></div><div class="ttdeci">void clearRawData(bool images=true, bool scan=true, bool userData=true, bool occupancyGrid=true)</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a55e6ca21bfd11b7afb375451a2a77b87"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a55e6ca21bfd11b7afb375451a2a77b87">rtabmap::SensorData::globalPose</a></div><div class="ttdeci">const Transform & globalPose() const</div><div class="ttdoc">Returns the global pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00905">SensorData.h:905</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a566e5600bc0369f2f88ff0c597cefcfb"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a566e5600bc0369f2f88ff0c597cefcfb">rtabmap::SensorData::stamp</a></div><div class="ttdeci">double stamp() const</div><div class="ttdoc">Returns the timestamp.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00538">SensorData.h:538</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a569af71e8757105dc040251a3805fe97"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a569af71e8757105dc040251a3805fe97">rtabmap::SensorData::globalPoseCovariance</a></div><div class="ttdeci">const cv::Mat & globalPoseCovariance() const</div><div class="ttdoc">Returns the global pose covariance.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00911">SensorData.h:911</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a5c0844e94d3fff50a8bfec2decf2f94c"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a5c0844e94d3fff50a8bfec2decf2f94c">rtabmap::SensorData::setStamp</a></div><div class="ttdeci">void setStamp(double stamp)</div><div class="ttdoc">Sets the timestamp.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00544">SensorData.h:544</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a5c12949c62c65281bade9ffcc681462b"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a5c12949c62c65281bade9ffcc681462b">rtabmap::SensorData::setOccupancyGrid</a></div><div class="ttdeci">void setOccupancyGrid(const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint)</div><div class="ttdoc">Sets occupancy grid data.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a5cf732793c05b16bb67f144524882b26"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a5cf732793c05b16bb67f144524882b26">rtabmap::SensorData::descriptors</a></div><div class="ttdeci">const cv::Mat & descriptors() const</div><div class="ttdoc">Returns the feature descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00857">SensorData.h:857</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a60b3b2366bb66c914cfa7799204828fc"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a60b3b2366bb66c914cfa7799204828fc">rtabmap::SensorData::getMemoryUsed</a></div><div class="ttdeci">unsigned long getMemoryUsed() const</div><div class="ttdoc">Computes the memory usage of this sensor data.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a6ace7b2b8ebae5f7ab18e159fe6e8a92"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a6ace7b2b8ebae5f7ab18e159fe6e8a92">rtabmap::SensorData::cameraModels</a></div><div class="ttdeci">const std::vector< CameraModel > & cameraModels() const</div><div class="ttdoc">Returns the camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00735">SensorData.h:735</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a6ccaccf892f950b0caa03c07de3eab98"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a6ccaccf892f950b0caa03c07de3eab98">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">Multi-camera stereo constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a7051ea8c13bafd7eaffb5f5a93064808"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a7051ea8c13bafd7eaffb5f5a93064808">rtabmap::SensorData::setGroundTruth</a></div><div class="ttdeci">void setGroundTruth(const Transform &pose)</div><div class="ttdoc">Sets the ground truth pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00886">SensorData.h:886</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a72a0250435fc194b1189241d4a47254d"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a72a0250435fc194b1189241d4a47254d">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">Multi-camera RGB-D constructor with depth confidence.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a72f0ce5a2989f478149f5cf2d5a36556"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a72f0ce5a2989f478149f5cf2d5a36556">rtabmap::SensorData::setGlobalPose</a></div><div class="ttdeci">void setGlobalPose(const Transform &pose, const cv::Mat &covariance)</div><div class="ttdoc">Sets the global pose with covariance.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00899">SensorData.h:899</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a73ba0bb1cb31a3438b3ffee161b16ff8"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a73ba0bb1cb31a3438b3ffee161b16ff8">rtabmap::SensorData::landmarks</a></div><div class="ttdeci">const Landmarks & landmarks() const</div><div class="ttdoc">Returns landmarks.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00968">SensorData.h:968</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a84fbcb16e51018d96065d3ce240650c6"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a84fbcb16e51018d96065d3ce240650c6">rtabmap::SensorData::id</a></div><div class="ttdeci">int id() const</div><div class="ttdoc">Returns the sensor data ID.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00526">SensorData.h:526</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a85b36ca12b0936a99d61b768908097da"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a85b36ca12b0936a99d61b768908097da">rtabmap::SensorData::depthOrRightCompressed</a></div><div class="ttdeci">const cv::Mat & depthOrRightCompressed() const</div><div class="ttdoc">Returns the compressed depth or right stereo image.