#include <SensorData.h>

Public Member Functions
void	addEnvSensor (const EnvSensor &sensor)

void	addGlobalDescriptor (const GlobalDescriptor &descriptor)

const std::vector< CameraModel > &	cameraModels () const

void	clearCompressedData (bool images=true, bool scan=true, bool userData=true)

void	clearGlobalDescriptors ()

void	clearOccupancyGridRaw ()

void	clearRawData (bool images=true, bool scan=true, bool userData=true)

const cv::Mat &	depthOrRightCompressed () const

const cv::Mat &	depthOrRightRaw () const

cv::Mat	depthRaw () const

const cv::Mat &	descriptors () const

const EnvSensors &	envSensors () const

unsigned long	getMemoryUsed () const

const std::vector< GlobalDescriptor > &	globalDescriptors () 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 Landmarks &	landmarks () const

const LaserScan &	laserScanCompressed () const

const LaserScan &	laserScanRaw () const

cv::Mat	rightRaw () const

	RTABMAP_DEPRECATED (void setImageRaw(const cv::Mat &image),"Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.")

	RTABMAP_DEPRECATED (void setDepthOrRightRaw(const cv::Mat &image),"Use setRGBDImage() or setStereoImage() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.")

	RTABMAP_DEPRECATED (void setLaserScanRaw(const LaserScan &scan),"Use setLaserScan() with clearNotUpdated=false or removeRawData() instead. To be backward compatible, this function doesn't clear compressed data.")

	RTABMAP_DEPRECATED (void setUserDataRaw(const cv::Mat &data),"Use setUserData() or removeRawData() instead.")

	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	setEnvSensors (const EnvSensors &sensors)

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

void	setGlobalDescriptors (const std::vector< GlobalDescriptor > &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	setIMU (const IMU &imu)

void	setLandmarks (const Landmarks &landmarks)

void	setLaserScan (const LaserScan &laserScan, bool clearPreviousData=true)

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

void	setRGBDImage (const cv::Mat &rgb, const cv::Mat &depth, const CameraModel &model, bool clearPreviousData=true)

void	setRGBDImage (const cv::Mat &rgb, const cv::Mat &depth, const std::vector< CameraModel > &models, bool clearPreviousData=true)

void	setStamp (double stamp)

void	setStereoCameraModel (const StereoCameraModel &stereoCameraModel)

void	setStereoImage (const cv::Mat &left, const cv::Mat &right, const StereoCameraModel &stereoCameraModel, bool clearPreviousData=true)

void	setUserData (const cv::Mat &userData, bool clearPreviousData=true)

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

EnvSensors	_envSensors

std::vector< GlobalDescriptor >	_globalDescriptors

cv::Mat	_groundCellsCompressed

cv::Mat	_groundCellsRaw

int	_id

cv::Mat	_imageCompressed

cv::Mat	_imageRaw

std::vector< cv::KeyPoint >	_keypoints

std::vector< cv::Point3f >	_keypoints3D

Landmarks	_landmarks

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_

Detailed Description

An id is automatically generated if id=0.

Definition at line 51 of file SensorData.h.

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 62 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 77 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 93 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 111 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 127 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 145 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 161 of file SensorData.cpp.

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

Definition at line 178 of file SensorData.cpp.

rtabmap::SensorData::~SensorData ( )

virtual

Definition at line 189 of file SensorData.cpp.

Member Function Documentation

void rtabmap::SensorData::addEnvSensor ( const EnvSensor & sensor )

inline

Definition at line 272 of file SensorData.h.

void rtabmap::SensorData::addGlobalDescriptor ( const GlobalDescriptor & descriptor )

inline

Definition at line 253 of file SensorData.h.

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

inline

Definition at line 215 of file SensorData.h.

void rtabmap::SensorData::clearCompressedData	(	bool	images = `true`,
		bool	scan = `true`,
		bool	userData = `true`
	)

Clear compressed rgb/depth (left/right) images, compressed laser scan and compressed user data. Raw data are kept is set.

