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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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Inheritance diagram for rtabmap::CameraImages:</div>
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Collaboration diagram for rtabmap::CameraImages:</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:a2f397c7cc2ddc68d131c9eab232ab437" id="r_a2f397c7cc2ddc68d131c9eab232ab437"><td class="memItemLeft" align="right" valign="top"><a id="a2f397c7cc2ddc68d131c9eab232ab437" name="a2f397c7cc2ddc68d131c9eab232ab437"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>CameraImages</b> (const std::string &amp;path, float imageRate=0, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
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<tr class="memdesc:a8f00b6eb8c78a66d3381877825d70206"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes the sensor. <br /></td></tr>
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<tr class="memitem:a1a614b9f0ae1bd90accfb7012de440cf" id="r_a1a614b9f0ae1bd90accfb7012de440cf"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a1a614b9f0ae1bd90accfb7012de440cf">isCalibrated</a> () const</td></tr>
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<tr class="memdesc:a217f54d1ead7a4d6af733c2644064a5f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the sensor's serial number or unique identifier. <br /></td></tr>
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<tr class="memitem:aea0811d6305eec32fda10f46344c825f" id="r_aea0811d6305eec32fda10f46344c825f"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#aea0811d6305eec32fda10f46344c825f">odomProvided</a> () const</td></tr>
<tr class="memdesc:aea0811d6305eec32fda10f46344c825f"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if the sensor provides odometry poses. <br /></td></tr>
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unsigned int&#160;</td><td class="memItemRight" valign="bottom"><b>imagesCount</b> () const</td></tr>
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std::vector&lt; std::string &gt;&#160;</td><td class="memItemRight" valign="bottom"><b>filenames</b> () const</td></tr>
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<tr class="memitem:a705dc66ffb54de09f691fbfdf3befe4c" id="r_a705dc66ffb54de09f691fbfdf3befe4c"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a705dc66ffb54de09f691fbfdf3befe4c">isImagesRectified</a> () const</td></tr>
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<tr class="memitem:a300c8351b8246c83bb5f0818ae2cce5d" id="r_a300c8351b8246c83bb5f0818ae2cce5d"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a300c8351b8246c83bb5f0818ae2cce5d">getBayerMode</a> () const</td></tr>
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<tr class="memitem:af52ecba08cca2d521c30b278dbecea94" id="r_af52ecba08cca2d521c30b278dbecea94"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#af52ecba08cca2d521c30b278dbecea94">cameraModel</a> () const</td></tr>
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<tr class="memitem:af5d31ca22d5067e6e09458c953a0b3cd" id="r_af5d31ca22d5067e6e09458c953a0b3cd"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#af5d31ca22d5067e6e09458c953a0b3cd">setPath</a> (const std::string &amp;dir)</td></tr>
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<tr class="memitem:a31c944714d99903c3a10beb8e92c29df" id="r_a31c944714d99903c3a10beb8e92c29df"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a31c944714d99903c3a10beb8e92c29df">setStartIndex</a> (int index)</td></tr>
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<tr class="memitem:a4f39e633365d0be6b5747cb77618f8f1" id="r_a4f39e633365d0be6b5747cb77618f8f1"><td class="memItemLeft" align="right" valign="top">virtual void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a4f39e633365d0be6b5747cb77618f8f1">setMaxFrames</a> (int value)</td></tr>
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<tr class="memitem:a61eeffff8762e642bd1ebf3f289b37e8" id="r_a61eeffff8762e642bd1ebf3f289b37e8"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a61eeffff8762e642bd1ebf3f289b37e8">setDirRefreshed</a> (bool enabled)</td></tr>
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<tr class="memitem:a151b4f1ff00f7c9d5ab14aebc8a049a4" id="r_a151b4f1ff00f7c9d5ab14aebc8a049a4"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a151b4f1ff00f7c9d5ab14aebc8a049a4">setImagesRectified</a> (bool enabled)</td></tr>
<tr class="separator:a151b4f1ff00f7c9d5ab14aebc8a049a4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a57a1de41d25300206650fc629056246a" id="r_a57a1de41d25300206650fc629056246a"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a57a1de41d25300206650fc629056246a">setBayerMode</a> (int mode)</td></tr>
