rtabmap Namespace Reference

Namespaces
namespace	graph
	Pose-graph I/O, trajectory metrics, link utilities, and path planning.
namespace	util2d
	This namespace contains 2D image processing utilities.
namespace	util3d
	3D utilities: point cloud conversion and filtering, projection, registration, surface reconstruction, mapping and transforms.

Classes
class	BayesFilter
	Recursive Bayesian filter for loop-closure hypothesis estimation in RTAB-Map. More...
class	BRISK
	BRISK detector and descriptor. More...
class	Camera
class	CameraDepthAI
class	CameraFreenect
class	CameraFreenect2
class	CameraImages
class	CameraK4A
class	CameraK4W2
class	CameraModel
	Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection, rectification, and transformation. More...
class	CameraMyntEye
class	CameraOpenni
	OpenNI driver for cameras like Kinect for Xbox 360. More...
class	CameraOpenNI2
class	CameraOpenNICV
class	CameraOrbbecSDK
class	CameraRealSense
class	CameraRealSense2
class	CameraRGBDImages
class	CameraSeerSense
class	CameraStereoDC1394
class	CameraStereoFlyCapture2
class	CameraStereoImages
class	CameraStereoTara
class	CameraStereoVideo
class	CameraStereoZed
class	CameraStereoZedOC
class	CameraVideo
class	CloudMap
class	CompressionThread
	Background thread to compress or uncompress images and generic matrices. More...
class	DBDriver
	Abstract database driver for RTAB-Map maps (signatures, links, words, statistics). More...
class	DBDriverSqlite3
	SQLite3 implementation of DBDriver for RTAB-Map map databases. More...
class	DBReader
class	EnvSensor
	Single environmental measurement (type, value, timestamp). More...
class	EpipolarGeometry
class	FAST
	FAST corner detector only (no descriptor). More...
class	FAST_BRIEF
	FAST corners + BRIEF descriptors. More...
class	FAST_FREAK
	FAST corners + FREAK descriptors. More...
class	Feature2D
	Abstract 2D feature detector and descriptor extractor for visual SLAM. More...
class	FeatureBA
	A single bundle adjustment feature observation: one keypoint seen in one frame. More...
class	FlannIndex
class	GainCompensator
class	GeodeticCoords
	WGS84 geodetic latitude, longitude and altitude with coordinate conversions. More...
class	GFTT
	Good-features-to-track detector (Shi–Tomasi / Harris). More...
class	GFTT_BRIEF
	GFTT corners + BRIEF descriptors. More...
class	GFTT_DAISY
	GFTT corners + DAISY descriptors (OpenCV 3+ xfeatures2d). More...
class	GFTT_FREAK
	GFTT corners + FREAK descriptors. More...
class	GFTT_ORB
	GFTT corners + ORB descriptors (common default when SURF is unavailable). More...
class	GlobalDescriptor
class	GlobalDescriptorExtractor
class	GlobalMap
	Abstract base for assembling per-node LocalGrid data into a global map. More...
class	GPS
	WGS84 GPS fix attached to a sensor sample or graph node. More...
class	GridMap
class	IMU
	Inertial measurement sample (ROS sensor_msgs/Imu-like fields). More...
class	IMUEvent
	UEvent carrying an IMU sample and timestamp. More...
class	IMUFilter
	Fuses gyroscope and accelerometer samples into an orientation quaternion. More...
class	IMUThread
	Background thread that replays IMU measurements from a CSV file. More...
class	KAZE
	KAZE detector and descriptor (OpenCV 3+). More...
class	Landmark
	Optimized pose of a visual landmark (e.g. ArUco/AprilTag) in the map. More...
class	LaserScan
	Represents 2D or 3D laser scan data with support for multiple point data formats. More...
class	Lidar
class	LidarVLP16
class	Link
	Directed constraint between two nodes in RTAB-Map's pose graph. More...
class	LocalGrid
	Local occupancy grid cells for one map node (ground, obstacles, empty). More...
class	LocalGridCache
	Cache of LocalGrid entries keyed by map node id. More...
class	LocalGridMaker
	Builds per-node local occupancy grids from laser scans or depth clouds. More...
class	MarkerDetector
class	MarkerInfo
class	Memory
	Three-tiered memory management (STM, WM, LTM) for RTAB-Map. More...
class	OccupancyGrid
class	OctoMap
class	Odometry
	Abstract base class for visual, lidar and visual-inertial odometry backends. More...
class	OdometryCuVSLAM
class	OdometryDVO
class	OdometryEvent