Definition at line 788 of file SensorData.cpp.

void rtabmap::SensorData::clearGlobalDescriptors ( )

inline

Definition at line 255 of file SensorData.h.

void rtabmap::SensorData::clearOccupancyGridRaw ( )

inline

Definition at line 238 of file SensorData.h.

void rtabmap::SensorData::clearRawData	(	bool	images = `true`,
		bool	scan = `true`,
		bool	userData = `true`
	)

Clear raw rgb/depth (left/right) images, raw laser scan and raw user data. Compressed data are kept is set.

Definition at line 804 of file SensorData.cpp.

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

inline

Definition at line 161 of file SensorData.h.

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

inline

Definition at line 165 of file SensorData.h.

cv::Mat rtabmap::SensorData::depthRaw ( ) const

inline

Definition at line 189 of file SensorData.h.

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

inline

Definition at line 251 of file SensorData.h.

const EnvSensors& rtabmap::SensorData::envSensors ( ) const

inline

Definition at line 273 of file SensorData.h.

unsigned long rtabmap::SensorData::getMemoryUsed ( ) const

Definition at line 766 of file SensorData.cpp.

const std::vector<GlobalDescriptor>& rtabmap::SensorData::globalDescriptors ( ) const

inline

Definition at line 256 of file SensorData.h.

const Transform& rtabmap::SensorData::globalPose ( ) const

inline

Definition at line 262 of file SensorData.h.

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

inline

Definition at line 263 of file SensorData.h.

const GPS& rtabmap::SensorData::gps ( ) const

inline

Definition at line 266 of file SensorData.h.

float rtabmap::SensorData::gridCellSize ( ) const

inline

Definition at line 245 of file SensorData.h.

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

inline

Definition at line 244 of file SensorData.h.

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

inline

Definition at line 243 of file SensorData.h.

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

inline

Definition at line 240 of file SensorData.h.

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

inline

Definition at line 239 of file SensorData.h.

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

inline

Definition at line 242 of file SensorData.h.

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

inline

Definition at line 241 of file SensorData.h.

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

inline

Definition at line 246 of file SensorData.h.

const Transform& rtabmap::SensorData::groundTruth ( ) const

inline

Definition at line 259 of file SensorData.h.

int rtabmap::SensorData::id ( ) const

inline

Definition at line 155 of file SensorData.h.

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

inline

Definition at line 160 of file SensorData.h.

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

inline

Definition at line 164 of file SensorData.h.

const IMU& rtabmap::SensorData::imu ( ) const

inline

Definition at line 269 of file SensorData.h.

bool rtabmap::SensorData::isPointVisibleFromCameras ( const cv::Point3f & pt ) const

Definition at line 822 of file SensorData.cpp.

bool rtabmap::SensorData::isValid ( ) const

inline

Definition at line 137 of file SensorData.h.

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

inline

Definition at line 249 of file SensorData.h.

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

inline

Definition at line 250 of file SensorData.h.

const Landmarks& rtabmap::SensorData::landmarks ( ) const

inline

Definition at line 276 of file SensorData.h.

const LaserScan& rtabmap::SensorData::laserScanCompressed ( ) const

inline

Definition at line 162 of file SensorData.h.

const LaserScan& rtabmap::SensorData::laserScanRaw ( ) const

inline

Definition at line 166 of file SensorData.h.

cv::Mat rtabmap::SensorData::rightRaw ( ) const

inline

Definition at line 190 of file SensorData.h.

