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::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
 
 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::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 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 833 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 849 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 811 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 867 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 407 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 802 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 402 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 382 of file SensorData.cpp.

◆ setLaserScanRaw()

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

Definition at line 412 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 445 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 423 of file SensorData.cpp.

◆ setUserDataRaw()

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

Definition at line 418 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 529 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 542 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 624 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 336 of file SensorData.h.

◆ _cellSize

float rtabmap::SensorData::_cellSize
private

Definition at line 350 of file SensorData.h.

◆ _depthOrRightCompressed

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

Definition at line 329 of file SensorData.h.

◆ _depthOrRightRaw

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

Definition at line 333 of file SensorData.h.

◆ _descriptors

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

Definition at line 362 of file SensorData.h.

◆ _emptyCellsCompressed

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

Definition at line 346 of file SensorData.h.

◆ _emptyCellsRaw

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

Definition at line 349 of file SensorData.h.

◆ _envSensors

EnvSensors rtabmap::SensorData::_envSensors
private

Definition at line 354 of file SensorData.h.

◆ _globalDescriptors

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

Definition at line 365 of file SensorData.h.

◆ _groundCellsCompressed

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

Definition at line 344 of file SensorData.h.

◆ _groundCellsRaw

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

Definition at line 347 of file SensorData.h.

◆ _id

int rtabmap::SensorData::_id
private

Definition at line 325 of file SensorData.h.

◆ _imageCompressed

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

Definition at line 328 of file SensorData.h.

◆ _imageRaw

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

Definition at line 332 of file SensorData.h.

◆ _keypoints

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

Definition at line 360 of file SensorData.h.

◆ _keypoints3D

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

Definition at line 361 of file SensorData.h.

◆ _landmarks

Landmarks rtabmap::SensorData::_landmarks
private

Definition at line 357 of file SensorData.h.

◆ _laserScanCompressed

LaserScan rtabmap::SensorData::_laserScanCompressed
private

Definition at line 330 of file SensorData.h.

◆ _laserScanRaw

LaserScan rtabmap::SensorData::_laserScanRaw
private

Definition at line 334 of file SensorData.h.

◆ _obstacleCellsCompressed

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

Definition at line 345 of file SensorData.h.

◆ _obstacleCellsRaw

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

Definition at line 348 of file SensorData.h.

◆ _stamp

double rtabmap::SensorData::_stamp
private

Definition at line 326 of file SensorData.h.

◆ _stereoCameraModels

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

Definition at line 337 of file SensorData.h.

◆ _userDataCompressed

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

Definition at line 340 of file SensorData.h.

◆ _userDataRaw

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

Definition at line 341 of file SensorData.h.

◆ _viewPoint

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

Definition at line 351 of file SensorData.h.

◆ globalPose_

Transform rtabmap::SensorData::globalPose_
private

Definition at line 369 of file SensorData.h.

◆ globalPoseCovariance_

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

Definition at line 370 of file SensorData.h.

◆ gps_

GPS rtabmap::SensorData::gps_
private

Definition at line 372 of file SensorData.h.

◆ groundTruth_

Transform rtabmap::SensorData::groundTruth_
private

Definition at line 367 of file SensorData.h.

◆ imu_

IMU rtabmap::SensorData::imu_
private

Definition at line 374 of file SensorData.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Apr 28 2025 02:46:11