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<tr class="memitem:a3120d6e55b4f4c7c4b1a6593d3025692" id="r_a3120d6e55b4f4c7c4b1a6593d3025692"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a3120d6e55b4f4c7c4b1a6593d3025692">setTimestamps</a> (bool fileNamesAreStamps, const std::string &amp;filePath=&quot;&quot;, bool syncImageRateWithStamps=true)</td></tr>
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<tr class="memitem:a3352cf2d7d8b3f53a629ada2eae9d6de" id="r_a3352cf2d7d8b3f53a629ada2eae9d6de"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a3352cf2d7d8b3f53a629ada2eae9d6de">setConfigForEachFrame</a> (bool value)</td></tr>
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<tr class="memitem:a4a135611ad339719d18b645f1b8f88eb" id="r_a4a135611ad339719d18b645f1b8f88eb"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a4a135611ad339719d18b645f1b8f88eb">isConfigForEachFrame</a> () const</td></tr>
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<tr class="memitem:aef8908a30d249e332c71a5cbfed28c76" id="r_aef8908a30d249e332c71a5cbfed28c76"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#aef8908a30d249e332c71a5cbfed28c76">setMultiCameraCalibration</a> (bool enabled)</td></tr>
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<tr class="memitem:ab06e90d13d951ed799de66a5a9583f44" id="r_ab06e90d13d951ed799de66a5a9583f44"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#ab06e90d13d951ed799de66a5a9583f44">setScanPath</a> (const std::string &amp;dir, int maxScanPts=0, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
<tr class="separator:ab06e90d13d951ed799de66a5a9583f44"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a08f44b6e782c3943febfb99d4099e7f0" id="r_a08f44b6e782c3943febfb99d4099e7f0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a08f44b6e782c3943febfb99d4099e7f0">setDepthFromScan</a> (bool enabled, int fillHoles=1, bool fillHolesFromBorder=false)</td></tr>
<tr class="separator:a08f44b6e782c3943febfb99d4099e7f0"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7764b77275a67b6aff4e1f9d771c54d9" id="r_a7764b77275a67b6aff4e1f9d771c54d9"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a7764b77275a67b6aff4e1f9d771c54d9">setOdometryPath</a> (const std::string &amp;filePath, int format=0)</td></tr>
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<tr class="memitem:a828e2237515f490edf2886eb1ad9c80f" id="r_a828e2237515f490edf2886eb1ad9c80f"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a828e2237515f490edf2886eb1ad9c80f">setGroundTruthPath</a> (const std::string &amp;filePath, int format=0, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
<tr class="separator:a828e2237515f490edf2886eb1ad9c80f"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0e6be0d94014fd7b64818cbd3fb166a6" id="r_a0e6be0d94014fd7b64818cbd3fb166a6"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a0e6be0d94014fd7b64818cbd3fb166a6">setMaxPoseTimeDiff</a> (double diff)</td></tr>
<tr class="separator:a0e6be0d94014fd7b64818cbd3fb166a6"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aab6d26d5c856180f775f98db6e05cba4" id="r_aab6d26d5c856180f775f98db6e05cba4"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#aab6d26d5c856180f775f98db6e05cba4">getMaxPoseTimeDiff</a> () const</td></tr>
<tr class="separator:aab6d26d5c856180f775f98db6e05cba4"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a9c3963f4a74967e715ecd06040f805ed" id="r_a9c3963f4a74967e715ecd06040f805ed"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a9c3963f4a74967e715ecd06040f805ed">setDepth</a> (bool isDepth, float depthScaleFactor=1.0f)</td></tr>
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<tr class="inherit_header pub_methods_classrtabmap_1_1Camera"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classrtabmap_1_1Camera')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Camera.html">rtabmap::Camera</a></td></tr>
<tr class="memitem:ae43544cc24470a1d42efcb5ec959b63c inherit pub_methods_classrtabmap_1_1Camera" id="r_ae43544cc24470a1d42efcb5ec959b63c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#ae43544cc24470a1d42efcb5ec959b63c">takeImage</a> (<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> *info=0)</td></tr>
<tr class="separator:ae43544cc24470a1d42efcb5ec959b63c inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5cfb75ca3d5f63e0c31633a2effae716 inherit pub_methods_classrtabmap_1_1Camera" id="r_a5cfb75ca3d5f63e0c31633a2effae716"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#a5cfb75ca3d5f63e0c31633a2effae716">getImageRate</a> () const</td></tr>
<tr class="separator:a5cfb75ca3d5f63e0c31633a2effae716 inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b89ca2dcbe020c4026d19900268311c inherit pub_methods_classrtabmap_1_1Camera" id="r_a2b89ca2dcbe020c4026d19900268311c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#a2b89ca2dcbe020c4026d19900268311c">setImageRate</a> (float imageRate)</td></tr>
<tr class="separator:a2b89ca2dcbe020c4026d19900268311c inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af03be5ebafb6ebf9341d8de8d7fea4c5 inherit pub_methods_classrtabmap_1_1Camera" id="r_af03be5ebafb6ebf9341d8de8d7fea4c5"><td class="memItemLeft" align="right" valign="top">
