rtabmap::SensorData Class Reference

#include <SensorData.h>

List of all members.

Public Member Functions
const std::vector< CameraModel > &	cameraModels () const
void	clearCompressedData ()
void	clearOccupancyGridRaw ()
const cv::Mat &	depthOrRightCompressed () const
const cv::Mat &	depthOrRightRaw () const
cv::Mat	depthRaw () const
const cv::Mat &	descriptors () const
long	getMemoryUsed () const
const Transform &	globalPose () const
const cv::Mat &	globalPoseCovariance () const
const GPS &	gps () const
float	gridCellSize () const
const cv::Mat &	gridEmptyCellsCompressed () const
const cv::Mat &	gridEmptyCellsRaw () const
const cv::Mat &	gridGroundCellsCompressed () const
const cv::Mat &	gridGroundCellsRaw () const
const cv::Mat &	gridObstacleCellsCompressed () const
const cv::Mat &	gridObstacleCellsRaw () const
const cv::Point3f &	gridViewPoint () const
const Transform &	groundTruth () const
int	id () const
const cv::Mat &	imageCompressed () const
const cv::Mat &	imageRaw () const
const IMU &	imu () const
bool	isPointVisibleFromCameras (const cv::Point3f &pt) const
bool	isValid () const
const std::vector< cv::KeyPoint > &	keypoints () const
const std::vector< cv::Point3f > &	keypoints3D () const
const LaserScan &	laserScanCompressed () const
const LaserScan &	laserScanRaw () const
cv::Mat	rightRaw () const
	SensorData ()
	SensorData (const cv::Mat &image, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	SensorData (const cv::Mat &image, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	SensorData (const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	SensorData (const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	SensorData (const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	SensorData (const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	SensorData (const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	SensorData (const LaserScan &laserScan, const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	SensorData (const IMU &imu, int id=0, double stamp=0.0)
void	setCameraModel (const CameraModel &model)
void	setCameraModels (const std::vector< CameraModel > &models)
void	setDepthOrRightRaw (const cv::Mat &depthOrImageRaw)
void	setFeatures (const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &keypoints3D, const cv::Mat &descriptors)
void	setGlobalPose (const Transform &pose, const cv::Mat &covariance)
void	setGPS (const GPS &gps)
void	setGroundTruth (const Transform &pose)
void	setId (int id)
void	setImageRaw (const cv::Mat &imageRaw)
void	setIMU (const IMU &imu)
void	setLaserScanRaw (const LaserScan &laserScanRaw)
void	setOccupancyGrid (const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint)
void	setStamp (double stamp)
void	setStereoCameraModel (const StereoCameraModel &stereoCameraModel)
void	setUserData (const cv::Mat &userData)
void	setUserDataRaw (const cv::Mat &userDataRaw)
double	stamp () const
const StereoCameraModel &	stereoCameraModel () const
void	uncompressData ()
void	uncompressData (cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0)
void	uncompressDataConst (cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, LaserScan *laserScanRaw=0, cv::Mat *userDataRaw=0, cv::Mat *groundCellsRaw=0, cv::Mat *obstacleCellsRaw=0, cv::Mat *emptyCellsRaw=0) const
const cv::Mat &	userDataCompressed () const
const cv::Mat &	userDataRaw () const
virtual	~SensorData ()
Private Attributes
std::vector< CameraModel >	_cameraModels
float	_cellSize
cv::Mat	_depthOrRightCompressed
cv::Mat	_depthOrRightRaw
cv::Mat	_descriptors
cv::Mat	_emptyCellsCompressed
cv::Mat	_emptyCellsRaw
cv::Mat	_groundCellsCompressed
cv::Mat	_groundCellsRaw
int	_id
cv::Mat	_imageCompressed
cv::Mat	_imageRaw
std::vector< cv::KeyPoint >	_keypoints
std::vector< cv::Point3f >	_keypoints3D
LaserScan	_laserScanCompressed
LaserScan	_laserScanRaw
cv::Mat	_obstacleCellsCompressed
cv::Mat	_obstacleCellsRaw
double	_stamp
StereoCameraModel	_stereoCameraModel
cv::Mat	_userDataCompressed
cv::Mat	_userDataRaw
cv::Point3f	_viewPoint
Transform	globalPose_
cv::Mat	globalPoseCovariance_
GPS	gps_
Transform	groundTruth_
IMU	imu_

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Detailed Description

An id is automatically generated if id=0.

