Container class for all sensor data captured at a specific time. More...

#include <SensorData.h>

Public Member Functions
	SensorData ()
	Default constructor.

	SensorData (const cv::Mat &image, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	Appearance-only constructor.

	SensorData (const cv::Mat &image, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	Mono camera constructor.

	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())
	RGB-D constructor.

	SensorData (const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depth_confidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	RGB-D constructor with depth confidence.

	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())
	RGB-D constructor with laser scan.

	SensorData (const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const CameraModel &cameraModel, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	RGB-D constructor with depth confidence and laser scan.

	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())
	Multi-camera RGB-D constructor.

	SensorData (const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	Multi-camera RGB-D constructor with depth confidence.

	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())
	Multi-camera RGB-D constructor with laser scan.

	SensorData (const LaserScan &laserScan, const cv::Mat &rgb, const cv::Mat &depth, const cv::Mat &depthConfidence, const std::vector< CameraModel > &cameraModels, int id=0, double stamp=0.0, const cv::Mat &userData=cv::Mat())
	Multi-camera RGB-D constructor with depth confidence and laser scan.

	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())
	Stereo camera constructor.

	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())
	Stereo camera constructor with laser scan.

	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())
	Multi-camera stereo constructor.

	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())
	Multi-camera stereo constructor with laser scan.

	SensorData (const IMU &imu, int id=0, double stamp=0.0)
	IMU-only constructor.

virtual	~SensorData ()
	Virtual destructor.

bool	isValid () const
	Checks if the sensor data is valid.

int	id () const
	Returns the sensor data ID.

void	setId (int id)
	Sets the sensor data ID.

double	stamp () const
	Returns the timestamp.

void	setStamp (double stamp)
	Sets the timestamp.

const cv::Mat &	imageCompressed () const
	Returns the compressed RGB/grayscale image.

const cv::Mat &	depthOrRightCompressed () const
	Returns the compressed depth or right stereo image.

const cv::Mat &	depthConfidenceCompressed () const
	Returns the compressed depth confidence map.

const LaserScan &	laserScanCompressed () const
	Returns the compressed laser scan.

const cv::Mat &	imageRaw () const
	Returns the raw RGB/grayscale image.

const cv::Mat &	depthOrRightRaw () const
	Returns the raw depth or right stereo image.

const cv::Mat &	depthConfidenceRaw () const
	Returns the raw depth confidence map.

const LaserScan &	laserScanRaw () const
	Returns the raw laser scan.

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

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

void	setCameraModel (const CameraModel &model)
	Sets a single camera model (clears previous models)

void	setCameraModels (const std::vector< CameraModel > &models)
	Sets multiple camera models.

void	setStereoCameraModel (const StereoCameraModel &stereoCameraModel)
	Sets a single stereo camera model (clears previous models)

void	setStereoCameraModels (const std::vector< StereoCameraModel > &stereoCameraModels)
	Sets multiple stereo camera models.

cv::Mat	depthRaw () const
	Returns the depth image (convenience method)

cv::Mat	rightRaw () const
	Returns the right stereo image (convenience method)

RTABMAP_DEPRECATED void	setImageRaw (const cv::Mat &image)

RTABMAP_DEPRECATED void	setDepthOrRightRaw (const cv::Mat &image)

RTABMAP_DEPRECATED void	setLaserScanRaw (const LaserScan &scan)

RTABMAP_DEPRECATED void	setUserDataRaw (const cv::Mat &data)

void	uncompressData ()
	Uncompresses all compressed data in-place.

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, cv::Mat depthConfidenceRaw=0)
	Uncompresses compressed data into provided output buffers.

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, cv::Mat depthConfidenceRaw=0) const
	Uncompresses compressed data into provided output buffers (const version)

const std::vector< CameraModel > &	cameraModels () const
	Returns the camera models.

const std::vector< StereoCameraModel > &	stereoCameraModels () const
	Returns the stereo camera models.

