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Namespaces</h2></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriver.html">DBDriver</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBDriverSqlite3.html">DBDriverSqlite3</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBReader.html">DBReader</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1EnvSensor.html">EnvSensor</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1EpipolarGeometry.html">EpipolarGeometry</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FAST.html">FAST</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FAST__BRIEF.html">FAST_BRIEF</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FAST__FREAK.html">FAST_FREAK</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Feature2D.html">Feature2D</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1FeatureBA.html">FeatureBA</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GainCompensator.html">GainCompensator</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GeodeticCoords.html">GeodeticCoords</a></td></tr>
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<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GFTT.html">GFTT</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GFTT__ORB.html">GFTT_ORB</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GlobalDescriptor.html">GlobalDescriptor</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GlobalDescriptorExtractor.html">GlobalDescriptorExtractor</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GlobalMap.html">GlobalMap</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GPS.html">GPS</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1GridMap.html">GridMap</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMUEvent.html">IMUEvent</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Fuses gyroscope and accelerometer samples into an orientation quaternion. <a href="classrtabmap_1_1IMUFilter.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1IMUThread.html">IMUThread</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1KAZE.html">KAZE</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LaserScan.html">LaserScan</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Lidar.html">Lidar</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Link.html">Link</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGrid.html">LocalGrid</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridCache.html">LocalGridCache</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1LocalGridMaker.html">LocalGridMaker</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Builds per-node local occupancy grids from laser scans or depth clouds. <a href="classrtabmap_1_1LocalGridMaker.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1MarkerDetector.html">MarkerDetector</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OccupancyGrid.html">OccupancyGrid</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OctoMap.html">OctoMap</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryCuVSLAM.html">OdometryCuVSLAM</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryDVO.html">OdometryDVO</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryEvent.html">OdometryEvent</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">One processed frame with the pose the odometry integrated for it. <a href="classrtabmap_1_1OdometryEvent.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryF2F.html">OdometryF2F</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryF2M.html">OdometryF2M</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryFLOAM.html">OdometryFLOAM</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryFovis.html">OdometryFovis</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryInfo.html">OdometryInfo</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryLIOSAM.html">OdometryLIOSAM</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryLOAM.html">OdometryLOAM</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryMono.html">OdometryMono</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryMSCKF.html">OdometryMSCKF</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryOkvis.html">OdometryOkvis</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryOpen3D.html">OdometryOpen3D</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryORBSLAM2.html">OdometryORBSLAM2</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryORBSLAM3.html">OdometryORBSLAM3</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryResetEvent.html">OdometryResetEvent</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryThread.html">OdometryThread</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryVINSFusion.html">OdometryVINSFusion</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OdometryViso2.html">OdometryViso2</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Optimizer.html">Optimizer</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCeres.html">OptimizerCeres</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerCVSBA.html">OptimizerCVSBA</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1OptimizerG2O.html">OptimizerG2O</a></td></tr>
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<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1ORB.html" title="ORB detector and descriptor (optional GPU).">ORB</a> detector and descriptor (optional GPU). <a href="classrtabmap_1_1ORB.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ORBOctree.html">ORBOctree</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1ORB.html" title="ORB detector and descriptor (optional GPU).">ORB</a> with octree spatial distribution (RTAB-Map must be built with OCTREE enabled). <a href="classrtabmap_1_1ORBOctree.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Parameters.html">Parameters</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ParamEvent.html">ParamEvent</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ParticleFilter.html">ParticleFilter</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrtabmap_1_1PointXYZIRT.html">PointXYZIRT</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">This namespace contains 3D point cloud processing utilities. <a href="structrtabmap_1_1PointXYZIRT.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">struct &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="structrtabmap_1_1PointXYZIT.html">PointXYZIT</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1ProgressState.html">ProgressState</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1PythonInterface.html">PythonInterface</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Registration.html">Registration</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract base for registering two observations (visual, ICP, or both). <a href="classrtabmap_1_1Registration.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationIcp.html">RegistrationIcp</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationInfo.html">RegistrationInfo</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Statistics.html" title="Collects and manages runtime statistics for RTAB-Map.">Statistics</a> and diagnostics returned by <a class="el" href="classrtabmap_1_1Registration.html">Registration</a>. <a href="classrtabmap_1_1RegistrationInfo.