void&#160;</td><td class="memItemRight" valign="bottom"><b>setInterIMUPublishing</b> (bool enabled, <a class="el" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a> *filter=0, bool baseFrameConversion=false)</td></tr>
<tr class="separator:af03be5ebafb6ebf9341d8de8d7fea4c5 inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1f77dd10cc2f6e4f75d087c29726802 inherit pub_methods_classrtabmap_1_1Camera" id="r_ac1f77dd10cc2f6e4f75d087c29726802"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#ac1f77dd10cc2f6e4f75d087c29726802">isInterIMUPublishing</a> () const</td></tr>
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<tr class="memitem:a03f166a742e250d7db2693affe92c387 inherit pub_methods_classrtabmap_1_1Camera" id="r_a03f166a742e250d7db2693affe92c387"><td class="memItemLeft" align="right" valign="top">
bool&#160;</td><td class="memItemRight" valign="bottom"><b>initFromFile</b> (const std::string &amp;calibrationPath)</td></tr>
<tr class="separator:a03f166a742e250d7db2693affe92c387 inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</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="-"/>&#160;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&#160;</td><td class="memItemRight" valign="bottom"><b>~SensorCapture</b> ()</td></tr>
<tr class="memdesc:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Virtual destructor. <br /></td></tr>
<tr class="separator:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</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>&#160;</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">&#160;</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">&#160;</td></tr>
<tr class="memitem:a2f940d75366088bfae0164e1803ffe9a inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a2f940d75366088bfae0164e1803ffe9a"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</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> &amp;pose, cv::Mat &amp;covariance, double maxWaitTime=0.06)</td></tr>
<tr class="memdesc:a2f940d75366088bfae0164e1803ffe9a inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the sensor's pose estimate at a specific timestamp. <br /></td></tr>
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<tr class="memitem:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_af7de847c118ec1ba77a5c9f29f7efece"><td class="memItemLeft" align="right" valign="top">float&#160;</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">&#160;</td><td class="mdescRight">Returns the target frame rate. <br /></td></tr>
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<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> &amp;&#160;</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">&#160;</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">&#160;</td></tr>
<tr class="memitem:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a1e195970f52334094174783c5fd06456"><td class="memItemLeft" align="right" valign="top">void&#160;</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">&#160;</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">&#160;</td></tr>
<tr class="memitem:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a0ea4e217047c234bcfcb9866e36ea7c0"><td class="memItemLeft" align="right" valign="top">void&#160;</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> &amp;localTransform)</td></tr>
<tr class="memdesc:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the local transform from base frame to sensor frame. <br /></td></tr>
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<tr class="memitem:afa9923bb4a3b88e6dbf4c8ae7f060437 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_afa9923bb4a3b88e6dbf4c8ae7f060437"><td class="memItemLeft" align="right" valign="top">void&#160;</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">&#160;</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">&#160;</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:ae33e793b1b4b937da5b5d3a129e0b613" id="r_ae33e793b1b4b937da5b5d3a129e0b613"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#ae33e793b1b4b937da5b5d3a129e0b613">captureImage</a> (<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> *info=0)</td></tr>
<tr class="separator:ae33e793b1b4b937da5b5d3a129e0b613"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a3d95516465a2b72c79e318645773f1b8" id="r_a3d95516465a2b72c79e318645773f1b8"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a3d95516465a2b72c79e318645773f1b8">lastImageFileName</a> () const</td></tr>
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<tr class="inherit_header pro_methods_classrtabmap_1_1Camera"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classrtabmap_1_1Camera')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classrtabmap_1_1Camera.html">rtabmap::Camera</a></td></tr>
