rtabmap::SensorData Class Reference

#include <SensorData.h>

List of all members.

Public Member Functions
const std::vector< CameraModel > &	cameraModels () const
const cv::Mat &	depthOrRightCompressed () const
const cv::Mat &	depthOrRightRaw () const
cv::Mat	depthRaw () const
const cv::Mat &	descriptors () const
long	getMemoryUsed () const
const Transform &	groundTruth () const
int	id () const
const cv::Mat &	imageCompressed () const
const cv::Mat &	imageRaw () const
bool	isValid () const
const std::vector< cv::KeyPoint > &	keypoints () const
const cv::Mat &	laserScanCompressed () const
int	laserScanMaxPts () const
float	laserScanMaxRange () const
const cv::Mat &	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 cv::Mat &laserScan, int laserScanMaxPts, float laserScanMaxRange, 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 cv::Mat &laserScan, int laserScanMaxPts, float laserScanMaxRange, 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 cv::Mat &laserScan, int laserScanMaxPts, float laserScanMaxRange, const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
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 cv::Mat &descriptors)
void	setGroundTruth (const Transform &pose)
void	setId (int id)
void	setImageRaw (const cv::Mat &imageRaw)
void	setLaserScanRaw (const cv::Mat &laserScanRaw, int maxPts, float maxRange)
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, cv::Mat *laserScanRaw=0, cv::Mat *userDataRaw=0)
void	uncompressDataConst (cv::Mat *imageRaw, cv::Mat *depthOrRightRaw, cv::Mat *laserScanRaw=0, cv::Mat *userDataRaw=0) const
const cv::Mat &	userDataCompressed () const
const cv::Mat &	userDataRaw () const
virtual	~SensorData ()
Private Attributes
std::vector< CameraModel >	_cameraModels
cv::Mat	_depthOrRightCompressed
cv::Mat	_depthOrRightRaw
cv::Mat	_descriptors
int	_id
cv::Mat	_imageCompressed
cv::Mat	_imageRaw
std::vector< cv::KeyPoint >	_keypoints
cv::Mat	_laserScanCompressed
int	_laserScanMaxPts
float	_laserScanMaxRange
cv::Mat	_laserScanRaw
double	_stamp
StereoCameraModel	_stereoCameraModel
cv::Mat	_userDataCompressed
cv::Mat	_userDataRaw
Transform	groundTruth_

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Detailed Description

An id is automatically generated if id=0.

Definition at line 45 of file SensorData.h.

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Constructor & Destructor Documentation

rtabmap::SensorData::SensorData

(

)

Definition at line 38 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 47 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 115 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const cv::Mat &	laserScan,
		int	laserScanMaxPts,
		float	laserScanMaxRange,
		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 163 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 223 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const cv::Mat &	laserScan,
		int	laserScanMaxPts,
		float	laserScanMaxRange,
		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 270 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 330 of file SensorData.cpp.

rtabmap::SensorData::SensorData	(	const cv::Mat &	laserScan,
		int	laserScanMaxPts,
		float	laserScanMaxRange,
		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 379 of file SensorData.cpp.

virtual rtabmap::SensorData::~SensorData

(

)

[inline, virtual]

Definition at line 129 of file SensorData.h.

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Member Function Documentation

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

(

)

const [inline]

Definition at line 178 of file SensorData.h.

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

(

)

const [inline]

Definition at line 157 of file SensorData.h.

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

(

)

const [inline]

Definition at line 161 of file SensorData.h.

cv::Mat rtabmap::SensorData::depthRaw

(

)

const [inline]

Definition at line 171 of file SensorData.h.

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

(

)

const [inline]

Definition at line 192 of file SensorData.h.

long rtabmap::SensorData::getMemoryUsed

(

)

const

Definition at line 609 of file SensorData.cpp.

const Transform& rtabmap::SensorData::groundTruth

(

)

const [inline]

Definition at line 195 of file SensorData.h.

int rtabmap::SensorData::id

(

)

const [inline]

Definition at line 149 of file SensorData.h.

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

(

)

const [inline]

Definition at line 156 of file SensorData.h.

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

(

)

const [inline]

Definition at line 160 of file SensorData.h.

bool rtabmap::SensorData::isValid

(

)

const [inline]

Definition at line 131 of file SensorData.h.

