<divclass="line"><aid="l00005"name="l00005"></a><spanclass="lineno"> 5</span><spanclass="comment">Redistribution and use in source and binary forms, with or without</span></div>
<divclass="line"><aid="l00006"name="l00006"></a><spanclass="lineno"> 6</span><spanclass="comment">modification, are permitted provided that the following conditions are met:</span></div>
<divclass="line"><aid="l00007"name="l00007"></a><spanclass="lineno"> 7</span><spanclass="comment"> * Redistributions of source code must retain the above copyright</span></div>
<divclass="line"><aid="l00008"name="l00008"></a><spanclass="lineno"> 8</span><spanclass="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<divclass="line"><aid="l00009"name="l00009"></a><spanclass="lineno"> 9</span><spanclass="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<divclass="line"><aid="l00010"name="l00010"></a><spanclass="lineno"> 10</span><spanclass="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<divclass="line"><aid="l00011"name="l00011"></a><spanclass="lineno"> 11</span><spanclass="comment"> documentation and/or other materials provided with the distribution.</span></div>
<divclass="line"><aid="l00012"name="l00012"></a><spanclass="lineno"> 12</span><spanclass="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<divclass="line"><aid="l00013"name="l00013"></a><spanclass="lineno"> 13</span><spanclass="comment"> names of its contributors may be used to endorse or promote products</span></div>
<divclass="line"><aid="l00014"name="l00014"></a><spanclass="lineno"> 14</span><spanclass="comment"> derived from this software without specific prior written permission.</span></div>
<divclass="line"><aid="l00016"name="l00016"></a><spanclass="lineno"> 16</span><spanclass="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
<divclass="line"><aid="l00017"name="l00017"></a><spanclass="lineno"> 17</span><spanclass="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<divclass="line"><aid="l00018"name="l00018"></a><spanclass="lineno"> 18</span><spanclass="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<divclass="line"><aid="l00019"name="l00019"></a><spanclass="lineno"> 19</span><spanclass="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<divclass="line"><aid="l00020"name="l00020"></a><spanclass="lineno"> 20</span><spanclass="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<divclass="line"><aid="l00021"name="l00021"></a><spanclass="lineno"> 21</span><spanclass="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<divclass="line"><aid="l00022"name="l00022"></a><spanclass="lineno"> 22</span><spanclass="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<divclass="line"><aid="l00023"name="l00023"></a><spanclass="lineno"> 23</span><spanclass="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<divclass="line"><aid="l00024"name="l00024"></a><spanclass="lineno"> 24</span><spanclass="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<divclass="line"><aid="l00025"name="l00025"></a><spanclass="lineno"> 25</span><spanclass="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<divclass="line"><aid="l00108"name="l00108"></a><spanclass="lineno"> 108</span><spanclass="comment">// Timing information (all in seconds)</span></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html">rtabmap::SensorCaptureInfo</a></div><divclass="ttdoc">Metadata structure for sensor data capture and processing.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00064">SensorCaptureInfo.h:65</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_a0052a472c18e314445e2af75f11e3fe2"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#a0052a472c18e314445e2af75f11e3fe2">rtabmap::SensorCaptureInfo::timeBilateralFiltering</a></div><divclass="ttdeci">float timeBilateralFiltering</div><divclass="ttdoc">Time for bilateral filtering of depth (seconds)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00118">SensorCaptureInfo.h:118</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_a0903975d22d60fe339a18c7f3f114934"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#a0903975d22d60fe339a18c7f3f114934">rtabmap::SensorCaptureInfo::timeScanFromDepth</a></div><divclass="ttdeci">float timeScanFromDepth</div><divclass="ttdoc">Time to convert depth image to laser scan (seconds)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00116">SensorCaptureInfo.h:116</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_a14653b32350b0e5437d0effd8af03ddd"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#a14653b32350b0e5437d0effd8af03ddd">rtabmap::SensorCaptureInfo::timeCapture</a></div><divclass="ttdeci">float timeCapture</div><divclass="ttdoc">Time to capture data from the sensor (seconds)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00109">SensorCaptureInfo.h:109</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_a2cd84bbdd9bd60f906b9b925ab0d302c"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#a2cd84bbdd9bd60f906b9b925ab0d302c">rtabmap::SensorCaptureInfo::id</a></div><divclass="ttdeci">int id</div><divclass="ttdoc">Capture ID (typically matches SensorData