#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 cv::Mat &rgb, const cv::Mat &depth, const std::vector< StereoCameraModel > &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< StereoCameraModel > &cameraModels, 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	setStereoCameraModels (const std::vector< StereoCameraModel > &stereoCameraModels)

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

void	setStereoImage (const cv::Mat &left, const cv::Mat &right, const std::vector< StereoCameraModel > &stereoCameraModels, bool clearPreviousData=true)

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

double	stamp () const

const std::vector< StereoCameraModel > &	stereoCameraModels () 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

std::vector< StereoCameraModel >	_stereoCameraModels

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

◆ SensorData() [1/12]

rtabmap::SensorData::SensorData ( )

Definition at line 40 of file SensorData.cpp.

◆ SensorData() [2/12]

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.

◆ SensorData() [3/12]

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.

◆ SensorData() [4/12]

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.

◆ SensorData() [5/12]

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.

◆ SensorData() [6/12]

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.

◆ SensorData() [7/12]

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.

◆ SensorData() [8/12]

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.

◆ SensorData() [9/12]

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.

◆ SensorData() [10/12]

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

Definition at line 179 of file SensorData.cpp.

◆ SensorData() [11/12]

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

Definition at line 195 of file SensorData.cpp.

◆ SensorData() [12/12]

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

Definition at line 212 of file SensorData.cpp.

◆ ~SensorData()

rtabmap::SensorData::~SensorData ( )

virtual

Definition at line 223 of file SensorData.cpp.

Member Function Documentation

◆ addEnvSensor()

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

inline

Definition at line 293 of file SensorData.h.

◆ addGlobalDescriptor()

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

inline

Definition at line 274 of file SensorData.h.

◆ cameraModels()

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

inline

Definition at line 236 of file SensorData.h.

◆ clearCompressedData()

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 832 of file SensorData.cpp.

◆ clearGlobalDescriptors()

void rtabmap::SensorData::clearGlobalDescriptors ( )

inline

Definition at line 276 of file SensorData.h.

◆ clearOccupancyGridRaw()

void rtabmap::SensorData::clearOccupancyGridRaw ( )

inline

Definition at line 259 of file SensorData.h.

◆ clearRawData()

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 848 of file SensorData.cpp.

◆ depthOrRightCompressed()

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

inline

Definition at line 180 of file SensorData.h.

◆ depthOrRightRaw()

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

inline

Definition at line 184 of file SensorData.h.

◆ depthRaw()

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

inline

Definition at line 210 of file SensorData.h.

◆ descriptors()

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

inline

Definition at line 272 of file SensorData.h.

◆ envSensors()

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

inline

Definition at line 294 of file SensorData.h.

◆ getMemoryUsed()

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

Definition at line 810 of file SensorData.cpp.

◆ globalDescriptors()

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

inline

Definition at line 277 of file SensorData.h.

◆ globalPose()

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

inline

Definition at line 283 of file SensorData.h.

◆ globalPoseCovariance()

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

inline

Definition at line 284 of file SensorData.h.

◆ gps()

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

inline

Definition at line 287 of file SensorData.h.

◆ gridCellSize()

float rtabmap::SensorData::gridCellSize ( ) const

inline

Definition at line 266 of file SensorData.h.

◆ gridEmptyCellsCompressed()

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

inline

Definition at line 265 of file SensorData.h.

◆ gridEmptyCellsRaw()

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

inline

Definition at line 264 of file SensorData.h.

◆ gridGroundCellsCompressed()

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

inline

Definition at line 261 of file SensorData.h.

◆ gridGroundCellsRaw()

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

inline

Definition at line 260 of file SensorData.h.

◆ gridObstacleCellsCompressed()

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

inline

Definition at line 263 of file SensorData.h.

◆ gridObstacleCellsRaw()

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

inline

Definition at line 262 of file SensorData.h.

◆ gridViewPoint()

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

inline

Definition at line 267 of file SensorData.h.

◆ groundTruth()

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

inline

Definition at line 280 of file SensorData.h.

◆ id()

int rtabmap::SensorData::id ( ) const

inline

Definition at line 174 of file SensorData.h.

◆ imageCompressed()

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

inline

Definition at line 179 of file SensorData.h.

◆ imageRaw()

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

inline

Definition at line 183 of file SensorData.h.

◆ imu()

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

inline

Definition at line 290 of file SensorData.h.

◆ isPointVisibleFromCameras()

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

Definition at line 866 of file SensorData.cpp.

◆ isValid()

bool rtabmap::SensorData::isValid ( ) const

inline

Definition at line 156 of file SensorData.h.

◆ keypoints()

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

inline

Definition at line 270 of file SensorData.h.

◆ keypoints3D()

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

inline

Definition at line 271 of file SensorData.h.

◆ landmarks()

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

inline

Definition at line 297 of file SensorData.h.

◆ laserScanCompressed()

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

inline

Definition at line 181 of file SensorData.h.