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

const cv::Mat &	userDataRaw () const

const cv::Mat &	userDataCompressed () const

void	setOccupancyGrid (const cv::Mat &ground, const cv::Mat &obstacles, const cv::Mat &empty, float cellSize, const cv::Point3f &viewPoint)
	Sets occupancy grid data.

const cv::Mat &	gridGroundCellsRaw () const
	Returns raw ground cells.

const cv::Mat &	gridGroundCellsCompressed () const
	Returns compressed ground cells.

const cv::Mat &	gridObstacleCellsRaw () const
	Returns raw obstacle cells.

const cv::Mat &	gridObstacleCellsCompressed () const
	Returns compressed obstacle cells.

const cv::Mat &	gridEmptyCellsRaw () const
	Returns raw empty cells.

const cv::Mat &	gridEmptyCellsCompressed () const
	Returns compressed empty cells.

float	gridCellSize () const
	Returns the occupancy grid cell size.

const cv::Point3f &	gridViewPoint () const
	Returns the occupancy grid viewpoint.

void	setFeatures (const std::vector< cv::KeyPoint > &keypoints, const std::vector< cv::Point3f > &keypoints3D, const cv::Mat &descriptors)
	Sets visual features (keypoints, 3D points, descriptors)

const std::vector< cv::KeyPoint > &	keypoints () const
	Returns the 2D keypoints.

const std::vector< cv::Point3f > &	keypoints3D () const
	Returns the 3D keypoints.

const cv::Mat &	descriptors () const
	Returns the feature descriptors.

void	addGlobalDescriptor (const GlobalDescriptor &descriptor)
	Adds a global descriptor.

void	setGlobalDescriptors (const std::vector< GlobalDescriptor > &descriptors)
	Sets all global descriptors.

void	clearGlobalDescriptors ()
	Clears all global descriptors.

const std::vector< GlobalDescriptor > &	globalDescriptors () const
	Returns all global descriptors.

void	setGroundTruth (const Transform &pose)
	Sets the ground truth pose.

const Transform &	groundTruth () const
	Returns the ground truth pose.

void	setGlobalPose (const Transform &pose, const cv::Mat &covariance)
	Sets the global pose with covariance.

const Transform &	globalPose () const
	Returns the global pose.

const cv::Mat &	globalPoseCovariance () const
	Returns the global pose covariance.

void	setGPS (const GPS &gps)
	Sets GPS data.

const GPS &	gps () const
	Returns GPS data.

void	setIMU (const IMU &imu)
	Sets IMU data.

const IMU &	imu () const
	Returns IMU data.

void	setEnvSensors (const EnvSensors &sensors)
	Sets all environmental sensors.

void	addEnvSensor (const EnvSensor &sensor)
	Adds a single environmental sensor.

const EnvSensors &	envSensors () const
	Returns all environmental sensors.

void	setLandmarks (const Landmarks &landmarks)
	Sets landmarks.

const Landmarks &	landmarks () const
	Returns landmarks.

unsigned long	getMemoryUsed () const
	Computes the memory usage of this sensor data.

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

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

int	isPointVisibleFromCameras (const cv::Point3f &pt) const
	Checks if a 3D point is visible from any camera.

Detailed Description

Container class for all sensor data captured at a specific time.

SensorData is a comprehensive container class that holds all types of sensor data captured at a specific timestamp, including:

Visual data: RGB images, depth images, stereo image pairs (left/right)
3D data: Laser scans, 3D point clouds
Camera models: Mono camera models, stereo camera models (single or multiple)
Features: Keypoints, 3D keypoints, descriptors
Global descriptors: Scene-level descriptors for place recognition
Sensor fusion: IMU data, GPS data, environmental sensors
Metadata: Ground truth poses, global poses with covariance, landmarks
User data: Custom data matrices
Occupancy grids: Ground, obstacle, and empty cells

The class supports both raw and compressed data formats:

Raw data: Uncompressed images, depth maps, laser scans
Compressed data: JPEG-compressed images, compressed depth, compressed scans

Data compression is automatically detected when setting data:

A matrix of type CV_8UC1 with 1 row is considered compressed
Use uncompressData() to decompress compressed data

The class supports multiple sensor configurations:

Appearance-only: Single RGB image
Mono: RGB image with camera model
RGB-D: RGB + depth with camera model(s)
Stereo: Left + right images with stereo camera model(s)
IMU-only: IMU data without images
Multi-camera: Multiple camera models (RGB-D or stereo)
Combined: Any combination with laser scans, IMU, GPS, etc.

Note: If id=0 is provided to constructors, an ID is automatically generated.; The class manages memory efficiently by storing either raw or compressed data (or both), allowing for memory optimization in large datasets.

See also: CameraModel; StereoCameraModel; LaserScan; IMU; GPS; SensorEvent

Definition at line 96 of file SensorData.h.

