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< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
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< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
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< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
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< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
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< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #ifndef DBREADER_H_</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span >< span class = "preprocessor" > #define DBREADER_H_</ span ></ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span > </ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include " rtabmap/core/rtabmap_core_export.h" </ span > < span class = "comment" > // DLL export/import defines</ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span > </ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span >< span class = "preprocessor" > #include < rtabmap/utilite/UTimer.h> </ span ></ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < rtabmap/core/Transform.h> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span >< span class = "preprocessor" > #include < rtabmap/core/Camera.h> </ span ></ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span > </ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "preprocessor" > #include < opencv2/core/core.hpp> </ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span > </ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span >< span class = "preprocessor" > #include < set> </ span ></ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span >< span class = "preprocessor" > #include < list> </ span ></ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span > </ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a > {</ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span > </ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span >< span class = "keyword" > class </ span > DBDriver;</ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span > </ div >
< div class = "foldopen" id = "foldopen00046" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBReader.html" > 46</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1DBReader.html" > DBReader</ a > : < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Camera.html" > Camera</ a > {</ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBReader.html" > DBReader</ a > (< span class = "keyword" > const</ span > std::string & databasePath,</ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span > < span class = "keywordtype" > float</ span > frameRate = 0.0f, < span class = "comment" > // -1 = use Database stamps, 0 = inf</ span ></ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span > < span class = "keywordtype" > bool</ span > odometryIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span > < span class = "keywordtype" > bool</ span > ignoreGoalDelay = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00052" name = "l00052" ></ a >< span class = "lineno" > 52</ span > < span class = "keywordtype" > bool</ span > goalsIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00053" name = "l00053" ></ a >< span class = "lineno" > 53</ span > < span class = "keywordtype" > int</ span > startId = 0,</ div >
< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" > 54</ span > < span class = "keyword" > const</ span > std::vector< unsigned int> & cameraIndices = std::vector< unsigned int> (),</ div >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" > 55</ span > < span class = "keywordtype" > int</ span > stopId = 0,</ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span > < span class = "keywordtype" > bool</ span > intermediateNodesIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" > 57</ span > < span class = "keywordtype" > bool</ span > landmarksIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00058" name = "l00058" ></ a >< span class = "lineno" > 58</ span > < span class = "keywordtype" > bool</ span > featuresIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00059" name = "l00059" ></ a >< span class = "lineno" > 59</ span > < span class = "keywordtype" > int</ span > startMapId = 0,</ div >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" > 60</ span > < span class = "keywordtype" > int</ span > stopMapId = -1,</ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" > 61</ span > < span class = "keywordtype" > bool</ span > priorsIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span > < span class = "keywordtype" > bool</ span > imuIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" > 63</ span > < span class = "keywordtype" > bool</ span > intermediateNodesAreNormalNodes = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" > 64</ span > < span class = "keyword" > const</ span > std::vector< Transform> & cameraLocalTransformOverrides = std::vector< Transform> ());</ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBReader.html" > DBReader</ a > (< span class = "keyword" > const</ span > std::list< std::string> & databasePaths,</ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span > < span class = "keywordtype" > float</ span > frameRate = 0.0f, < span class = "comment" > // -1 = use Database stamps, 0 = inf</ span ></ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" > 67</ span > < span class = "keywordtype" > bool</ span > odometryIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" > 68</ span > < span class = "keywordtype" > bool</ span > ignoreGoalDelay = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" > 69</ span > < span class = "keywordtype" > bool</ span > goalsIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" > 70</ span > < span class = "keywordtype" > int</ span > startId = 0,</ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" > 71</ span > < span class = "keyword" > const</ span > std::vector< unsigned int> & cameraIndices = std::vector< unsigned int> (),</ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span > < span class = "keywordtype" > int</ span > stopId = 0,</ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span > < span class = "keywordtype" > bool</ span > intermediateNodesIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" > 74</ span > < span class = "keywordtype" > bool</ span > landmarksIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" > 75</ span > < span class = "keywordtype" > bool</ span > featuresIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" > 76</ span > < span class = "keywordtype" > int</ span > startMapId = 0,</ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span > < span class = "keywordtype" > int</ span > stopMapId = -1,</ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span > < span class = "keywordtype" > bool</ span > priorsIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" > 79</ span > < span class = "keywordtype" > bool</ span > imuIgnored = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span > < span class = "keywordtype" > bool</ span > intermediateNodesAreNormalNodes = < span class = "keyword" > false</ span > ,</ div >
