<trclass="memdesc:a8a1c7b859ae730c1e0ade9fa5e302a66"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Event codes for <aclass="el"href="classrtabmap_1_1SensorEvent.html"title="Event class for sensor data communication in RTAB-Map's event system.">SensorEvent</a>. <ahref="classrtabmap_1_1SensorEvent.html#a8a1c7b859ae730c1e0ade9fa5e302a66">More...</a><br/></td></tr>
<trclass="memdesc:aa6c0584b85a70fe240f745c759948591"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Constructor from a single image. <br/></td></tr>
<trclass="memdesc:aef6624e43c3f7f29684072782a377e20"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Constructor for end-of-stream event. <br/></td></tr>
<trclass="memdesc:a6e120cf7c4aea9201462c9cbb224b787"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Constructor from <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a>. <br/></td></tr>
<trclass="memdesc:a1a47910aed70809eabfc195ca2515f85"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Constructor from <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a> with camera name. <br/></td></tr>
<trclass="memdesc:a1e35f9e5433d00628dd51876bc74fec5"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Constructor from <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a> with full capture info. <br/></td></tr>
<trclass="memdesc:a02d0ef0c42eab24adb8013a9693e02b1"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Returns the sensor data contained in this event. <br/></td></tr>
<trclass="memdesc:a7bb8ca3a235aa8b58227bc50e19d7493"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Returns the class name for event identification. <br/></td></tr>
<trclass="inherit_header pub_methods_classUEvent"><tdcolspan="2"onclick="javascript:toggleInherit('pub_methods_classUEvent')"><imgsrc="closed.png"alt="-"/> Public Member Functions inherited from <aclass="el"href="classUEvent.html">UEvent</a></td></tr>
<trclass="inherit_header pro_methods_classUEvent"><tdcolspan="2"onclick="javascript:toggleInherit('pro_methods_classUEvent')"><imgsrc="closed.png"alt="-"/> Protected Member Functions inherited from <aclass="el"href="classUEvent.html">UEvent</a></td></tr>
<p><aclass="el"href="classrtabmap_1_1SensorEvent.html"title="Event class for sensor data communication in RTAB-Map's event system.">SensorEvent</a> is an event class that extends <aclass="el"href="classUEvent.html">UEvent</a> and is used to communicate sensor data (images, depth, laser scans, etc.) through RTAB-Map's event-driven architecture. It is typically posted by sensor capture threads and handled by event handlers (e.g., <aclass="el"href="classrtabmap_1_1RtabmapThread.html"title="Runs a Rtabmap instance in its own thread, driven by events.">RtabmapThread</a>, DataRecorder, CalibrationDialog).</p>
<li><b>kCodeData</b>: Indicates that new sensor data is available</li>
<li><b>kCodeNoMoreImages</b>: Indicates that the sensor stream has ended (end of file, camera disconnected, etc.)</li>
</ul>
<p><aclass="el"href="classrtabmap_1_1SensorEvent.html"title="Event class for sensor data communication in RTAB-Map's event system.">SensorEvent</a> carries:</p><ul>
<li><b><aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a></b>: The actual sensor data (images, depth, scans, camera models, etc.)</li>
<li><b><aclass="el"href="classrtabmap_1_1SensorCaptureInfo.html"title="Metadata structure for sensor data capture and processing.">SensorCaptureInfo</a></b>: Metadata about the capture (camera name, timing information, odometry pose, etc.)</li>
</ul>
<dlclass="section note"><dt>Note</dt><dd>This class is part of RTAB-Map's event system. Handlers should check the event code and class name before processing the event.</dd></dl>
<pclass="definition">Definition at line <aclass="el"href="SensorEvent_8h_source.html#l00063">63</a> of file <aclass="el"href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
<p>Event codes for <aclass="el"href="classrtabmap_1_1SensorEvent.html"title="Event class for sensor data communication in RTAB-Map's event system.">SensorEvent</a>. </p>
<tableclass="fieldtable">
<tr><thcolspan="2">Enumerator</th></tr><tr><tdclass="fieldname"><aid="a8a1c7b859ae730c1e0ade9fa5e302a66a96386fbcb6a0fd382113f188c193ed61"name="a8a1c7b859ae730c1e0ade9fa5e302a66a96386fbcb6a0fd382113f188c193ed61"></a>kCodeData </td><tdclass="fielddoc"><p>Event code indicating new sensor data is available. </p>
</td></tr>
<tr><tdclass="fieldname"><aid="a8a1c7b859ae730c1e0ade9fa5e302a66a377f61ebd393e5db46b02121270abdf2"name="a8a1c7b859ae730c1e0ade9fa5e302a66a377f61ebd393e5db46b02121270abdf2"></a>kCodeNoMoreImages </td><tdclass="fielddoc"><p>Event code indicating the sensor stream has ended. </p>
</td></tr>
</table>
<pclass="definition">Definition at line <aclass="el"href="SensorEvent_8h_source.html#l00071">71</a> of file <aclass="el"href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
</div>
</div>
<h2class="groupheader">Constructor & Destructor Documentation</h2>