<tr class="memitem:aaae7434ffa5e54f5006355779d335dd3 inherit pro_methods_classrtabmap_1_1Camera" id="r_aaae7434ffa5e54f5006355779d335dd3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#aaae7434ffa5e54f5006355779d335dd3">Camera</a> (float imageRate=0, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
<tr class="separator:aaae7434ffa5e54f5006355779d335dd3 inherit pro_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a90c716bf4383af63b275dd9b5e7ec1a6 inherit pro_methods_classrtabmap_1_1Camera" id="r_a90c716bf4383af63b275dd9b5e7ec1a6"><td class="memItemLeft" align="right" valign="top">
void&#160;</td><td class="memItemRight" valign="bottom"><b>postInterIMU</b> (const <a class="el" href="classrtabmap_1_1IMU.html">IMU</a> &amp;imu, double stamp)</td></tr>
<tr class="separator:a90c716bf4383af63b275dd9b5e7ec1a6 inherit pro_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</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="-"/>&#160;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">&#160;</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> &amp;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">&#160;</td><td class="mdescRight">Protected constructor. <br /></td></tr>
<tr class="separator:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture" id="r_acbffaf17772639bc65b0a5457bc56b22"><td class="memItemLeft" align="right" valign="top">int&#160;</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">&#160;</td><td class="mdescRight">Gets the next sequence ID. <br /></td></tr>
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</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-attribs" name="pro-attribs"></a>
Protected Attributes</h2></td></tr>
<tr class="memitem:a344f4f4f86b63d0029f433e6c8c6fe9d" id="r_a344f4f4f86b63d0029f433e6c8c6fe9d"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a344f4f4f86b63d0029f433e6c8c6fe9d">_calibrationFolder</a></td></tr>
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<tr class="memitem:ab91480afb91ea7e760b217443b122978" id="r_ab91480afb91ea7e760b217443b122978"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#ab91480afb91ea7e760b217443b122978">_multiCameraCalib</a></td></tr>
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<tr class="memitem:a9f3684ac0a2fd229759d64e9b8c7351b" id="r_a9f3684ac0a2fd229759d64e9b8c7351b"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1CameraImages.html#a9f3684ac0a2fd229759d64e9b8c7351b">_multiCameraCount</a></td></tr>
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</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock">
<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00039">39</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
</div><h2 class="groupheader">Member Function Documentation</h2>
<a id="a8f00b6eb8c78a66d3381877825d70206" name="a8f00b6eb8c78a66d3381877825d70206"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8f00b6eb8c78a66d3381877825d70206">&#9670;&#160;</a></span>init()</h2>
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<td class="memname">virtual bool rtabmap::CameraImages::init </td>
<td>(</td>
<td class="paramtype">const std::string &amp;&#160;</td>
<td class="paramname"><em>calibrationFolder</em> = <code>&quot;.&quot;</code>, </td>
</tr>
<tr>
<td class="paramkey"></td>
<td></td>
<td class="paramtype">const std::string &amp;&#160;</td>
<td class="paramname"><em>cameraName</em> = <code>&quot;&quot;</code>&#160;</td>
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<td></td>
<td>)</td>
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<span class="mlabels"><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>
</ul>
<dl class="params"><dt>Parameters</dt><dd>
<table class="params">
<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>
</table>
</dd>
</dl>
<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 captureData() </dd></dl>
<p>Implements <a class="el" href="classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a">rtabmap::SensorCapture</a>.</p>
<p>Reimplemented in <a class="el" href="classrtabmap_1_1CameraRGBDImages.html#a21903042693fbbc0bfc1586225efb2dd">rtabmap::CameraRGBDImages</a>, and <a class="el" href="classrtabmap_1_1CameraStereoImages.html#abc0cb4bfd56314d0003c6ce5d365cbca">rtabmap::CameraStereoImages</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a1a614b9f0ae1bd90accfb7012de440cf">&#9670;&#160;</a></span>isCalibrated()</h2>
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<td class="memname">virtual bool rtabmap::CameraImages::isCalibrated </td>
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<p>Implements <a class="el" href="classrtabmap_1_1Camera.html">rtabmap::Camera</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a217f54d1ead7a4d6af733c2644064a5f">&#9670;&#160;</a></span>getSerial()</h2>
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<td class="memname">virtual std::string rtabmap::CameraImages::getSerial </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>Reimplemented in <a class="el" href="classrtabmap_1_1CameraStereoImages.html#a507ca5b4c37b75f4108e9aa8dad5125b">rtabmap::CameraStereoImages</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aea0811d6305eec32fda10f46344c825f">&#9670;&#160;</a></span>odomProvided()</h2>
