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<trclass="memdesc:a8f4c2fb07970cb40bf2fe7ad19743d23"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Camera/sensor name identifier. <br/></td></tr>
<trclass="memdesc:a2cd84bbdd9bd60f906b9b925ab0d302c"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Capture ID (typically matches <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a> ID) <br/></td></tr>
<trclass="memdesc:ab9f52d419f810e3044f56583ed230902"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Timestamp in seconds (typically matches <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a> stamp) <br/></td></tr>
<trclass="memdesc:a14653b32350b0e5437d0effd8af03ddd"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Time to capture data from the sensor (seconds) <br/></td></tr>
<trclass="memdesc:a0903975d22d60fe339a18c7f3f114934"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Time to convert depth image to laser scan (seconds) <br/></td></tr>
<trclass="memdesc:a0052a472c18e314445e2af75f11e3fe2"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Time for bilateral filtering of depth (seconds) <br/></td></tr>
<trclass="memdesc:a974419b0d05f9c56db0ec40258b56535"><tdclass="mdescLeft"> </td><tdclass="mdescRight">Total processing time (seconds) <br/></td></tr>
<trclass="memdesc:a5c086f941e4fa816ec608779ac03f640"><tdclass="mdescLeft"> </td><tdclass="mdescRight"><aclass="el"href="classrtabmap_1_1Odometry.html"title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> pose at the time of capture (in odometry coordinate frame) <br/></td></tr>
<trclass="memdesc:a8f5b899e1120bc8e68cdfd1b46327107"><tdclass="mdescLeft"> </td><tdclass="mdescRight"><aclass="el"href="classrtabmap_1_1Odometry.html"title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> twist covariance matrix (6x6, CV_64FC1). Default: identity matrix. <br/></td></tr>
<divclass="textblock"><p>Metadata structure for sensor data capture and processing. </p>
<p><aclass="el"href="classrtabmap_1_1SensorCaptureInfo.html"title="Metadata structure for sensor data capture and processing.">SensorCaptureInfo</a> contains metadata about sensor data capture, including timing information for various processing steps, camera identification, and odometry information. This information is typically attached to <aclass="el"href="classrtabmap_1_1SensorEvent.html"title="Event class for sensor data communication in RTAB-Map's event system.">SensorEvent</a> objects to provide context about how the sensor data was captured and processed.</p>
<p>The class tracks timing for various processing stages:</p><ul>
<li><b>Capture</b>: Time to capture data from the sensor</li>
<li><b>Processing</b>: Time for various image processing steps (deskewing, disparity, mirroring, exposure compensation, decimation, histogram equalization, etc.)</li>
<li><b>Depth processing</b>: Time for depth-related operations (scan from depth, undistort depth, bilateral filtering)</li>
<li><b>Total</b>: Total processing time</li>
</ul>
<p><aclass="el"href="classrtabmap_1_1Odometry.html"title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> information includes:</p><ul>
<li><b>Pose</b>: The odometry pose at the time of capture</li>
<li><b>Covariance</b>: Uncertainty of the odometry twist (6x6 matrix)</li>
<dlclass="section note"><dt>Note</dt><dd>All timing values are in seconds (float). </dd>
<dd>
The odometry covariance matrix is initialized to identity by default.</dd></dl>
<dlclass="section see"><dt>See also</dt><dd><aclass="el"href="classrtabmap_1_1SensorEvent.html"title="Event class for sensor data communication in RTAB-Map's event system.">SensorEvent</a></dd>
<dd>
<aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a></dd></dl>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00064">64</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div><h2class="groupheader">Constructor & Destructor Documentation</h2>
<p>Initializes all fields to default values:</p><ul>
<li>cameraName: empty string</li>
<li>id: 0</li>
<li>stamp: 0.0</li>
<li>All timing fields: 0.0f</li>
<li>odomPose: null transform</li>
<li>odomCovariance: 6x6 identity matrix</li>
<li>odomVelocity: empty vector </li>
</ul>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00080">80</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00102">102</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<h2class="groupheader">Member Data Documentation</h2>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00104">104</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<p>Capture ID (typically matches <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a> ID) </p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00105">105</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<p>Timestamp in seconds (typically matches <aclass="el"href="classrtabmap_1_1SensorData.html"title="Container class for all sensor data captured at a specific time.">SensorData</a> stamp) </p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00106">106</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<p>Time to capture data from the sensor (seconds) </p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00109">109</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00110">110</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<p>Time to compute stereo disparity (seconds) </p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00111">111</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<p>Time for image mirroring/flipping (seconds) </p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00112">112</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<p>Time for stereo exposure compensation (seconds) </p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00113">113</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<p>Time for image decimation/downsampling (seconds) </p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00114">114</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00115">115</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<p>Time to convert depth image to laser scan (seconds) </p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00116">116</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00117">117</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<p>Time for bilateral filtering of depth (seconds) </p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00118">118</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00119">119</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<p><aclass="el"href="classrtabmap_1_1Odometry.html"title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> pose at the time of capture (in odometry coordinate frame) </p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00122">122</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<p><aclass="el"href="classrtabmap_1_1Odometry.html"title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> twist covariance matrix (6x6, CV_64FC1). Default: identity matrix. </p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00123">123</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
<pclass="definition">Definition at line <aclass="el"href="SensorCaptureInfo_8h_source.html#l00124">124</a> of file <aclass="el"href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
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