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RegistrationVis.html">RegistrationVis</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Visual registration between two signatures using features and geometry. <a href="classrtabmap_1_1RegistrationVis.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure). <a href="classrtabmap_1_1Rtabmap.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapColorOcTree.html">RtabmapColorOcTree</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapColorOcTreeNode.html">RtabmapColorOcTreeNode</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapEvent.html">RtabmapEvent</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapEvent3DMap.html">RtabmapEvent3DMap</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapEventCmd.html">RtabmapEventCmd</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Command sent to <a class="el" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a>, with its parameters. <a href="classrtabmap_1_1RtabmapEventCmd.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapEventInit.html">RtabmapEventInit</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapGlobalPathEvent.html">RtabmapGlobalPathEvent</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapGoalStatusEvent.html">RtabmapGoalStatusEvent</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapLabelErrorEvent.html">RtabmapLabelErrorEvent</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RtabmapThread.html">RtabmapThread</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Runs a <a class="el" href="classrtabmap_1_1Rtabmap.html">Rtabmap</a> instance in its own thread, driven by events. <a href="classrtabmap_1_1RtabmapThread.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1RvlCodec.html">RvlCodec</a></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html">SensorCapture</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract base class for sensor data capture (cameras, lidars, etc.) <a href="classrtabmap_1_1SensorCapture.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Metadata structure for sensor data capture and processing. <a href="classrtabmap_1_1SensorCaptureInfo.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureThread.html">SensorCaptureThread</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Thread-based sensor data capture and event posting for RTAB-Map. <a href="classrtabmap_1_1SensorCaptureThread.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Container class for all sensor data captured at a specific time. <a href="classrtabmap_1_1SensorData.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Event class for sensor data communication in RTAB-Map's event system. <a href="classrtabmap_1_1SensorEvent.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SIFT.html">SIFT</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1SIFT.html" title="SIFT detector and descriptor (optional GPU / CudaSift).">SIFT</a> detector and descriptor (optional GPU / CudaSift). <a href="classrtabmap_1_1SIFT.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Signature.html">Signature</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Represents a node in RTAB-Map's pose graph. <a href="classrtabmap_1_1Signature.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Statistics.html">Statistics</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Collects and manages runtime statistics for RTAB-Map. <a href="classrtabmap_1_1Statistics.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Stereo.html">Stereo</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sparse stereo matching using block matching. <a href="classrtabmap_1_1Stereo.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoBM.html">StereoBM</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Block Matching algorithm for dense stereo matching. <a href="classrtabmap_1_1StereoBM.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">A class representing a calibrated stereo camera system. <a href="classrtabmap_1_1StereoCameraModel.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoDense.html">StereoDense</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Abstract base class for dense stereo matching algorithms. <a href="classrtabmap_1_1StereoDense.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoOpticalFlow.html">StereoOpticalFlow</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sparse stereo matching using optical flow. <a href="classrtabmap_1_1StereoOpticalFlow.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1StereoSGBM.html">StereoSGBM</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Semi-Global Block Matching algorithm for dense stereo matching. <a href="classrtabmap_1_1StereoSGBM.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SuperPointRpautrat.html">SuperPointRpautrat</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support). <a href="classrtabmap_1_1SuperPointRpautrat.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SuperPointTorch.html">SuperPointTorch</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">SuperPoint via LibTorch (RTAB-Map must be built with libtorch support). <a href="classrtabmap_1_1SuperPointTorch.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SURF.html">SURF</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1SURF.html" title="SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build).">SURF</a> detector and descriptor (non-free / xfeatures2d depending on OpenCV build). <a href="classrtabmap_1_1SURF.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SURF__DAISY.html">SURF_DAISY</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1SURF.html" title="SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build).">SURF</a> detector + DAISY descriptors (OpenCV 3+ xfeatures2d). <a href="classrtabmap_1_1SURF__DAISY.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SURF__FREAK.html">SURF_FREAK</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1SURF.html" title="SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build).">SURF</a> detector + FREAK descriptors. <a href="classrtabmap_1_1SURF__FREAK.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Represents a 3D rigid body transformation (rotation + translation). <a href="classrtabmap_1_1Transform.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1TransformStamped.html">TransformStamped</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Associates a transform with a timestamp. <a href="classrtabmap_1_1TransformStamped.html#details">More...</a><br /></td></tr>
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<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1UserDataEvent.html">UserDataEvent</a></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VisualWord.html">VisualWord</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model. <a href="classrtabmap_1_1VisualWord.html#details">More...</a><br /></td></tr>
<tr class="separator:"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:"><td class="memItemLeft" align="right" valign="top">class &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1VWDictionary.html">VWDictionary</a></td></tr>