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<td class="memname">virtual bool rtabmap::CameraImages::odomProvided </td>
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<p>Checks if the sensor provides odometry poses. </p>
<p>Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.</p>
<dl class="section return"><dt>Returns</dt><dd>True if the sensor provides odometry poses, false otherwise</dd></dl>
<dl class="section note"><dt>Note</dt><dd>Default implementation returns false. Derived classes should override if they support pose estimation.</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1SensorCapture.html#a2f940d75366088bfae0164e1803ffe9a" title="Gets the sensor&#39;s pose estimate at a specific timestamp.">getPose()</a> </dd></dl>
<p>Reimplemented from <a class="el" href="classrtabmap_1_1SensorCapture.html#aee217767808a9df9c63a27b284461c89">rtabmap::SensorCapture</a>.</p>
<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00053">53</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ad8fbb5b85c79c6ace43c0d3cc9b9ff69">&#9670;&#160;</a></span>getPath()</h2>
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<td class="memname">std::string rtabmap::CameraImages::getPath </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00054">54</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a705dc66ffb54de09f691fbfdf3befe4c">&#9670;&#160;</a></span>isImagesRectified()</h2>
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<td class="memname">bool rtabmap::CameraImages::isImagesRectified </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00057">57</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a300c8351b8246c83bb5f0818ae2cce5d">&#9670;&#160;</a></span>getBayerMode()</h2>
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<td class="memname">int rtabmap::CameraImages::getBayerMode </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00058">58</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#af52ecba08cca2d521c30b278dbecea94">&#9670;&#160;</a></span>cameraModel()</h2>
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<td class="memname">const <a class="el" href="classrtabmap_1_1CameraModel.html">CameraModel</a> &amp; rtabmap::CameraImages::cameraModel </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00059">59</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#af5d31ca22d5067e6e09458c953a0b3cd">&#9670;&#160;</a></span>setPath()</h2>
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<td class="memname">void rtabmap::CameraImages::setPath </td>
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<td class="paramtype">const std::string &amp;&#160;</td>
<td class="paramname"><em>dir</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00061">61</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a31c944714d99903c3a10beb8e92c29df">&#9670;&#160;</a></span>setStartIndex()</h2>
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<td class="memname">virtual void rtabmap::CameraImages::setStartIndex </td>
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<td class="paramname"><em>index</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00062">62</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4f39e633365d0be6b5747cb77618f8f1">&#9670;&#160;</a></span>setMaxFrames()</h2>
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<td class="memname">virtual void rtabmap::CameraImages::setMaxFrames </td>
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<td class="paramname"><em>value</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00063">63</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a61eeffff8762e642bd1ebf3f289b37e8">&#9670;&#160;</a></span>setDirRefreshed()</h2>
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<td class="memname">void rtabmap::CameraImages::setDirRefreshed </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00064">64</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a151b4f1ff00f7c9d5ab14aebc8a049a4">&#9670;&#160;</a></span>setImagesRectified()</h2>
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<td class="memname">void rtabmap::CameraImages::setImagesRectified </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00065">65</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a57a1de41d25300206650fc629056246a">&#9670;&#160;</a></span>setBayerMode()</h2>
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<td class="memname">void rtabmap::CameraImages::setBayerMode </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00066">66</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3120d6e55b4f4c7c4b1a6593d3025692">&#9670;&#160;</a></span>setTimestamps()</h2>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00068">68</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3352cf2d7d8b3f53a629ada2eae9d6de">&#9670;&#160;</a></span>setConfigForEachFrame()</h2>