Definition at line 48 of file SensorData.h.

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Constructor & Destructor Documentation

rtabmap::SensorData::SensorData

(

)

Definition at line 40 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const cv::Mat &	image,
		int	id = 0,
		double	stamp = 0.0,
		const cv::Mat &	userData = cv::Mat()
	)

Definition at line 48 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const cv::Mat &	image,
		const CameraModel &	cameraModel,
		int	id = 0,
		double	stamp = 0.0,
		const cv::Mat &	userData = cv::Mat()
	)

Definition at line 80 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const cv::Mat &	rgb,
		const cv::Mat &	depth,
		const CameraModel &	cameraModel,
		int	id = 0,
		double	stamp = 0.0,
		const cv::Mat &	userData = cv::Mat()
	)

Definition at line 114 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const LaserScan &	laserScan,
		const cv::Mat &	rgb,
		const cv::Mat &	depth,
		const CameraModel &	cameraModel,
		int	id = 0,
		double	stamp = 0.0,
		const cv::Mat &	userData = cv::Mat()
	)

Definition at line 161 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const cv::Mat &	rgb,
		const cv::Mat &	depth,
		const std::vector< CameraModel > &	cameraModels,
		int	id = 0,
		double	stamp = 0.0,
		const cv::Mat &	userData = cv::Mat()
	)

Definition at line 217 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const LaserScan &	laserScan,
		const cv::Mat &	rgb,
		const cv::Mat &	depth,
		const std::vector< CameraModel > &	cameraModels,
		int	id = 0,
		double	stamp = 0.0,
		const cv::Mat &	userData = cv::Mat()
	)

Definition at line 263 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const cv::Mat &	left,
		const cv::Mat &	right,
		const StereoCameraModel &	cameraModel,
		int	id = 0,
		double	stamp = 0.0,
		const cv::Mat &	userData = cv::Mat()
	)

Definition at line 319 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const LaserScan &	laserScan,
		const cv::Mat &	left,
		const cv::Mat &	right,
		const StereoCameraModel &	cameraModel,
		int	id = 0,
		double	stamp = 0.0,
		const cv::Mat &	userData = cv::Mat()
	)

Definition at line 367 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const IMU &	imu,
		int	id = 0,
		double	stamp = 0.0
	)

Definition at line 421 of file SensorData.cpp.

rtabmap::SensorData::~SensorData

(

)

[virtual]

Definition at line 432 of file SensorData.cpp.

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Member Function Documentation

const std::vector<CameraModel>& rtabmap::SensorData::cameraModels

(

)

const [inline]

Definition at line 193 of file SensorData.h.

void rtabmap::SensorData::clearCompressedData

(

)

[inline]

Definition at line 251 of file SensorData.h.

void rtabmap::SensorData::clearOccupancyGridRaw

(

)

[inline]

Definition at line 216 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::depthOrRightCompressed

(

)

const [inline]

Definition at line 158 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::depthOrRightRaw

(

)

const [inline]

Definition at line 162 of file SensorData.h.

cv::Mat rtabmap::SensorData::depthRaw

(

)

const [inline]

Definition at line 172 of file SensorData.h.

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

(

)

const [inline]

Definition at line 229 of file SensorData.h.

long rtabmap::SensorData::getMemoryUsed

(

)

const

Definition at line 837 of file SensorData.cpp.

const Transform& rtabmap::SensorData::globalPose

(

)

const [inline]

Definition at line 235 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::globalPoseCovariance

(

)

const [inline]

Definition at line 236 of file SensorData.h.

const GPS& rtabmap::SensorData::gps

(

)

const [inline]

Definition at line 242 of file SensorData.h.

float rtabmap::SensorData::gridCellSize

(

)

const [inline]

Definition at line 223 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::gridEmptyCellsCompressed

(

)

const [inline]

Definition at line 222 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::gridEmptyCellsRaw

(

)

const [inline]

Definition at line 221 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::gridGroundCellsCompressed

(

)

const [inline]

Definition at line 218 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::gridGroundCellsRaw

(

)

const [inline]