	One processed frame with the pose the odometry integrated for it. More...
class	OdometryF2F
class	OdometryF2M
class	OdometryFLOAM
class	OdometryFovis
class	OdometryInfo
	What one Odometry iteration produced, beyond the pose. More...
class	OdometryLIOSAM
class	OdometryLOAM
class	OdometryMono
class	OdometryMSCKF
class	OdometryOkvis
class	OdometryOpen3D
class	OdometryOpenVINS
class	OdometryORBSLAM2
class	OdometryORBSLAM3
class	OdometryResetEvent
	Asks OdometryThread to restart the odometry from a given pose. More...
class	OdometryThread
	Runs an Odometry front-end in its own thread, driven by events. More...
class	OdometryVINSFusion
class	OdometryViso2
class	Optimizer
	Abstract base for pose-graph and bundle-adjustment optimizers. More...
class	OptimizerCeres
class	OptimizerCVSBA
class	OptimizerG2O
class	OptimizerGTSAM
class	OptimizerTORO
class	ORB
	ORB detector and descriptor (optional GPU). More...
class	ORBOctree
	ORB with octree spatial distribution (RTAB-Map must be built with OCTREE enabled). More...
class	Parameters
class	ParamEvent
class	ParticleFilter
struct	PointXYZIRT
	This namespace contains 3D point cloud processing utilities. More...
struct	PointXYZIT
class	ProgressState
class	PythonInterface
class	Registration
	Abstract base for registering two observations (visual, ICP, or both). More...
class	RegistrationIcp
class	RegistrationInfo
	Statistics and diagnostics returned by Registration. More...
class	RegistrationVis
	Visual registration between two signatures using features and geometry. More...
class	Rtabmap
	Top-level RTAB-Map SLAM pipeline (mapping, localization and loop closure). More...
class	RtabmapColorOcTree
class	RtabmapColorOcTreeNode
class	RtabmapEvent
class	RtabmapEvent3DMap
class	RtabmapEventCmd
	Command sent to RtabmapThread, with its parameters. More...
class	RtabmapEventInit
class	RtabmapGlobalPathEvent
class	RtabmapGoalStatusEvent
class	RtabmapLabelErrorEvent
class	RtabmapThread
	Runs a Rtabmap instance in its own thread, driven by events. More...
class	RvlCodec
class	SensorCapture
	Abstract base class for sensor data capture (cameras, lidars, etc.) More...
class	SensorCaptureInfo
	Metadata structure for sensor data capture and processing. More...
class	SensorCaptureThread
	Thread-based sensor data capture and event posting for RTAB-Map. More...
class	SensorData
	Container class for all sensor data captured at a specific time. More...
class	SensorEvent
	Event class for sensor data communication in RTAB-Map's event system. More...
class	SIFT
	SIFT detector and descriptor (optional GPU / CudaSift). More...
class	Signature
	Represents a node in RTAB-Map's pose graph. More...
class	Statistics
	Collects and manages runtime statistics for RTAB-Map. More...
class	Stereo
	Sparse stereo matching using block matching. More...
class	StereoBM
	Block Matching algorithm for dense stereo matching. More...
class	StereoCameraModel
	A class representing a calibrated stereo camera system. More...
class	StereoDense
	Abstract base class for dense stereo matching algorithms. More...
class	StereoOpticalFlow
	Sparse stereo matching using optical flow. More...
class	StereoSGBM
	Semi-Global Block Matching algorithm for dense stereo matching. More...
class	SuperPointRpautrat
	SuperPoint (rpautrat) via Torch + Python (RTAB-Map must be built with libtorch and Python support). More...
class	SuperPointTorch
	SuperPoint via LibTorch (RTAB-Map must be built with libtorch support). More...
class	SURF
	SURF detector and descriptor (non-free / xfeatures2d depending on OpenCV build). More...
class	SURF_DAISY
	SURF detector + DAISY descriptors (OpenCV 3+ xfeatures2d). More...
class	SURF_FREAK
	SURF detector + FREAK descriptors. More...
class	Transform
	Represents a 3D rigid body transformation (rotation + translation). More...
class	TransformStamped
	Associates a transform with a timestamp. More...
class	UserDataEvent
class	VisualWord
	Represents a visual word (feature descriptor) used in the bag-of-words (BoW) model. More...
class	VWDictionary
	Manages a dictionary of visual words for visual place recognition and loop closure detection. More...

