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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) 2010-2022, Mathieu Labbe</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 names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"></span> </div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</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="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</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="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</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="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">*/</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span> </div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno"> 27</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"> 28</span> </div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</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="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 &lt;opencv2/highgui/highgui.hpp&gt;</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include &lt;rtabmap/core/SensorCaptureInfo.h&gt;</span></div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno"> 33</span><span class="preprocessor">#include &quot;rtabmap/core/SensorData.h&quot;</span></div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno"> 34</span><span class="preprocessor">#include &lt;set&gt;</span></div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span><span class="preprocessor">#include &lt;stack&gt;</span></div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="preprocessor">#include &lt;list&gt;</span></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span><span class="preprocessor">#include &lt;vector&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="keyword">class </span><a class="code hl_class" href="classUDirectory.html">UDirectory</a>;</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span><span class="keyword">class </span><a class="code hl_class" href="classUTimer.html">UTimer</a>;</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> </div>
<div class="foldopen" id="foldopen00078" data-start="{" data-end="};">
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html"> 78</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1SensorCapture.html">SensorCapture</a></div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span>{</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#a0578f6540ecdf8c4b3b747d511ecb625"> 84</a></span> <span class="keyword">virtual</span> <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#a0578f6540ecdf8c4b3b747d511ecb625">~SensorCapture</a>();</div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> </div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf"> 107</a></span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf">takeData</a>(<a class="code hl_class" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> * info = 0);</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a"> 126</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a">init</a>(<span class="keyword">const</span> std::string &amp; calibrationFolder = <span class="stringliteral">&quot;.&quot;</span>, <span class="keyword">const</span> std::string &amp; cameraName = <span class="stringliteral">&quot;&quot;</span>) = 0;</div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> </div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#a7830e571e45752f9d8f30fa806f6aa64"> 137</a></span> <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#a7830e571e45752f9d8f30fa806f6aa64">getSerial</a>() <span class="keyword">const</span> = 0;</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> </div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#aee217767808a9df9c63a27b284461c89"> 152</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#aee217767808a9df9c63a27b284461c89">odomProvided</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> </div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#a2f940d75366088bfae0164e1803ffe9a"> 172</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#a2f940d75366088bfae0164e1803ffe9a">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) { <span class="keywordflow">return</span> <span class="keyword">false</span>; }</div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> </div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> <span class="comment">// Getters</span></div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> </div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#af7de847c118ec1ba77a5c9f29f7efece"> 180</a></span> <span class="keywordtype">float</span> <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#af7de847c118ec1ba77a5c9f29f7efece">getFrameRate</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _frameRate;}</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> </div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#a99829249c51fd08c32310b788b00b663"> 186</a></span> <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#a99829249c51fd08c32310b788b00b663">getLocalTransform</a>()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _localTransform;}</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> </div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="comment">// Setters</span></div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> </div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#a1e195970f52334094174783c5fd06456"> 200</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#a1e195970f52334094174783c5fd06456">setFrameRate</a>(<span class="keywordtype">float</span> frameRate) {_frameRate = frameRate;}</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> </div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#a0ea4e217047c234bcfcb9866e36ea7c0"> 210</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#a0ea4e217047c234bcfcb9866e36ea7c0">setLocalTransform</a>(<span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; localTransform) {_localTransform= localTransform;}</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> </div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#afa9923bb4a3b88e6dbf4c8ae7f060437"> 218</a></span> <span class="keywordtype">void</span> <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#afa9923bb4a3b88e6dbf4c8ae7f060437">resetTimer</a>();</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> </div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#adf4b1dfd8e5b45b8eecf938a92dbae94"> 231</a></span> <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#adf4b1dfd8e5b45b8eecf938a92dbae94">SensorCapture</a>(<span class="keywordtype">float</span> frameRate = 0, <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; localTransform = Transform::getIdentity());</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> </div>
<div class="line"><a id="l00254" name="l00254"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#a85e8691b5201a5383d1463ed980f7958"> 254</a></span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#a85e8691b5201a5383d1463ed980f7958">captureData</a>(<a class="code hl_class" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> * info = 0) = 0;</div>
<div class="line"><a id="l00255" name="l00255"></a><span class="lineno"> 255</span> </div>
<div class="line"><a id="l00264" name="l00264"></a><span class="lineno"><a class="line" href="classrtabmap_1_1SensorCapture.html#acbffaf17772639bc65b0a5457bc56b22"> 264</a></span> <span class="keywordtype">int</span> <a class="code hl_function" href="classrtabmap_1_1SensorCapture.html#acbffaf17772639bc65b0a5457bc56b22">getNextSeqID</a>() {<span class="keywordflow">return</span> ++_seq;}</div>