Constructor & Destructor Documentation

◆ SensorData() [1/16]

rtabmap::SensorData::SensorData ( )

Default constructor.

Creates an empty SensorData object with all fields initialized to default values. The ID will be 0 (invalid), and no sensor data will be present.

◆ SensorData() [2/16]

rtabmap::SensorData::SensorData	(	const cv::Mat &	image,
		int	id = `0`,
		double	stamp = `0.0`,
		const cv::Mat &	userData = `cv::Mat()`
	)

Appearance-only constructor.

Creates a SensorData object with a single RGB or grayscale image. No camera model is provided, so this is suitable for appearance-based place recognition without 3D reconstruction.

Parameters

image	RGB or grayscale image (CV_8UC1 or CV_8UC3)
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

◆ SensorData() [3/16]

rtabmap::SensorData::SensorData	(	const cv::Mat &	image,
		const CameraModel &	cameraModel,
		int	id = `0`,
		double	stamp = `0.0`,
		const cv::Mat &	userData = `cv::Mat()`
	)

Mono camera constructor.

Creates a SensorData object with a single RGB or grayscale image and a mono camera model for 3D projection.

Parameters

image	RGB or grayscale image (CV_8UC1 or CV_8UC3)
cameraModel	Camera model for the image
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

◆ SensorData() [4/16]

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()`
	)

RGB-D constructor.

Creates a SensorData object with RGB and depth images and a camera model.

Parameters

rgb	RGB or grayscale image (CV_8UC1 or CV_8UC3)
depth	Depth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
cameraModel	Camera model for RGB-D projection
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

◆ SensorData() [5/16]

rtabmap::SensorData::SensorData	(	const cv::Mat &	rgb,
		const cv::Mat &	depth,
		const cv::Mat &	depth_confidence,
		const CameraModel &	cameraModel,
		int	id = `0`,
		double	stamp = `0.0`,
		const cv::Mat &	userData = `cv::Mat()`
	)

RGB-D constructor with depth confidence.

Creates a SensorData object with RGB, depth, and depth confidence images.

Parameters

rgb	RGB or grayscale image (CV_8UC1 or CV_8UC3)
depth	Depth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
depth_confidence	Depth confidence map (CV_8UC1, typically 0-100)
cameraModel	Camera model for RGB-D projection
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

◆ SensorData() [6/16]

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()`
	)

RGB-D constructor with laser scan.

Creates a SensorData object with RGB, depth, camera model, and laser scan.

Parameters

laserScan	2D or 3D laser scan
rgb	RGB or grayscale image (CV_8UC1 or CV_8UC3)
depth	Depth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
cameraModel	Camera model for RGB-D projection
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

◆ SensorData() [7/16]

rtabmap::SensorData::SensorData	(	const LaserScan &	laserScan,
		const cv::Mat &	rgb,
		const cv::Mat &	depth,
		const cv::Mat &	depthConfidence,
		const CameraModel &	cameraModel,
		int	id = `0`,
		double	stamp = `0.0`,
		const cv::Mat &	userData = `cv::Mat()`
	)

RGB-D constructor with depth confidence and laser scan.

Creates a SensorData object with RGB, depth, depth confidence, camera model, and laser scan.

Parameters

laserScan	2D or 3D laser scan
rgb	RGB or grayscale image (CV_8UC1 or CV_8UC3)
depth	Depth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
depthConfidence	Depth confidence map (CV_8UC1)
cameraModel	Camera model for RGB-D projection
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

◆ SensorData() [8/16]

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()`
	)

Multi-camera RGB-D constructor.

Creates a SensorData object with RGB, depth, and multiple camera models. rgb and depth images should contain stitched images from multiple cameras. All stitched images should have the same resolution.

