Public Member Functions | Private Attributes | List of all members
rtabmap::SensorData Class Reference

#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::MatdepthOrRightCompressed () const
 
const cv::MatdepthOrRightRaw () const
 
cv::Mat depthRaw () const
 
const cv::Matdescriptors () const
 
const EnvSensorsenvSensors () const
 
unsigned long getMemoryUsed () const
 
const std::vector< GlobalDescriptor > & globalDescriptors () const
 
const TransformglobalPose () const
 
const cv::MatglobalPoseCovariance () const
 
const GPSgps () const
 
float gridCellSize () const
 
const cv::MatgridEmptyCellsCompressed () const
 
const cv::MatgridEmptyCellsRaw () const
 
const cv::MatgridGroundCellsCompressed () const
 
const cv::MatgridGroundCellsRaw () const
 
const cv::MatgridObstacleCellsCompressed () const
 
const cv::MatgridObstacleCellsRaw () const
 
const cv::Point3f & gridViewPoint () const
 
const TransformgroundTruth () const
 
int id () const
 
const cv::MatimageCompressed () const
 
const cv::MatimageRaw () const
 
const IMUimu () 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 Landmarkslandmarks () const
 
const LaserScanlaserScanCompressed () const
 
const LaserScanlaserScanRaw () const
 
cv::Mat rightRaw () const
 
 SensorData ()
 
 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 &image, 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 &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 &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)
 
 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 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 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 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())
 
void setCameraModel (const CameraModel &model)
 
void setCameraModels (const std::vector< CameraModel > &models)
 
RTABMAP_DEPRECATED void setDepthOrRightRaw (const cv::Mat &image)
 
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)
 
RTABMAP_DEPRECATED void setImageRaw (const cv::Mat &image)
 
void setIMU (const IMU &imu)
 
void setLandmarks (const Landmarks &landmarks)
 
void setLaserScan (const LaserScan &laserScan, bool clearPreviousData=true)
 
RTABMAP_DEPRECATED void setLaserScanRaw (const LaserScan &scan)
 
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 std::vector< StereoCameraModel > &stereoCameraModels, bool clearPreviousData=true)
 
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)
 
RTABMAP_DEPRECATED void setUserDataRaw (const cv::Mat &data)
 
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::MatuserDataCompressed () const
 
const cv::MatuserDataRaw () 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 297 of file SensorData.h.

◆ addGlobalDescriptor()

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

Definition at line 278 of file SensorData.h.

◆ cameraModels()

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

Definition at line 240 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 280 of file SensorData.h.

◆ clearOccupancyGridRaw()

void rtabmap::SensorData::clearOccupancyGridRaw ( )
inline

Definition at line 263 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 276 of file SensorData.h.

◆ envSensors()

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

Definition at line 298 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 281 of file SensorData.h.

◆ globalPose()

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

Definition at line 287 of file SensorData.h.

◆ globalPoseCovariance()

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

Definition at line 288 of file SensorData.h.

◆ gps()

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

Definition at line 291 of file SensorData.h.

◆ gridCellSize()

float rtabmap::SensorData::gridCellSize ( ) const
inline

Definition at line 270 of file SensorData.h.

◆ gridEmptyCellsCompressed()

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

Definition at line 269 of file SensorData.h.

◆ gridEmptyCellsRaw()

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

Definition at line 268 of file SensorData.h.

◆ gridGroundCellsCompressed()

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

Definition at line 265 of file SensorData.h.

◆ gridGroundCellsRaw()

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

Definition at line 264 of file SensorData.h.

◆ gridObstacleCellsCompressed()

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

Definition at line 267 of file SensorData.h.

◆ gridObstacleCellsRaw()

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

Definition at line 266 of file SensorData.h.

◆ gridViewPoint()

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

Definition at line 271 of file SensorData.h.

◆ groundTruth()

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

Definition at line 284 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 294 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 274 of file SensorData.h.

◆ keypoints3D()

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

Definition at line 275 of file SensorData.h.

◆ landmarks()

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

Definition at line 301 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.

◆ 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.

◆ setDepthOrRightRaw()

void rtabmap::SensorData::setDepthOrRightRaw ( const cv::Mat image)

Definition at line 406 of file SensorData.cpp.

◆ setEnvSensors()

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

Definition at line 296 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 279 of file SensorData.h.

◆ setGlobalPose()

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

Definition at line 286 of file SensorData.h.

◆ setGPS()

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

Definition at line 290 of file SensorData.h.

◆ setGroundTruth()

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

Definition at line 283 of file SensorData.h.

◆ setId()

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

Definition at line 175 of file SensorData.h.

◆ setImageRaw()

void rtabmap::SensorData::setImageRaw ( const cv::Mat image)

Definition at line 401 of file SensorData.cpp.

◆ setIMU()

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

Definition at line 293 of file SensorData.h.

◆ setLandmarks()

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

Definition at line 300 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,clearprevious raw and compressed scans before setting the new one.

Definition at line 381 of file SensorData.cpp.

◆ setLaserScanRaw()

void rtabmap::SensorData::setLaserScanRaw ( const LaserScan scan)

Definition at line 411 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,clearprevious 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 std::vector< StereoCameraModel > &  stereoCameraModels,
bool  clearPreviousData = true 
)

Definition at line 314 of file SensorData.cpp.

◆ setStereoImage() [2/2]

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.

◆ 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,clearprevious raw and compressed user data before setting the new one.

Definition at line 422 of file SensorData.cpp.

◆ setUserDataRaw()

void rtabmap::SensorData::setUserDataRaw ( const cv::Mat data)

Definition at line 417 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 241 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 253 of file SensorData.h.

◆ userDataRaw()

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

Definition at line 252 of file SensorData.h.

Member Data Documentation

◆ _cameraModels

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

Definition at line 329 of file SensorData.h.

◆ _cellSize

float rtabmap::SensorData::_cellSize
private

Definition at line 343 of file SensorData.h.

◆ _depthOrRightCompressed

cv::Mat rtabmap::SensorData::_depthOrRightCompressed
private

Definition at line 322 of file SensorData.h.

◆ _depthOrRightRaw

cv::Mat rtabmap::SensorData::_depthOrRightRaw
private

Definition at line 326 of file SensorData.h.

◆ _descriptors

cv::Mat rtabmap::SensorData::_descriptors
private

Definition at line 355 of file SensorData.h.

◆ _emptyCellsCompressed

cv::Mat rtabmap::SensorData::_emptyCellsCompressed
private

Definition at line 339 of file SensorData.h.

◆ _emptyCellsRaw

cv::Mat rtabmap::SensorData::_emptyCellsRaw
private

Definition at line 342 of file SensorData.h.

◆ _envSensors

EnvSensors rtabmap::SensorData::_envSensors
private

Definition at line 347 of file SensorData.h.

◆ _globalDescriptors

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

Definition at line 358 of file SensorData.h.

◆ _groundCellsCompressed

cv::Mat rtabmap::SensorData::_groundCellsCompressed
private

Definition at line 337 of file SensorData.h.

◆ _groundCellsRaw

cv::Mat rtabmap::SensorData::_groundCellsRaw
private

Definition at line 340 of file SensorData.h.

◆ _id

int rtabmap::SensorData::_id
private

Definition at line 318 of file SensorData.h.

◆ _imageCompressed

cv::Mat rtabmap::SensorData::_imageCompressed
private

Definition at line 321 of file SensorData.h.

◆ _imageRaw

cv::Mat rtabmap::SensorData::_imageRaw
private

Definition at line 325 of file SensorData.h.

◆ _keypoints

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

Definition at line 353 of file SensorData.h.

◆ _keypoints3D

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

Definition at line 354 of file SensorData.h.

◆ _landmarks

Landmarks rtabmap::SensorData::_landmarks
private

Definition at line 350 of file SensorData.h.

◆ _laserScanCompressed

LaserScan rtabmap::SensorData::_laserScanCompressed
private

Definition at line 323 of file SensorData.h.

◆ _laserScanRaw

LaserScan rtabmap::SensorData::_laserScanRaw
private

Definition at line 327 of file SensorData.h.

◆ _obstacleCellsCompressed

cv::Mat rtabmap::SensorData::_obstacleCellsCompressed
private

Definition at line 338 of file SensorData.h.

◆ _obstacleCellsRaw

cv::Mat rtabmap::SensorData::_obstacleCellsRaw
private

Definition at line 341 of file SensorData.h.

◆ _stamp

double rtabmap::SensorData::_stamp
private

Definition at line 319 of file SensorData.h.

◆ _stereoCameraModels

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

Definition at line 330 of file SensorData.h.

◆ _userDataCompressed

cv::Mat rtabmap::SensorData::_userDataCompressed
private

Definition at line 333 of file SensorData.h.

◆ _userDataRaw

cv::Mat rtabmap::SensorData::_userDataRaw
private

Definition at line 334 of file SensorData.h.

◆ _viewPoint

cv::Point3f rtabmap::SensorData::_viewPoint
private

Definition at line 344 of file SensorData.h.

◆ globalPose_

Transform rtabmap::SensorData::globalPose_
private

Definition at line 362 of file SensorData.h.

◆ globalPoseCovariance_

cv::Mat rtabmap::SensorData::globalPoseCovariance_
private

Definition at line 363 of file SensorData.h.

◆ gps_

GPS rtabmap::SensorData::gps_
private

Definition at line 365 of file SensorData.h.

◆ groundTruth_

Transform rtabmap::SensorData::groundTruth_
private

Definition at line 360 of file SensorData.h.

◆ imu_

IMU rtabmap::SensorData::imu_
private

Definition at line 367 of file SensorData.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:28