<tr class="memdesc:"><td class="mdescLeft">&#160;</td><td class="mdescRight">Manages a dictionary of visual words for visual place recognition and loop closure detection. <a href="classrtabmap_1_1VWDictionary.html#details">More...</a><br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="typedef-members" name="typedef-members"></a>
Typedefs</h2></td></tr>
<tr class="memitem:ac175ef40b7a4acb632232d3d96a1199a" id="r_ac175ef40b7a4acb632232d3d96a1199a"><td class="memItemLeft" align="right" valign="top">typedef std::map&lt; <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">EnvSensor::Type</a>, <a class="el" href="classrtabmap_1_1EnvSensor.html">EnvSensor</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">EnvSensors</a></td></tr>
<tr class="memdesc:ac175ef40b7a4acb632232d3d96a1199a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Map of environmental readings keyed by <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">EnvSensor::Type</a> (at most one per type). <br /></td></tr>
<tr class="separator:ac175ef40b7a4acb632232d3d96a1199a"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a12bbfd3e37121bf9f68a4047c8b4da86" id="r_a12bbfd3e37121bf9f68a4047c8b4da86"><td class="memItemLeft" align="right" valign="top">typedef std::map&lt; int, <a class="el" href="classrtabmap_1_1Landmark.html">Landmark</a> &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">Landmarks</a></td></tr>
<tr class="memdesc:a12bbfd3e37121bf9f68a4047c8b4da86"><td class="mdescLeft">&#160;</td><td class="mdescRight">Map of landmark id → <a class="el" href="classrtabmap_1_1Landmark.html">Landmark</a> (typically positive keys). <br /></td></tr>
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<tr class="memitem:a223e130e05bff60079b773b6b7c03cc5" id="r_a223e130e05bff60079b773b6b7c03cc5"><td class="memItemLeft" align="right" valign="top">typedef std::map&lt; int, std::set&lt; int &gt; &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a223e130e05bff60079b773b6b7c03cc5">BAOutliers</a></td></tr>
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<tr class="memitem:ad08b6f1796a27dd7316c99c385e2cc55" id="r_ad08b6f1796a27dd7316c99c385e2cc55"><td class="memItemLeft" align="right" valign="top">typedef std::map&lt; std::string, std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a></td></tr>
<tr class="memdesc:ad08b6f1796a27dd7316c99c385e2cc55"><td class="mdescLeft">&#160;</td><td class="mdescRight">Parameter keys mapped to their values, as used by every configurable class (see <a class="el" href="classrtabmap_1_1Parameters.html">Parameters</a>). <br /></td></tr>
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<tr class="memitem:a4d38c2e87cb7a46dc4299f7bd4d95a01" id="r_a4d38c2e87cb7a46dc4299f7bd4d95a01"><td class="memItemLeft" align="right" valign="top">typedef std::pair&lt; std::string, std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a4d38c2e87cb7a46dc4299f7bd4d95a01">ParametersPair</a></td></tr>
<tr class="memdesc:a4d38c2e87cb7a46dc4299f7bd4d95a01"><td class="mdescLeft">&#160;</td><td class="mdescRight">A single parameter key/value pair, the entry type of <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="func-members" name="func-members"></a>
Functions</h2></td></tr>
<tr class="memitem:a087b7a1b89acb679edee23883653f1a7" id="r_a087b7a1b89acb679edee23883653f1a7"><td class="memItemLeft" align="right" valign="top">RTABMAP_CORE_EXPORT std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a087b7a1b89acb679edee23883653f1a7">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;model)</td></tr>
<tr class="memdesc:a087b7a1b89acb679edee23883653f1a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Stream operator for printing a camera model to an output stream. <br /></td></tr>
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std::vector&lt; unsigned char &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>compressImage</b> (const cv::Mat &amp;image, const std::string &amp;format=&quot;.png&quot;)</td></tr>
<tr class="memdesc:a52beb14eea422420c95fd69bdf3ab9dc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Encodes <code>image</code> to a byte buffer (OpenCV <code>imencode</code> or RVL for depth). <br /></td></tr>
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cv::Mat RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>compressImage2</b> (const cv::Mat &amp;image, const std::string &amp;format=&quot;.png&quot;)</td></tr>
<tr class="memdesc:abd9d5523210562abd9b5dc8fa9dbeb99"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as <a class="el" href="namespacertabmap.html#a52beb14eea422420c95fd69bdf3ab9dc">compressImage()</a> but returns a <code>CV_8UC1</code> row matrix. <br /></td></tr>
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cv::Mat RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>uncompressImage</b> (const cv::Mat &amp;bytes)</td></tr>
<tr class="memdesc:a462f181a147c9f5315f70b0cd89210e5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Decodes compressed image bytes to a @cv::Mat. <br /></td></tr>
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cv::Mat RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>uncompressImage</b> (const std::vector&lt; unsigned char &gt; &amp;bytes)</td></tr>
<tr class="memdesc:af56ea8b86f7a873959588d35a7ede187"><td class="mdescLeft">&#160;</td><td class="mdescRight">Decodes compressed image bytes to a @cv::Mat. <br /></td></tr>
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std::vector&lt; unsigned char &gt; RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>compressData</b> (const cv::Mat &amp;data)</td></tr>
<tr class="memdesc:a749adef593d09b887926afb6ebdb5834"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compresses a matrix with zlib; appends rows, cols and type at the end. <br /></td></tr>
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cv::Mat RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>compressData2</b> (const cv::Mat &amp;data)</td></tr>
<tr class="memdesc:aca82ee9efc46461c648c7ab8999e1d5b"><td class="mdescLeft">&#160;</td><td class="mdescRight">Same as <a class="el" href="namespacertabmap.html#a749adef593d09b887926afb6ebdb5834">compressData()</a> but returns a <code>CV_8UC1</code> row matrix. <br /></td></tr>
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cv::Mat RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>uncompressData</b> (const cv::Mat &amp;bytes)</td></tr>
<tr class="memdesc:a696fffaafe542bfb49fc9ab0da2c66b9"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restores a matrix compressed with <a class="el" href="namespacertabmap.html#a749adef593d09b887926afb6ebdb5834">compressData()</a> or <a class="el" href="namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b">compressData2()</a>. <br /></td></tr>
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cv::Mat RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>uncompressData</b> (const std::vector&lt; unsigned char &gt; &amp;bytes)</td></tr>
<tr class="memdesc:aa15a9e946d6571254fc3c808b624e6cd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restores a matrix compressed with <a class="el" href="namespacertabmap.html#a749adef593d09b887926afb6ebdb5834">compressData()</a> or <a class="el" href="namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b">compressData2()</a>. <br /></td></tr>
