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<div id="projectname">RTAB-Map<span id="projectnumber"> 0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<div class="headertitle"><div class="title">Deprecated List</div></div>
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<div class="textblock"><dl class="reflist">
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<dt>Member <a class="el" href="namespacertabmap.html#a02e773b48c5ac372ce67fe4e040d835d">rtabmap::CameraEvent</a> </dt>
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<dd><a class="anchor" id="_deprecated000014"></a>Use <a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map's event system.">SensorEvent</a> instead </dd>
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<dt>Member <a class="el" href="namespacertabmap.html#ac1143b629394a895ca246d256dbc6038">rtabmap::CameraInfo</a> </dt>
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<dd><a class="anchor" id="_deprecated000010"></a>Use <a class="el" href="classrtabmap_1_1SensorCaptureInfo.html" title="Metadata structure for sensor data capture and processing.">SensorCaptureInfo</a> instead </dd>
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<dt>Member <a class="el" href="namespacertabmap.html#acd001e2ea3d2e44d9e24faab74d36324">rtabmap::CameraThread</a> </dt>
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<dd><a class="anchor" id="_deprecated000011"></a>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>
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<dt>Member <a class="el" href="namespacertabmap_1_1graph.html#a52dbbfb5099e97699f2ead9139891a5f">rtabmap::graph::findNearestNodes</a> (const std::map< int, rtabmap::Transform > &nodes, const <a class="el" href="classrtabmap_1_1Transform.html" title="Represents a 3D rigid body transformation (rotation + translation).">rtabmap::Transform</a> &targetPose, int k)</dt>
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<dd><a class="anchor" id="_deprecated000001"></a>Use <a class="el" href="namespacertabmap_1_1graph.html#a70a5f4b17aa3bb54cad151c9f290ff7f">findNearestNodes(const Transform&,const std::map<int,Transform>&,float,float,int)</a> with <code>radius=0</code>, <code>k</code> set. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1graph.html#af9e81a0b31730adb292591b79f45c87e">rtabmap::graph::getNodesInRadius</a> (int nodeId, const std::map< int, Transform > &nodes, float radius)</dt>
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<dd><a class="anchor" id="_deprecated000002"></a>Use <a class="el" href="namespacertabmap_1_1graph.html#a92dfe14b22f897e11bf5bf3f7a7c9157">findNearestNodes(int,const std::map<int,Transform>&,float,float,int)</a>. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1graph.html#a4f7f712868babb4cc74f7fe2cc366620">rtabmap::graph::getNodesInRadius</a> (const <a class="el" href="classrtabmap_1_1Transform.html" title="Represents a 3D rigid body transformation (rotation + translation).">Transform</a> &targetPose, const std::map< int, Transform > &nodes, float radius)</dt>
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<dd><a class="anchor" id="_deprecated000003"></a>Use <a class="el" href="namespacertabmap_1_1graph.html#a70a5f4b17aa3bb54cad151c9f290ff7f">findNearestNodes(const Transform&,const std::map<int,Transform>&,float,float,int)</a>. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1graph.html#ae487257302634dff8248188e2ed69043">rtabmap::graph::getPosesInRadius</a> (int nodeId, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)</dt>
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<dd><a class="anchor" id="_deprecated000004"></a>Use <a class="el" href="namespacertabmap_1_1graph.html#a8cd823f440a4512407ef78d76ff1dbbf">findNearestPoses(int,const std::map<int,Transform>&,float,float,int)</a>. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1graph.html#a0851e81af5d331032ec790a10bb4302f">rtabmap::graph::getPosesInRadius</a> (const <a class="el" href="classrtabmap_1_1Transform.html" title="Represents a 3D rigid body transformation (rotation + translation).">Transform</a> &targetPose, const std::map< int, Transform > &nodes, float radius, float angle=0.0f)</dt>
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<dd><a class="anchor" id="_deprecated000005"></a>Use <a class="el" href="namespacertabmap_1_1graph.html#a236de727a38e51699fe73ff61b459d95">findNearestPoses(const Transform&,const std::map<int,Transform>&,float,float,int)</a>. </dd>
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<dt>Member <a class="el" href="classrtabmap_1_1LaserScan.html#a0cb5ba7c590cea1b36c81804acdbf302">rtabmap::LaserScan::LaserScan</a> (const <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> &data, int maxPoints, float maxRange, Format format, const <a class="el" href="classrtabmap_1_1Transform.html" title="Represents a 3D rigid body transformation (rotation + translation).">Transform</a> &localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" title="Returns identity transform.">Transform::getIdentity()</a>)</dt>
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<dd><a class="anchor" id="_deprecated000006"></a>Use constructor without <code>format</code> argument. </dd>