<p>Creates a <aclass="el"href="classrtabmap_1_1SensorEvent.html"title="Event class for sensor data communication in RTAB-Map's event system.">SensorEvent</a> with kCodeData containing a single image. This is a convenience constructor for simple image-only sensor data.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">image</td><td>The image to include in the sensor data </td></tr>
<tr><tdclass="paramname">seq</td><td>Sequence number (default: 0) </td></tr>
<tr><tdclass="paramname">stamp</td><td>Timestamp in seconds (default: 0.0) </td></tr>
<tr><tdclass="paramname">cameraName</td><td>Optional camera name identifier (default: empty) </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="SensorEvent_8h_source.html#l00088">88</a> of file <aclass="el"href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
<p>Creates a <aclass="el"href="classrtabmap_1_1SensorEvent.html"title="Event class for sensor data communication in RTAB-Map's event system.">SensorEvent</a> with kCodeNoMoreImages to signal that the sensor stream has ended (e.g., end of file, camera disconnected).</p>
<dlclass="section note"><dt>Note</dt><dd>This constructor does not include any sensor data. </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="SensorEvent_8h_source.html#l00103">103</a> of file <aclass="el"href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
<p>Constructor from <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a>. </p>
<p>Creates a <aclass="el"href="classrtabmap_1_1SensorEvent.html"title="Event class for sensor data communication in RTAB-Map's event system.">SensorEvent</a> with kCodeData containing the provided <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a>.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">data</td><td>The sensor data to include in the event </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="SensorEvent_8h_source.html#l00115">115</a> of file <aclass="el"href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
<p>Constructor from <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a> with camera name. </p>
<p>Creates a <aclass="el"href="classrtabmap_1_1SensorEvent.html"title="Event class for sensor data communication in RTAB-Map's event system.">SensorEvent</a> with kCodeData containing the provided <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a> and camera name.</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">data</td><td>The sensor data to include in the event </td></tr>
<tr><tdclass="paramname">cameraName</td><td><aclass="el"href="classrtabmap_1_1Camera.html">Camera</a> name identifier </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="SensorEvent_8h_source.html#l00130">130</a> of file <aclass="el"href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
<p>Constructor from <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a> with full capture info. </p>
<p>Creates a <aclass="el"href="classrtabmap_1_1SensorEvent.html"title="Event class for sensor data communication in RTAB-Map's event system.">SensorEvent</a> with kCodeData containing the provided <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a> and complete sensor capture information (camera name, timing, odometry, etc.).</p>
<dlclass="params"><dt>Parameters</dt><dd>
<tableclass="params">
<tr><tdclass="paramname">data</td><td>The sensor data to include in the event </td></tr>
<tr><tdclass="paramname">sensorCaptureInfo</td><td>Complete sensor capture information </td></tr>
</table>
</dd>
</dl>
<pclass="definition">Definition at line <aclass="el"href="SensorEvent_8h_source.html#l00146">146</a> of file <aclass="el"href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="SensorEvent_8h_source.html#l00185">185</a> of file <aclass="el"href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
</div>
</div>
<h2class="groupheader">Member Function Documentation</h2>
<p>Returns the sensor data contained in this event. </p>
<p>Returns the <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a> object containing images, depth, laser scans, camera models, and other sensor information.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the sensor data </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="SensorEvent_8h_source.html#l00161">161</a> of file <aclass="el"href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
<p>Returns the camera name identifier from the sensor capture info.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the camera name string </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="SensorEvent_8h_source.html#l00170">170</a> of file <aclass="el"href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
<p>Returns the complete sensor capture information including camera name, timing information, odometry pose, covariance, and other metadata.</p>
<dlclass="section return"><dt>Returns</dt><dd>Const reference to the sensor capture info </dd></dl>
<pclass="definition">Definition at line <aclass="el"href="SensorEvent_8h_source.html#l00180">180</a> of file <aclass="el"href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="SensorEvent_8h_source.html#l00194">194</a> of file <aclass="el"href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
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