ID)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00105">SensorCaptureInfo.h:105</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_a2e95b64dd13e9960460965f7121dc948"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#a2e95b64dd13e9960460965f7121dc948">rtabmap::SensorCaptureInfo::timeMirroring</a></div><divclass="ttdeci">float timeMirroring</div><divclass="ttdoc">Time for image mirroring/flipping (seconds)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00112">SensorCaptureInfo.h:112</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_a319070f2296632120e1101bf8ea18cda"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#a319070f2296632120e1101bf8ea18cda">rtabmap::SensorCaptureInfo::timeStereoExposureCompensation</a></div><divclass="ttdeci">float timeStereoExposureCompensation</div><divclass="ttdoc">Time for stereo exposure compensation (seconds)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00113">SensorCaptureInfo.h:113</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_a5c086f941e4fa816ec608779ac03f640"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#a5c086f941e4fa816ec608779ac03f640">rtabmap::SensorCaptureInfo::odomPose</a></div><divclass="ttdeci">Transform odomPose</div><divclass="ttdoc">Odometry pose at the time of capture (in odometry coordinate frame)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00122">SensorCaptureInfo.h:122</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_a8f4c2fb07970cb40bf2fe7ad19743d23"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#a8f4c2fb07970cb40bf2fe7ad19743d23">rtabmap::SensorCaptureInfo::cameraName</a></div><divclass="ttdeci">std::string cameraName</div><divclass="ttdoc">Camera/sensor name identifier.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00104">SensorCaptureInfo.h:104</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_a94779ab38ab44408fd81df43338a03dd"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#a94779ab38ab44408fd81df43338a03dd">rtabmap::SensorCaptureInfo::timeDeskewing</a></div><divclass="ttdeci">float timeDeskewing</div><divclass="ttdoc">Time for laser scan deskewing (seconds)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00110">SensorCaptureInfo.h:110</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_a974419b0d05f9c56db0ec40258b56535"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#a974419b0d05f9c56db0ec40258b56535">rtabmap::SensorCaptureInfo::timeTotal</a></div><divclass="ttdeci">float timeTotal</div><divclass="ttdoc">Total processing time (seconds)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00119">SensorCaptureInfo.h:119</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_aa5b8ab859cae2ef8b71b2768c9119204"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#aa5b8ab859cae2ef8b71b2768c9119204">rtabmap::SensorCaptureInfo::timeHistogramEqualization</a></div><divclass="ttdeci">float timeHistogramEqualization</div><divclass="ttdoc">Time for histogram equalization (seconds)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00115">SensorCaptureInfo.h:115</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_ab9f52d419f810e3044f56583ed230902"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#ab9f52d419f810e3044f56583ed230902">rtabmap::SensorCaptureInfo::stamp</a></div><divclass="ttdeci">double stamp</div><divclass="ttdoc">Timestamp in seconds (typically matches SensorData stamp)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00106">SensorCaptureInfo.h:106</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_ad270963d02944fa0e93751304d7a14ae"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#ad270963d02944fa0e93751304d7a14ae">rtabmap::SensorCaptureInfo::timeImageDecimation</a></div><divclass="ttdeci">float timeImageDecimation</div><divclass="ttdoc">Time for image decimation/downsampling (seconds)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00114">SensorCaptureInfo.h:114</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_ae7178e4a406254614a227904c08035a7"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#ae7178e4a406254614a227904c08035a7">rtabmap::SensorCaptureInfo::timeDisparity</a></div><divclass="ttdeci">float timeDisparity</div><divclass="ttdoc">Time to compute stereo disparity (seconds)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00111">SensorCaptureInfo.h:111</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCaptureInfo_html_afddf554ad1f8a400d3c96c3ec1be61bf"><divclass="ttname"><ahref="classrtabmap_1_1SensorCaptureInfo.html#afddf554ad1f8a400d3c96c3ec1be61bf">rtabmap::SensorCaptureInfo::timeUndistortDepth</a></div><divclass="ttdeci">float timeUndistortDepth</div><divclass="ttdoc">Time to undistort depth image (seconds)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCaptureInfo_8h_source.html#l00117">SensorCaptureInfo.h:117</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1Transform_html"><divclass="ttname"><ahref="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><divclass="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><divclass="ttdef"><b>Definition</b><ahref="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
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