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<div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<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">#ifndef DBREADER_H_</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span><span class="preprocessor">#define DBREADER_H_</span></div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span> </div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/core/rtabmap_core_export.h&quot;</span> <span class="comment">// DLL export/import defines</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="preprocessor">#include &lt;rtabmap/utilite/UTimer.h&gt;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;rtabmap/core/Transform.h&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;rtabmap/core/Camera.h&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;opencv2/core/core.hpp&gt;</span></div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"> 39</span><span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span> </div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a> {</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> </div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span><span class="keyword">class </span>DBDriver;</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> </div>
<div class="foldopen" id="foldopen00046" data-start="{" data-end="};">
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBReader.html"> 46</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1DBReader.html">DBReader</a> : <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Camera.html">Camera</a> {</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno"> 48</span> <a class="code hl_class" href="classrtabmap_1_1DBReader.html">DBReader</a>(<span class="keyword">const</span> std::string &amp; databasePath,</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> <span class="keywordtype">float</span> frameRate = 0.0f, <span class="comment">// -1 = use Database stamps, 0 = inf</span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"> 50</span> <span class="keywordtype">bool</span> odometryIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno"> 51</span> <span class="keywordtype">bool</span> ignoreGoalDelay = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"> 52</span> <span class="keywordtype">bool</span> goalsIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"> 53</span> <span class="keywordtype">int</span> startId = 0,</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> <span class="keyword">const</span> std::vector&lt;unsigned int&gt; &amp; cameraIndices = std::vector&lt;unsigned int&gt;(),</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keywordtype">int</span> stopId = 0,</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> <span class="keywordtype">bool</span> intermediateNodesIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keywordtype">bool</span> landmarksIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordtype">bool</span> featuresIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keywordtype">int</span> startMapId = 0,</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> <span class="keywordtype">int</span> stopMapId = -1,</div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordtype">bool</span> priorsIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keywordtype">bool</span> imuIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keywordtype">bool</span> intermediateNodesAreNormalNodes = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keyword">const</span> std::vector&lt;Transform&gt; &amp; cameraLocalTransformOverrides = std::vector&lt;Transform&gt;());</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <a class="code hl_class" href="classrtabmap_1_1DBReader.html">DBReader</a>(<span class="keyword">const</span> std::list&lt;std::string&gt; &amp; databasePaths,</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keywordtype">float</span> frameRate = 0.0f, <span class="comment">// -1 = use Database stamps, 0 = inf</span></div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> <span class="keywordtype">bool</span> odometryIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">bool</span> ignoreGoalDelay = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> <span class="keywordtype">bool</span> goalsIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> <span class="keywordtype">int</span> startId = 0,</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> <span class="keyword">const</span> std::vector&lt;unsigned int&gt; &amp; cameraIndices = std::vector&lt;unsigned int&gt;(),</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> <span class="keywordtype">int</span> stopId = 0,</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> <span class="keywordtype">bool</span> intermediateNodesIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> <span class="keywordtype">bool</span> landmarksIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keywordtype">bool</span> featuresIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> <span class="keywordtype">int</span> startMapId = 0,</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> <span class="keywordtype">int</span> stopMapId = -1,</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> <span class="keywordtype">bool</span> priorsIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keywordtype">bool</span> imuIgnored = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> <span class="keywordtype">bool</span> intermediateNodesAreNormalNodes = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="keyword">const</span> std::vector&lt;Transform&gt; &amp; cameraLocalTransformOverrides = std::vector&lt;Transform&gt;());</div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1DBReader.html">~DBReader</a>();</div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> </div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBReader.html#a31b8ffc3d213da7ab58a85ce89b8055e"> 84</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBReader.html#a31b8ffc3d213da7ab58a85ce89b8055e">init</a>(</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="keyword">const</span> std::string &amp; calibrationFolder = <span class="stringliteral">&quot;.&quot;</span>,</div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="keyword">const</span> std::string &amp; cameraName = <span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> </div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isCalibrated() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBReader.html#ac6e8622842447cdccfaab061c1cab3c4"> 89</a></span> <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classrtabmap_1_1DBReader.html#ac6e8622842447cdccfaab061c1cab3c4">getSerial</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBReader.html#a24351b1eb5776a83548a1d972e489dba"> 90</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBReader.html#a24351b1eb5776a83548a1d972e489dba">odomProvided</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> !