Files
rtabmap/preview/pr-1492/api/latest/SensorCaptureInfo_8h_source.html
T

233 lines
34 KiB
HTML

<!-- HTML header for doxygen 1.9.8-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.9.8"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>RTAB-Map: corelib/include/rtabmap/core/SensorCaptureInfo.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<link href="doxygen-awesome.css" rel="stylesheet" type="text/css"/>
<link href="custom.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
<script type="text/javascript" src="../versions.js"></script>
<script type="text/javascript" src="version-switcher.js"></script>
<script type="text/javascript" src="doxygen-awesome-darkmode-toggle.js"></script>
<script type="text/javascript">DoxygenAwesomeDarkModeToggle.init();</script>
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
<tbody>
<tr id="projectrow">
<td id="projectalign">
<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
</div>
<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
</td>
</tr>
</tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.8 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
var searchBox = new SearchBox("searchBox", "search/",'.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(function() {
initMenu('',true,false,'search.php','Search');
$(document).ready(function() { init_search(); });
});
/* @license-end */
</script>
<div id="main-nav"></div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
<div id="nav-tree">
<div id="nav-tree-contents">
<div id="nav-sync" class="sync"></div>
</div>
</div>
<div id="splitbar" style="-moz-user-select:none;"
class="ui-resizable-handle">
</div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('SensorCaptureInfo_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
onmouseover="return searchBox.OnSearchSelectShow()"
onmouseout="return searchBox.OnSearchSelectHide()"
onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>
<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<div id="MSearchResults">
<div class="SRPage">
<div id="SRIndex">
<div id="SRResults"></div>
<div class="SRStatus" id="Loading">Loading...</div>
<div class="SRStatus" id="Searching">Searching...</div>
<div class="SRStatus" id="NoMatches">No Matches</div>
</div>
</div>
</div>
</div>
<div class="header">
<div class="headertitle"><div class="title">SensorCaptureInfo.h</div></div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<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>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<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>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<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>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<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 &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<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">#pragma once</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#include &quot;rtabmap/core/Transform.h&quot;</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &lt;string&gt;</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="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span>{</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> </div>
<div class="foldopen" id="foldopen00064" data-start="{" data-end="};">
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html"> 64</a></span><span class="keyword">class </span><a class="code hl_class" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a></div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span>{</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> </div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span><span class="keyword">public</span>:</div>
<div class="foldopen" id="foldopen00080" data-start="{" data-end="}">
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09"> 80</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09">SensorCaptureInfo</a>() :</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a8f4c2fb07970cb40bf2fe7ad19743d23">cameraName</a>(<span class="stringliteral">&quot;&quot;</span>),</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a2cd84bbdd9bd60f906b9b925ab0d302c">id</a>(0),</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#ab9f52d419f810e3044f56583ed230902">stamp</a>(0.0),</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a14653b32350b0e5437d0effd8af03ddd">timeCapture</a>(0.0f),</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a94779ab38ab44408fd81df43338a03dd">timeDeskewing</a>(0.0f),</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#ae7178e4a406254614a227904c08035a7">timeDisparity</a>(0.0f),</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a2e95b64dd13e9960460965f7121dc948">timeMirroring</a>(0.0f),</div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a319070f2296632120e1101bf8ea18cda">timeStereoExposureCompensation</a>(0.0f),</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#ad270