Parameters

rgb	RGB or grayscale image (CV_8UC1 or CV_8UC3)
depth	Depth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
cameraModels	Vector of camera models
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

Example: Stitching two camera images horizontally: #include <rtabmap/core/Camera.h>

#include <opencv2/imgproc/imgproc.hpp>

// Assume camera1 and camera2 are Camera* instances

Camera* camera1 = ...; // First camera

Camera* camera2 = ...; // Second camera

// Capture SensorData from both cameras

SensorData data1 = camera1->takeImage();

SensorData data2 = camera2->takeImage();

// Extract images and depth

cv::Mat image1 = data1.imageRaw(); // 640x480

cv::Mat depth1 = data1.depthOrRightRaw(); // 640x480

cv::Mat image2 = data2.imageRaw(); // 640x480

cv::Mat depth2 = data2.depthOrRightRaw(); // 640x480

// Stitch images horizontally

cv::Mat stitchedRgb;

cv::hconcat(image1, image2, stitchedRgb); // Result: 1280x480

cv::Mat stitchedDepth;

cv::hconcat(depth1, depth2, stitchedDepth); // Result: 1280x480

// Get camera models from both SensorData objects

std::vector<CameraModel> models = data1.cameraModels();

std::vector<CameraModel> models2 = data2.cameraModels();

models.insert(models.end(), models2.begin(), models2.end());

// Create SensorData with stitched images

SensorData stitchedData(stitchedRgb, stitchedDepth, models, 0, data1.stamp());

rtabmap::Camera
Definition Camera.h:44

rtabmap::SensorData
Container class for all sensor data captured at a specific time.
Definition SensorData.h:97

rtabmap::SensorData::depthOrRightRaw
const cv::Mat & depthOrRightRaw() const
Returns the raw depth or right stereo image.
Definition SensorData.h:573

rtabmap::SensorData::stamp
double stamp() const
Returns the timestamp.
Definition SensorData.h:527

rtabmap::SensorData::cameraModels
const std::vector< CameraModel > & cameraModels() const
Returns the camera models.
Definition SensorData.h:724

rtabmap::SensorData::imageRaw
const cv::Mat & imageRaw() const
Returns the raw RGB/grayscale image.
Definition SensorData.h:566

◆ SensorData() [9/16]

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

Multi-camera RGB-D constructor with depth confidence.

Creates a SensorData object with RGB, depth, depth confidence, and multiple camera models.

Parameters

rgb	RGB or grayscale image (CV_8UC1 or CV_8UC3)
depth	Depth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
depthConfidence	Depth confidence map (CV_8UC1)
cameraModels	Vector of camera models
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

See also: SensorData(const cv::Mat&, const cv::Mat&, const std::vector<CameraModel>&, int, double, const cv::Mat&) for an example of stitching images from multiple cameras.

◆ SensorData() [10/16]

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()`
	)

Multi-camera RGB-D constructor with laser scan.

Creates a SensorData object with RGB, depth, multiple camera models, and laser scan.

Parameters

laserScan	2D or 3D laser scan
rgb	RGB or grayscale image (CV_8UC1 or CV_8UC3)
depth	Depth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
cameraModels	Vector of camera models
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

See also: SensorData(const cv::Mat&, const cv::Mat&, const std::vector<CameraModel>&, int, double, const cv::Mat&) for an example of stitching images from multiple cameras.

◆ SensorData() [11/16]

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

Multi-camera RGB-D constructor with depth confidence and laser scan.

Creates a SensorData object with RGB, depth, depth confidence, multiple camera models, and laser scan.

Parameters

laserScan	2D or 3D laser scan
rgb	RGB or grayscale image (CV_8UC1 or CV_8UC3)
depth	Depth image (CV_16UC1 for millimeters or CV_32FC1 for meters)
depthConfidence	Depth confidence map (CV_8UC1)
cameraModels	Vector of camera models
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

See also: SensorData(const cv::Mat&, const cv::Mat&, const std::vector<CameraModel>&, int, double, const cv::Mat&) for an example of stitching images from multiple cameras.

◆ SensorData() [12/16]

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()`
	)

Stereo camera constructor.

Creates a SensorData object with left and right stereo images and a stereo camera model.

Parameters

left	Left stereo image (CV_8UC1 or CV_8UC3)
right	Right stereo image (CV_8UC1 or CV_8UC3)
cameraModel	Stereo camera model for disparity computation
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

◆ SensorData() [13/16]

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()`
	)

Stereo camera constructor with laser scan.

Creates a SensorData object with left and right stereo images, stereo camera model, and laser scan.

Parameters

laserScan	2D or 3D laser scan
left	Left stereo image (CV_8UC1 or CV_8UC3)
right	Right stereo image (CV_8UC1 or CV_8UC3)
cameraModel	Stereo camera model for disparity computation
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

◆ SensorData() [14/16]

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()`
	)

Multi-camera stereo constructor.

Creates a SensorData object with left and right stereo images and multiple stereo camera models.