Typedefs
typedef std::map< EnvSensor::Type, EnvSensor >	EnvSensors
	Map of environmental readings keyed by EnvSensor::Type (at most one per type).
typedef std::map< int, Landmark >	Landmarks
	Map of landmark id → Landmark (typically positive keys).
typedef std::map< int, std::set< int > >	BAOutliers
typedef std::map< std::string, std::string >	ParametersMap
	Parameter keys mapped to their values, as used by every configurable class (see Parameters).
typedef std::pair< std::string, std::string >	ParametersPair
	A single parameter key/value pair, the entry type of ParametersMap.

Functions
RTABMAP_CORE_EXPORT std::ostream &	operator<< (std::ostream &os, const CameraModel &model)
	Stream operator for printing a camera model to an output stream.
std::vector< unsigned char > RTABMAP_CORE_EXPORT	compressImage (const cv::Mat &image, const std::string &format=".png")
	Encodes image to a byte buffer (OpenCV imencode or RVL for depth).
cv::Mat RTABMAP_CORE_EXPORT	compressImage2 (const cv::Mat &image, const std::string &format=".png")
	Same as compressImage() but returns a CV_8UC1 row matrix.
cv::Mat RTABMAP_CORE_EXPORT	uncompressImage (const cv::Mat &bytes)
	Decodes compressed image bytes to a @cv::Mat.
cv::Mat RTABMAP_CORE_EXPORT	uncompressImage (const std::vector< unsigned char > &bytes)
	Decodes compressed image bytes to a @cv::Mat.
std::vector< unsigned char > RTABMAP_CORE_EXPORT	compressData (const cv::Mat &data)
	Compresses a matrix with zlib; appends rows, cols and type at the end.
cv::Mat RTABMAP_CORE_EXPORT	compressData2 (const cv::Mat &data)
	Same as compressData() but returns a CV_8UC1 row matrix.
cv::Mat RTABMAP_CORE_EXPORT	uncompressData (const cv::Mat &bytes)
	Restores a matrix compressed with compressData() or compressData2().
cv::Mat RTABMAP_CORE_EXPORT	uncompressData (const std::vector< unsigned char > &bytes)
	Restores a matrix compressed with compressData() or compressData2().
cv::Mat RTABMAP_CORE_EXPORT	uncompressData (const unsigned char *bytes, unsigned long size)
	Restores a matrix from a raw compressed buffer.
cv::Mat RTABMAP_CORE_EXPORT	compressString (const std::string &str)
	Compresses a null-terminated string using compressData2().
std::string RTABMAP_CORE_EXPORT	uncompressString (const cv::Mat &bytes)
	Decompresses a string produced by compressString().
std::string RTABMAP_CORE_EXPORT	compressedDepthFormat (const cv::Mat &bytes)
	Detects the compression format of depth image bytes.
std::string RTABMAP_CORE_EXPORT	compressedDepthFormat (const std::vector< unsigned char > &bytes)
std::string RTABMAP_CORE_EXPORT	compressedDepthFormat (const unsigned char *bytes, size_t size)
	RTABMAP_DEPRECATED (typedef SensorData Image, "rtabmap::Image class is renamed to rtabmap::SensorData, use the last one instead.")
int RTABMAP_CORE_EXPORT	saveLASFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZ > &cloud, const std::vector< int > &cameraIds=std::vector< int >())
	Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS).
int RTABMAP_CORE_EXPORT	saveLASFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), const std::vector< float > &intensities=std::vector< float >())
	Writes a colored point cloud to LAS/LAZ, with optional intensity and camera ids.
int RTABMAP_CORE_EXPORT	saveLASFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZI > &cloud, const std::vector< int > &cameraIds=std::vector< int >())