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<tr class="memitem:a5b02b6a5cd3c620aff7e76c05f78b20f" id="r_a5b02b6a5cd3c620aff7e76c05f78b20f"><td class="memItemLeft" align="right" valign="top"><a id="a5b02b6a5cd3c620aff7e76c05f78b20f" name="a5b02b6a5cd3c620aff7e76c05f78b20f"></a>
cv::Mat RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>uncompressData</b> (const unsigned char *bytes, unsigned long size)</td></tr>
<tr class="memdesc:a5b02b6a5cd3c620aff7e76c05f78b20f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Restores a matrix from a raw compressed buffer. <br /></td></tr>
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cv::Mat RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>compressString</b> (const std::string &amp;str)</td></tr>
<tr class="memdesc:a4f0dfae296aa7029e959d573b286285a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Compresses a null-terminated string using <a class="el" href="namespacertabmap.html#aca82ee9efc46461c648c7ab8999e1d5b">compressData2()</a>. <br /></td></tr>
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std::string RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>uncompressString</b> (const cv::Mat &amp;bytes)</td></tr>
<tr class="memdesc:a811701fc1452e49e82fcab8d4476832f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Decompresses a string produced by <a class="el" href="namespacertabmap.html#a4f0dfae296aa7029e959d573b286285a">compressString()</a>. <br /></td></tr>
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<tr class="memitem:a67c525e80a7187b3106e5fd76155cabc" id="r_a67c525e80a7187b3106e5fd76155cabc"><td class="memItemLeft" align="right" valign="top">std::string RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a67c525e80a7187b3106e5fd76155cabc">compressedDepthFormat</a> (const cv::Mat &amp;bytes)</td></tr>
<tr class="memdesc:a67c525e80a7187b3106e5fd76155cabc"><td class="mdescLeft">&#160;</td><td class="mdescRight">Detects the compression format of depth image bytes. <br /></td></tr>
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<tr class="memitem:ab5cb2dcd6db7fe3bbe25d847177582c2" id="r_ab5cb2dcd6db7fe3bbe25d847177582c2"><td class="memItemLeft" align="right" valign="top">std::string RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#ab5cb2dcd6db7fe3bbe25d847177582c2">compressedDepthFormat</a> (const std::vector&lt; unsigned char &gt; &amp;bytes)</td></tr>
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<tr class="memitem:a58b406e413250675abbf0ec2956e3de8" id="r_a58b406e413250675abbf0ec2956e3de8"><td class="memItemLeft" align="right" valign="top">std::string RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a58b406e413250675abbf0ec2956e3de8">compressedDepthFormat</a> (const unsigned char *bytes, size_t size)</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>RTABMAP_DEPRECATED</b> (typedef <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> Image, &quot;rtabmap::Image class is renamed to <a class="el" href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a>, use the last one instead.&quot;)</td></tr>
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<tr class="memitem:a264208396318e0ecfe2af8f3aafe0374" id="r_a264208396318e0ecfe2af8f3aafe0374"><td class="memItemLeft" align="right" valign="top">int RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a264208396318e0ecfe2af8f3aafe0374">saveLASFile</a> (const std::string &amp;filePath, const pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;cameraIds=std::vector&lt; int &gt;())</td></tr>
<tr class="memdesc:a264208396318e0ecfe2af8f3aafe0374"><td class="mdescLeft">&#160;</td><td class="mdescRight">Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS). <br /></td></tr>
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<tr class="memitem:af174f507bee7dde4f9d45044d7bee8ea" id="r_af174f507bee7dde4f9d45044d7bee8ea"><td class="memItemLeft" align="right" valign="top">int RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#af174f507bee7dde4f9d45044d7bee8ea">saveLASFile</a> (const std::string &amp;filePath, const pcl::PointCloud&lt; pcl::PointXYZRGB &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;cameraIds=std::vector&lt; int &gt;(), const std::vector&lt; float &gt; &amp;intensities=std::vector&lt; float &gt;())</td></tr>
<tr class="memdesc:af174f507bee7dde4f9d45044d7bee8ea"><td class="mdescLeft">&#160;</td><td class="mdescRight">Writes a colored point cloud to LAS/LAZ, with optional intensity and camera ids. <br /></td></tr>
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<tr class="memitem:ad59cb4c65fba713c1a622904c5229198" id="r_ad59cb4c65fba713c1a622904c5229198"><td class="memItemLeft" align="right" valign="top">int RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#ad59cb4c65fba713c1a622904c5229198">saveLASFile</a> (const std::string &amp;filePath, const pcl::PointCloud&lt; pcl::PointXYZI &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;cameraIds=std::vector&lt; int &gt;())</td></tr>
<tr class="memdesc:ad59cb4c65fba713c1a622904c5229198"><td class="mdescLeft">&#160;</td><td class="mdescRight">Writes a point cloud with intensity channel to LAS/LAZ. <br /></td></tr>
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<tr class="memitem:a42710fa1c14154f52eca0092b91640ee" id="r_a42710fa1c14154f52eca0092b91640ee"><td class="memItemLeft" align="right" valign="top">std::vector&lt; double &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a42710fa1c14154f52eca0092b91640ee">cumSum</a> (const std::vector&lt; double &gt; &amp;v)</td></tr>
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std::string&#160;</td><td class="memItemRight" valign="bottom"><b>getPDALSupportedWriters</b> ()</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>savePDALFile</b> (const std::string &amp;filePath, const pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;cameraIds=std::vector&lt; int &gt;(), bool binary=false)</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>savePDALFile</b> (const std::string &amp;filePath, const pcl::PointCloud&lt; pcl::PointXYZRGB &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;cameraIds=std::vector&lt; int &gt;(), bool binary=false, const std::vector&lt; float &gt; &amp;intensities=std::vector&lt; float &gt;())</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>savePDALFile</b> (const std::string &amp;filePath, const pcl::PointCloud&lt; pcl::PointXYZRGBNormal &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;cameraIds=std::vector&lt; int &gt;(), bool binary=false, const std::vector&lt; float &gt; &amp;intensities=std::vector&lt; float &gt;())</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>savePDALFile</b> (const std::string &amp;filePath, const pcl::PointCloud&lt; pcl::PointXYZI &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;cameraIds=std::vector&lt; int &gt;(), bool binary=false)</td></tr>
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int&#160;</td><td class="memItemRight" valign="bottom"><b>savePDALFile</b> (const std::string &amp;filePath, const pcl::PointCloud&lt; pcl::PointXYZINormal &gt; &amp;cloud, const std::vector&lt; int &gt; &amp;cameraIds=std::vector&lt; int &gt;(), bool binary=false)</td></tr>