< div class = "line" >< a id = "l00081" name = "l00081" ></ a >< span class = "lineno" > 81</ span > < span class = "keyword" > const</ span > std::vector< Transform> & cameraLocalTransformOverrides = std::vector< Transform> ());</ div >
< div class = "line" >< a id = "l00082" name = "l00082" ></ a >< span class = "lineno" > 82</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBReader.html" > ~DBReader</ a > ();</ div >
< div class = "line" >< a id = "l00083" name = "l00083" ></ a >< span class = "lineno" > 83</ span > </ div >
< div class = "line" >< a id = "l00084" name = "l00084" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBReader.html#a31b8ffc3d213da7ab58a85ce89b8055e" > 84</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBReader.html#a31b8ffc3d213da7ab58a85ce89b8055e" > init</ a > (</ div >
< div class = "line" >< a id = "l00085" name = "l00085" ></ a >< span class = "lineno" > 85</ span > < span class = "keyword" > const</ span > std::string & calibrationFolder = < span class = "stringliteral" > " ." </ span > ,</ div >
< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" > 86</ span > < span class = "keyword" > const</ span > std::string & cameraName = < span class = "stringliteral" > "" </ span > );</ div >
< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" > 87</ span > </ div >
< div class = "line" >< a id = "l00088" name = "l00088" ></ a >< span class = "lineno" > 88</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > isCalibrated() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00089" name = "l00089" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBReader.html#ac6e8622842447cdccfaab061c1cab3c4" > 89</ a ></ span > < span class = "keyword" > virtual</ span > std::string < a class = "code hl_function" href = "classrtabmap_1_1DBReader.html#ac6e8622842447cdccfaab061c1cab3c4" > getSerial</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00090" name = "l00090" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBReader.html#a24351b1eb5776a83548a1d972e489dba" > 90</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBReader.html#a24351b1eb5776a83548a1d972e489dba" > odomProvided</ a > ()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > !_odometryIgnored;}</ div >
< div class = "line" >< a id = "l00091" name = "l00091" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1DBReader.html#abd2b32ae00a05810465f63d63c44d5ed" > 91</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1DBReader.html#abd2b32ae00a05810465f63d63c44d5ed" > getPose</ a > (< span class = "keywordtype" > double</ span > stamp, < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, cv::Mat & covariance, < span class = "keywordtype" > double</ span > maxWaitTime = 0.06);</ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" > 92</ span > </ div >
< div class = "line" >< a id = "l00093" name = "l00093" ></ a >< span class = "lineno" > 93</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a > * driver()< span class = "keyword" > const </ span > {< span class = "keywordflow" > return</ span > _dbDriver;}</ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" > 94</ span > </ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" > 95</ span >< span class = "keyword" > protected</ span > :</ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" > 96</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > captureImage(< a class = "code hl_class" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > * info = 0);</ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span > </ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > getNextData(< a class = "code hl_class" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > * info = 0);</ div >
< div class = "line" >< a id = "l00100" name = "l00100" ></ a >< span class = "lineno" > 100</ span > < span class = "keywordtype" > void</ span > checkArguments();</ div >
< div class = "line" >< a id = "l00101" name = "l00101" ></ a >< span class = "lineno" > 101</ span > </ div >
< div class = "line" >< a id = "l00102" name = "l00102" ></ a >< span class = "lineno" > 102</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00103" name = "l00103" ></ a >< span class = "lineno" > 103</ span > std::list< std::string> _paths;</ div >
< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" > 104</ span > < span class = "keywordtype" > bool</ span > _odometryIgnored;</ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" > 105</ span > < span class = "keywordtype" > bool</ span > _ignoreGoalDelay;</ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" > 106</ span > < span class = "keywordtype" > bool</ span > _goalsIgnored;</ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" > 107</ span > < span class = "keywordtype" > int</ span > _startId;</ div >
< div class = "line" >< a id = "l00108" name = "l00108" ></ a >< span class = "lineno" > 108</ span > < span class = "keywordtype" > int</ span > _stopId;</ div >
< div class = "line" >< a id = "l00109" name = "l00109" ></ a >< span class = "lineno" > 109</ span > std::vector< unsigned int> _cameraIndices;</ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" > 110</ span > < span class = "keywordtype" > bool</ span > _intermediateNodesIgnored;</ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span > < span class = "keywordtype" > bool</ span > _intermediateNodesAreNormalNodes;</ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > < span class = "keywordtype" > bool</ span > _landmarksIgnored;</ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" > 113</ span > < span class = "keywordtype" > bool</ span > _featuresIgnored;</ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span > < span class = "keywordtype" > bool</ span > _priorsIgnored;</ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" > 115</ span > < span class = "keywordtype" > bool</ span > _imuIgnored;</ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" > 116</ span > < span class = "keywordtype" > int</ span > _startMapId;</ div >