rtabmap::SensorData::RTABMAP_DEPRECATED	(	void	setImageRawconst cv::Mat &image,
		"Use setRGBDImage() or setStereoImage() with	clearNotUpdated = `false or removeRawData() instead. To be backward compatible`,
		this function doesn't clear compressed data."
	)

rtabmap::SensorData::RTABMAP_DEPRECATED	(	void	setDepthOrRightRawconst cv::Mat &image,
		"Use setRGBDImage() or setStereoImage() with	clearNotUpdated = `false or removeRawData() instead. To be backward compatible`,
		this function doesn't clear compressed data."
	)

rtabmap::SensorData::RTABMAP_DEPRECATED	(	void	setLaserScanRawconst LaserScan &scan,
		"Use setLaserScan() with	clearNotUpdated = `false or removeRawData() instead. To be backward compatible`,
		this function doesn't clear compressed data."
	)

rtabmap::SensorData::RTABMAP_DEPRECATED	(	void	setUserDataRawconst cv::Mat &data,
		"Use setUserData() or removeRawData() instead."
	)

void rtabmap::SensorData::setCameraModel ( const CameraModel & model )

inline

Definition at line 184 of file SensorData.h.

void rtabmap::SensorData::setCameraModels ( const std::vector< CameraModel > & models )

inline

Definition at line 185 of file SensorData.h.

void rtabmap::SensorData::setEnvSensors ( const EnvSensors & sensors )

inline

Definition at line 271 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 757 of file SensorData.cpp.

void rtabmap::SensorData::setGlobalDescriptors ( const std::vector< GlobalDescriptor > & descriptors )

inline

Definition at line 254 of file SensorData.h.

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

inline

Definition at line 261 of file SensorData.h.

void rtabmap::SensorData::setGPS ( const GPS & gps )

inline

Definition at line 265 of file SensorData.h.

void rtabmap::SensorData::setGroundTruth ( const Transform & pose )

inline

Definition at line 258 of file SensorData.h.

void rtabmap::SensorData::setId ( int id )

inline

Definition at line 156 of file SensorData.h.

void rtabmap::SensorData::setIMU ( const IMU & imu )

inline

Definition at line 268 of file SensorData.h.

void rtabmap::SensorData::setLandmarks ( const Landmarks & landmarks )

inline

Definition at line 275 of file SensorData.h.

void rtabmap::SensorData::setLaserScan	(	const LaserScan &	laserScan,
		bool	clearPreviousData = `true`
	)

Set laser scan data. Detect automatically if raw or compressed. A matrix of type CV_8UC1 with 1 row is considered as compressed.

Parameters

clearPreviousData,clear previous raw and compressed scans before setting the new one.

Definition at line 337 of file SensorData.cpp.

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 400 of file SensorData.cpp.

void rtabmap::SensorData::setRGBDImage	(	const cv::Mat &	rgb,
		const cv::Mat &	depth,
		const CameraModel &	model,
		bool	clearPreviousData = `true`
	)

Set image data. Detect automatically if raw or compressed. A matrix of type CV_8UC1 with 1 row is considered as compressed.

Parameters

clearPreviousData,clear previous raw and compressed images before setting the new ones.

Definition at line 193 of file SensorData.cpp.

void rtabmap::SensorData::setRGBDImage	(	const cv::Mat &	rgb,
		const cv::Mat &	depth,
		const std::vector< CameraModel > &	models,
		bool	clearPreviousData = `true`
	)

Definition at line 203 of file SensorData.cpp.

void rtabmap::SensorData::setStamp ( double stamp )

inline

Definition at line 158 of file SensorData.h.

void rtabmap::SensorData::setStereoCameraModel ( const StereoCameraModel & stereoCameraModel )

inline

Definition at line 186 of file SensorData.h.

void rtabmap::SensorData::setStereoImage	(	const cv::Mat &	left,
		const cv::Mat &	right,
		const StereoCameraModel &	stereoCameraModel,
		bool	clearPreviousData = `true`
	)

Definition at line 270 of file SensorData.cpp.

void rtabmap::SensorData::setUserData	(	const cv::Mat &	userData,
		bool	clearPreviousData = `true`
	)

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.

Parameters

clearPreviousData,clear previous raw and compressed user data before setting the new one.