	Writes a point cloud with intensity channel to LAS/LAZ.
std::vector< double >	cumSum (const std::vector< double > &v)
std::vector< double >	resample (const std::vector< double > &p, const std::vector< double > &w, bool normalizeWeights=false)
std::string	getPDALSupportedWriters ()
int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZ > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false)
int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZRGB > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false, const std::vector< float > &intensities=std::vector< float >())
int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZRGBNormal > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false, const std::vector< float > &intensities=std::vector< float >())
int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZI > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false)
int	savePDALFile (const std::string &filePath, const pcl::PointCloud< pcl::PointXYZINormal > &cloud, const std::vector< int > &cameraIds=std::vector< int >(), bool binary=false)
std::string RTABMAP_CORE_EXPORT	getPythonTraceback ()
bool RTABMAP_CORE_EXPORT	databaseRecovery (const std::string &corruptedDatabase, bool keepCorruptedDatabase=true, std::string *errorMsg=0, ProgressState *progressState=0)
void	icvGetRectanglesFisheye (const CvMat *cameraMatrix, const CvMat *distCoeffs, const CvMat *R, const CvMat *newCameraMatrix, CvSize imgSize, cv::Rect_< float > &inner, cv::Rect_< float > &outer)
void	cvStereoRectifyFisheye (const CvMat *_cameraMatrix1, const CvMat *_cameraMatrix2, const CvMat *_distCoeffs1, const CvMat *_distCoeffs2, CvSize imageSize, const CvMat *matR, const CvMat *matT, CvMat *_R1, CvMat *_R2, CvMat *_P1, CvMat *_P2, CvMat *matQ, int flags, double alpha, CvSize newImgSize)
void	stereoRectifyFisheye (cv::InputArray _cameraMatrix1, cv::InputArray _distCoeffs1, cv::InputArray _cameraMatrix2, cv::InputArray _distCoeffs2, cv::Size imageSize, cv::InputArray _Rmat, cv::InputArray _Tmat, cv::OutputArray _Rmat1, cv::OutputArray _Rmat2, cv::OutputArray _Pmat1, cv::OutputArray _Pmat2, cv::OutputArray _Qmat, int flags, double alpha, cv::Size newImageSize)
RTABMAP_CORE_EXPORT std::ostream &	operator<< (std::ostream &os, const StereoCameraModel &model)
	Outputs a textual representation of the StereoCameraModel to the given output stream.
RTABMAP_CORE_EXPORT std::ostream &	operator<< (std::ostream &os, const Transform &s)
	Output stream operator for Transform.

Variables
RTABMAP_DEPRECATED typedef SensorCaptureInfo	CameraInfo
	Backward compatibility typedef.
RTABMAP_DEPRECATED typedef SensorCaptureThread	CameraThread
	Backward compatibility typedef.
RTABMAP_DEPRECATED typedef SensorEvent	CameraEvent
	Backward compatibility typedef.

Detailed Description

Contributed by e-consystemgit https://www.e-consystems.com/opensource-linux-webcam-software-application.asp

Typedef Documentation

EnvSensors

typedef std::map<EnvSensor::Type, EnvSensor> rtabmap::EnvSensors

Map of environmental readings keyed by EnvSensor::Type (at most one per type).

Definition at line 114 of file EnvSensor.h.

Landmarks

typedef std::map<int, Landmark> rtabmap::Landmarks

Map of landmark id → Landmark (typically positive keys).

Definition at line 113 of file Landmark.h.

BAOutliers

typedef std::map<int, std::set<int> > rtabmap::BAOutliers

Definition at line 68 of file Optimizer.h.