Parameters

rgb	Left stereo image (CV_8UC1 or CV_8UC3)
depth	Right stereo image (CV_8UC1 or CV_8UC3)
cameraModels	Vector of stereo camera models
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

See also: SensorData(const cv::Mat&, const cv::Mat&, const std::vector<CameraModel>&, int, double, const cv::Mat&) for an example of stitching images from multiple cameras.

◆ SensorData() [15/16]

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()`
	)

Multi-camera stereo constructor with laser scan.

Creates a SensorData object with left and right stereo images, multiple stereo camera models, and laser scan.

Parameters

laserScan	2D or 3D laser scan
rgb	Left stereo image (CV_8UC1 or CV_8UC3)
depth	Right stereo image (CV_8UC1 or CV_8UC3)
cameraModels	Vector of stereo camera models
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds
userData	Optional user-defined data matrix

◆ SensorData() [16/16]

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

IMU-only constructor.

Creates a SensorData object with only IMU data (no images). Useful for IMU-only odometry or sensor fusion scenarios.

Parameters

imu	IMU data (accelerometer, gyroscope, orientation)
id	Sensor data ID (0 to auto-generate)
stamp	Timestamp in seconds

Member Function Documentation

◆ isValid()

bool rtabmap::SensorData::isValid ( ) const

inline

Checks if the sensor data is valid.

Returns true if the sensor data contains at least one of:

Valid ID (> 0) or non-zero stamp
Images (raw or compressed)
Depth/right images (raw or compressed)
Depth confidence (raw or compressed)
Laser scan (raw or compressed)
Camera models (mono or stereo)
User data (raw or compressed)
Keypoints and descriptors
IMU data

Returns: True if the sensor data contains any valid information, false otherwise

Definition at line 485 of file SensorData.h.

◆ id()

int rtabmap::SensorData::id ( ) const

inline

Returns the sensor data ID.

Returns: The unique sensor data ID (0 if invalid/uninitialized)

Definition at line 515 of file SensorData.h.

◆ setId()

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

inline

Sets the sensor data ID.

Parameters

id	The unique sensor data ID

Definition at line 521 of file SensorData.h.

◆ stamp()

double rtabmap::SensorData::stamp ( ) const

inline

Returns the timestamp.

Returns: Timestamp in seconds (typically seconds since epoch)

Definition at line 527 of file SensorData.h.

◆ setStamp()

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

inline

Sets the timestamp.

Parameters

stamp Timestamp in seconds

Definition at line 533 of file SensorData.h.

◆ imageCompressed()

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

inline

Returns the compressed RGB/grayscale image.

Returns: Compressed image (CV_8UC1 with 1 row, JPEG/PNG-compressed bytes)

Note: Use Compression::uncompressImage() to uncompress the image.

Definition at line 540 of file SensorData.h.

◆ depthOrRightCompressed()

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

inline

Returns the compressed depth or right stereo image.

Returns: Compressed depth/right image (CV_8UC1 with 1 row, compressed bytes)

Note: Use Compression::uncompressImage() to uncompress the image.

Definition at line 547 of file SensorData.h.

◆ depthConfidenceCompressed()

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

inline

Returns the compressed depth confidence map.

Returns: Compressed depth confidence (CV_8UC1 with 1 row, compressed bytes)

Note: Use Compression::uncompressData() to uncompress the data.

Definition at line 554 of file SensorData.h.

◆ laserScanCompressed()

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

inline

Returns the compressed laser scan.

Returns: Compressed laser scan

Definition at line 560 of file SensorData.h.

◆ imageRaw()

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

inline

Returns the raw RGB/grayscale image.

Returns: Raw image (CV_8UC1 for grayscale or CV_8UC3 for RGB)

Definition at line 566 of file SensorData.h.

◆ depthOrRightRaw()

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

inline

Returns the raw depth or right stereo image.

Returns: Raw depth (CV_16UC1 for millimeters or CV_32FC1 for meters) or right stereo image (CV_8UC1 or CV_8UC3)

Definition at line 573 of file SensorData.h.

◆ depthConfidenceRaw()

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

inline

Returns the raw depth confidence map.

Returns: Raw depth confidence (CV_8UC1, typically 0-100)

Definition at line 579 of file SensorData.h.

◆ laserScanRaw()

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

inline

Returns the raw laser scan.

Returns: Raw laser scan (2D or 3D)

Definition at line 585 of file SensorData.h.