<div class="line"><a id="l00265" name="l00265"></a><span class="lineno"> 265</span> </div>
<div class="line"><a id="l00266" name="l00266"></a><span class="lineno"> 266</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00267" name="l00267"></a><span class="lineno"> 267</span> <span class="keywordtype">float</span> _frameRate; </div>
<div class="line"><a id="l00268" name="l00268"></a><span class="lineno"> 268</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> _localTransform; </div>
<div class="line"><a id="l00269" name="l00269"></a><span class="lineno"> 269</span> <a class="code hl_class" href="classUTimer.html">UTimer</a> * _frameRateTimer; </div>
<div class="line"><a id="l00270" name="l00270"></a><span class="lineno"> 270</span> <span class="keywordtype">int</span> _seq; </div>
<div class="line"><a id="l00271" name="l00271"></a><span class="lineno"> 271</span>};</div>
</div>
<div class="line"><a id="l00272" name="l00272"></a><span class="lineno"> 272</span> </div>
<div class="line"><a id="l00273" name="l00273"></a><span class="lineno"> 273</span> </div>
<div class="line"><a id="l00274" name="l00274"></a><span class="lineno"> 274</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="ttc" id="aclassUDirectory_html"><div class="ttname"><a href="classUDirectory.html">UDirectory</a></div><div class="ttdef"><b>Definition</b> <a href="UDirectory_8h_source.html#l00034">UDirectory.h:35</a></div></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_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_1SensorCapture_html"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html">rtabmap::SensorCapture</a></div><div class="ttdoc">Abstract base class for sensor data capture (cameras, lidars, etc.)</div><div class="ttdef"><b>Definition</b> <a href="SensorCapture_8h_source.html#l00078">SensorCapture.h:79</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_a0578f6540ecdf8c4b3b747d511ecb625"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#a0578f6540ecdf8c4b3b747d511ecb625">rtabmap::SensorCapture::~SensorCapture</a></div><div class="ttdeci">virtual ~SensorCapture()</div><div class="ttdoc">Virtual destructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_a0ea4e217047c234bcfcb9866e36ea7c0"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#a0ea4e217047c234bcfcb9866e36ea7c0">rtabmap::SensorCapture::setLocalTransform</a></div><div class="ttdeci">void setLocalTransform(const Transform &amp;localTransform)</div><div class="ttdoc">Sets the local transform from base frame to sensor frame.</div><div class="ttdef"><b>Definition</b> <a href="SensorCapture_8h_source.html#l00210">SensorCapture.h:210</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_a1c0cd843969fab53f157cbe0fd333b8a"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a">rtabmap::SensorCapture::init</a></div><div class="ttdeci">virtual bool init(const std::string &amp;calibrationFolder=&quot;.&quot;, const std::string &amp;cameraName=&quot;&quot;)=0</div><div class="ttdoc">Initializes the sensor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_a1e195970f52334094174783c5fd06456"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#a1e195970f52334094174783c5fd06456">rtabmap::SensorCapture::setFrameRate</a></div><div class="ttdeci">void setFrameRate(float frameRate)</div><div class="ttdoc">Sets the target frame rate.</div><div class="ttdef"><b>Definition</b> <a href="SensorCapture_8h_source.html#l00200">SensorCapture.h:200</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_a2f940d75366088bfae0164e1803ffe9a"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#a2f940d75366088bfae0164e1803ffe9a">rtabmap::SensorCapture::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 class="ttdef"><b>Definition</b> <a href="SensorCapture_8h_source.html#l00172">SensorCapture.h:172</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_a7830e571e45752f9d8f30fa806f6aa64"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#a7830e571e45752f9d8f30fa806f6aa64">rtabmap::SensorCapture::getSerial</a></div><div class="ttdeci">virtual std::string getSerial() const =0</div><div class="ttdoc">Returns the sensor's serial number or unique identifier.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_a85e8691b5201a5383d1463ed980f7958"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#a85e8691b5201a5383d1463ed980f7958">rtabmap::SensorCapture::captureData</a></div><div class="ttdeci">virtual SensorData captureData(SensorCaptureInfo *info=0)=0</div><div class="ttdoc">Pure virtual method to capture sensor data.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_a99829249c51fd08c32310b788b00b663"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#a99829249c51fd08c32310b788b00b663">rtabmap::SensorCapture::getLocalTransform</a></div><div class="ttdeci">const Transform &amp; getLocalTransform() const</div><div class="ttdoc">Returns the local transform from base frame to sensor frame.</div><div class="ttdef"><b>Definition</b> <a href="SensorCapture_8h_source.html#l00186">SensorCapture.h:186</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_aca06c645212a7501a246ea593406bcaf"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf">rtabmap::SensorCapture::takeData</a></div><div class="ttdeci">SensorData takeData(SensorCaptureInfo *info=0)</div><div class="ttdoc">Captures sensor data with frame rate control.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_acbffaf17772639bc65b0a5457bc56b22"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#acbffaf17772639bc65b0a5457bc56b22">rtabmap::SensorCapture::getNextSeqID</a></div><div class="ttdeci">int getNextSeqID()</div><div class="ttdoc">Gets the next sequence ID.</div><div class="ttdef"><b>Definition</b> <a href="SensorCapture_8h_source.html#l00264">SensorCapture.h:264</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_adf4b1dfd8e5b45b8eecf938a92dbae94"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#adf4b1dfd8e5b45b8eecf938a92dbae94">rtabmap::SensorCapture::SensorCapture</a></div><div class="ttdeci">SensorCapture(float frameRate=0, const Transform &amp;localTransform=Transform::getIdentity())</div><div class="ttdoc">Protected constructor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_aee217767808a9df9c63a27b284461c89"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#aee217767808a9df9c63a27b284461c89">rtabmap::SensorCapture::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="SensorCapture_8h_source.html#l00152">SensorCapture.h:152</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_af7de847c118ec1ba77a5c9f29f7efece"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#af7de847c118ec1ba77a5c9f29f7efece">rtabmap::SensorCapture::getFrameRate</a></div><div class="ttdeci">float getFrameRate() const</div><div class="ttdoc">Returns the target frame rate.</div><div class="ttdef"><b>Definition</b> <a href="SensorCapture_8h_source.html#l00180">SensorCapture.h:180</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCapture_html_afa9923bb4a3b88e6dbf4c8ae7f060437"><div class="ttname"><a href="classrtabmap_1_1SensorCapture.html#afa9923bb4a3b88e6dbf4c8ae7f060437">rtabmap::SensorCapture::resetTimer</a></div><div class="ttdeci">void resetTimer()</div><div class="ttdoc">Resets the frame rate timer.</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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