963d02944fa0e93751304d7a14ae">timeImageDecimation</a>(0.0f),</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#aa5b8ab859cae2ef8b71b2768c9119204">timeHistogramEqualization</a>(0.0f),</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a0903975d22d60fe339a18c7f3f114934">timeScanFromDepth</a>(0.0f),</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#afddf554ad1f8a400d3c96c3ec1be61bf">timeUndistortDepth</a>(0.0f),</div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a0052a472c18e314445e2af75f11e3fe2">timeBilateralFiltering</a>(0.0f),</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a974419b0d05f9c56db0ec40258b56535">timeTotal</a>(0.0f),</div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a8f5b899e1120bc8e68cdfd1b46327107">odomCovariance</a>(cv::Mat::eye(6,6,CV_64FC1))</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> {</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> }</div>
</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a31eca8aee2a61df0d35d91edbc54ac53"> 102</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1SensorCaptureInfo.html#a31eca8aee2a61df0d35d91edbc54ac53">~SensorCaptureInfo</a>() {}</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> </div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a8f4c2fb07970cb40bf2fe7ad19743d23"> 104</a></span> std::string <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a8f4c2fb07970cb40bf2fe7ad19743d23">cameraName</a>; </div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a2cd84bbdd9bd60f906b9b925ab0d302c"> 105</a></span> <span class="keywordtype">int</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a2cd84bbdd9bd60f906b9b925ab0d302c">id</a>; </div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#ab9f52d419f810e3044f56583ed230902"> 106</a></span> <span class="keywordtype">double</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#ab9f52d419f810e3044f56583ed230902">stamp</a>; </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> </div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="comment">// Timing information (all in seconds)</span></div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a14653b32350b0e5437d0effd8af03ddd"> 109</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a14653b32350b0e5437d0effd8af03ddd">timeCapture</a>; </div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a94779ab38ab44408fd81df43338a03dd"> 110</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a94779ab38ab44408fd81df43338a03dd">timeDeskewing</a>; </div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#ae7178e4a406254614a227904c08035a7"> 111</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#ae7178e4a406254614a227904c08035a7">timeDisparity</a>; </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a2e95b64dd13e9960460965f7121dc948"> 112</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a2e95b64dd13e9960460965f7121dc948">timeMirroring</a>; </div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a319070f2296632120e1101bf8ea18cda"> 113</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a319070f2296632120e1101bf8ea18cda">timeStereoExposureCompensation</a>; </div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#ad270963d02944fa0e93751304d7a14ae"> 114</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#ad270963d02944fa0e93751304d7a14ae">timeImageDecimation</a>; </div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#aa5b8ab859cae2ef8b71b2768c9119204"> 115</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#aa5b8ab859cae2ef8b71b2768c9119204">timeHistogramEqualization</a>; </div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a0903975d22d60fe339a18c7f3f114934"> 116</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a0903975d22d60fe339a18c7f3f114934">timeScanFromDepth</a>; </div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#afddf554ad1f8a400d3c96c3ec1be61bf"> 117</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#afddf554ad1f8a400d3c96c3ec1be61bf">timeUndistortDepth</a>; </div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a0052a472c18e314445e2af75f11e3fe2"> 118</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a0052a472c18e314445e2af75f11e3fe2">timeBilateralFiltering</a>; </div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a974419b0d05f9c56db0ec40258b56535"> 119</a></span> <span class="keywordtype">float</span> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a974419b0d05f9c56db0ec40258b56535">timeTotal</a>; </div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> </div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <span class="comment">// Odometry information</span></div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a5c086f941e4fa816ec608779ac03f640"> 122</a></span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a5c086f941e4fa816ec608779ac03f640">odomPose</a>; </div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a8f5b899e1120bc8e68cdfd1b46327107"> 123</a></span> cv::Mat <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a8f5b899e1120bc8e68cdfd1b46327107">odomCovariance</a>; </div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCaptureInfo.html#a5f544019df408896fed21c48fb3c0197"> 124</a></span> std::vector&lt;float&gt; <a class="code hl_variable" href="classrtabmap_1_1SensorCaptureInfo.html#a5f544019df408896fed21c48fb3c0197">odomVelocity</a>; </div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span>};</div>
