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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pro-methods" > Protected Member Functions</ a > |
< a href = "classrtabmap_1_1LidarVLP16-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::LidarVLP16 Class Reference</ div ></ div >
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Inheritance diagram for rtabmap::LidarVLP16:</ div >
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< div class = "center" >< img src = "classrtabmap_1_1LidarVLP16__inherit__graph.png" border = "0" usemap = "#artabmap_1_1LidarVLP16_inherit__map" alt = "Inheritance graph" /></ div >
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Collaboration diagram for rtabmap::LidarVLP16:</ div >
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< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a09a7b662709327e6481c756a3ac63c55" id = "r_a09a7b662709327e6481c756a3ac63c55" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a09a7b662709327e6481c756a3ac63c55" name = "a09a7b662709327e6481c756a3ac63c55" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > LidarVLP16</ b > (const std::string & pcapFile, bool organized=false, bool stampLast=true, float frameRate=0.0f, < 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:a09a7b662709327e6481c756a3ac63c55" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a982fa778363586984170d791b8a0178d" id = "r_a982fa778363586984170d791b8a0178d" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a982fa778363586984170d791b8a0178d" name = "a982fa778363586984170d791b8a0178d" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > LidarVLP16</ b > (const boost::asio::ip::address & ipAddress, const std::uint16_t port=2368, bool organized=false, bool useHostTime=true, bool stampLast=true, float frameRate=0.0f, < 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:a982fa778363586984170d791b8a0178d" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a791a9764c0b8b0eeb836474c687a27db" id = "r_a791a9764c0b8b0eeb836474c687a27db" >< 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_1LidarVLP16.html#a791a9764c0b8b0eeb836474c687a27db" > takeScan</ a > (< a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > *info=0)</ td ></ tr >
< tr class = "separator:a791a9764c0b8b0eeb836474c687a27db" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a80162804e05013f64c6868084f460ab0" id = "r_a80162804e05013f64c6868084f460ab0" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LidarVLP16.html#a80162804e05013f64c6868084f460ab0" > init</ a > (const std::string & calibrationFolder=" ." , const std::string & cameraName="" ) override</ td ></ tr >
< tr class = "memdesc:a80162804e05013f64c6868084f460ab0" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Initializes the sensor. < br /></ td ></ tr >
< tr class = "separator:a80162804e05013f64c6868084f460ab0" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a9d533721703457a60e94124d840fee95" id = "r_a9d533721703457a60e94124d840fee95" >< td class = "memItemLeft" align = "right" valign = "top" > virtual std::string  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1LidarVLP16.html#a9d533721703457a60e94124d840fee95" > getSerial</ a > () const override</ td ></ tr >
< tr class = "memdesc:a9d533721703457a60e94124d840fee95" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the sensor's serial number or unique identifier. < br /></ td ></ tr >
< tr class = "separator:a9d533721703457a60e94124d840fee95" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a7bf0cb58e10a08163463eb5507b3e073" id = "r_a7bf0cb58e10a08163463eb5507b3e073" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a7bf0cb58e10a08163463eb5507b3e073" name = "a7bf0cb58e10a08163463eb5507b3e073" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > setOrganized</ b > (bool enable)</ td ></ tr >
< tr class = "separator:a7bf0cb58e10a08163463eb5507b3e073" >< td class = "memSeparator" colspan = "2" >   </ 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: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 >
</ table >< 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:a60d8190947d474e0557695c1032c40b8" id = "r_a60d8190947d474e0557695c1032c40b8" >< 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_1LidarVLP16.html#a60d8190947d474e0557695c1032c40b8" > captureData</ a > (< a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > *info=0) override</ td ></ tr >
< tr class = "memdesc:a60d8190947d474e0557695c1032c40b8" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Pure virtual method to capture sensor data. < br /></ td ></ tr >
< tr class = "separator:a60d8190947d474e0557695c1032c40b8" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_methods_classrtabmap_1_1Lidar" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_methods_classrtabmap_1_1Lidar')" >< img src = "closed.png" alt = "-" />   Protected Member Functions inherited from < a class = "el" href = "classrtabmap_1_1Lidar.html" > rtabmap::Lidar</ a ></ td ></ tr >
< tr class = "memitem:a9d14987cd20918960d6b3705b66241ed inherit pro_methods_classrtabmap_1_1Lidar" 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 inherit pro_methods_classrtabmap_1_1Lidar" >< 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: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 >
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< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
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< p class = "definition" > Definition at line < a class = "el" href = "LidarVLP16_8h_source.html#l00061" > 61</ a > of file < a class = "el" href = "LidarVLP16_8h_source.html" > LidarVLP16.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Member Function Documentation</ h2 >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a791a9764c0b8b0eeb836474c687a27db" > ◆  </ a ></ span > takeScan()</ h2 >
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< td class = "memname" >< a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > rtabmap::LidarVLP16::takeScan </ td >
< td > (</ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > *  </ td >
< td class = "paramname" >< em > info</ em > = < code > 0</ code ></ td >< td > )</ td >
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< p class = "definition" > Definition at line < a class = "el" href = "LidarVLP16_8h_source.html#l00079" > 79</ a > of file < a class = "el" href = "LidarVLP16_8h_source.html" > LidarVLP16.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a80162804e05013f64c6868084f460ab0" > ◆  </ a ></ span > init()</ h2 >
