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<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_1SensorCapture_html"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html">rtabmap::SensorCapture</a></div><divclass="ttdoc">Abstract base class for sensor data capture (cameras, lidars, etc.)</div><divclass="ttdef"><b>Definition</b><ahref="SensorCapture_8h_source.html#l00078">SensorCapture.h:79</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html_a0ea4e217047c234bcfcb9866e36ea7c0"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html#a0ea4e217047c234bcfcb9866e36ea7c0">rtabmap::SensorCapture::setLocalTransform</a></div><divclass="ttdeci">void setLocalTransform(const Transform &localTransform)</div><divclass="ttdoc">Sets the local transform from base frame to sensor frame.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCapture_8h_source.html#l00210">SensorCapture.h:210</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html_a1c0cd843969fab53f157cbe0fd333b8a"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a">rtabmap::SensorCapture::init</a></div><divclass="ttdeci">virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")=0</div><divclass="ttdoc">Initializes the sensor.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html_a1e195970f52334094174783c5fd06456"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html#a1e195970f52334094174783c5fd06456">rtabmap::SensorCapture::setFrameRate</a></div><divclass="ttdeci">void setFrameRate(float frameRate)</div><divclass="ttdoc">Sets the target frame rate.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCapture_8h_source.html#l00200">SensorCapture.h:200</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html_a2f940d75366088bfae0164e1803ffe9a"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html#a2f940d75366088bfae0164e1803ffe9a">rtabmap::SensorCapture::getPose</a></div><divclass="ttdeci">virtual bool getPose(double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)</div><divclass="ttdoc">Gets the sensor's pose estimate at a specific timestamp.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCapture_8h_source.html#l00172">SensorCapture.h:172</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html_a7830e571e45752f9d8f30fa806f6aa64"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html#a7830e571e45752f9d8f30fa806f6aa64">rtabmap::SensorCapture::getSerial</a></div><divclass="ttdeci">virtual std::string getSerial() const =0</div><divclass="ttdoc">Returns the sensor's serial number or unique identifier.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html_a85e8691b5201a5383d1463ed980f7958"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html#a85e8691b5201a5383d1463ed980f7958">rtabmap::SensorCapture::captureData</a></div><divclass="ttdeci">virtual SensorData captureData(SensorCaptureInfo *info=0)=0</div><divclass="ttdoc">Pure virtual method to capture sensor data.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html_a99829249c51fd08c32310b788b00b663"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html#a99829249c51fd08c32310b788b00b663">rtabmap::SensorCapture::getLocalTransform</a></div><divclass="ttdeci">const Transform & getLocalTransform() const</div><divclass="ttdoc">Returns the local transform from base frame to sensor frame.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCapture_8h_source.html#l00186">SensorCapture.h:186</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html_aca06c645212a7501a246ea593406bcaf"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf">rtabmap::SensorCapture::takeData</a></div><divclass="ttdeci">SensorData takeData(SensorCaptureInfo *info=0)</div><divclass="ttdoc">Captures sensor data with frame rate control.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html_acbffaf17772639bc65b0a5457bc56b22"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html#acbffaf17772639bc65b0a5457bc56b22">rtabmap::SensorCapture::getNextSeqID</a></div><divclass="ttdeci">int getNextSeqID()</div><divclass="ttdoc">Gets the next sequence ID.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCapture_8h_source.html#l00264">SensorCapture.h:264</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html_aee217767808a9df9c63a27b284461c89"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html#aee217767808a9df9c63a27b284461c89">rtabmap::SensorCapture::odomProvided</a></div><divclass="ttdeci">virtual bool odomProvided() const</div><divclass="ttdoc">Checks if the sensor provides odometry poses.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCapture_8h_source.html#l00152">SensorCapture.h:152</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html_af7de847c118ec1ba77a5c9f29f7efece"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html#af7de847c118ec1ba77a5c9f29f7efece">rtabmap::SensorCapture::getFrameRate</a></div><divclass="ttdeci">float getFrameRate() const</div><divclass="ttdoc">Returns the target frame rate.</div><divclass="ttdef"><b>Definition</b><ahref="SensorCapture_8h_source.html#l00180">SensorCapture.h:180</a></div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorCapture_html_afa9923bb4a3b88e6dbf4c8ae7f060437"><divclass="ttname"><ahref="classrtabmap_1_1SensorCapture.html#afa9923bb4a3b88e6dbf4c8ae7f060437">rtabmap::SensorCapture::resetTimer</a></div><divclass="ttdeci">void resetTimer()</div><divclass="ttdoc">Resets the frame rate timer.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1SensorData_html"><divclass="ttname"><ahref="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><divclass="ttdoc">Container class for all sensor data captured at a specific time.</div><divclass="ttdef"><b>Definition</b><ahref="SensorData_8h_source.html#l00096">SensorData.h:97</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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