ParametersMap

typedef std::map<std::string, std::string> rtabmap::ParametersMap

Parameter keys mapped to their values, as used by every configurable class (see Parameters).

Definition at line 44 of file Parameters.h.

ParametersPair

typedef std::pair<std::string, std::string> rtabmap::ParametersPair

A single parameter key/value pair, the entry type of ParametersMap.

Definition at line 46 of file Parameters.h.

Function Documentation

operator<<() [1/2]

RTABMAP_CORE_EXPORT std::ostream & rtabmap::operator<<	(	std::ostream &	os,
		const CameraModel &	model
	)

Stream operator for printing a camera model to an output stream.

This function outputs the name, image size, and camera matrices (K, D, R, P) along with the local transformation.

Example output:

Name: camera1
Size: 640x480
K= [fx,  0, cx;
     0, fy, cy;
     0,  0,  1]
D= [...]
R= [...]
P= [...]
LocalTransform= [...]

Parameters

os	Output stream.
model	Camera model to print.

Returns

The modified output stream.

compressedDepthFormat() [1/3]

std::string RTABMAP_CORE_EXPORT rtabmap::compressedDepthFormat

(

const cv::Mat &

bytes

)

Detects the compression format of depth image bytes.

Returns

".rvl" if the buffer has an RVL signature, otherwise ".png".

compressedDepthFormat() [2/3]

std::string RTABMAP_CORE_EXPORT rtabmap::compressedDepthFormat

(

const std::vector< unsigned char > &

bytes

)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

compressedDepthFormat() [3/3]

std::string RTABMAP_CORE_EXPORT rtabmap::compressedDepthFormat	(	const unsigned char *	bytes,
		size_t	size
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

saveLASFile() [1/3]

int RTABMAP_CORE_EXPORT rtabmap::saveLASFile	(	const std::string &	filePath,
		const pcl::PointCloud< pcl::PointXYZ > &	cloud,
		const std::vector< int > &	cameraIds = std::vector< int >()
	)

Writes a PCL point cloud to a LAS/LAZ file (requires RTAB-Map built with libLAS).

Output uses 1 mm XYZ scale (0.001). The file extension (.las or .laz) selects uncompressed or compressed output when libLAS LAZ support is available.

Parameters

filePath	Output path (.las or .laz).
cloud	Input point cloud.
cameraIds	Optional per-point camera/signature ids (stored as point source ID); must be empty or the same length as cloud.

Returns

0 on success, 1 on error (e.g. LAZ not supported).

saveLASFile() [2/3]

int RTABMAP_CORE_EXPORT rtabmap::saveLASFile	(	const std::string &	filePath,
		const pcl::PointCloud< pcl::PointXYZRGB > &	cloud,
		const std::vector< int > &	cameraIds = std::vector< int >(),
		const std::vector< float > &	intensities = std::vector< float >()
	)

Writes a colored point cloud to LAS/LAZ, with optional intensity and camera ids.

Parameters

filePath	Output path (.las or .laz).
cloud	RGB point cloud (8-bit channels mapped to 16-bit LAS color).
cameraIds	Optional per-point ids (same length as cloud or empty).
intensities	Optional per-point intensities (same length as cloud or empty).

Returns

0 on success, 1 on error.

saveLASFile() [3/3]

int RTABMAP_CORE_EXPORT rtabmap::saveLASFile	(	const std::string &	filePath,
		const pcl::PointCloud< pcl::PointXYZI > &	cloud,
		const std::vector< int > &	cameraIds = std::vector< int >()
	)

Writes a point cloud with intensity channel to LAS/LAZ.

Parameters

filePath	Output path (.las or .laz).
cloud	XYZI point cloud (coordinates and intensity written).
cameraIds	Optional per-point ids (same length as cloud or empty).