◆ setRGBDImage()

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.

◆ 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.

◆ setCameraModel()

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

inline

Sets a single camera model (clears previous models)

Parameters

model Camera model to set

Definition at line 610 of file SensorData.h.

◆ setCameraModels()

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

inline

Sets multiple camera models.

Parameters

models Vector of camera models

Definition at line 616 of file SensorData.h.

◆ setStereoCameraModel()

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

inline

Sets a single stereo camera model (clears previous models)

Parameters

stereoCameraModel Stereo camera model to set

Definition at line 622 of file SensorData.h.

◆ setStereoCameraModels()

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

inline

Sets multiple stereo camera models.

Parameters

stereoCameraModels Vector of stereo camera models

Definition at line 628 of file SensorData.h.

◆ depthRaw()

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

inline

Returns the depth image (convenience method)

Returns the depth image if _depthOrRightRaw contains depth data (not a right stereo image). Depth images are CV_16UC1 or CV_32FC1, while right stereo images are CV_8UC1 or CV_8UC3.

Returns: Depth image if available, empty Mat if right stereo image or empty

Definition at line 639 of file SensorData.h.

◆ rightRaw()

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

inline

Returns the right stereo image (convenience method)

Returns the right stereo image if _depthOrRightRaw contains stereo data (not a depth image). Right stereo images are CV_8UC1 or CV_8UC3, while depth images are CV_16UC1 or CV_32FC1.

Returns: Right stereo image if available, empty Mat if depth image or empty

Definition at line 650 of file SensorData.h.

◆ uncompressData() [1/2]

void rtabmap::SensorData::uncompressData ( )

Uncompresses all compressed data in-place.

Decompresses all compressed images, depth, laser scans, and user data, storing the results in the raw data members. This modifies the object.

◆ 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`,
		cv::Mat *	depthConfidenceRaw = `0`
	)

Uncompresses compressed data into provided output buffers.

Decompresses compressed data and stores results in the provided output buffers. If a buffer pointer is null, that data type is skipped. The raw fields of the object is updated with the uncompressed data so that consecutive calls with same field should not trigger a uncompression again.

Parameters

imageRaw	Output buffer for uncompressed RGB/grayscale image
depthOrRightRaw	Output buffer for uncompressed depth or right stereo image
laserScanRaw	Output buffer for uncompressed laser scan
userDataRaw	Output buffer for uncompressed user data
groundCellsRaw	Output buffer for uncompressed ground occupancy grid cells
obstacleCellsRaw	Output buffer for uncompressed obstacle occupancy grid cells
emptyCellsRaw	Output buffer for uncompressed empty occupancy grid cells
depthConfidenceRaw	Output buffer for uncompressed depth confidence

◆ 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`,
		cv::Mat *	depthConfidenceRaw = `0`
	)		const

Uncompresses compressed data into provided output buffers (const version)

Same as uncompressData() but does not modify the object's internal state.

Parameters

imageRaw	Output buffer for uncompressed RGB/grayscale image
depthOrRightRaw	Output buffer for uncompressed depth or right stereo image
laserScanRaw	Output buffer for uncompressed laser scan
userDataRaw	Output buffer for uncompressed user data
groundCellsRaw	Output buffer for uncompressed ground occupancy grid cells
obstacleCellsRaw	Output buffer for uncompressed obstacle occupancy grid cells
emptyCellsRaw	Output buffer for uncompressed empty occupancy grid cells
depthConfidenceRaw	Output buffer for uncompressed depth confidence

◆ cameraModels()

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

inline

Returns the camera models.

Returns: Const reference to vector of mono camera models

Definition at line 724 of file SensorData.h.

◆ stereoCameraModels()

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

inline

Returns the stereo camera models.

Returns: Const reference to vector of stereo camera models

Definition at line 730 of file SensorData.h.

◆ 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.

◆ userDataRaw()

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

inline

Definition at line 741 of file SensorData.h.

◆ userDataCompressed()

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

inline

Definition at line 742 of file SensorData.h.

◆ setOccupancyGrid()

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

Sets occupancy grid data.

Sets the occupancy grid with ground, obstacle, and empty cells. The data is automatically detected as raw or compressed. If raw, it will be compressed automatically.

Parameters

ground	Ground cells matrix
obstacles	Obstacle cells matrix
empty	Empty cells matrix
cellSize	Size of each grid cell in meters
viewPoint	Viewpoint/origin of the occupancy grid (3D point)

◆ gridGroundCellsRaw()

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

inline

Returns raw ground cells.