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std::string RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><b>getPythonTraceback</b> ()</td></tr>
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<tr class="memitem:a84468b4bab971b3b8e2c33a746bf7f36" id="r_a84468b4bab971b3b8e2c33a746bf7f36"><td class="memItemLeft" align="right" valign="top">bool RTABMAP_CORE_EXPORT&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a84468b4bab971b3b8e2c33a746bf7f36">databaseRecovery</a> (const std::string &amp;corruptedDatabase, bool keepCorruptedDatabase=true, std::string *errorMsg=0, <a class="el" href="classrtabmap_1_1ProgressState.html">ProgressState</a> *progressState=0)</td></tr>
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<tr class="memitem:a590ba1a1569333a2342dfbfc3baf699f" id="r_a590ba1a1569333a2342dfbfc3baf699f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a590ba1a1569333a2342dfbfc3baf699f">icvGetRectanglesFisheye</a> (const CvMat *cameraMatrix, const CvMat *distCoeffs, const CvMat *R, const CvMat *newCameraMatrix, CvSize imgSize, cv::Rect_&lt; float &gt; &amp;inner, cv::Rect_&lt; float &gt; &amp;outer)</td></tr>
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<tr class="memitem:a6aeaa243652ad63099eeb32d0581253b" id="r_a6aeaa243652ad63099eeb32d0581253b"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a6aeaa243652ad63099eeb32d0581253b">stereoRectifyFisheye</a> (cv::InputArray _cameraMatrix1, cv::InputArray _distCoeffs1, cv::InputArray _cameraMatrix2, cv::InputArray _distCoeffs2, cv::Size imageSize, cv::InputArray _Rmat, cv::InputArray _Tmat, cv::OutputArray _Rmat1, cv::OutputArray _Rmat2, cv::OutputArray _Pmat1, cv::OutputArray _Pmat2, cv::OutputArray _Qmat, int flags, double alpha, cv::Size newImageSize)</td></tr>
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<tr class="memitem:a6138748ef83b742105e47c9275885e4a" id="r_a6138748ef83b742105e47c9275885e4a"><td class="memItemLeft" align="right" valign="top">RTABMAP_CORE_EXPORT std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a6138748ef83b742105e47c9275885e4a">operator&lt;&lt;</a> (std::ostream &amp;os, const <a class="el" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> &amp;model)</td></tr>
<tr class="memdesc:a6138748ef83b742105e47c9275885e4a"><td class="mdescLeft">&#160;</td><td class="mdescRight">Outputs a textual representation of the <a class="el" href="classrtabmap_1_1StereoCameraModel.html" title="A class representing a calibrated stereo camera system.">StereoCameraModel</a> to the given output stream. <br /></td></tr>
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RTABMAP_CORE_EXPORT std::ostream &amp;&#160;</td><td class="memItemRight" valign="bottom"><b>operator&lt;&lt;</b> (std::ostream &amp;os, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;s)</td></tr>
<tr class="memdesc:aef0e1f1b121a9199e7511becbc8f1e32"><td class="mdescLeft">&#160;</td><td class="mdescRight">Output stream operator for <a class="el" href="classrtabmap_1_1Transform.html" title="Represents a 3D rigid body transformation (rotation + translation).">Transform</a>. <br /></td></tr>
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Variables</h2></td></tr>
<tr class="memitem:ac1143b629394a895ca246d256dbc6038" id="r_ac1143b629394a895ca246d256dbc6038"><td class="memItemLeft" align="right" valign="top">RTABMAP_DEPRECATED typedef <a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#ac1143b629394a895ca246d256dbc6038">CameraInfo</a></td></tr>
<tr class="memdesc:ac1143b629394a895ca246d256dbc6038"><td class="mdescLeft">&#160;</td><td class="mdescRight">Backward compatibility typedef. <br /></td></tr>
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<tr class="memitem:acd001e2ea3d2e44d9e24faab74d36324" id="r_acd001e2ea3d2e44d9e24faab74d36324"><td class="memItemLeft" align="right" valign="top">RTABMAP_DEPRECATED typedef <a class="el" href="classrtabmap_1_1SensorCaptureThread.html">SensorCaptureThread</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#acd001e2ea3d2e44d9e24faab74d36324">CameraThread</a></td></tr>
<tr class="memdesc:acd001e2ea3d2e44d9e24faab74d36324"><td class="mdescLeft">&#160;</td><td class="mdescRight">Backward compatibility typedef. <br /></td></tr>
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<tr class="memitem:a02e773b48c5ac372ce67fe4e040d835d" id="r_a02e773b48c5ac372ce67fe4e040d835d"><td class="memItemLeft" align="right" valign="top">RTABMAP_DEPRECATED typedef <a class="el" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="namespacertabmap.html#a02e773b48c5ac372ce67fe4e040d835d">CameraEvent</a></td></tr>
<tr class="memdesc:a02e773b48c5ac372ce67fe4e040d835d"><td class="mdescLeft">&#160;</td><td class="mdescRight">Backward compatibility typedef. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Contributed by e-consystemgit <a href="https://www.e-consystems.com/opensource-linux-webcam-software-application.asp">https://www.e-consystems.com/opensource-linux-webcam-software-application.asp</a> </p>
</div><h2 class="groupheader">Typedef Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ac175ef40b7a4acb632232d3d96a1199a">&#9670;&#160;</a></span>EnvSensors</h2>
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<td class="memname">typedef std::map&lt;<a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">EnvSensor::Type</a>, <a class="el" href="classrtabmap_1_1EnvSensor.html">EnvSensor</a>&gt; <a class="el" href="namespacertabmap.html#ac175ef40b7a4acb632232d3d96a1199a">rtabmap::EnvSensors</a></td>
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<p>Map of environmental readings keyed by <a class="el" href="classrtabmap_1_1EnvSensor.html#a1ed69864df2cd8e11429358ba817b30f">EnvSensor::Type</a> (at most one per type). </p>
<p class="definition">Definition at line <a class="el" href="EnvSensor_8h_source.html#l00114">114</a> of file <a class="el" href="EnvSensor_8h_source.html">EnvSensor.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a12bbfd3e37121bf9f68a4047c8b4da86">&#9670;&#160;</a></span>Landmarks</h2>
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<td class="memname">typedef std::map&lt;int, <a class="el" href="classrtabmap_1_1Landmark.html">Landmark</a>&gt; <a class="el" href="namespacertabmap.html#a12bbfd3e37121bf9f68a4047c8b4da86">rtabmap::Landmarks</a></td>
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<p>Map of landmark id → <a class="el" href="classrtabmap_1_1Landmark.html">Landmark</a> (typically positive keys). </p>
<p class="definition">Definition at line <a class="el" href="Landmark_8h_source.html#l00113">113</a> of file <a class="el" href="Landmark_8h_source.html">Landmark.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a223e130e05bff60079b773b6b7c03cc5">&#9670;&#160;</a></span>BAOutliers</h2>
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<td class="memname">typedef std::map&lt;int, std::set&lt;int&gt; &gt; rtabmap::BAOutliers</td>