_odometryIgnored;}</div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"><a class="line" href="classrtabmap_1_1DBReader.html#abd2b32ae00a05810465f63d63c44d5ed"> 91</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1DBReader.html#abd2b32ae00a05810465f63d63c44d5ed">getPose</a>(<span class="keywordtype">double</span> stamp, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose, cv::Mat &amp; covariance, <span class="keywordtype">double</span> maxWaitTime = 0.06);</div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> </div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * driver()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _dbDriver;}</div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> </div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> captureImage(<a class="code hl_class" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> * info = 0);</div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> </div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> getNextData(<a class="code hl_class" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> * info = 0);</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> <span class="keywordtype">void</span> checkArguments();</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> std::list&lt;std::string&gt; _paths;</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">bool</span> _odometryIgnored;</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keywordtype">bool</span> _ignoreGoalDelay;</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> <span class="keywordtype">bool</span> _goalsIgnored;</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> <span class="keywordtype">int</span> _startId;</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> <span class="keywordtype">int</span> _stopId;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> std::vector&lt;unsigned int&gt; _cameraIndices;</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> <span class="keywordtype">bool</span> _intermediateNodesIgnored;</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> <span class="keywordtype">bool</span> _intermediateNodesAreNormalNodes;</div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">bool</span> _landmarksIgnored;</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> <span class="keywordtype">bool</span> _featuresIgnored;</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> <span class="keywordtype">bool</span> _priorsIgnored;</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> <span class="keywordtype">bool</span> _imuIgnored;</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> <span class="keywordtype">int</span> _startMapId;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> <span class="keywordtype">int</span> _stopMapId;</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> std::vector&lt;Transform&gt; _cameraLocalTransformOverrides;</div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> </div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <a class="code hl_class" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * _dbDriver;</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> <a class="code hl_class" href="classUTimer.html">UTimer</a> _timer;</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> std::set&lt;int&gt; _ids;</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> std::set&lt;int&gt;::iterator _currentId;</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> <span class="keywordtype">int</span> _previousMapId;</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> cv::Mat _previousInfMatrix;</div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="keywordtype">double</span> _previousStamp;</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">int</span> _previousMapID;</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> <span class="keywordtype">bool</span> _calibrated;</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span>};</div>
</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> </div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span>} <span class="comment">/* namespace rtabmap */</span></div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span><span class="preprocessor">#endif </span><span class="comment">/* DBREADER_H_ */</span><span class="preprocessor"></span></div>
<div class="ttc" id="aclassUTimer_html"><div class="ttname"><a href="classUTimer.html">UTimer</a></div><div class="ttdef"><b>Definition</b> <a href="UTimer_8h_source.html#l00046">UTimer.h:47</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Camera_html"><div class="ttname"><a href="classrtabmap_1_1Camera.html">rtabmap::Camera</a></div><div class="ttdef"><b>Definition</b> <a href="Camera_8h_source.html#l00043">Camera.h:44</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBDriver_html"><div class="ttname"><a href="classrtabmap_1_1DBDriver.html">rtabmap::DBDriver</a></div><div class="ttdoc">Abstract database driver for RTAB-Map maps (signatures, links, words, statistics).</div><div class="ttdef"><b>Definition</b> <a href="DBDriver_8h_source.html#l00071">DBDriver.h:72</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBReader_html"><div class="ttname"><a href="classrtabmap_1_1DBReader.html">rtabmap::DBReader</a></div><div class="ttdef"><b>Definition</b> <a href="DBReader_8h_source.html#l00046">DBReader.h:46</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBReader_html_a24351b1eb5776a83548a1d972e489dba"><div class="ttname"><a href="classrtabmap_1_1DBReader.html#a24351b1eb5776a83548a1d972e489dba">rtabmap::DBReader::odomProvided</a></div><div class="ttdeci">virtual bool odomProvided() const</div><div class="ttdoc">Checks if the sensor provides odometry poses.</div><div class="ttdef"><b>Definition</b> <a href="DBReader_8h_source.html#l00090">DBReader.h:90</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1DBReader_html_a31b8ffc3d213da7ab58a85ce89b8055e"><div class="ttname"><a href="classrtabmap_1_1DBReader.html#a31b8ffc3d213da7ab58a85ce89b8055e">rtabmap::DBReader::init</a></div><div class="ttdeci">virtual bool init(const std::string &amp;calibrationFolder=&quot;.&quot;, const std::string &amp;cameraName=&quot;&quot;)</div><div class="ttdoc">Initializes the sensor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBReader_html_abd2b32ae00a05810465f63d63c44d5ed"><div class="ttname"><a href="classrtabmap_1_1DBReader.html#abd2b32ae00a05810465f63d63c44d5ed">rtabmap::DBReader::getPose</a></div><div class="ttdeci">virtual bool getPose(double stamp, Transform &amp;pose, cv::Mat &amp;covariance, double maxWaitTime=0.06)</div><div class="ttdoc">Gets the sensor's pose estimate at a specific timestamp.</div></div>
<div class="ttc" id="aclassrtabmap_1_1DBReader_html_ac6e8622842447cdccfaab061c1cab3c4"><div class="ttname"><a href="classrtabmap_1_1DBReader.html#ac6e8622842447cdccfaab061c1cab3c4">rtabmap::DBReader::getSerial</a></div><div class="ttdeci">virtual std::string getSerial() const</div><div class="ttdoc">Returns the sensor's serial number or unique identifier.</div></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_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</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>
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