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<dt>Member <a class="el" href="classrtabmap_1_1LaserScan.html#aaf554921f866f90c48a6174d5f97a016">rtabmap::LaserScan::LaserScan</a> (const <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> &data, Format format, float minRange, float maxRange, float angleMin, float angleMax, float angleIncrement, const <a class="el" href="classrtabmap_1_1Transform.html" title="Represents a 3D rigid body transformation (rotation + translation).">Transform</a> &localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" title="Returns identity transform.">Transform::getIdentity()</a>)</dt>
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<dd><a class="anchor" id="_deprecated000007"></a>Use constructor without <code>format</code> argument. </dd>
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<dt>Member <a class="el" href="classrtabmap_1_1Odometry.html#a35d69a27271b798da6640295a98b9785">rtabmap::Odometry::previousVelocityTransform</a> () const</dt>
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<dd><a class="anchor" id="_deprecated000008"></a>Use <a class="el" href="classrtabmap_1_1Odometry.html#aa6ab1c129163771b0d87e3e068a0427e">getVelocityGuess()</a> instead. </dd>
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<dt>Member <a class="el" href="classrtabmap_1_1OdometryInfo.html#a3aec571c2fae4b6e3b1197d9f7adabed">rtabmap::OdometryInfo::guessVelocity</a> </dt>
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<dd><a class="anchor" id="_deprecated000009"></a>Use <a class="el" href="classrtabmap_1_1OdometryInfo.html#a8aa1c7947217518727a62bb55106a706">guess</a> and <a class="el" href="classrtabmap_1_1OdometryInfo.html#a2c12cf07f29ecbafe6eacfd2e987adb6">interval</a> instead. </dd>
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<dt>Member <a class="el" href="classrtabmap_1_1SensorCaptureThread.html#a2a40e01eb8e61aae54feeb1458efb88e">rtabmap::SensorCaptureThread::setImageRate</a> (float frameRate)</dt>
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<dd><a class="anchor" id="_deprecated000012"></a>Use <a class="el" href="classrtabmap_1_1SensorCaptureThread.html#a416f1596701d6b9dbd8512cd1c617788" title="Sets the target frame rate for capture.">setFrameRate()</a> instead </dd>
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<dt>Member <a class="el" href="classrtabmap_1_1SensorCaptureThread.html#a40f1016ea142c6117ffb080f64b4a854">rtabmap::SensorCaptureThread::setScanParameters</a> (bool fromDepth, int downsampleStep, float rangeMin, float rangeMax, float voxelSize, int normalsK, float normalsRadius, bool forceGroundNormalsUp, bool deskewing)</dt>
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<dd><a class="anchor" id="_deprecated000013"></a>Use the new version with groundNormalsUp parameter instead </dd>
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<dt>Member <a class="el" href="classrtabmap_1_1Statistics.html#ae5de0aae15a10ed18cc30c2656bd4d6a">rtabmap::Statistics::setLastSignatureData</a> (const <a class="el" href="classrtabmap_1_1Signature.html" title="Represents a node in RTAB-Map's pose graph.">Signature</a> &data)</dt>
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<dd><a class="anchor" id="_deprecated000015"></a>Use <a class="el" href="classrtabmap_1_1Statistics.html#a55748a17bc6348a83dc184fb1b2631fd" title="Adds signature data to the statistics.">addSignatureData()</a> instead </dd>
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<dt>Member <a class="el" href="classrtabmap_1_1Transform.html#ab943d72a808b96b7f89943fc78e38d68">rtabmap::Transform::getClosestTransform</a> (const std::map< double, Transform > &tfBuffer, const double &stamp, double *stampDiff)</dt>
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<dd><a class="anchor" id="_deprecated000016"></a>Use <a class="el" href="classrtabmap_1_1Transform.html#a3ebc45da479b4cae9a5641fda6ebaf23" title="Retrieves the transform to a given timestamp.">getTransform()</a> instead. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1util3d.html#a45c699a4a8f4108aa31148fb706e6249">rtabmap::util3d::cloudFromDepth</a> (const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</dt>
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<dd><a class="anchor" id="_deprecated000017"></a> This function is deprecated and will be removed in future versions. Use the <code>cloudFromDepth</code> function that accepts a <code><a class="el" href="classrtabmap_1_1CameraModel.html" title="Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...">rtabmap::CameraModel</a></code> instead. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1util3d.html#a982bc5d13fea129a174e16373aa8a31c">rtabmap::util3d::cloudFromDepthRGB</a> (const cv::Mat &imageRgb, const cv::Mat &imageDepth, float cx, float cy, float fx, float fy, int decimation=1, float maxDepth=0.0f, float minDepth=0.0f, std::vector< int > *validIndices=0)</dt>
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<dd><a class="anchor" id="_deprecated000018"></a> This function is deprecated and will be removed in future versions. Use the version that accepts a <code><a class="el" href="classrtabmap_1_1CameraModel.html" title="Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...">rtabmap::CameraModel</a></code> instead. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1util3d.html#ad02c78c4d3ca36fa9a27a845540ebe55">rtabmap::util3d::commonFiltering</a> (const <a class="el" href="classrtabmap_1_1LaserScan.html" title="Represents 2D or 3D laser scan data with support for multiple point data formats.">LaserScan</a> &scan, int downsamplingStep, float rangeMin, float rangeMax, float voxelSize, int normalK, float normalRadius, bool forceGroundNormalsUp)</dt>