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<td class="memname">void rtabmap::CameraImages::setConfigForEachFrame </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00075">75</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00079">79</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aef8908a30d249e332c71a5cbfed28c76">&#9670;&#160;</a></span>setMultiCameraCalibration()</h2>
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<td class="memname">void rtabmap::CameraImages::setMultiCameraCalibration </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00097">97</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ab06e90d13d951ed799de66a5a9583f44">&#9670;&#160;</a></span>setScanPath()</h2>
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<td class="memname">void rtabmap::CameraImages::setScanPath </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00102">102</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a08f44b6e782c3943febfb99d4099e7f0">&#9670;&#160;</a></span>setDepthFromScan()</h2>
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<td class="memname">void rtabmap::CameraImages::setDepthFromScan </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00112">112</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a7764b77275a67b6aff4e1f9d771c54d9">&#9670;&#160;</a></span>setOdometryPath()</h2>
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<td class="memname">void rtabmap::CameraImages::setOdometryPath </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00120">120</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a828e2237515f490edf2886eb1ad9c80f">&#9670;&#160;</a></span>setGroundTruthPath()</h2>
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<td class="memname">void rtabmap::CameraImages::setGroundTruthPath </td>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;&#160;</td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00127">127</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a0e6be0d94014fd7b64818cbd3fb166a6">&#9670;&#160;</a></span>setMaxPoseTimeDiff()</h2>
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<td class="memname">void rtabmap::CameraImages::setMaxPoseTimeDiff </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00134">134</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aab6d26d5c856180f775f98db6e05cba4">&#9670;&#160;</a></span>getMaxPoseTimeDiff()</h2>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00135">135</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9c3963f4a74967e715ecd06040f805ed">&#9670;&#160;</a></span>setDepth()</h2>
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<td class="memname">void rtabmap::CameraImages::setDepth </td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00137">137</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ae33e793b1b4b937da5b5d3a129e0b613">&#9670;&#160;</a></span>captureImage()</h2>
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<td class="memname">virtual <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> rtabmap::CameraImages::captureImage </td>
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<td class="paramname"><em>info</em> = <code>0</code></td><td>)</td>
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<p>Implements <a class="el" href="classrtabmap_1_1Camera.html">rtabmap::Camera</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a3d95516465a2b72c79e318645773f1b8">&#9670;&#160;</a></span>lastImageFileName()</h2>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00149">149</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="groupheader">Member Data Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a344f4f4f86b63d0029f433e6c8c6fe9d">&#9670;&#160;</a></span>_calibrationFolder</h2>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00153">153</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ab91480afb91ea7e760b217443b122978">&#9670;&#160;</a></span>_multiCameraCalib</h2>
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<td class="memname">bool rtabmap::CameraImages::_multiCameraCalib</td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00159">159</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a9f3684ac0a2fd229759d64e9b8c7351b">&#9670;&#160;</a></span>_multiCameraCount</h2>
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<td class="memname">int rtabmap::CameraImages::_multiCameraCount</td>
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<p class="definition">Definition at line <a class="el" href="CameraImages_8h_source.html#l00160">160</a> of file <a class="el" href="CameraImages_8h_source.html">CameraImages.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/camera/<a class="el" href="CameraImages_8h_source.html">CameraImages.h</a></li>
</ul>
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