Definition at line 217 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::gridObstacleCellsCompressed

(

)

const [inline]

Definition at line 220 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::gridObstacleCellsRaw

(

)

const [inline]

Definition at line 219 of file SensorData.h.

const cv::Point3f& rtabmap::SensorData::gridViewPoint

(

)

const [inline]

Definition at line 224 of file SensorData.h.

const Transform& rtabmap::SensorData::groundTruth

(

)

const [inline]

Definition at line 232 of file SensorData.h.

int rtabmap::SensorData::id

(

)

const [inline]

Definition at line 152 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::imageCompressed

(

)

const [inline]

Definition at line 157 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::imageRaw

(

)

const [inline]

Definition at line 161 of file SensorData.h.

const IMU& rtabmap::SensorData::imu

(

)

const [inline]

Definition at line 248 of file SensorData.h.

bool rtabmap::SensorData::isPointVisibleFromCameras

(

const cv::Point3f &

pt

)

const

Definition at line 858 of file SensorData.cpp.

bool rtabmap::SensorData::isValid

(

)

const [inline]

Definition at line 134 of file SensorData.h.

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

(

)

const [inline]

Definition at line 227 of file SensorData.h.

const std::vector<cv::Point3f>& rtabmap::SensorData::keypoints3D

(

)

const [inline]

Definition at line 228 of file SensorData.h.

const LaserScan& rtabmap::SensorData::laserScanCompressed

(

)

const [inline]

Definition at line 159 of file SensorData.h.

const LaserScan& rtabmap::SensorData::laserScanRaw

(

)

const [inline]

Definition at line 163 of file SensorData.h.

cv::Mat rtabmap::SensorData::rightRaw

(

)

const [inline]

Definition at line 173 of file SensorData.h.

void rtabmap::SensorData::setCameraModel

(

const CameraModel &

model

)

[inline]

Definition at line 167 of file SensorData.h.

void rtabmap::SensorData::setCameraModels

(

const std::vector< CameraModel > &

models

)

[inline]

Definition at line 168 of file SensorData.h.

void rtabmap::SensorData::setDepthOrRightRaw

(

const cv::Mat &

depthOrImageRaw

)

[inline]

Definition at line 165 of file SensorData.h.

void rtabmap::SensorData::setFeatures	(	const std::vector< cv::KeyPoint > &	keypoints,
		const std::vector< cv::Point3f > &	keypoints3D,
		const cv::Mat &	descriptors
	)

Definition at line 828 of file SensorData.cpp.

void rtabmap::SensorData::setGlobalPose	(	const Transform &	pose,
		const cv::Mat &	covariance
	)		[inline]

Definition at line 234 of file SensorData.h.

void rtabmap::SensorData::setGPS

(

const GPS &

gps

)

[inline]

Definition at line 238 of file SensorData.h.

void rtabmap::SensorData::setGroundTruth

(

const Transform &

pose

)

[inline]

Definition at line 231 of file SensorData.h.

void rtabmap::SensorData::setId

(

int

id

)

[inline]

Definition at line 153 of file SensorData.h.

void rtabmap::SensorData::setImageRaw

(

const cv::Mat &

imageRaw

)

[inline]

Definition at line 164 of file SensorData.h.

void rtabmap::SensorData::setIMU

(

const IMU &

imu

)

[inline]

Definition at line 244 of file SensorData.h.

void rtabmap::SensorData::setLaserScanRaw

(

const LaserScan &

laserScanRaw

)

[inline]

Definition at line 166 of file SensorData.h.

void rtabmap::SensorData::setOccupancyGrid	(	const cv::Mat &	ground,
		const cv::Mat &	obstacles,
		const cv::Mat &	empty,
		float	cellSize,
		const cv::Point3f &	viewPoint
	)

Definition at line 482 of file SensorData.cpp.

void rtabmap::SensorData::setStamp

(

double

stamp

)

[inline]

Definition at line 155 of file SensorData.h.

void rtabmap::SensorData::setStereoCameraModel

(

const StereoCameraModel &

stereoCameraModel

)

[inline]

Definition at line 169 of file SensorData.h.

void rtabmap::SensorData::setUserData

(

const cv::Mat &

userData

)

Set user data. Detect automatically if raw or compressed. If raw, the data is compressed too. A matrix of type CV_8UC1 with 1 row is considered as compressed. If you have one dimension unsigned 8 bits raw data, make sure to transpose it (to have multiple rows instead of multiple columns) in order to be detected as not compressed.