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< td class = "memname" > virtual bool rtabmap::LidarVLP16::init </ td >
< td > (</ td >
< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > calibrationFolder</ em > = < code > " ." </ code > , </ td >
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< td class = "paramkey" ></ td >
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< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > cameraName</ em > = < code > "" </ code >   </ td >
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< td > )</ td >
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< span class = "mlabels" >< span class = "mlabel" > override</ span >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p > Initializes the sensor. </ p >
< p > Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:</ p >< ul >
< li > Opening device connections or file streams</ li >
< li > Loading camera calibration parameters</ li >
< li > Configuring sensor settings</ li >
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< dl class = "params" >< dt > Parameters</ dt >< dd >
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< tr >< td class = "paramname" > calibrationFolder</ td >< td > Directory path where calibration files are located (default: current directory ".") </ td ></ tr >
< tr >< td class = "paramname" > cameraName</ td >< td > Base name of the camera for loading calibration files (default: empty string) </ td ></ tr >
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< dl class = "section return" >< dt > Returns</ dt >< dd > True if initialization was successful, false otherwise</ dd ></ dl >
< dl class = "section note" >< dt > Note</ dt >< dd > Must be called before calling < a class = "el" href = "classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf" title = "Captures sensor data with frame rate control." > takeData()</ a > or < a class = "el" href = "classrtabmap_1_1LidarVLP16.html#a60d8190947d474e0557695c1032c40b8" title = "Pure virtual method to capture sensor data." > captureData()</ a > </ dd ></ dl >
< p > Implements < a class = "el" href = "classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a" > rtabmap::SensorCapture</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a9d533721703457a60e94124d840fee95" > ◆  </ a ></ span > getSerial()</ h2 >
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< td class = "memname" > virtual std::string rtabmap::LidarVLP16::getSerial </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< span class = "mlabels" >< span class = "mlabel" > inline</ span >< span class = "mlabel" > override</ span >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p > Returns the sensor's serial number or unique identifier. </ p >
< p > Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).</ p >
< dl class = "section return" >< dt > Returns</ dt >< dd > String identifier for the sensor </ dd ></ dl >
< p > Implements < a class = "el" href = "classrtabmap_1_1SensorCapture.html#a7830e571e45752f9d8f30fa806f6aa64" > rtabmap::SensorCapture</ a > .</ p >
< p class = "definition" > Definition at line < a class = "el" href = "LidarVLP16_8h_source.html#l00082" > 82</ a > of file < a class = "el" href = "LidarVLP16_8h_source.html" > LidarVLP16.h</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a60d8190947d474e0557695c1032c40b8" > ◆  </ a ></ span > captureData()</ h2 >
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< td class = "memname" > virtual < a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > rtabmap::LidarVLP16::captureData </ td >
< td > (</ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > *  </ td >
< td class = "paramname" >< em > info</ em > = < code > 0</ code ></ td >< td > )</ td >
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< span class = "mlabels" >< span class = "mlabel" > override</ span >< span class = "mlabel" > protected</ span >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p > Pure virtual method to capture sensor data. </ p >
< p > This method must be implemented by derived classes to perform the actual sensor data capture. It is called by < code >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf" title = "Captures sensor data with frame rate control." > takeData()</ a ></ code > after frame rate throttling.</ p >
< p > The returned < a class = "el" href = "classrtabmap_1_1SensorData.html" title = "Container class for all sensor data captured at a specific time." > SensorData</ a > should:</ p >< ul >
< li > Have rectified images if calibration was loaded during < code >< a class = "el" href = "classrtabmap_1_1LidarVLP16.html#a80162804e05013f64c6868084f460ab0" title = "Initializes the sensor." > init()</ a ></ code ></ li >
< li > Include proper timestamps</ li >
< li > Contain valid sensor data (images, depth, laser scans, etc.)</ li >
</ ul >
< dl class = "params" >< dt > Parameters</ dt >< dd >
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< tr >< td class = "paramname" > info</ td >< td > Optional pointer to < a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" title = "Metadata structure for sensor data capture and processing." > SensorCaptureInfo</ a > to fill with capture metadata. The base class will fill ID, timestamp, and capture time, but derived classes can add additional information. </ td ></ tr >
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< dl class = "section return" >< dt > Returns</ dt >< dd >< a class = "el" href = "classrtabmap_1_1SensorData.html" title = "Container class for all sensor data captured at a specific time." > SensorData</ a > containing the captured sensor data</ dd ></ dl >
< dl class = "section note" >< dt > Note</ dt >< dd > If capture fails, return an empty < a class = "el" href = "classrtabmap_1_1SensorData.html" title = "Container class for all sensor data captured at a specific time." > SensorData</ a > (id=0, stamp=0.0). </ dd >
< dd >
RGB and depth images should be already rectified if calibration was loaded.</ dd ></ dl >
< dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf" title = "Captures sensor data with frame rate control." > takeData()</ a > </ dd ></ dl >
< p > Implements < a class = "el" href = "classrtabmap_1_1SensorCapture.html#a85e8691b5201a5383d1463ed980f7958" > rtabmap::SensorCapture</ a > .</ p >
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< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/lidar/< a class = "el" href = "LidarVLP16_8h_source.html" > LidarVLP16.h</ a ></ li >
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