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<dd><a class="anchor" id="_deprecated000021"></a>Use version with groundNormalsUp as float. For forceGroundNormalsUp=true, set groundNormalsUpAngle=0.8, otherwise set groundNormalsUpAngle=0.0. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1util3d.html#ae7dca67101116f7de0114cea5442ec23">rtabmap::util3d::create2DMap</a> (const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)</dt>
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<dd><a class="anchor" id="_deprecated000027"></a>Use the overload taking <code>viewpoints</code>, so that ray tracing starts from the sensor and not from the base frame. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1util3d.html#adcc1d4aca3da4fcb11fa44d3a20f46ca">rtabmap::util3d::create2DMap</a> (const std::map< int, Transform > &poses, const std::map< int, pcl::PointCloud< pcl::PointXYZ >::Ptr > &scans, const std::map< int, cv::Point3f > &viewpoints, float cellSize, bool unknownSpaceFilled, float &xMin, float &yMin, float minMapSize=0.0f, float scanMaxRange=0.0f)</dt>
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<dd><a class="anchor" id="_deprecated000028"></a>Use the overload taking <code>cv::Mat</code> scans. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1util3d.html#ae112015538769a29c920da97096e0d17">rtabmap::util3d::loadBINCloud</a> (const std::string &fileName, int dim)</dt>
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<dd><a class="anchor" id="_deprecated000019"></a>This overload exists for compatibility but ignores the <code>dim</code> parameter. Use version without <code>dim</code> directly. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1util3d.html#a86ba029bd916ab76dd5645ba7e1b2ef8">rtabmap::util3d::loadCloud</a> (const std::string &path, const <a class="el" href="classrtabmap_1_1Transform.html" title="Represents a 3D rigid body transformation (rotation + translation).">Transform</a> &transform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" title="Returns identity transform.">Transform::getIdentity()</a>, int downsampleStep=1, float voxelSize=0.0f)</dt>
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<dd><a class="anchor" id="_deprecated000020"></a>Use <a class="el" href="namespacertabmap_1_1util3d.html#aefffe4f3418377f85659e7546668b190" title="Loads a 3D scan from a file (.pcd, .ply, or .bin format).">loadScan()</a> instead. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1util3d.html#a4f1002c1825baf4b7606a94b4ea9b15d">rtabmap::util3d::occupancy2DFromLaserScan</a> (const cv::Mat &scan, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f)</dt>
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<dd><a class="anchor" id="_deprecated000025"></a>Use the overload taking a <code>viewpoint</code>, so that ray tracing starts from the sensor and not from the base frame. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1util3d.html#aa1c9dfd681662ff1c164956a83e30b57">rtabmap::util3d::occupancy2DFromLaserScan</a> (const cv::Mat &scan, const cv::Point3f &viewpoint, cv::Mat &empty, cv::Mat &occupied, float cellSize, bool unknownSpaceFilled=false, float scanMaxRange=0.0f)</dt>
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<dd><a class="anchor" id="_deprecated000026"></a>Use the overload taking <code>scanHit</code> / <code>scanNoHit</code>; passing a null <code>scanNoHit</code> is equivalent to this one. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1util3d.html#a858e0a5338f348eb1033d6a85c3db926">rtabmap::util3d::uniformSampling</a> (const pcl::PointCloud< pcl::PointXYZ >::Ptr &cloud, float voxelSize)</dt>
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<dd><a class="anchor" id="_deprecated000022"></a>This function is deprecated. Use <a class="el" href="group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89" title="Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.">voxelize()</a> for equivalent behavior. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1util3d.html#a8dfd7d808fa94e809b4a1a1fba6b8226">rtabmap::util3d::uniformSampling</a> (const pcl::PointCloud< pcl::PointXYZRGB >::Ptr &cloud, float voxelSize)</dt>
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<dd><a class="anchor" id="_deprecated000023"></a>This function is deprecated. Use <a class="el" href="group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89" title="Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.">voxelize()</a> for equivalent behavior. </dd>
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<dt>Member <a class="el" href="namespacertabmap_1_1util3d.html#af526f72e838659de76ac45447d3860ae">rtabmap::util3d::uniformSampling</a> (const pcl::PointCloud< pcl::PointXYZRGBNormal >::Ptr &cloud, float voxelSize)</dt>
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<dd><a class="anchor" id="_deprecated000024"></a>This function is deprecated. Use <a class="el" href="group__VoxelFiltering.html#gad8d88a06174857cf53b1dc2cf2310d89" title="Performs voxel grid downsampling on a point cloud of type pcl::PointXYZ on provided indices.">voxelize()</a> for equivalent behavior. </dd>
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