Returns: Const reference to raw ground cells matrix

Definition at line 767 of file SensorData.h.

◆ gridGroundCellsCompressed()

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

inline

Returns compressed ground cells.

Returns: Const reference to compressed ground cells matrix

Note: Use Compression::uncompressData() to uncompress the data.

Definition at line 774 of file SensorData.h.

◆ gridObstacleCellsRaw()

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

inline

Returns raw obstacle cells.

Returns: Const reference to raw obstacle cells matrix

Definition at line 780 of file SensorData.h.

◆ gridObstacleCellsCompressed()

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

inline

Returns compressed obstacle cells.

Returns: Const reference to compressed obstacle cells matrix

Note: Use Compression::uncompressData() to uncompress the data.

Definition at line 787 of file SensorData.h.

◆ gridEmptyCellsRaw()

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

inline

Returns raw empty cells.

Returns: Const reference to raw empty cells matrix

Definition at line 793 of file SensorData.h.

◆ gridEmptyCellsCompressed()

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

inline

Returns compressed empty cells.

Returns: Const reference to compressed empty cells matrix

Note: Use Compression::uncompressData() to uncompress the data.

Definition at line 800 of file SensorData.h.

◆ gridCellSize()

float rtabmap::SensorData::gridCellSize ( ) const

inline

Returns the occupancy grid cell size.

Returns: Cell size in meters

Definition at line 806 of file SensorData.h.

◆ gridViewPoint()

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

inline

Returns the occupancy grid viewpoint.

Returns: Const reference to viewpoint/origin 3D point

Definition at line 812 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
	)

Sets visual features (keypoints, 3D points, descriptors)

Sets the visual features extracted from the images. All arrays must have matching sizes (one keypoint per 3D point and descriptor).

Parameters

keypoints	2D keypoints in image coordinates
keypoints3D	3D points corresponding to keypoints (in base_link frame)
descriptors	Feature descriptors matrix (one row per keypoint)

◆ keypoints()

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

inline

Returns the 2D keypoints.

Returns: Const reference to vector of 2D keypoints

Definition at line 830 of file SensorData.h.

◆ keypoints3D()

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

inline

Returns the 3D keypoints.

Returns: Const reference to vector of 3D points (in base_link frame)

Definition at line 836 of file SensorData.h.

◆ descriptors()

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

inline

Returns the feature descriptors.

Returns: Const reference to descriptors matrix (one row per keypoint)

Definition at line 842 of file SensorData.h.

◆ addGlobalDescriptor()

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

inline

Adds a global descriptor.

Parameters

descriptor Global descriptor to add

Definition at line 848 of file SensorData.h.

◆ setGlobalDescriptors()

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

inline

Sets all global descriptors.

Parameters

descriptors Vector of global descriptors

Definition at line 854 of file SensorData.h.

◆ clearGlobalDescriptors()

void rtabmap::SensorData::clearGlobalDescriptors ( )

inline

Clears all global descriptors.

Definition at line 859 of file SensorData.h.

◆ globalDescriptors()

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

inline

Returns all global descriptors.

Returns: Const reference to vector of global descriptors

Definition at line 865 of file SensorData.h.

◆ setGroundTruth()

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

inline

Sets the ground truth pose.

Parameters

pose	Ground truth transform (for evaluation purposes)

Definition at line 871 of file SensorData.h.

◆ groundTruth()

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

inline

Returns the ground truth pose.

Returns: Const reference to ground truth transform

Definition at line 877 of file SensorData.h.

◆ setGlobalPose()

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

inline

Sets the global pose with covariance.

Parameters

pose	Global pose transform
covariance	Pose covariance matrix (6x6, CV_64FC1)

Definition at line 884 of file SensorData.h.

◆ globalPose()

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

inline

Returns the global pose.

Returns: Const reference to global pose transform

Definition at line 890 of file SensorData.h.

◆ globalPoseCovariance()

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

inline

Returns the global pose covariance.

Returns: Const reference to pose covariance matrix (6x6, CV_64FC1)

Definition at line 896 of file SensorData.h.

◆ setGPS()

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

inline

Sets GPS data.

Parameters

gps	GPS data (latitude, longitude, altitude, etc.)

Definition at line 902 of file SensorData.h.