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00558">SensorData.h:558</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a87424cc9915dababe9aa3bc418e85197"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a87424cc9915dababe9aa3bc418e85197">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depth_confidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">RGB-D constructor with depth confidence.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a8c3364f43f7c0a57261720408a088158"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a8c3364f43f7c0a57261720408a088158">rtabmap::SensorData::uncompressData</a></div><div class="ttdeci">void uncompressData(cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0, cv::Mat *depthConfidenceRaw=0)</div><div class="ttdoc">Uncompresses compressed data into provided output buffers.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a8fc1c848518793a1fe65c47a3ff729b0"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a8fc1c848518793a1fe65c47a3ff729b0">rtabmap::SensorData::setLaserScan</a></div><div class="ttdeci">void setLaserScan(const LaserScan &laserScan, bool clearPreviousData=true)</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a941f907890fe9e0e9becec0a665581cd"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a941f907890fe9e0e9becec0a665581cd">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData()</div><div class="ttdoc">Default constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a94f4e8970ae34d652100dce131cc9e44"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a94f4e8970ae34d652100dce131cc9e44">rtabmap::SensorData::~SensorData</a></div><div class="ttdeci">virtual ~SensorData()</div><div class="ttdoc">Virtual destructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_a984ce55b6b75152a63441bd07288dc6c"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#a984ce55b6b75152a63441bd07288dc6c">rtabmap::SensorData::gridCellSize</a></div><div class="ttdeci">float gridCellSize() const</div><div class="ttdoc">Returns the occupancy grid cell size.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00821">SensorData.h:821</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aa356c9d5e9e7ea55ccdbe99c215bcb52"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aa356c9d5e9e7ea55ccdbe99c215bcb52">rtabmap::SensorData::uncompressData</a></div><div class="ttdeci">void uncompressData()</div><div class="ttdoc">Uncompresses all compressed data in-place.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aaa7408cb13ea2cbe33438e007b80de30"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aaa7408cb13ea2cbe33438e007b80de30">rtabmap::SensorData::rightRaw</a></div><div class="ttdeci">cv::Mat rightRaw() const</div><div class="ttdoc">Returns the right stereo image (convenience method)</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00661">SensorData.h:661</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aafcc6b483798b7a99fafa8f929db1029"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aafcc6b483798b7a99fafa8f929db1029">rtabmap::SensorData::imageCompressed</a></div><div class="ttdeci">const cv::Mat & imageCompressed() const</div><div class="ttdoc">Returns the compressed RGB/grayscale image.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00551">SensorData.h:551</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab02d686ac7ef8b389655e913768b4d87"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab02d686ac7ef8b389655e913768b4d87">rtabmap::SensorData::stereoCameraModels</a></div><div class="ttdeci">const std::vector< StereoCameraModel > & stereoCameraModels() const</div><div class="ttdoc">Returns the stereo camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00741">SensorData.h:741</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab17daf3d7c2cd1253306e6d5991549df"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab17daf3d7c2cd1253306e6d5991549df">rtabmap::SensorData::keypoints3D</a></div><div class="ttdeci">const std::vector< cv::Point3f > & keypoints3D() const</div><div class="ttdoc">Returns the 3D keypoints.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00851">SensorData.h:851</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab2f74509af5e3f56d1c4d5e31c0c6003"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab2f74509af5e3f56d1c4d5e31c0c6003">rtabmap::SensorData::setStereoCameraModel</a></div><div class="ttdeci">void setStereoCameraModel(const StereoCameraModel &stereoCameraModel)</div><div class="ttdoc">Sets a single stereo camera model (clears previous models)</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00633">SensorData.h:633</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab3a5ebf180d5f2f106877b78aee6d1d1"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab3a5ebf180d5f2f106877b78aee6d1d1">rtabmap::SensorData::setEnvSensors</a></div><div class="ttdeci">void setEnvSensors(const EnvSensors &sensors)</div><div class="ttdoc">Sets all environmental sensors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00943">SensorData.h:943</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab3c515b23322cd31c3fcbcb054588e43"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab3c515b23322cd31c3fcbcb054588e43">rtabmap::SensorData::gridGroundCellsCompressed</a></div><div class="ttdeci">const cv::Mat & gridGroundCellsCompressed() const</div><div class="ttdoc">Returns compressed ground cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00789">SensorData.h:789</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab4e6b5d917155b94d8b4b6242fe56c6e"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab4e6b5d917155b94d8b4b6242fe56c6e">rtabmap::SensorData::setStereoCameraModels</a></div><div class="ttdeci">void setStereoCameraModels(const std::vector< StereoCameraModel > &stereoCameraModels)</div><div class="ttdoc">Sets multiple stereo camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00639">SensorData.h:639</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab6201ea27482207308f000bd4cc90081"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab6201ea27482207308f000bd4cc90081">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &image, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">Appearance-only constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ab6f18f2eb0340c8f6e800a695424bbbe"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ab6f18f2eb0340c8f6e800a695424bbbe">rtabmap::SensorData::setGlobalDescriptors</a></div><div class="ttdeci">void setGlobalDescriptors(const std::vector< GlobalDescriptor > &descriptors)</div><div class="ttdoc">Sets all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00869">SensorData.h:869</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_abdd07b6e248e165959468bb31897bc20"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#abdd07b6e248e165959468bb31897bc20">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const LaserScan &laserScan, const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">Stereo camera constructor with laser scan.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ac06b8207850c5412cc52f5f0e0e4ba7b"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ac06b8207850c5412cc52f5f0e0e4ba7b">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">RGB-D constructor with laser scan.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ac2bae4f0747795f778275102b4ebf1b3"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ac2bae4f0747795f778275102b4ebf1b3">rtabmap::SensorData::gridEmptyCellsCompressed</a></div><div class="ttdeci">const cv::Mat & gridEmptyCellsCompressed() const</div><div class="ttdoc">Returns compressed empty cells.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00815">SensorData.h:815</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_acc0ac26f01ad9f5185f80f8f09da252e"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#acc0ac26f01ad9f5185f80f8f09da252e">rtabmap::SensorData::addGlobalDescriptor</a></div><div class="ttdeci">void addGlobalDescriptor(const GlobalDescriptor &descriptor)</div><div class="ttdoc">Adds a global descriptor.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00863">SensorData.h:863</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_accb5f254667af3074993a073a4e1f072"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#accb5f254667af3074993a073a4e1f072">rtabmap::SensorData::setUserData</a></div><div class="ttdeci">void setUserData(const cv::Mat &userData, bool clearPreviousData=true)</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_acd46b940bac6e1d53ff2826be309b4c8"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#acd46b940bac6e1d53ff2826be309b4c8">rtabmap::SensorData::globalDescriptors</a></div><div class="ttdeci">const std::vector< GlobalDescriptor > & globalDescriptors() const</div><div class="ttdoc">Returns all global descriptors.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00880">SensorData.h:880</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ad083f0a1e7769ff62183a0fa47279ae3"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ad083f0a1e7769ff62183a0fa47279ae3">rtabmap::SensorData::setFeatures</a></div><div class="ttdeci">void setFeatures(const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &keypoints3D, const cv::Mat &descriptors)</div><div class="ttdoc">Sets visual features (keypoints, 3D points, descriptors)</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ad09e3e0fc1f60d233d81288a4cf8f56a"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ad09e3e0fc1f60d233d81288a4cf8f56a">rtabmap::SensorData::setGPS</a></div><div class="ttdeci">void setGPS(const GPS &gps)</div><div class="ttdoc">Sets GPS data.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00917">SensorData.h:917</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ad34a0a4ca3eac4a1c91fb7fb5068fb04"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ad34a0a4ca3eac4a1c91fb7fb5068fb04">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">Multi-camera stereo constructor with laser scan.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ad620676ab1a971846ab80ef646aa5882"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ad620676ab1a971846ab80ef646aa5882">rtabmap::SensorData::isValid</a></div><div class="ttdeci">bool isValid() const</div><div class="ttdoc">Checks if the sensor data is valid.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00491">SensorData.h:491</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ad8ae172220b7bfffeb09bb1eac60f28f"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ad8ae172220b7bfffeb09bb1eac60f28f">rtabmap::SensorData::setCameraModel</a></div><div class="ttdeci">void setCameraModel(const CameraModel &model)</div><div class="ttdoc">Sets a single camera model (clears previous models)</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00621">SensorData.h:621</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ada69a11125b0b3072add73a3a2f1b5f2"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ada69a11125b0b3072add73a3a2f1b5f2">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">Multi-camera RGB-D constructor with laser scan.