Returns

0 on success, 1 on error.

cumSum()

std::vector< double > rtabmap::cumSum

(

const std::vector< double > &

v

)

Definition at line 53 of file ParticleFilter.h.

resample()

std::vector< double > rtabmap::resample	(	const std::vector< double > &	p,
		const std::vector< double > &	w,
		bool	normalizeWeights = false
	)

Definition at line 65 of file ParticleFilter.h.

databaseRecovery()

bool RTABMAP_CORE_EXPORT rtabmap::databaseRecovery	(	const std::string &	corruptedDatabase,
		bool	keepCorruptedDatabase = true,
		std::string *	errorMsg = 0,
		ProgressState *	progressState = 0
	)

Return true on success. The database is renamed to "*.backup.db" before recovering.

Parameters

corruptedDatabase	database to recover
keepCorruptedDatabase	if false and on recovery success, the backup database is removed
errorMsg	error message if the function returns false
progressState	A ProgressState object used to get status of the recovery process

icvGetRectanglesFisheye()

void rtabmap::icvGetRectanglesFisheye	(	const CvMat *	cameraMatrix,
		const CvMat *	distCoeffs,
		const CvMat *	R,
		const CvMat *	newCameraMatrix,
		CvSize	imgSize,
		cv::Rect_< float > &	inner,
		cv::Rect_< float > &	outer
	)

Definition at line 935 of file stereoRectifyFisheye.h.

cvStereoRectifyFisheye()

void rtabmap::cvStereoRectifyFisheye	(	const CvMat *	_cameraMatrix1,
		const CvMat *	_cameraMatrix2,
		const CvMat *	_distCoeffs1,
		const CvMat *	_distCoeffs2,
		CvSize	imageSize,
		const CvMat *	matR,
		const CvMat *	matT,
		CvMat *	_R1,
		CvMat *	_R2,
		CvMat *	_P1,
		CvMat *	_P2,
		CvMat *	matQ,
		int	flags,
		double	alpha,
		CvSize	newImgSize
	)

Definition at line 980 of file stereoRectifyFisheye.h.

stereoRectifyFisheye()

void rtabmap::stereoRectifyFisheye	(	cv::InputArray	_cameraMatrix1,
		cv::InputArray	_distCoeffs1,
		cv::InputArray	_cameraMatrix2,
		cv::InputArray	_distCoeffs2,
		cv::Size	imageSize,
		cv::InputArray	_Rmat,
		cv::InputArray	_Tmat,
		cv::OutputArray	_Rmat1,
		cv::OutputArray	_Rmat2,
		cv::OutputArray	_Pmat1,
		cv::OutputArray	_Pmat2,
		cv::OutputArray	_Qmat,
		int	flags,
		double	alpha,
		cv::Size	newImageSize
	)

Definition at line 1190 of file stereoRectifyFisheye.h.

operator<<() [2/2]

RTABMAP_CORE_EXPORT std::ostream & rtabmap::operator<<	(	std::ostream &	os,
		const StereoCameraModel &	model
	)

Outputs a textual representation of the StereoCameraModel to the given output stream.

This operator prints the details of the stereo camera model including:

• The left camera parameters.
• The right camera parameters.
• The stereo extrinsic matrices: Rotation (R), Translation (T), Essential (E), and Fundamental (F).
• The baseline distance between the two cameras.

Parameters

os	The output stream to write to.
model	The StereoCameraModel instance to output.

Returns

A reference to the output stream after writing the model information.

Variable Documentation

CameraInfo

RTABMAP_DEPRECATED typedef SensorCaptureInfo rtabmap::CameraInfo

Backward compatibility typedef.

Deprecated:

Use SensorCaptureInfo instead

CameraInfo is deprecated. Use SensorCaptureInfo instead.

Definition at line 133 of file SensorCaptureInfo.h.

CameraThread

RTABMAP_DEPRECATED typedef SensorCaptureThread rtabmap::CameraThread

Backward compatibility typedef.

Deprecated:

Use SensorCaptureThread instead

CameraThread is deprecated. Use SensorCaptureThread instead.

Definition at line 565 of file SensorCaptureThread.h.

CameraEvent

RTABMAP_DEPRECATED typedef SensorEvent rtabmap::CameraEvent

Backward compatibility typedef.

Deprecated:

Use SensorEvent instead

CameraEvent is deprecated. Use SensorEvent instead.

Definition at line 207 of file SensorEvent.h.