Files
rtabmap/api/latest/classrtabmap_1_1SensorCaptureInfo.html
T

598 lines
36 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: rtabmap::SensorCaptureInfo Class Reference</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;0.23.12</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>
</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('classrtabmap_1_1SensorCaptureInfo.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="summary">
<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pub-attribs">Public Attributes</a> &#124;
<a href="classrtabmap_1_1SensorCaptureInfo-members.html">List of all members</a> </div>
<div class="headertitle"><div class="title">rtabmap::SensorCaptureInfo Class Reference</div></div>
</div><!--header-->
<div class="contents">
<p>Metadata structure for sensor data capture and processing.
<a href="classrtabmap_1_1SensorCaptureInfo.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>&gt;</code></p>
<div class="dynheader">
Collaboration diagram for rtabmap::SensorCaptureInfo:</div>
<div class="dyncontent">
<div class="center"><img src="classrtabmap_1_1SensorCaptureInfo__coll__graph.png" border="0" usemap="#artabmap_1_1SensorCaptureInfo_coll__map" alt="Collaboration graph"/></div>
<map name="artabmap_1_1SensorCaptureInfo_coll__map" id="artabmap_1_1SensorCaptureInfo_coll__map">
<area shape="rect" title="Metadata structure for sensor data capture and processing." alt="" coords="5,93,211,119"/>
<area shape="rect" href="classrtabmap_1_1Transform.html" title="Represents a 3D rigid body transformation (rotation + translation)." alt="" coords="33,5,183,31"/>
<area shape="poly" title=" " alt="" coords="111,45,111,93,105,93,105,45"/>
</map>
<center><span class="legend">[<a target="top" href="graph_legend.html">legend</a>]</span></center></div>
<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:a8f315fb6fe3a16b77e3252d66088db09" id="r_a8f315fb6fe3a16b77e3252d66088db09"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f315fb6fe3a16b77e3252d66088db09">SensorCaptureInfo</a> ()</td></tr>
<tr class="memdesc:a8f315fb6fe3a16b77e3252d66088db09"><td class="mdescLeft">&#160;</td><td class="mdescRight">Default constructor. <br /></td></tr>
<tr class="separator:a8f315fb6fe3a16b77e3252d66088db09"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31eca8aee2a61df0d35d91edbc54ac53" id="r_a31eca8aee2a61df0d35d91edbc54ac53"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a31eca8aee2a61df0d35d91edbc54ac53">~SensorCaptureInfo</a> ()</td></tr>
<tr class="memdesc:a31eca8aee2a61df0d35d91edbc54ac53"><td class="mdescLeft">&#160;</td><td class="mdescRight">Virtual destructor. <br /></td></tr>
<tr class="separator:a31eca8aee2a61df0d35d91edbc54ac53"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-attribs" name="pub-attribs"></a>
Public Attributes</h2></td></tr>
<tr class="memitem:a8f4c2fb07970cb40bf2fe7ad19743d23" id="r_a8f4c2fb07970cb40bf2fe7ad19743d23"><td class="memItemLeft" align="right" valign="top">std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f4c2fb07970cb40bf2fe7ad19743d23">cameraName</a></td></tr>
<tr class="memdesc:a8f4c2fb07970cb40bf2fe7ad19743d23"><td class="mdescLeft">&#160;</td><td class="mdescRight">Camera/sensor name identifier. <br /></td></tr>
<tr class="separator:a8f4c2fb07970cb40bf2fe7ad19743d23"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2cd84bbdd9bd60f906b9b925ab0d302c" id="r_a2cd84bbdd9bd60f906b9b925ab0d302c"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a2cd84bbdd9bd60f906b9b925ab0d302c">id</a></td></tr>
<tr class="memdesc:a2cd84bbdd9bd60f906b9b925ab0d302c"><td class="mdescLeft">&#160;</td><td class="mdescRight">Capture ID (typically matches <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> ID) <br /></td></tr>
<tr class="separator:a2cd84bbdd9bd60f906b9b925ab0d302c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ab9f52d419f810e3044f56583ed230902" id="r_ab9f52d419f810e3044f56583ed230902"><td class="memItemLeft" align="right" valign="top">double&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#ab9f52d419f810e3044f56583ed230902">stamp</a></td></tr>
<tr class="memdesc:ab9f52d419f810e3044f56583ed230902"><td class="mdescLeft">&#160;</td><td class="mdescRight">Timestamp in seconds (typically matches <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> stamp) <br /></td></tr>
<tr class="separator:ab9f52d419f810e3044f56583ed230902"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a14653b32350b0e5437d0effd8af03ddd" id="r_a14653b32350b0e5437d0effd8af03ddd"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a14653b32350b0e5437d0effd8af03ddd">timeCapture</a></td></tr>
<tr class="memdesc:a14653b32350b0e5437d0effd8af03ddd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time to capture data from the sensor (seconds) <br /></td></tr>
<tr class="separator:a14653b32350b0e5437d0effd8af03ddd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a94779ab38ab44408fd81df43338a03dd" id="r_a94779ab38ab44408fd81df43338a03dd"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a94779ab38ab44408fd81df43338a03dd">timeDeskewing</a></td></tr>