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<p class="definition">Definition at line <a class="el" href="Optimizer_8h_source.html#l00068">68</a> of file <a class="el" href="Optimizer_8h_source.html">Optimizer.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ad08b6f1796a27dd7316c99c385e2cc55">&#9670;&#160;</a></span>ParametersMap</h2>
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<td class="memname">typedef std::map&lt;std::string, std::string&gt; <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">rtabmap::ParametersMap</a></td>
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<p>Parameter keys mapped to their values, as used by every configurable class (see <a class="el" href="classrtabmap_1_1Parameters.html">Parameters</a>). </p>
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00044">44</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4d38c2e87cb7a46dc4299f7bd4d95a01">&#9670;&#160;</a></span>ParametersPair</h2>
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<td class="memname">typedef std::pair&lt;std::string, std::string&gt; <a class="el" href="namespacertabmap.html#a4d38c2e87cb7a46dc4299f7bd4d95a01">rtabmap::ParametersPair</a></td>
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<p>A single parameter key/value pair, the entry type of <a class="el" href="namespacertabmap.html#ad08b6f1796a27dd7316c99c385e2cc55">ParametersMap</a>. </p>
<p class="definition">Definition at line <a class="el" href="Parameters_8h_source.html#l00046">46</a> of file <a class="el" href="Parameters_8h_source.html">Parameters.h</a>.</p>
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<h2 class="groupheader">Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a087b7a1b89acb679edee23883653f1a7">&#9670;&#160;</a></span>operator&lt;&lt;() <span class="overload">[1/2]</span></h2>
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<td class="memname">RTABMAP_CORE_EXPORT std::ostream &amp; rtabmap::operator&lt;&lt; </td>
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<p>Stream operator for printing a camera model to an output stream. </p>
<p>This function outputs the name, image size, and camera matrices (K, D, R, P) along with the local transformation.</p>
<p>Example output: </p><div class="fragment"><div class="line">Name: camera1</div>
<div class="line">Size: 640x480</div>
<div class="line">K= [fx, 0, cx;</div>
<div class="line"> 0, fy, cy;</div>
<div class="line"> 0, 0, 1]</div>
<div class="line">D= [...]</div>
<div class="line">R= [...]</div>
<div class="line">P= [...]</div>
<div class="line">LocalTransform= [...]</div>
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<tr><td class="paramname">os</td><td>Output stream. </td></tr>
<tr><td class="paramname">model</td><td><a class="el" href="classrtabmap_1_1Camera.html">Camera</a> model to print. </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>The modified output stream. </dd></dl>
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<p>Detects the compression format of depth image bytes. </p>
<dl class="section return"><dt>Returns</dt><dd><code>".rvl"</code> if the buffer has an RVL signature, otherwise <code>".png"</code>. </dd></dl>
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<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
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<p>This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. </p>
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<td class="memname">int RTABMAP_CORE_EXPORT rtabmap::saveLASFile </td>
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<td class="paramtype">const pcl::PointCloud&lt; pcl::PointXYZ &gt; &amp;&#160;</td>
<td class="paramname"><em>cloud</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
<td class="paramname"><em>cameraIds</em> = <code>std::vector&lt;&#160;int&#160;&gt;()</code>&#160;</td>
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<p>Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS). </p>
<p>Output uses 1 mm XYZ scale (<code>0.001</code>). The file extension (<code>.las</code> or <code>.laz</code>) selects uncompressed or compressed output when libLAS LAZ support is available.</p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">filePath</td><td>Output path (<code>.las</code> or <code>.laz</code>). </td></tr>
<tr><td class="paramname">cloud</td><td>Input point cloud. </td></tr>
<tr><td class="paramname">cameraIds</td><td>Optional per-point camera/signature ids (stored as point source ID); must be empty or the same length as <code>cloud</code>. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><code>0</code> on success, <code>1</code> on error (e.g. LAZ not supported). </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#af174f507bee7dde4f9d45044d7bee8ea">&#9670;&#160;</a></span>saveLASFile() <span class="overload">[2/3]</span></h2>
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<td class="memname">int RTABMAP_CORE_EXPORT rtabmap::saveLASFile </td>
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<td class="paramtype">const std::string &amp;&#160;</td>
<td class="paramname"><em>filePath</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const pcl::PointCloud&lt; pcl::PointXYZRGB &gt; &amp;&#160;</td>
<td class="paramname"><em>cloud</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
<td class="paramname"><em>cameraIds</em> = <code>std::vector&lt;&#160;int&#160;&gt;()</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const std::vector&lt; float &gt; &amp;&#160;</td>
<td class="paramname"><em>intensities</em> = <code>std::vector&lt;&#160;float&#160;&gt;()</code>&#160;</td>
</tr>
<tr>
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<td>)</td>
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<p>Writes a colored point cloud to LAS/LAZ, with optional intensity and camera ids. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">filePath</td><td>Output path (<code>.las</code> or <code>.laz</code>). </td></tr>
<tr><td class="paramname">cloud</td><td>RGB point cloud (8-bit channels mapped to 16-bit LAS color). </td></tr>
<tr><td class="paramname">cameraIds</td><td>Optional per-point ids (same length as <code>cloud</code> or empty). </td></tr>
<tr><td class="paramname">intensities</td><td>Optional per-point intensities (same length as <code>cloud</code> or empty). </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><code>0</code> on success, <code>1</code> on error. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#ad59cb4c65fba713c1a622904c5229198">&#9670;&#160;</a></span>saveLASFile() <span class="overload">[3/3]</span></h2>
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<td class="memname">int RTABMAP_CORE_EXPORT rtabmap::saveLASFile </td>
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<td class="paramtype">const std::string &amp;&#160;</td>
<td class="paramname"><em>filePath</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const pcl::PointCloud&lt; pcl::PointXYZI &gt; &amp;&#160;</td>
<td class="paramname"><em>cloud</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const std::vector&lt; int &gt; &amp;&#160;</td>
<td class="paramname"><em>cameraIds</em> = <code>std::vector&lt;&#160;int&#160;&gt;()</code>&#160;</td>