◆ gps()

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

inline

Returns GPS data.

Returns: Const reference to GPS data

Definition at line 908 of file SensorData.h.

◆ setIMU()

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

Sets IMU data.

Parameters

imu	IMU data (accelerometer, gyroscope, orientation)

Warning: Asserts that all orientation, angular velocity and linear acceleration values are finite.

◆ imu()

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

inline

Returns IMU data.

Returns: Const reference to IMU data

Definition at line 922 of file SensorData.h.

◆ setEnvSensors()

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

inline

Sets all environmental sensors.

Parameters

sensors Map of environmental sensor types to sensor data

Definition at line 928 of file SensorData.h.

◆ addEnvSensor()

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

inline

Adds a single environmental sensor.

Parameters

sensor Environmental sensor to add

Definition at line 934 of file SensorData.h.

◆ envSensors()

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

inline

Returns all environmental sensors.

Returns: Const reference to map of environmental sensors

Definition at line 940 of file SensorData.h.

◆ setLandmarks()

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

inline

Sets landmarks.

Parameters

landmarks Map of landmark IDs to landmark data

Note: Landmark IDs should be positive and non-zero.

Definition at line 947 of file SensorData.h.

◆ landmarks()

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

inline

Returns landmarks.

Returns: Const reference to map of landmarks

Definition at line 953 of file SensorData.h.

◆ getMemoryUsed()

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

Computes the memory usage of this sensor data.

Calculates the approximate memory footprint including all images, laser scans, features, descriptors, and other data structures.

Returns: Memory usage in bytes

◆ clearCompressedData()

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

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

◆ clearRawData()

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

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

◆ isPointVisibleFromCameras()

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

Checks if a 3D point is visible from any camera.

Projects the 3D point into all camera models and checks if it falls within the image bounds.

Parameters

pt	3D point in robot frame (base_link)

Returns: Camera index (>=0) of the first camera found with the point visible, -1 if the point is not visible by any camera.

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

corelib/include/rtabmap/core/SensorData.h

Public Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ SensorData() [1/16]

◆ SensorData() [2/16]

◆ SensorData() [3/16]

◆ SensorData() [4/16]

◆ SensorData() [5/16]

◆ SensorData() [6/16]

◆ SensorData() [7/16]

◆ SensorData() [8/16]

◆ SensorData() [9/16]

◆ SensorData() [10/16]

◆ SensorData() [11/16]

◆ SensorData() [12/16]

◆ SensorData() [13/16]

◆ SensorData() [14/16]

◆ SensorData() [15/16]

◆ SensorData() [16/16]

Member Function Documentation

◆ isValid()

◆ id()

◆ setId()

◆ stamp()

◆ setStamp()

◆ imageCompressed()

◆ depthOrRightCompressed()

◆ depthConfidenceCompressed()

◆ laserScanCompressed()

◆ imageRaw()

◆ depthOrRightRaw()

◆ depthConfidenceRaw()

◆ laserScanRaw()

◆ setRGBDImage()

◆ setLaserScan()

◆ setCameraModel()

◆ setCameraModels()

◆ setStereoCameraModel()

◆ setStereoCameraModels()

◆ depthRaw()

◆ rightRaw()

◆ uncompressData() [1/2]

◆ uncompressData() [2/2]

◆ uncompressDataConst()

◆ cameraModels()

◆ stereoCameraModels()

◆ setUserData()

◆ userDataRaw()

◆ userDataCompressed()

◆ setOccupancyGrid()

◆ gridGroundCellsRaw()

◆ gridGroundCellsCompressed()

◆ gridObstacleCellsRaw()

◆ gridObstacleCellsCompressed()

◆ gridEmptyCellsRaw()

◆ gridEmptyCellsCompressed()

◆ gridCellSize()

◆ gridViewPoint()

◆ setFeatures()

◆ keypoints()

◆ keypoints3D()

◆ descriptors()

◆ addGlobalDescriptor()

◆ setGlobalDescriptors()

◆ clearGlobalDescriptors()

◆ globalDescriptors()

◆ setGroundTruth()

◆ groundTruth()

◆ setGlobalPose()

◆ globalPose()

◆ globalPoseCovariance()

◆ setGPS()

◆ gps()

◆ setIMU()

◆ imu()

◆ setEnvSensors()

◆ addEnvSensor()

◆ envSensors()

◆ setLandmarks()

◆ landmarks()