Definition at line 452 of file SensorData.cpp.

void rtabmap::SensorData::setUserDataRaw

(

const cv::Mat &

userDataRaw

)

Definition at line 436 of file SensorData.cpp.

double rtabmap::SensorData::stamp

(

)

const [inline]

Definition at line 154 of file SensorData.h.

const StereoCameraModel& rtabmap::SensorData::stereoCameraModel

(

)

const [inline]

Definition at line 194 of file SensorData.h.

void rtabmap::SensorData::uncompressData

(

)

Definition at line 568 of file SensorData.cpp.

void rtabmap::SensorData::uncompressData	(	cv::Mat *	imageRaw,
		cv::Mat *	depthOrRightRaw,
		LaserScan *	laserScanRaw = 0,
		cv::Mat *	userDataRaw = 0,
		cv::Mat *	groundCellsRaw = 0,
		cv::Mat *	obstacleCellsRaw = 0,
		cv::Mat *	emptyCellsRaw = 0
	)

Definition at line 581 of file SensorData.cpp.

void rtabmap::SensorData::uncompressDataConst	(	cv::Mat *	imageRaw,
		cv::Mat *	depthOrRightRaw,
		LaserScan *	laserScanRaw = 0,
		cv::Mat *	userDataRaw = 0,
		cv::Mat *	groundCellsRaw = 0,
		cv::Mat *	obstacleCellsRaw = 0,
		cv::Mat *	emptyCellsRaw = 0
	)		const

Definition at line 656 of file SensorData.cpp.

const cv::Mat& rtabmap::SensorData::userDataCompressed

(

)

const [inline]

Definition at line 206 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::userDataRaw

(

)

const [inline]

Definition at line 205 of file SensorData.h.

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Member Data Documentation

std::vector<CameraModel> rtabmap::SensorData::_cameraModels [private]

Definition at line 267 of file SensorData.h.

float rtabmap::SensorData::_cellSize [private]

Definition at line 281 of file SensorData.h.

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

Definition at line 260 of file SensorData.h.

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

Definition at line 264 of file SensorData.h.

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

Definition at line 287 of file SensorData.h.

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

Definition at line 277 of file SensorData.h.

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

Definition at line 280 of file SensorData.h.

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

Definition at line 275 of file SensorData.h.

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

Definition at line 278 of file SensorData.h.

int rtabmap::SensorData::_id [private]

Definition at line 256 of file SensorData.h.

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

Definition at line 259 of file SensorData.h.

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

Definition at line 263 of file SensorData.h.

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

Definition at line 285 of file SensorData.h.

std::vector<cv::Point3f> rtabmap::SensorData::_keypoints3D [private]

Definition at line 286 of file SensorData.h.

LaserScan rtabmap::SensorData::_laserScanCompressed [private]

Definition at line 261 of file SensorData.h.

LaserScan rtabmap::SensorData::_laserScanRaw [private]

Definition at line 265 of file SensorData.h.

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

Definition at line 276 of file SensorData.h.

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

Definition at line 279 of file SensorData.h.

double rtabmap::SensorData::_stamp [private]

Definition at line 257 of file SensorData.h.

StereoCameraModel rtabmap::SensorData::_stereoCameraModel [private]

Definition at line 268 of file SensorData.h.

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

Definition at line 271 of file SensorData.h.

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

Definition at line 272 of file SensorData.h.

cv::Point3f rtabmap::SensorData::_viewPoint [private]

Definition at line 282 of file SensorData.h.

Transform rtabmap::SensorData::globalPose_ [private]

Definition at line 291 of file SensorData.h.

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

Definition at line 292 of file SensorData.h.

GPS rtabmap::SensorData::gps_ [private]

Definition at line 294 of file SensorData.h.

Transform rtabmap::SensorData::groundTruth_ [private]

Definition at line 289 of file SensorData.h.

IMU rtabmap::SensorData::imu_ [private]

Definition at line 296 of file SensorData.h.

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

• SensorData.h
• SensorData.cpp