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2026-09-28 16:36:22 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.13</ span >
2026-08-06 22:56:24 +00:00
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< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
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< a href = "#pro-methods" > Protected Member Functions</ a > |
< a href = "classrtabmap_1_1Lidar-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::Lidar Class Reference</ div ></ div >
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< p >< code > #include < < a class = "el" href = "Lidar_8h_source.html" > Lidar.h</ a > > </ code ></ p >
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Inheritance diagram for rtabmap::Lidar:</ div >
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Collaboration diagram for rtabmap::Lidar:</ div >
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< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pro-methods" name = "pro-methods" ></ a >
Protected Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a9d14987cd20918960d6b3705b66241ed" id = "r_a9d14987cd20918960d6b3705b66241ed" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Lidar.html#a9d14987cd20918960d6b3705b66241ed" > Lidar</ a > (float lidarRate=0, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ())</ td ></ tr >
< tr class = "separator:a9d14987cd20918960d6b3705b66241ed" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_methods_classrtabmap_1_1SensorCapture" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_methods_classrtabmap_1_1SensorCapture')" >< img src = "closed.png" alt = "-" />   Protected Member Functions inherited from < a class = "el" href = "classrtabmap_1_1SensorCapture.html" > rtabmap::SensorCapture</ a ></ td ></ tr >
< tr class = "memitem:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture" id = "r_adf4b1dfd8e5b45b8eecf938a92dbae94" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#adf4b1dfd8e5b45b8eecf938a92dbae94" > SensorCapture</ a > (float frameRate=0, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ())</ td ></ tr >
< tr class = "memdesc:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Protected constructor. < br /></ td ></ tr >
< tr class = "separator:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a85e8691b5201a5383d1463ed980f7958 inherit pro_methods_classrtabmap_1_1SensorCapture" id = "r_a85e8691b5201a5383d1463ed980f7958" >< td class = "memItemLeft" align = "right" valign = "top" > virtual < a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#a85e8691b5201a5383d1463ed980f7958" > captureData</ a > (< a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > *info=0)=0</ td ></ tr >
< tr class = "memdesc:a85e8691b5201a5383d1463ed980f7958 inherit pro_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Pure virtual method to capture sensor data. < br /></ td ></ tr >
< tr class = "separator:a85e8691b5201a5383d1463ed980f7958 inherit pro_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture" id = "r_acbffaf17772639bc65b0a5457bc56b22" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#acbffaf17772639bc65b0a5457bc56b22" > getNextSeqID</ a > ()</ td ></ tr >
< tr class = "memdesc:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Gets the next sequence ID. < br /></ td ></ tr >
< tr class = "separator:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "inherited" name = "inherited" ></ a >
Additional Inherited Members</ h2 ></ td ></ tr >
< tr class = "inherit_header pub_methods_classrtabmap_1_1SensorCapture" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classrtabmap_1_1SensorCapture')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classrtabmap_1_1SensorCapture.html" > rtabmap::SensorCapture</ a ></ td ></ tr >
< tr class = "memitem:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_a0578f6540ecdf8c4b3b747d511ecb625" >< td class = "memItemLeft" align = "right" valign = "top" >
virtual  </ td >< td class = "memItemRight" valign = "bottom" >< b > ~SensorCapture</ b > ()</ td ></ tr >
< tr class = "memdesc:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Virtual destructor. < br /></ td ></ tr >
< tr class = "separator:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_aca06c645212a7501a246ea593406bcaf" >< td class = "memItemLeft" align = "right" valign = "top" >< a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf" > takeData</ a > (< a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > *info=0)</ td ></ tr >
< tr class = "memdesc:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Captures sensor data with frame rate control. < br /></ td ></ tr >
< tr class = "separator:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1c0cd843969fab53f157cbe0fd333b8a inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_a1c0cd843969fab53f157cbe0fd333b8a" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a" > init</ a > (const std::string & calibrationFolder=" ." , const std::string & cameraName="" )=0</ td ></ tr >
< tr class = "memdesc:a1c0cd843969fab53f157cbe0fd333b8a inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Initializes the sensor. < br /></ td ></ tr >
< tr class = "separator:a1c0cd843969fab53f157cbe0fd333b8a inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7830e571e45752f9d8f30fa806f6aa64 inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_a7830e571e45752f9d8f30fa806f6aa64" >< td class = "memItemLeft" align = "right" valign = "top" > virtual std::string  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#a7830e571e45752f9d8f30fa806f6aa64" > getSerial</ a > () const =0</ td ></ tr >
< tr class = "memdesc:a7830e571e45752f9d8f30fa806f6aa64 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the sensor's serial number or unique identifier. < br /></ td ></ tr >
< tr class = "separator:a7830e571e45752f9d8f30fa806f6aa64 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aee217767808a9df9c63a27b284461c89 inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_aee217767808a9df9c63a27b284461c89" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#aee217767808a9df9c63a27b284461c89" > odomProvided</ a > () const</ td ></ tr >