<tr class="memdesc:a94779ab38ab44408fd81df43338a03dd"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time for laser scan deskewing (seconds) <br /></td></tr>
<tr class="separator:a94779ab38ab44408fd81df43338a03dd"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ae7178e4a406254614a227904c08035a7" id="r_ae7178e4a406254614a227904c08035a7"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#ae7178e4a406254614a227904c08035a7">timeDisparity</a></td></tr>
<tr class="memdesc:ae7178e4a406254614a227904c08035a7"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time to compute stereo disparity (seconds) <br /></td></tr>
<tr class="separator:ae7178e4a406254614a227904c08035a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2e95b64dd13e9960460965f7121dc948" id="r_a2e95b64dd13e9960460965f7121dc948"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a2e95b64dd13e9960460965f7121dc948">timeMirroring</a></td></tr>
<tr class="memdesc:a2e95b64dd13e9960460965f7121dc948"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time for image mirroring/flipping (seconds) <br /></td></tr>
<tr class="separator:a2e95b64dd13e9960460965f7121dc948"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a319070f2296632120e1101bf8ea18cda" id="r_a319070f2296632120e1101bf8ea18cda"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a319070f2296632120e1101bf8ea18cda">timeStereoExposureCompensation</a></td></tr>
<tr class="memdesc:a319070f2296632120e1101bf8ea18cda"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time for stereo exposure compensation (seconds) <br /></td></tr>
<tr class="separator:a319070f2296632120e1101bf8ea18cda"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ad270963d02944fa0e93751304d7a14ae" id="r_ad270963d02944fa0e93751304d7a14ae"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#ad270963d02944fa0e93751304d7a14ae">timeImageDecimation</a></td></tr>
<tr class="memdesc:ad270963d02944fa0e93751304d7a14ae"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time for image decimation/downsampling (seconds) <br /></td></tr>
<tr class="separator:ad270963d02944fa0e93751304d7a14ae"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aa5b8ab859cae2ef8b71b2768c9119204" id="r_aa5b8ab859cae2ef8b71b2768c9119204"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#aa5b8ab859cae2ef8b71b2768c9119204">timeHistogramEqualization</a></td></tr>
<tr class="memdesc:aa5b8ab859cae2ef8b71b2768c9119204"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time for histogram equalization (seconds) <br /></td></tr>
<tr class="separator:aa5b8ab859cae2ef8b71b2768c9119204"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0903975d22d60fe339a18c7f3f114934" id="r_a0903975d22d60fe339a18c7f3f114934"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a0903975d22d60fe339a18c7f3f114934">timeScanFromDepth</a></td></tr>
<tr class="memdesc:a0903975d22d60fe339a18c7f3f114934"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time to convert depth image to laser scan (seconds) <br /></td></tr>
<tr class="separator:a0903975d22d60fe339a18c7f3f114934"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afddf554ad1f8a400d3c96c3ec1be61bf" id="r_afddf554ad1f8a400d3c96c3ec1be61bf"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#afddf554ad1f8a400d3c96c3ec1be61bf">timeUndistortDepth</a></td></tr>
<tr class="memdesc:afddf554ad1f8a400d3c96c3ec1be61bf"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time to undistort depth image (seconds) <br /></td></tr>
<tr class="separator:afddf554ad1f8a400d3c96c3ec1be61bf"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0052a472c18e314445e2af75f11e3fe2" id="r_a0052a472c18e314445e2af75f11e3fe2"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a0052a472c18e314445e2af75f11e3fe2">timeBilateralFiltering</a></td></tr>
<tr class="memdesc:a0052a472c18e314445e2af75f11e3fe2"><td class="mdescLeft">&#160;</td><td class="mdescRight">Time for bilateral filtering of depth (seconds) <br /></td></tr>
<tr class="separator:a0052a472c18e314445e2af75f11e3fe2"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a974419b0d05f9c56db0ec40258b56535" id="r_a974419b0d05f9c56db0ec40258b56535"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a974419b0d05f9c56db0ec40258b56535">timeTotal</a></td></tr>
<tr class="memdesc:a974419b0d05f9c56db0ec40258b56535"><td class="mdescLeft">&#160;</td><td class="mdescRight">Total processing time (seconds) <br /></td></tr>
<tr class="separator:a974419b0d05f9c56db0ec40258b56535"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5c086f941e4fa816ec608779ac03f640" id="r_a5c086f941e4fa816ec608779ac03f640"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a5c086f941e4fa816ec608779ac03f640">odomPose</a></td></tr>
<tr class="memdesc:a5c086f941e4fa816ec608779ac03f640"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> pose at the time of capture (in odometry coordinate frame) <br /></td></tr>
