rtabmap::SensorData Class Reference

#include <SensorData.h>

List of all members.

Public Member Functions
float	baseline () const
float	cx () const
float	cy () const
cv::Mat	depth () const
const cv::Mat &	depthOrRightImage () const
const cv::Mat &	descriptors () const
float	fx () const
float	fy () const
float	fyOrBaseline () const
int	id () const
const cv::Mat &	image () const
bool	isMetric () const
bool	isValid () const
const std::vector< cv::KeyPoint > &	keypoints () const
const cv::Mat &	laserScan () const
int	laserScanMaxPts () const
const Transform &	localTransform () const
const Transform &	pose () const
float	poseRotVariance () const
float	poseTransVariance () const
cv::Mat	rightImage () const
	RTABMAP_DEPRECATED (bool empty() const,"Use !isValid() instead.")
	SensorData ()
	SensorData (const cv::Mat &image, int id=0, double stamp=0.0, const std::vector< unsigned char > &userData=std::vector< unsigned char >())
	SensorData (const cv::Mat &image, const cv::Mat &depthOrRightImage, float fx, float fyOrBaseline, float cx, float cy, const Transform &localTransform, const Transform &pose, float poseRotVariance, float poseTransVariance, int id, double stamp, const std::vector< unsigned char > &userData=std::vector< unsigned char >())
	SensorData (const cv::Mat &laserScan, int laserScanMaxPts, const cv::Mat &image, const cv::Mat &depthOrRightImage, float fx, float fyOrBaseline, float cx, float cy, const Transform &localTransform, const Transform &pose, float poseRotVariance, float poseTransVariance, int id, double stamp, const std::vector< unsigned char > &userData=std::vector< unsigned char >())
void	setFeatures (const std::vector< cv::KeyPoint > &keypoints, const cv::Mat &descriptors)
void	setId (int id)
void	setPose (const Transform &pose, float rotVariance, float transVariance)
void	setStamp (double stamp)
void	setUserData (const std::vector< unsigned char > &data)
double	stamp () const
const std::vector< unsigned char > &	userData () const
virtual	~SensorData ()
Private Attributes
float	_cx
float	_cy
cv::Mat	_depthOrRightImage
cv::Mat	_descriptors
float	_fx
float	_fyOrBaseline
int	_id
cv::Mat	_image
std::vector< cv::KeyPoint >	_keypoints
cv::Mat	_laserScan
int	_laserScanMaxPts
Transform	_localTransform
Transform	_pose
float	_poseRotVariance
float	_poseTransVariance
double	_stamp
std::vector< unsigned char >	_userData

---

Detailed Description

An id is automatically generated if id=0.

Definition at line 42 of file SensorData.h.

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Constructor & Destructor Documentation

rtabmap::SensorData::SensorData

(

)

An id is automatically generated if id=0.

Definition at line 39 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const cv::Mat &	image,
		int	id = 0,
		double	stamp = 0.0,
		const std::vector< unsigned char > &	userData = std::vector<unsigned char>()
	)

Definition at line 53 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const cv::Mat &	image,
		const cv::Mat &	depthOrRightImage,
		float	fx,
		float	fyOrBaseline,
		float	cx,
		float	cy,
		const Transform &	localTransform,
		const Transform &	pose,
		float	poseRotVariance,
		float	poseTransVariance,
		int	id,
		double	stamp,
		const std::vector< unsigned char > &	userData = std::vector<unsigned char>()
	)

Definition at line 76 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const cv::Mat &	laserScan,
		int	laserScanMaxPts,
		const cv::Mat &	image,
		const cv::Mat &	depthOrRightImage,
		float	fx,
		float	fyOrBaseline,
		float	cx,
		float	cy,
		const Transform &	localTransform,
		const Transform &	pose,
		float	poseRotVariance,
		float	poseTransVariance,
		int	id,
		double	stamp,
		const std::vector< unsigned char > &	userData = std::vector<unsigned char>()
	)

Definition at line 116 of file SensorData.cpp.

virtual rtabmap::SensorData::~SensorData

(

)

[inline, virtual]

Definition at line 80 of file SensorData.h.