< div class = "line" >< a id = "l00117" name = "l00117" ></ a >< span class = "lineno" > 117</ span > < span class = "keywordtype" > int</ span > _stopMapId;</ div >
< div class = "line" >< a id = "l00118" name = "l00118" ></ a >< span class = "lineno" > 118</ span > std::vector< Transform> _cameraLocalTransformOverrides;</ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" > 119</ span > </ div >
< div class = "line" >< a id = "l00120" name = "l00120" ></ a >< span class = "lineno" > 120</ span > < a class = "code hl_class" href = "classrtabmap_1_1DBDriver.html" > DBDriver</ a > * _dbDriver;</ div >
< div class = "line" >< a id = "l00121" name = "l00121" ></ a >< span class = "lineno" > 121</ span > < a class = "code hl_class" href = "classUTimer.html" > UTimer</ a > _timer;</ div >
< div class = "line" >< a id = "l00122" name = "l00122" ></ a >< span class = "lineno" > 122</ span > std::set< int> _ids;</ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" > 123</ span > std::set< int> ::iterator _currentId;</ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > < span class = "keywordtype" > int</ span > _previousMapId;</ div >
< div class = "line" >< a id = "l00125" name = "l00125" ></ a >< span class = "lineno" > 125</ span > cv::Mat _previousInfMatrix;</ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" > 126</ span > < span class = "keywordtype" > double</ span > _previousStamp;</ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > < span class = "keywordtype" > int</ span > _previousMapID;</ div >
< div class = "line" >< a id = "l00128" name = "l00128" ></ a >< span class = "lineno" > 128</ span > < span class = "keywordtype" > bool</ span > _calibrated;</ div >
< div class = "line" >< a id = "l00129" name = "l00129" ></ a >< span class = "lineno" > 129</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00130" name = "l00130" ></ a >< span class = "lineno" > 130</ span > </ div >
< div class = "line" >< a id = "l00131" name = "l00131" ></ a >< span class = "lineno" > 131</ span > } < span class = "comment" > /* namespace rtabmap */</ span ></ div >
< div class = "line" >< a id = "l00132" name = "l00132" ></ a >< span class = "lineno" > 132</ span >< span class = "preprocessor" > #endif </ span >< span class = "comment" > /* DBREADER_H_ */</ span >< span class = "preprocessor" ></ span ></ div >
< div class = "ttc" id = "aclassUTimer_html" >< div class = "ttname" >< a href = "classUTimer.html" > UTimer</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "UTimer_8h_source.html#l00046" > UTimer.h:47</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Camera_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Camera.html" > rtabmap::Camera</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Camera_8h_source.html#l00043" > Camera.h:44</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBDriver_html" >< div class = "ttname" >< a href = "classrtabmap_1_1DBDriver.html" > rtabmap::DBDriver</ a ></ div >< div class = "ttdoc" > Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBDriver_8h_source.html#l00071" > DBDriver.h:72</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBReader_html" >< div class = "ttname" >< a href = "classrtabmap_1_1DBReader.html" > rtabmap::DBReader</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBReader_8h_source.html#l00046" > DBReader.h:46</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBReader_html_a24351b1eb5776a83548a1d972e489dba" >< div class = "ttname" >< a href = "classrtabmap_1_1DBReader.html#a24351b1eb5776a83548a1d972e489dba" > rtabmap::DBReader::odomProvided</ a ></ div >< div class = "ttdeci" > virtual bool odomProvided() const</ div >< div class = "ttdoc" > Checks if the sensor provides odometry poses.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "DBReader_8h_source.html#l00090" > DBReader.h:90</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBReader_html_a31b8ffc3d213da7ab58a85ce89b8055e" >< div class = "ttname" >< a href = "classrtabmap_1_1DBReader.html#a31b8ffc3d213da7ab58a85ce89b8055e" > rtabmap::DBReader::init</ a ></ div >< div class = "ttdeci" > virtual bool init(const std::string & calibrationFolder=" ." , const std::string & cameraName="" )</ div >< div class = "ttdoc" > Initializes the sensor.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBReader_html_abd2b32ae00a05810465f63d63c44d5ed" >< div class = "ttname" >< a href = "classrtabmap_1_1DBReader.html#abd2b32ae00a05810465f63d63c44d5ed" > rtabmap::DBReader::getPose</ a ></ div >< div class = "ttdeci" > virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime=0.06)</ div >< div class = "ttdoc" > Gets the sensor's pose estimate at a specific timestamp.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1DBReader_html_ac6e8622842447cdccfaab061c1cab3c4" >< div class = "ttname" >< a href = "classrtabmap_1_1DBReader.html#ac6e8622842447cdccfaab061c1cab3c4" > rtabmap::DBReader::getSerial</ a ></ div >< div class = "ttdeci" > virtual std::string getSerial() const</ div >< div class = "ttdoc" > Returns the sensor's serial number or unique identifier.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorCaptureInfo_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorCaptureInfo.html" > rtabmap::SensorCaptureInfo</ a ></ div >< div class = "ttdoc" > Metadata structure for sensor data capture and processing.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorCaptureInfo_8h_source.html#l00064" > SensorCaptureInfo.h:65</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html" > rtabmap::SensorData</ a ></ div >< div class = "ttdoc" > Container class for all sensor data captured at a specific time.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00096" > SensorData.h:97</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a ></ div >< div class = "ttdoc" > Represents a 3D rigid body transformation (rotation + translation).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Transform_8h_source.html#l00052" > Transform.h:53</ a ></ div ></ div >
2026-08-23 20:27:42 +00:00
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00042" > BayesFilter.h:42</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
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