◆ laserScanRaw()

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

inline

Definition at line 185 of file SensorData.h.

◆ rightRaw()

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

inline

Definition at line 211 of file SensorData.h.

◆ RTABMAP_DEPRECATED() [1/4]

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_DEPRECATED() [2/4]

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_DEPRECATED() [3/4]

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_DEPRECATED() [4/4]

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

◆ setCameraModel()

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

inline

Definition at line 204 of file SensorData.h.

◆ setCameraModels()

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

inline

Definition at line 205 of file SensorData.h.

◆ setEnvSensors()

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

inline

Definition at line 292 of file SensorData.h.

◆ setFeatures()

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

Definition at line 801 of file SensorData.cpp.

◆ setGlobalDescriptors()

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

inline

Definition at line 275 of file SensorData.h.

◆ setGlobalPose()

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

inline

Definition at line 282 of file SensorData.h.

◆ setGPS()

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

inline

Definition at line 286 of file SensorData.h.

◆ setGroundTruth()

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

inline

Definition at line 279 of file SensorData.h.

◆ setId()

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

inline

Definition at line 175 of file SensorData.h.

◆ setIMU()

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

inline

Definition at line 289 of file SensorData.h.

◆ setLandmarks()

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

inline

Definition at line 296 of file SensorData.h.

◆ setLaserScan()

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 381 of file SensorData.cpp.

◆ setOccupancyGrid()

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 444 of file SensorData.cpp.

◆ setRGBDImage() [1/2]

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 227 of file SensorData.cpp.

◆ setRGBDImage() [2/2]

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

Definition at line 237 of file SensorData.cpp.

◆ setStamp()

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

inline

Definition at line 177 of file SensorData.h.

◆ setStereoCameraModel()

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

inline

Definition at line 206 of file SensorData.h.

◆ setStereoCameraModels()

void rtabmap::SensorData::setStereoCameraModels ( const std::vector< StereoCameraModel > & stereoCameraModels )

inline

Definition at line 207 of file SensorData.h.

◆ setStereoImage() [1/2]

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

Definition at line 304 of file SensorData.cpp.

◆ setStereoImage() [2/2]

void rtabmap::SensorData::setStereoImage	(	const cv::Mat &	left,
		const cv::Mat &	right,
		const std::vector< StereoCameraModel > &	stereoCameraModels,
		bool	clearPreviousData = `true`
	)

Definition at line 314 of file SensorData.cpp.

◆ setUserData()

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 422 of file SensorData.cpp.

◆ stamp()

double rtabmap::SensorData::stamp ( ) const

inline

Definition at line 176 of file SensorData.h.

◆ stereoCameraModels()

const std::vector<StereoCameraModel>& rtabmap::SensorData::stereoCameraModels ( ) const

inline

Definition at line 237 of file SensorData.h.

◆ uncompressData() [1/2]

void rtabmap::SensorData::uncompressData ( )

Definition at line 528 of file SensorData.cpp.

◆ uncompressData() [2/2]

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 541 of file SensorData.cpp.

◆ uncompressDataConst()

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 623 of file SensorData.cpp.

◆ userDataCompressed()

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

inline

Definition at line 249 of file SensorData.h.

◆ userDataRaw()

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

inline

Definition at line 248 of file SensorData.h.

Member Data Documentation

◆ _cameraModels

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

private

Definition at line 325 of file SensorData.h.

◆ _cellSize

float rtabmap::SensorData::_cellSize

private

Definition at line 339 of file SensorData.h.

◆ _depthOrRightCompressed

cv::Mat rtabmap::SensorData::_depthOrRightCompressed

private

Definition at line 318 of file SensorData.h.

◆ _depthOrRightRaw

cv::Mat rtabmap::SensorData::_depthOrRightRaw

private

Definition at line 322 of file SensorData.h.

◆ _descriptors

cv::Mat rtabmap::SensorData::_descriptors

private

Definition at line 351 of file SensorData.h.

◆ _emptyCellsCompressed

cv::Mat rtabmap::SensorData::_emptyCellsCompressed

private

Definition at line 335 of file SensorData.h.

◆ _emptyCellsRaw

cv::Mat rtabmap::SensorData::_emptyCellsRaw

private

Definition at line 338 of file SensorData.h.

◆ _envSensors

EnvSensors rtabmap::SensorData::_envSensors

private

Definition at line 343 of file SensorData.h.

◆ _globalDescriptors

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

private

Definition at line 354 of file SensorData.h.

◆ _groundCellsCompressed

cv::Mat rtabmap::SensorData::_groundCellsCompressed

private

Definition at line 333 of file SensorData.h.

◆ _groundCellsRaw

cv::Mat rtabmap::SensorData::_groundCellsRaw

private

Definition at line 336 of file SensorData.h.

◆ _id

int rtabmap::SensorData::_id

private

Definition at line 314 of file SensorData.h.

◆ _imageCompressed

cv::Mat rtabmap::SensorData::_imageCompressed

private

Definition at line 317 of file SensorData.h.

◆ _imageRaw

cv::Mat rtabmap::SensorData::_imageRaw

private

Definition at line 321 of file SensorData.h.

◆ _keypoints

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

private

Definition at line 349 of file SensorData.h.

◆ _keypoints3D

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

private

Definition at line 350 of file SensorData.h.

◆ _landmarks

Landmarks rtabmap::SensorData::_landmarks

private

Definition at line 346 of file SensorData.h.

◆ _laserScanCompressed

LaserScan rtabmap::SensorData::_laserScanCompressed

private

Definition at line 319 of file SensorData.h.

◆ _laserScanRaw

LaserScan rtabmap::SensorData::_laserScanRaw

private

Definition at line 323 of file SensorData.h.

◆ _obstacleCellsCompressed

cv::Mat rtabmap::SensorData::_obstacleCellsCompressed

private

Definition at line 334 of file SensorData.h.

◆ _obstacleCellsRaw

cv::Mat rtabmap::SensorData::_obstacleCellsRaw

private

Definition at line 337 of file SensorData.h.

◆ _stamp

double rtabmap::SensorData::_stamp

private

Definition at line 315 of file SensorData.h.

◆ _stereoCameraModels

std::vector<StereoCameraModel> rtabmap::SensorData::_stereoCameraModels

private

Definition at line 326 of file SensorData.h.

◆ _userDataCompressed

cv::Mat rtabmap::SensorData::_userDataCompressed

private

Definition at line 329 of file SensorData.h.

◆ _userDataRaw

cv::Mat rtabmap::SensorData::_userDataRaw

private

Definition at line 330 of file SensorData.h.

◆ _viewPoint

cv::Point3f rtabmap::SensorData::_viewPoint

private

Definition at line 340 of file SensorData.h.

◆ globalPose_

Transform rtabmap::SensorData::globalPose_

private

Definition at line 358 of file SensorData.h.

◆ globalPoseCovariance_

cv::Mat rtabmap::SensorData::globalPoseCovariance_

private

Definition at line 359 of file SensorData.h.

◆ gps_

GPS rtabmap::SensorData::gps_

private

Definition at line 361 of file SensorData.h.

◆ groundTruth_

Transform rtabmap::SensorData::groundTruth_

private

Definition at line 356 of file SensorData.h.

◆ imu_

IMU rtabmap::SensorData::imu_

private

Definition at line 363 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

◆ SensorData() [1/12]

◆ SensorData() [2/12]

◆ SensorData() [3/12]

◆ SensorData() [4/12]

◆ SensorData() [5/12]

◆ SensorData() [6/12]

◆ SensorData() [7/12]

◆ SensorData() [8/12]

◆ SensorData() [9/12]

◆ SensorData() [10/12]

◆ SensorData() [11/12]

◆ SensorData() [12/12]

◆ ~SensorData()

Member Function Documentation

◆ addEnvSensor()

◆ addGlobalDescriptor()

◆ cameraModels()

◆ clearCompressedData()

◆ clearGlobalDescriptors()

◆ clearOccupancyGridRaw()

◆ clearRawData()

◆ depthOrRightCompressed()

◆ depthOrRightRaw()

◆ depthRaw()

◆ descriptors()

◆ envSensors()

◆ getMemoryUsed()

◆ globalDescriptors()

◆ globalPose()

◆ globalPoseCovariance()

◆ gps()

◆ gridCellSize()

◆ gridEmptyCellsCompressed()

◆ gridEmptyCellsRaw()

◆ gridGroundCellsCompressed()

◆ gridGroundCellsRaw()

◆ gridObstacleCellsCompressed()

◆ gridObstacleCellsRaw()

◆ gridViewPoint()

◆ groundTruth()

◆ id()

◆ imageCompressed()

◆ imageRaw()

◆ imu()

◆ isPointVisibleFromCameras()

◆ isValid()

◆ keypoints()

◆ keypoints3D()

◆ landmarks()

◆ laserScanCompressed()

◆ laserScanRaw()

◆ rightRaw()

◆ RTABMAP_DEPRECATED() [1/4]

◆ RTABMAP_DEPRECATED() [2/4]

◆ RTABMAP_DEPRECATED() [3/4]

◆ RTABMAP_DEPRECATED() [4/4]

◆ setCameraModel()

◆ setCameraModels()

◆ setEnvSensors()

◆ setFeatures()

◆ setGlobalDescriptors()

◆ setGlobalPose()

◆ setGPS()

◆ setGroundTruth()

◆ setId()

◆ setIMU()

◆ setLandmarks()

◆ setLaserScan()

◆ setOccupancyGrid()

◆ setRGBDImage() [1/2]

◆ setRGBDImage() [2/2]

◆ setStamp()

◆ setStereoCameraModel()

◆ setStereoCameraModels()

◆ setStereoImage() [1/2]

◆ setStereoImage() [2/2]