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<p>Writes a point cloud with intensity channel to LAS/LAZ. </p>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">filePath</td><td>Output path (<code>.las</code> or <code>.laz</code>). </td></tr>
<tr><td class="paramname">cloud</td><td>XYZI point cloud (coordinates and intensity written). </td></tr>
<tr><td class="paramname">cameraIds</td><td>Optional per-point ids (same length as <code>cloud</code> or empty). </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd><code>0</code> on success, <code>1</code> on error. </dd></dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a42710fa1c14154f52eca0092b91640ee">&#9670;&#160;</a></span>cumSum()</h2>
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<td class="memname">std::vector&lt; double &gt; rtabmap::cumSum </td>
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<td class="paramname"><em>v</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="ParticleFilter_8h_source.html#l00053">53</a> of file <a class="el" href="ParticleFilter_8h_source.html">ParticleFilter.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a45239b3eac29fca49eed94d1a322f57d">&#9670;&#160;</a></span>resample()</h2>
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<td class="memname">std::vector&lt; double &gt; rtabmap::resample </td>
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<td class="paramname"><em>p</em>, </td>
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<td class="paramtype">const std::vector&lt; double &gt; &amp;&#160;</td>
<td class="paramname"><em>w</em>, </td>
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<td class="paramtype">bool&#160;</td>
<td class="paramname"><em>normalizeWeights</em> = <code>false</code>&#160;</td>
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<p class="definition">Definition at line <a class="el" href="ParticleFilter_8h_source.html#l00065">65</a> of file <a class="el" href="ParticleFilter_8h_source.html">ParticleFilter.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a84468b4bab971b3b8e2c33a746bf7f36">&#9670;&#160;</a></span>databaseRecovery()</h2>
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<td class="memname">bool RTABMAP_CORE_EXPORT rtabmap::databaseRecovery </td>
<td>(</td>
<td class="paramtype">const std::string &amp;&#160;</td>
<td class="paramname"><em>corruptedDatabase</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">bool&#160;</td>
<td class="paramname"><em>keepCorruptedDatabase</em> = <code>true</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">std::string *&#160;</td>
<td class="paramname"><em>errorMsg</em> = <code>0</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype"><a class="el" href="classrtabmap_1_1ProgressState.html">ProgressState</a> *&#160;</td>
<td class="paramname"><em>progressState</em> = <code>0</code>&#160;</td>
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<p>Return true on success. The database is renamed to "*.backup.db" before recovering. </p><dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">corruptedDatabase</td><td>database to recover </td></tr>
<tr><td class="paramname">keepCorruptedDatabase</td><td>if false and on recovery success, the backup database is removed </td></tr>
<tr><td class="paramname">errorMsg</td><td>error message if the function returns false </td></tr>
<tr><td class="paramname">progressState</td><td>A <a class="el" href="classrtabmap_1_1ProgressState.html">ProgressState</a> object used to get status of the recovery process </td></tr>
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</dd>
</dl>
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<h2 class="memtitle"><span class="permalink"><a href="#a590ba1a1569333a2342dfbfc3baf699f">&#9670;&#160;</a></span>icvGetRectanglesFisheye()</h2>
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<td class="memname">void rtabmap::icvGetRectanglesFisheye </td>
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<td class="paramtype">const CvMat *&#160;</td>
<td class="paramname"><em>cameraMatrix</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const CvMat *&#160;</td>
<td class="paramname"><em>distCoeffs</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const CvMat *&#160;</td>
<td class="paramname"><em>R</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const CvMat *&#160;</td>
<td class="paramname"><em>newCameraMatrix</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">CvSize&#160;</td>
<td class="paramname"><em>imgSize</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">cv::Rect_&lt; float &gt; &amp;&#160;</td>
<td class="paramname"><em>inner</em>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">cv::Rect_&lt; float &gt; &amp;&#160;</td>
<td class="paramname"><em>outer</em>&#160;</td>
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<p class="definition">Definition at line <a class="el" href="stereoRectifyFisheye_8h_source.html#l00935">935</a> of file <a class="el" href="stereoRectifyFisheye_8h_source.html">stereoRectifyFisheye.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ae1de66834acb641b9dac1e9b1670ad80">&#9670;&#160;</a></span>cvStereoRectifyFisheye()</h2>
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<td class="memname">void rtabmap::cvStereoRectifyFisheye </td>
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<td class="paramtype">const CvMat *&#160;</td>
<td class="paramname"><em>_cameraMatrix1</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const CvMat *&#160;</td>
<td class="paramname"><em>_cameraMatrix2</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const CvMat *&#160;</td>
<td class="paramname"><em>_distCoeffs1</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const CvMat *&#160;</td>
<td class="paramname"><em>_distCoeffs2</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">CvSize&#160;</td>
<td class="paramname"><em>imageSize</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">const CvMat *&#160;</td>
<td class="paramname"><em>matR</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">const CvMat *&#160;</td>
<td class="paramname"><em>matT</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">CvMat *&#160;</td>
<td class="paramname"><em>_R1</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">CvMat *&#160;</td>
<td class="paramname"><em>_R2</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">CvMat *&#160;</td>
<td class="paramname"><em>_P1</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">CvMat *&#160;</td>
<td class="paramname"><em>_P2</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">CvMat *&#160;</td>
<td class="paramname"><em>matQ</em>, </td>
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<td></td>
<td class="paramtype">int&#160;</td>
<td class="paramname"><em>flags</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">double&#160;</td>
<td class="paramname"><em>alpha</em>, </td>
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<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">CvSize&#160;</td>
<td class="paramname"><em>newImgSize</em>&#160;</td>
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<p class="definition">Definition at line <a class="el" href="stereoRectifyFisheye_8h_source.html#l00980">980</a> of file <a class="el" href="stereoRectifyFisheye_8h_source.html">stereoRectifyFisheye.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a6aeaa243652ad63099eeb32d0581253b">&#9670;&#160;</a></span>stereoRectifyFisheye()</h2>