</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> </div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"><a class="line" href="namespacertabmap.html#ac1143b629394a895ca246d256dbc6038"> 133</a></span>RTABMAP_DEPRECATED <span class="keyword">typedef</span> <a class="code hl_class" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> <a class="code hl_variable" href="namespacertabmap.html#ac1143b629394a895ca246d256dbc6038">CameraInfo</a>;</div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> </div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span>} <span class="comment">// namespace rtabmap</span></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_1SensorCaptureInfo_html_a0052a472c18e314445e2af75f11e3fe2"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a0052a472c18e314445e2af75f11e3fe2">rtabmap::SensorCaptureInfo::timeBilateralFiltering</a></div><div class="ttdeci">float timeBilateralFiltering</div><div class="ttdoc">Time for bilateral filtering of depth (seconds)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00118">SensorCaptureInfo.h:118</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a0903975d22d60fe339a18c7f3f114934"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a0903975d22d60fe339a18c7f3f114934">rtabmap::SensorCaptureInfo::timeScanFromDepth</a></div><div class="ttdeci">float timeScanFromDepth</div><div class="ttdoc">Time to convert depth image to laser scan (seconds)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00116">SensorCaptureInfo.h:116</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a14653b32350b0e5437d0effd8af03ddd"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a14653b32350b0e5437d0effd8af03ddd">rtabmap::SensorCaptureInfo::timeCapture</a></div><div class="ttdeci">float timeCapture</div><div class="ttdoc">Time to capture data from the sensor (seconds)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00109">SensorCaptureInfo.h:109</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a2cd84bbdd9bd60f906b9b925ab0d302c"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a2cd84bbdd9bd60f906b9b925ab0d302c">rtabmap::SensorCaptureInfo::id</a></div><div class="ttdeci">int id</div><div class="ttdoc">Capture ID (typically matches SensorData ID)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00105">SensorCaptureInfo.h:105</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a2e95b64dd13e9960460965f7121dc948"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a2e95b64dd13e9960460965f7121dc948">rtabmap::SensorCaptureInfo::timeMirroring</a></div><div class="ttdeci">float timeMirroring</div><div class="ttdoc">Time for image mirroring/flipping (seconds)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00112">SensorCaptureInfo.h:112</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a319070f2296632120e1101bf8ea18cda"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a319070f2296632120e1101bf8ea18cda">rtabmap::SensorCaptureInfo::timeStereoExposureCompensation</a></div><div class="ttdeci">float timeStereoExposureCompensation</div><div class="ttdoc">Time for stereo exposure compensation (seconds)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00113">SensorCaptureInfo.h:113</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a31eca8aee2a61df0d35d91edbc54ac53"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a31eca8aee2a61df0d35d91edbc54ac53">rtabmap::SensorCaptureInfo::~SensorCaptureInfo</a></div><div class="ttdeci">virtual ~SensorCaptureInfo()</div><div class="ttdoc">Virtual destructor.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00102">SensorCaptureInfo.h:102</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a5c086f941e4fa816ec608779ac03f640"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a5c086f941e4fa816ec608779ac03f640">rtabmap::SensorCaptureInfo::odomPose</a></div><div class="ttdeci">Transform odomPose</div><div class="ttdoc">Odometry pose at the time of capture (in odometry coordinate frame)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00122">SensorCaptureInfo.h:122</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a5f544019df408896fed21c48fb3c0197"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a5f544019df408896fed21c48fb3c0197">rtabmap::SensorCaptureInfo::odomVelocity</a></div><div class="ttdeci">std::vector&lt; float &gt; odomVelocity</div><div class="ttdoc">6DOF odometry velocity [vx, vy, vz, vroll, vpitch, vyaw] (m/s, rad/s)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00124">SensorCaptureInfo.h:124</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a8f315fb6fe3a16b77e3252d66088db09"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09">rtabmap::SensorCaptureInfo::SensorCaptureInfo</a></div><div class="ttdeci">SensorCaptureInfo()</div><div class="ttdoc">Default constructor.