Inheritance diagram for rtabmap::DBReader:

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Collaboration diagram for rtabmap::DBReader:

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Public Member Functions
	DBReader (const std::string &databasePath, float frameRate=0.0f, bool odometryIgnored=false, bool ignoreGoalDelay=false, bool goalsIgnored=false, int startId=0, const std::vector< unsigned int > &cameraIndices=std::vector< unsigned int >(), int stopId=0, bool intermediateNodesIgnored=false, bool landmarksIgnored=false, bool featuresIgnored=false, int startMapId=0, int stopMapId=-1, bool priorsIgnored=false, bool imuIgnored=false, bool intermediateNodesAreNormalNodes=false, const std::vector< Transform > &cameraLocalTransformOverrides=std::vector< Transform >())

	DBReader (const std::list< std::string > &databasePaths, float frameRate=0.0f, bool odometryIgnored=false, bool ignoreGoalDelay=false, bool goalsIgnored=false, int startId=0, const std::vector< unsigned int > &cameraIndices=std::vector< unsigned int >(), int stopId=0, bool intermediateNodesIgnored=false, bool landmarksIgnored=false, bool featuresIgnored=false, int startMapId=0, int stopMapId=-1, bool priorsIgnored=false, bool imuIgnored=false, bool intermediateNodesAreNormalNodes=false, const std::vector< Transform > &cameraLocalTransformOverrides=std::vector< Transform >())

virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")
	Initializes the sensor.

virtual bool	isCalibrated () const

virtual std::string	getSerial () const
	Returns the sensor's serial number or unique identifier.

virtual bool	odomProvided () const
	Checks if the sensor provides odometry poses.

virtual bool	getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
	Gets the sensor's pose estimate at a specific timestamp.

const DBDriver *	driver () const

Public Member Functions inherited from rtabmap::Camera
SensorData	takeImage (SensorCaptureInfo *info=0)

float	getImageRate () const

void	setImageRate (float imageRate)

void	setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)

bool	isInterIMUPublishing () const

bool	initFromFile (const std::string &calibrationPath)

Public Member Functions inherited from rtabmap::SensorCapture
virtual	~SensorCapture ()
	Virtual destructor.

SensorData	takeData (SensorCaptureInfo *info=0)
	Captures sensor data with frame rate control.

float	getFrameRate () const
	Returns the target frame rate.

const Transform &	getLocalTransform () const
	Returns the local transform from base frame to sensor frame.

void	setFrameRate (float frameRate)
	Sets the target frame rate.

void	setLocalTransform (const Transform &localTransform)
	Sets the local transform from base frame to sensor frame.

void	resetTimer ()
	Resets the frame rate timer.

Protected Member Functions
virtual SensorData	captureImage (SensorCaptureInfo *info=0)

Protected Member Functions inherited from rtabmap::Camera
	Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())

void	postInterIMU (const IMU &imu, double stamp)

Protected Member Functions inherited from rtabmap::SensorCapture
	SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
	Protected constructor.

int	getNextSeqID ()
	Gets the next sequence ID.

Detailed Description

Definition at line 46 of file DBReader.h.

Member Function Documentation

◆ init()

virtual bool rtabmap::DBReader::init	(	const std::string &	calibrationFolder = `"."`,
		const std::string &	cameraName = `""`
	)

virtual

Initializes the sensor.

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

Opening device connections or file streams
Loading camera calibration parameters
Configuring sensor settings

Parameters

calibrationFolder	Directory path where calibration files are located (default: current directory ".")
cameraName	Base name of the camera for loading calibration files (default: empty string)

Returns: True if initialization was successful, false otherwise

Note: Must be called before calling takeData() or captureData()

Implements rtabmap::SensorCapture.

◆ isCalibrated()

virtual bool rtabmap::DBReader::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

◆ getSerial()

virtual std::string rtabmap::DBReader::getSerial ( ) const

virtual

Returns the sensor's serial number or unique identifier.

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

Returns: String identifier for the sensor

Implements rtabmap::SensorCapture.

◆ odomProvided()

virtual bool rtabmap::DBReader::odomProvided ( ) const

inlinevirtual

Checks if the sensor provides odometry poses.

Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.

Returns: True if the sensor provides odometry poses, false otherwise

Note: Default implementation returns false. Derived classes should override if they support pose estimation.

See also: getPose()

Reimplemented from rtabmap::SensorCapture.

Definition at line 90 of file DBReader.h.

◆ getPose()

virtual bool rtabmap::DBReader::getPose	(	double	stamp,
		Transform &	pose,
		cv::Mat &	covariance,
		double	maxWaitTime = `0.06`
	)

virtual

Gets the sensor's pose estimate at a specific timestamp.

Queries the sensor for its pose estimate at the given timestamp. This is typically used for sensors that provide visual-inertial odometry or other pose estimation capabilities.

Parameters

	stamp	Timestamp in seconds for which to query the pose
[out]	pose	Output transform representing the sensor pose
[out]	covariance	Output covariance matrix (6x6) representing twist uncertainty
	maxWaitTime	Maximum time in seconds to wait for pose data (default: 0.06)

Returns: True if pose was successfully retrieved, false otherwise

Note: Default implementation returns false. Derived classes should override if they support pose estimation.

See also: odomProvided()

Reimplemented from rtabmap::SensorCapture.

◆ driver()

const DBDriver * rtabmap::DBReader::driver ( ) const

inline

Definition at line 93 of file DBReader.h.

◆ captureImage()

virtual SensorData rtabmap::DBReader::captureImage ( SensorCaptureInfo * info = 0 )

protectedvirtual

Implements rtabmap::Camera.

The documentation for this class was generated from the following file:

corelib/include/rtabmap/core/DBReader.h

Public Member Functions

Protected Member Functions

Detailed Description

Member Function Documentation

◆ init()

◆ isCalibrated()

◆ getSerial()

◆ odomProvided()

◆ getPose()

◆ driver()

◆ captureImage()