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<td class="memname">void rtabmap::stereoRectifyFisheye </td>
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<td class="paramtype">cv::InputArray&#160;</td>
<td class="paramname"><em>_cameraMatrix1</em>, </td>
</tr>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">cv::InputArray&#160;</td>
<td class="paramname"><em>_distCoeffs1</em>, </td>
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<td class="paramkey"></td>
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<td class="paramtype">cv::InputArray&#160;</td>
<td class="paramname"><em>_cameraMatrix2</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">cv::InputArray&#160;</td>
<td class="paramname"><em>_distCoeffs2</em>, </td>
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<td></td>
<td class="paramtype">cv::Size&#160;</td>
<td class="paramname"><em>imageSize</em>, </td>
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<td></td>
<td class="paramtype">cv::InputArray&#160;</td>
<td class="paramname"><em>_Rmat</em>, </td>
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<td class="paramtype">cv::InputArray&#160;</td>
<td class="paramname"><em>_Tmat</em>, </td>
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<td></td>
<td class="paramtype">cv::OutputArray&#160;</td>
<td class="paramname"><em>_Rmat1</em>, </td>
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<td class="paramkey"></td>
<td></td>
<td class="paramtype">cv::OutputArray&#160;</td>
<td class="paramname"><em>_Rmat2</em>, </td>
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<td class="paramtype">cv::OutputArray&#160;</td>
<td class="paramname"><em>_Pmat1</em>, </td>
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<td class="paramtype">cv::OutputArray&#160;</td>
<td class="paramname"><em>_Pmat2</em>, </td>
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<td class="paramname"><em>_Qmat</em>, </td>
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<td></td>
<td class="paramtype">double&#160;</td>
<td class="paramname"><em>alpha</em>, </td>
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<td class="paramtype">cv::Size&#160;</td>
<td class="paramname"><em>newImageSize</em>&#160;</td>
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<p class="definition">Definition at line <a class="el" href="stereoRectifyFisheye_8h_source.html#l01190">1190</a> of file <a class="el" href="stereoRectifyFisheye_8h_source.html">stereoRectifyFisheye.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a6138748ef83b742105e47c9275885e4a">&#9670;&#160;</a></span>operator&lt;&lt;() <span class="overload">[2/2]</span></h2>
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<td class="memname">RTABMAP_CORE_EXPORT std::ostream &amp; rtabmap::operator&lt;&lt; </td>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1StereoCameraModel.html">StereoCameraModel</a> &amp;&#160;</td>
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<p>Outputs a textual representation of the <a class="el" href="classrtabmap_1_1StereoCameraModel.html" title="A class representing a calibrated stereo camera system.">StereoCameraModel</a> to the given output stream. </p>
<p>This operator prints the details of the stereo camera model including:</p><ul>
<li>The left camera parameters.</li>
<li>The right camera parameters.</li>
<li>The stereo extrinsic matrices: Rotation (R), Translation (T), Essential (E), and Fundamental (F).</li>
<li>The baseline distance between the two cameras.</li>
</ul>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<tr><td class="paramname">os</td><td>The output stream to write to. </td></tr>
<tr><td class="paramname">model</td><td>The <a class="el" href="classrtabmap_1_1StereoCameraModel.html" title="A class representing a calibrated stereo camera system.">StereoCameraModel</a> instance to output. </td></tr>
</table>
</dd>
</dl>
<dl class="section return"><dt>Returns</dt><dd>A reference to the output stream after writing the model information. </dd></dl>
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</div>
<h2 class="groupheader">Variable Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ac1143b629394a895ca246d256dbc6038">&#9670;&#160;</a></span>CameraInfo</h2>
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<td class="memname">RTABMAP_DEPRECATED typedef <a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> rtabmap::CameraInfo</td>
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<p>Backward compatibility typedef. </p>
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000010">Deprecated:</a></b></dt><dd>Use <a class="el" href="classrtabmap_1_1SensorCaptureInfo.html" title="Metadata structure for sensor data capture and processing.">SensorCaptureInfo</a> instead </dd></dl>
<p>CameraInfo is deprecated. Use <a class="el" href="classrtabmap_1_1SensorCaptureInfo.html" title="Metadata structure for sensor data capture and processing.">SensorCaptureInfo</a> instead. </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00133">133</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#acd001e2ea3d2e44d9e24faab74d36324">&#9670;&#160;</a></span>CameraThread</h2>
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<td class="memname">RTABMAP_DEPRECATED typedef <a class="el" href="classrtabmap_1_1SensorCaptureThread.html">SensorCaptureThread</a> rtabmap::CameraThread</td>
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<p>Backward compatibility typedef. </p>
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000011">Deprecated:</a></b></dt><dd>Use <a class="el" href="classrtabmap_1_1SensorCaptureThread.html" title="Thread-based sensor data capture and event posting for RTAB-Map.">SensorCaptureThread</a> instead </dd></dl>
<p>CameraThread is deprecated. Use <a class="el" href="classrtabmap_1_1SensorCaptureThread.html" title="Thread-based sensor data capture and event posting for RTAB-Map.">SensorCaptureThread</a> instead. </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureThread_8h_source.html#l00565">565</a> of file <a class="el" href="SensorCaptureThread_8h_source.html">SensorCaptureThread.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a02e773b48c5ac372ce67fe4e040d835d">&#9670;&#160;</a></span>CameraEvent</h2>
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<td class="memname">RTABMAP_DEPRECATED typedef <a class="el" href="classrtabmap_1_1SensorEvent.html">SensorEvent</a> rtabmap::CameraEvent</td>
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<p>Backward compatibility typedef. </p>
<dl class="deprecated"><dt><b><a class="el" href="deprecated.html#_deprecated000014">Deprecated:</a></b></dt><dd>Use <a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a> instead </dd></dl>
<p>CameraEvent is deprecated. Use <a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a> instead. </p>
<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00207">207</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
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