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ae0370b88671bb41812c2d39fd0cfc3ce"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ae0370b88671bb41812c2d39fd0cfc3ce">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">Multi-camera RGB-D constructor with depth confidence and laser scan.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ae4498a6d017e83202dfe86618e91fa57"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ae4498a6d017e83202dfe86618e91fa57">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">Multi-camera RGB-D constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_ae9e44401d0d6faee8fcb801090936fef"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#ae9e44401d0d6faee8fcb801090936fef">rtabmap::SensorData::imageRaw</a></div><div class="ttdeci">const cv::Mat & imageRaw() const</div><div class="ttdoc">Returns the raw RGB/grayscale image.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00577">SensorData.h:577</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aead598774e0cb15375828a2965b3ab80"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aead598774e0cb15375828a2965b3ab80">rtabmap::SensorData::SensorData</a></div><div class="ttdeci">SensorData(const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())</div><div class="ttdoc">RGB-D constructor.</div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aebbab80906082f6e35ce5731fa67ca26"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aebbab80906082f6e35ce5731fa67ca26">rtabmap::SensorData::depthConfidenceCompressed</a></div><div class="ttdeci">const cv::Mat & depthConfidenceCompressed() const</div><div class="ttdoc">Returns the compressed depth confidence map.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00565">SensorData.h:565</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aeebafe56f302f9e8e4f06c5ad750248d"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aeebafe56f302f9e8e4f06c5ad750248d">rtabmap::SensorData::laserScanRaw</a></div><div class="ttdeci">const LaserScan & laserScanRaw() const</div><div class="ttdoc">Returns the raw laser scan.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00596">SensorData.h:596</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_aef9e0c36efdc8915536c3bc082108689"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#aef9e0c36efdc8915536c3bc082108689">rtabmap::SensorData::groundTruth</a></div><div class="ttdeci">const Transform & groundTruth() const</div><div class="ttdoc">Returns the ground truth pose.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00892">SensorData.h:892</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_af0873bbd79209dca371792e94e020e14"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#af0873bbd79209dca371792e94e020e14">rtabmap::SensorData::setLandmarks</a></div><div class="ttdeci">void setLandmarks(const Landmarks &landmarks)</div><div class="ttdoc">Sets landmarks.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00962">SensorData.h:962</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_af841bbc9ea6de17124f8c871fa5d0719"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#af841bbc9ea6de17124f8c871fa5d0719">rtabmap::SensorData::setCameraModels</a></div><div class="ttdeci">void setCameraModels(const std::vector< CameraModel > &models)</div><div class="ttdoc">Sets multiple camera models.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00627">SensorData.h:627</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1SensorData_html_afdc0db8c8176c4108e78e66df54b7d94"><div class="ttname"><a href="classrtabmap_1_1SensorData.html#afdc0db8c8176c4108e78e66df54b7d94">rtabmap::SensorData::keypoints</a></div><div class="ttdeci">const std::vector< cv::KeyPoint > & keypoints() const</div><div class="ttdoc">Returns the 2D keypoints.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00845">SensorData.h:845</a></div></div>
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<div class="ttc" id="aclassrtabmap_1_1StereoCameraModel_html"><div class="ttname"><a href="classrtabmap_1_1StereoCameraModel.html">rtabmap::StereoCameraModel</a></div><div class="ttdoc">A class representing a calibrated stereo camera system.</div><div class="ttdef"><b>Definition</b> <a href="StereoCameraModel_8h_source.html#l00053">StereoCameraModel.h:54</a></div></div>
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<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>
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<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00042">BayesFilter.h:42</a></div></div>
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<div class="ttc" id="anamespacertabmap_html_a12bbfd3e37121bf9f68a4047c8b4da86"><div class="ttname"><a href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">rtabmap::Landmarks</a></div><div class="ttdeci">std::map< int, Landmark > Landmarks</div><div class="ttdoc">Map of landmark id → Landmark (typically positive keys).</div><div class="ttdef"><b>Definition</b> <a href="Landmark_8h_source.html#l00113">Landmark.h:113</a></div></div>
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<div class="ttc" id="anamespacertabmap_html_ac175ef40b7a4acb632232d3d96a1199a"><div class="ttname"><a href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">rtabmap::EnvSensors</a></div><div class="ttdeci">std::map< EnvSensor::Type, EnvSensor > EnvSensors</div><div class="ttdoc">Map of environmental readings keyed by EnvSensor::Type (at most one per type).</div><div class="ttdef"><b>Definition</b> <a href="EnvSensor_8h_source.html#l00114">EnvSensor.h:114</a></div></div>
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