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00080">SensorCaptureInfo.h:80</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a8f4c2fb07970cb40bf2fe7ad19743d23"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a8f4c2fb07970cb40bf2fe7ad19743d23">rtabmap::SensorCaptureInfo::cameraName</a></div><div class="ttdeci">std::string cameraName</div><div class="ttdoc">Camera/sensor name identifier.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00104">SensorCaptureInfo.h:104</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a8f5b899e1120bc8e68cdfd1b46327107"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a8f5b899e1120bc8e68cdfd1b46327107">rtabmap::SensorCaptureInfo::odomCovariance</a></div><div class="ttdeci">cv::Mat odomCovariance</div><div class="ttdoc">Odometry twist covariance matrix (6x6, CV_64FC1). Default: identity matrix.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00123">SensorCaptureInfo.h:123</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a94779ab38ab44408fd81df43338a03dd"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a94779ab38ab44408fd81df43338a03dd">rtabmap::SensorCaptureInfo::timeDeskewing</a></div><div class="ttdeci">float timeDeskewing</div><div class="ttdoc">Time for laser scan deskewing (seconds)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00110">SensorCaptureInfo.h:110</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_a974419b0d05f9c56db0ec40258b56535"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#a974419b0d05f9c56db0ec40258b56535">rtabmap::SensorCaptureInfo::timeTotal</a></div><div class="ttdeci">float timeTotal</div><div class="ttdoc">Total processing time (seconds)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00119">SensorCaptureInfo.h:119</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_aa5b8ab859cae2ef8b71b2768c9119204"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#aa5b8ab859cae2ef8b71b2768c9119204">rtabmap::SensorCaptureInfo::timeHistogramEqualization</a></div><div class="ttdeci">float timeHistogramEqualization</div><div class="ttdoc">Time for histogram equalization (seconds)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00115">SensorCaptureInfo.h:115</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_ab9f52d419f810e3044f56583ed230902"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#ab9f52d419f810e3044f56583ed230902">rtabmap::SensorCaptureInfo::stamp</a></div><div class="ttdeci">double stamp</div><div class="ttdoc">Timestamp in seconds (typically matches SensorData stamp)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00106">SensorCaptureInfo.h:106</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_ad270963d02944fa0e93751304d7a14ae"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#ad270963d02944fa0e93751304d7a14ae">rtabmap::SensorCaptureInfo::timeImageDecimation</a></div><div class="ttdeci">float timeImageDecimation</div><div class="ttdoc">Time for image decimation/downsampling (seconds)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00114">SensorCaptureInfo.h:114</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_ae7178e4a406254614a227904c08035a7"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#ae7178e4a406254614a227904c08035a7">rtabmap::SensorCaptureInfo::timeDisparity</a></div><div class="ttdeci">float timeDisparity</div><div class="ttdoc">Time to compute stereo disparity (seconds)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00111">SensorCaptureInfo.h:111</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html_afddf554ad1f8a400d3c96c3ec1be61bf"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html#afddf554ad1f8a400d3c96c3ec1be61bf">rtabmap::SensorCaptureInfo::timeUndistortDepth</a></div><div class="ttdeci">float timeUndistortDepth</div><div class="ttdoc">Time to undistort depth image (seconds)</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00117">SensorCaptureInfo.h:117</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>
<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#l00039">BayesFilter.h:39</a></div></div>
<div class="ttc" id="anamespacertabmap_html_ac1143b629394a895ca246d256dbc6038"><div class="ttname"><a href="namespacertabmap.html#ac1143b629394a895ca246d256dbc6038">rtabmap::CameraInfo</a></div><div class="ttdeci">RTABMAP_DEPRECATED typedef SensorCaptureInfo CameraInfo</div><div class="ttdoc">Backward compatibility typedef.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00133">SensorCaptureInfo.h:133</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
<ul>
<li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li><li class="navelem"><b>SensorCaptureInfo.h</b></li>
<li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
</ul>
</div>
</body>
</html>