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Member Function Documentation

float rtabmap::SensorData::baseline

(

)

const [inline]

Definition at line 104 of file SensorData.h.

float rtabmap::SensorData::cx

(

)

const [inline]

Definition at line 102 of file SensorData.h.

float rtabmap::SensorData::cy

(

)

const [inline]

Definition at line 103 of file SensorData.h.

cv::Mat rtabmap::SensorData::depth

(

)

const [inline]

Definition at line 95 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::depthOrRightImage

(

)

const [inline]

Definition at line 97 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::descriptors

(

)

const [inline]

Definition at line 117 of file SensorData.h.

float rtabmap::SensorData::fx

(

)

const [inline]

Definition at line 100 of file SensorData.h.

float rtabmap::SensorData::fy

(

)

const [inline]

Definition at line 101 of file SensorData.h.

float rtabmap::SensorData::fyOrBaseline

(

)

const [inline]

Definition at line 105 of file SensorData.h.

int rtabmap::SensorData::id

(

)

const [inline]

Definition at line 88 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::image

(

)

const [inline]

Definition at line 87 of file SensorData.h.

bool rtabmap::SensorData::isMetric

(

)

const [inline]

Definition at line 93 of file SensorData.h.

bool rtabmap::SensorData::isValid

(

)

const [inline]

Definition at line 82 of file SensorData.h.

const std::vector<cv::KeyPoint>& rtabmap::SensorData::keypoints

(

)

const [inline]

Definition at line 116 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::laserScan

(

)

const [inline]

Definition at line 98 of file SensorData.h.

int rtabmap::SensorData::laserScanMaxPts

(

)

const [inline]

Definition at line 99 of file SensorData.h.

const Transform& rtabmap::SensorData::localTransform

(

)

const [inline]

Definition at line 107 of file SensorData.h.

const Transform& rtabmap::SensorData::pose

(

)

const [inline]

Definition at line 106 of file SensorData.h.

float rtabmap::SensorData::poseRotVariance

(

)

const [inline]

Definition at line 108 of file SensorData.h.

float rtabmap::SensorData::poseTransVariance

(

)

const [inline]

Definition at line 109 of file SensorData.h.

cv::Mat rtabmap::SensorData::rightImage

(

)

const [inline]

Definition at line 96 of file SensorData.h.

rtabmap::SensorData::RTABMAP_DEPRECATED	(	bool empty()	const,
		"Use !isValid() instead."
	)

void rtabmap::SensorData::setFeatures	(	const std::vector< cv::KeyPoint > &	keypoints,
		const cv::Mat &	descriptors
	)		[inline]

Definition at line 111 of file SensorData.h.

void rtabmap::SensorData::setId

(

int

id

)

[inline]

Definition at line 89 of file SensorData.h.

void rtabmap::SensorData::setPose	(	const Transform &	pose,
		float	rotVariance,
		float	transVariance
	)		[inline]

Definition at line 94 of file SensorData.h.

void rtabmap::SensorData::setStamp

(

double

stamp

)

[inline]

Definition at line 91 of file SensorData.h.

void rtabmap::SensorData::setUserData

(

const std::vector< unsigned char > &

data

)

[inline]

Definition at line 119 of file SensorData.h.

double rtabmap::SensorData::stamp

(

)

const [inline]

Definition at line 90 of file SensorData.h.

const std::vector<unsigned char>& rtabmap::SensorData::userData

(

)

const [inline]

Definition at line 120 of file SensorData.h.

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Member Data Documentation

float rtabmap::SensorData::_cx [private]

Definition at line 132 of file SensorData.h.

float rtabmap::SensorData::_cy [private]

Definition at line 133 of file SensorData.h.

cv::Mat rtabmap::SensorData::_depthOrRightImage [private]

Definition at line 128 of file SensorData.h.

cv::Mat rtabmap::SensorData::_descriptors [private]

Definition at line 142 of file SensorData.h.

float rtabmap::SensorData::_fx [private]

Definition at line 130 of file SensorData.h.

float rtabmap::SensorData::_fyOrBaseline [private]

Definition at line 131 of file SensorData.h.

int rtabmap::SensorData::_id [private]

Definition at line 124 of file SensorData.h.

cv::Mat rtabmap::SensorData::_image [private]

Definition at line 123 of file SensorData.h.

std::vector<cv::KeyPoint> rtabmap::SensorData::_keypoints [private]

Definition at line 141 of file SensorData.h.

cv::Mat rtabmap::SensorData::_laserScan [private]

Definition at line 129 of file SensorData.h.

int rtabmap::SensorData::_laserScanMaxPts [private]

Definition at line 138 of file SensorData.h.

Transform rtabmap::SensorData::_localTransform [private]

Definition at line 135 of file SensorData.h.

Transform rtabmap::SensorData::_pose [private]

Definition at line 134 of file SensorData.h.

float rtabmap::SensorData::_poseRotVariance [private]

Definition at line 136 of file SensorData.h.

float rtabmap::SensorData::_poseTransVariance [private]

Definition at line 137 of file SensorData.h.

double rtabmap::SensorData::_stamp [private]

Definition at line 125 of file SensorData.h.

std::vector<unsigned char> rtabmap::SensorData::_userData [private]

Definition at line 145 of file SensorData.h.

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The documentation for this class was generated from the following files:

• SensorData.h
• SensorData.cpp