< tr class = "memdesc:aee217767808a9df9c63a27b284461c89 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Checks if the sensor provides odometry poses. < br /></ td ></ tr >
< tr class = "separator:aee217767808a9df9c63a27b284461c89 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a2f940d75366088bfae0164e1803ffe9a inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_a2f940d75366088bfae0164e1803ffe9a" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#a2f940d75366088bfae0164e1803ffe9a" > getPose</ a > (double stamp, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, cv::Mat & covariance, double maxWaitTime=0.06)</ td ></ tr >
< tr class = "memdesc:a2f940d75366088bfae0164e1803ffe9a inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Gets the sensor's pose estimate at a specific timestamp. < br /></ td ></ tr >
< tr class = "separator:a2f940d75366088bfae0164e1803ffe9a inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_af7de847c118ec1ba77a5c9f29f7efece" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#af7de847c118ec1ba77a5c9f29f7efece" > getFrameRate</ a > () const</ td ></ tr >
< tr class = "memdesc:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the target frame rate. < br /></ td ></ tr >
< tr class = "separator:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a99829249c51fd08c32310b788b00b663 inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_a99829249c51fd08c32310b788b00b663" >< td class = "memItemLeft" align = "right" valign = "top" > const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#a99829249c51fd08c32310b788b00b663" > getLocalTransform</ a > () const</ td ></ tr >
< tr class = "memdesc:a99829249c51fd08c32310b788b00b663 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the local transform from base frame to sensor frame. < br /></ td ></ tr >
< tr class = "separator:a99829249c51fd08c32310b788b00b663 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_a1e195970f52334094174783c5fd06456" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#a1e195970f52334094174783c5fd06456" > setFrameRate</ a > (float frameRate)</ td ></ tr >
< tr class = "memdesc:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sets the target frame rate. < br /></ td ></ tr >
< tr class = "separator:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_a0ea4e217047c234bcfcb9866e36ea7c0" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#a0ea4e217047c234bcfcb9866e36ea7c0" > setLocalTransform</ a > (const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform)</ td ></ tr >
< tr class = "memdesc:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sets the local transform from base frame to sensor frame. < br /></ td ></ tr >
< tr class = "separator:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afa9923bb4a3b88e6dbf4c8ae7f060437 inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_afa9923bb4a3b88e6dbf4c8ae7f060437" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#afa9923bb4a3b88e6dbf4c8ae7f060437" > resetTimer</ a > ()</ td ></ tr >
< tr class = "memdesc:afa9923bb4a3b88e6dbf4c8ae7f060437 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Resets the frame rate timer. < br /></ td ></ tr >
< tr class = "separator:afa9923bb4a3b88e6dbf4c8ae7f060437 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
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< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >< p > Class < a class = "el" href = "classrtabmap_1_1Lidar.html" > Lidar</ a > </ p >
< p class = "definition" > Definition at line < a class = "el" href = "Lidar_8h_source.html#l00040" > 40</ a > of file < a class = "el" href = "Lidar_8h_source.html" > Lidar.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Constructor & Destructor Documentation</ h2 >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aeff57ad9a75494454dd0d0faa2e76305" > ◆  </ a ></ span > ~Lidar()</ h2 >
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< td class = "memname" > virtual rtabmap::Lidar::~Lidar </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td ></ td >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p class = "definition" > Definition at line < a class = "el" href = "Lidar_8h_source.html#l00043" > 43</ a > of file < a class = "el" href = "Lidar_8h_source.html" > Lidar.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a9d14987cd20918960d6b3705b66241ed" > ◆  </ a ></ span > Lidar()</ h2 >
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< td class = "memname" > rtabmap::Lidar::Lidar </ td >
< td > (</ td >
< td class = "paramtype" > float  </ td >
< td class = "paramname" >< em > lidarRate</ em > = < code > 0</ code > , </ td >
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< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > &  </ td >
< td class = "paramname" >< em > localTransform</ em > = < code >< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ()</ code >   </ td >
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< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > Constructor</ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
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< tr >< td class = "paramname" > lidarRate</ td >< td > the frame rate (Hz), 0 for fast as the lidar can </ td ></ tr >
< tr >< td class = "paramname" > localTransform</ td >< td > the transform from base frame to lidar frame </ td ></ tr >
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< p class = "definition" > Definition at line < a class = "el" href = "Lidar_8h_source.html#l00052" > 52</ a > of file < a class = "el" href = "Lidar_8h_source.html" > Lidar.h</ a > .</ p >
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< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/< a class = "el" href = "Lidar_8h_source.html" > Lidar.h</ a ></ li >
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< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1Lidar.html" > Lidar</ a ></ li >
< li class = "footer" > Generated by < a href = "https://www.doxygen.org/index.html" >< img class = "footer" src = "doxygen.svg" width = "104" height = "31" alt = "doxygen" /></ a > 1.9.8 </ li >
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