Definition at line 378 of file SensorData.cpp.

double rtabmap::SensorData::stamp ( ) const

inline

Definition at line 157 of file SensorData.h.

const StereoCameraModel& rtabmap::SensorData::stereoCameraModel ( ) const

inline

Definition at line 216 of file SensorData.h.

void rtabmap::SensorData::uncompressData ( )

Definition at line 484 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 497 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 579 of file SensorData.cpp.

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

inline

Definition at line 228 of file SensorData.h.

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

inline

Definition at line 227 of file SensorData.h.

Member Data Documentation

std::vector<CameraModel> rtabmap::SensorData::_cameraModels

private

Definition at line 304 of file SensorData.h.

float rtabmap::SensorData::_cellSize

private

Definition at line 318 of file SensorData.h.

cv::Mat rtabmap::SensorData::_depthOrRightCompressed

private

Definition at line 297 of file SensorData.h.

cv::Mat rtabmap::SensorData::_depthOrRightRaw

private

Definition at line 301 of file SensorData.h.

cv::Mat rtabmap::SensorData::_descriptors

private

Definition at line 330 of file SensorData.h.

cv::Mat rtabmap::SensorData::_emptyCellsCompressed

private

Definition at line 314 of file SensorData.h.

cv::Mat rtabmap::SensorData::_emptyCellsRaw

private

Definition at line 317 of file SensorData.h.

EnvSensors rtabmap::SensorData::_envSensors

private

Definition at line 322 of file SensorData.h.

std::vector<GlobalDescriptor> rtabmap::SensorData::_globalDescriptors

private

Definition at line 333 of file SensorData.h.

cv::Mat rtabmap::SensorData::_groundCellsCompressed

private

Definition at line 312 of file SensorData.h.

cv::Mat rtabmap::SensorData::_groundCellsRaw

private

Definition at line 315 of file SensorData.h.

int rtabmap::SensorData::_id

private

Definition at line 293 of file SensorData.h.

cv::Mat rtabmap::SensorData::_imageCompressed

private

Definition at line 296 of file SensorData.h.

cv::Mat rtabmap::SensorData::_imageRaw

private

Definition at line 300 of file SensorData.h.

std::vector<cv::KeyPoint> rtabmap::SensorData::_keypoints

private

Definition at line 328 of file SensorData.h.

std::vector<cv::Point3f> rtabmap::SensorData::_keypoints3D

private

Definition at line 329 of file SensorData.h.

Landmarks rtabmap::SensorData::_landmarks

private

Definition at line 325 of file SensorData.h.

LaserScan rtabmap::SensorData::_laserScanCompressed

private

Definition at line 298 of file SensorData.h.

LaserScan rtabmap::SensorData::_laserScanRaw

private

Definition at line 302 of file SensorData.h.

cv::Mat rtabmap::SensorData::_obstacleCellsCompressed

private

Definition at line 313 of file SensorData.h.

cv::Mat rtabmap::SensorData::_obstacleCellsRaw

private

Definition at line 316 of file SensorData.h.

double rtabmap::SensorData::_stamp

private

Definition at line 294 of file SensorData.h.

StereoCameraModel rtabmap::SensorData::_stereoCameraModel

private

Definition at line 305 of file SensorData.h.

cv::Mat rtabmap::SensorData::_userDataCompressed

private

Definition at line 308 of file SensorData.h.

cv::Mat rtabmap::SensorData::_userDataRaw

private

Definition at line 309 of file SensorData.h.

cv::Point3f rtabmap::SensorData::_viewPoint

private

Definition at line 319 of file SensorData.h.

Transform rtabmap::SensorData::globalPose_

private

Definition at line 337 of file SensorData.h.

cv::Mat rtabmap::SensorData::globalPoseCovariance_

private

Definition at line 338 of file SensorData.h.

GPS rtabmap::SensorData::gps_

private

Definition at line 340 of file SensorData.h.

Transform rtabmap::SensorData::groundTruth_

private

Definition at line 335 of file SensorData.h.

IMU rtabmap::SensorData::imu_

private

Definition at line 342 of file SensorData.h.

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

Public Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation