#include <SensorData.h>

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_

Detailed Description

An id is automatically generated if id=0.

Definition at line 48 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 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.

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.

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.

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