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

(

)

const [inline]

Definition at line 191 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::laserScanCompressed

(

)

const [inline]

Definition at line 158 of file SensorData.h.

int rtabmap::SensorData::laserScanMaxPts

(

)

const [inline]

Definition at line 153 of file SensorData.h.

float rtabmap::SensorData::laserScanMaxRange

(

)

const [inline]

Definition at line 154 of file SensorData.h.

const cv::Mat& rtabmap::SensorData::laserScanRaw

(

)

const [inline]

Definition at line 162 of file SensorData.h.

cv::Mat rtabmap::SensorData::rightRaw

(

)

const [inline]

Definition at line 172 of file SensorData.h.

void rtabmap::SensorData::setCameraModel

(

const CameraModel &

model

)

[inline]

Definition at line 166 of file SensorData.h.

void rtabmap::SensorData::setCameraModels

(

const std::vector< CameraModel > &

models

)

[inline]

Definition at line 167 of file SensorData.h.

void rtabmap::SensorData::setDepthOrRightRaw

(

const cv::Mat &

depthOrImageRaw

)

[inline]

Definition at line 164 of file SensorData.h.

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

Definition at line 186 of file SensorData.h.

void rtabmap::SensorData::setGroundTruth

(

const Transform &

pose

)

[inline]

Definition at line 194 of file SensorData.h.

void rtabmap::SensorData::setId

(

int

id

)

[inline]

Definition at line 150 of file SensorData.h.

void rtabmap::SensorData::setImageRaw

(

const cv::Mat &

imageRaw

)

[inline]

Definition at line 163 of file SensorData.h.

void rtabmap::SensorData::setLaserScanRaw	(	const cv::Mat &	laserScanRaw,
		int	maxPts,
		float	maxRange
	)		[inline]

Definition at line 165 of file SensorData.h.

void rtabmap::SensorData::setStamp

(

double

stamp

)

[inline]

Definition at line 152 of file SensorData.h.

void rtabmap::SensorData::setStereoCameraModel

(

const StereoCameraModel &

stereoCameraModel

)

[inline]

Definition at line 168 of file SensorData.h.

void rtabmap::SensorData::setUserData

(

const cv::Mat &

userData

)

Definition at line 453 of file SensorData.cpp.

void rtabmap::SensorData::setUserDataRaw

(

const cv::Mat &

userDataRaw

)

Definition at line 437 of file SensorData.cpp.

double rtabmap::SensorData::stamp

(

)

const [inline]

Definition at line 151 of file SensorData.h.

const StereoCameraModel& rtabmap::SensorData::stereoCameraModel

(

)

const [inline]

Definition at line 179 of file SensorData.h.

void rtabmap::SensorData::uncompressData

(

)

Definition at line 483 of file SensorData.cpp.

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

Definition at line 492 of file SensorData.cpp.

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

Definition at line 525 of file SensorData.cpp.

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

(

)

const [inline]

Definition at line 184 of file SensorData.h.

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

(

)

const [inline]

Definition at line 183 of file SensorData.h.

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Member Data Documentation

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

Definition at line 213 of file SensorData.h.

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

Definition at line 206 of file SensorData.h.

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

Definition at line 210 of file SensorData.h.

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

Definition at line 222 of file SensorData.h.

int rtabmap::SensorData::_id [private]

Definition at line 200 of file SensorData.h.

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

Definition at line 205 of file SensorData.h.

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

Definition at line 209 of file SensorData.h.

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

Definition at line 221 of file SensorData.h.

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

Definition at line 207 of file SensorData.h.

int rtabmap::SensorData::_laserScanMaxPts [private]

Definition at line 202 of file SensorData.h.

float rtabmap::SensorData::_laserScanMaxRange [private]

Definition at line 203 of file SensorData.h.

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

Definition at line 211 of file SensorData.h.

double rtabmap::SensorData::_stamp [private]

Definition at line 201 of file SensorData.h.

StereoCameraModel rtabmap::SensorData::_stereoCameraModel [private]

Definition at line 214 of file SensorData.h.

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

Definition at line 217 of file SensorData.h.

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

Definition at line 218 of file SensorData.h.

Transform rtabmap::SensorData::groundTruth_ [private]

Definition at line 224 of file SensorData.h.

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

• SensorData.h
• SensorData.cpp