<tr class="separator:a5c086f941e4fa816ec608779ac03f640"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a8f5b899e1120bc8e68cdfd1b46327107" id="r_a8f5b899e1120bc8e68cdfd1b46327107"><td class="memItemLeft" align="right" valign="top">cv::Mat&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a8f5b899e1120bc8e68cdfd1b46327107">odomCovariance</a></td></tr>
<tr class="memdesc:a8f5b899e1120bc8e68cdfd1b46327107"><td class="mdescLeft">&#160;</td><td class="mdescRight"><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> twist covariance matrix (6x6, CV_64FC1). Default: identity matrix. <br /></td></tr>
<tr class="separator:a8f5b899e1120bc8e68cdfd1b46327107"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5f544019df408896fed21c48fb3c0197" id="r_a5f544019df408896fed21c48fb3c0197"><td class="memItemLeft" align="right" valign="top">std::vector&lt; float &gt;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html#a5f544019df408896fed21c48fb3c0197">odomVelocity</a></td></tr>
<tr class="memdesc:a5f544019df408896fed21c48fb3c0197"><td class="mdescLeft">&#160;</td><td class="mdescRight">6DOF odometry velocity [vx, vy, vz, vroll, vpitch, vyaw] (m/s, rad/s) <br /></td></tr>
<tr class="separator:a5f544019df408896fed21c48fb3c0197"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table>
<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Metadata structure for sensor data capture and processing. </p>
<p><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html" title="Metadata structure for sensor data capture and processing.">SensorCaptureInfo</a> contains metadata about sensor data capture, including timing information for various processing steps, camera identification, and odometry information. This information is typically attached to <a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a> objects to provide context about how the sensor data was captured and processed.</p>
<p>The class tracks timing for various processing stages:</p><ul>
<li><b>Capture</b>: Time to capture data from the sensor</li>
<li><b>Processing</b>: Time for various image processing steps (deskewing, disparity, mirroring, exposure compensation, decimation, histogram equalization, etc.)</li>
<li><b>Depth processing</b>: Time for depth-related operations (scan from depth, undistort depth, bilateral filtering)</li>
<li><b>Total</b>: Total processing time</li>
</ul>
<p><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> information includes:</p><ul>
<li><b>Pose</b>: The odometry pose at the time of capture</li>
<li><b>Covariance</b>: Uncertainty of the odometry twist (6x6 matrix)</li>
<li><b>Velocity</b>: 6DOF velocity vector [vx, vy, vz, vroll, vpitch, vyaw]</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>All timing values are in seconds (float). </dd>
<dd>
The odometry covariance matrix is initialized to identity by default.</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a> </dd>
<dd>
<a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00064">64</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="a8f315fb6fe3a16b77e3252d66088db09" name="a8f315fb6fe3a16b77e3252d66088db09"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8f315fb6fe3a16b77e3252d66088db09">&#9670;&#160;</a></span>SensorCaptureInfo()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
<tr>
<td class="mlabels-left">
<table class="memname">
<tr>
<td class="memname">rtabmap::SensorCaptureInfo::SensorCaptureInfo </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span></span> </td>
</tr>
</table>
</div><div class="memdoc">
<p>Default constructor. </p>
<p>Initializes all fields to default values:</p><ul>
<li>cameraName: empty string</li>
<li>id: 0</li>
<li>stamp: 0.0</li>
<li>All timing fields: 0.0f</li>
<li>odomPose: null transform</li>
<li>odomCovariance: 6x6 identity matrix</li>
<li>odomVelocity: empty vector </li>
</ul>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00080">80</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="a31eca8aee2a61df0d35d91edbc54ac53" name="a31eca8aee2a61df0d35d91edbc54ac53"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a31eca8aee2a61df0d35d91edbc54ac53">&#9670;&#160;</a></span>~SensorCaptureInfo()</h2>
<div class="memitem">
<div class="memproto">
<table class="mlabels">
<tr>
<td class="mlabels-left">
<table class="memname">
<tr>
<td class="memname">virtual rtabmap::SensorCaptureInfo::~SensorCaptureInfo </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
<td></td>
</tr>
</table>
</td>
<td class="mlabels-right">
<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
</tr>
</table>
</div><div class="memdoc">
<p>Virtual destructor. </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00102">102</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<h2 class="groupheader">Member Data Documentation</h2>
<a id="a8f4c2fb07970cb40bf2fe7ad19743d23" name="a8f4c2fb07970cb40bf2fe7ad19743d23"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8f4c2fb07970cb40bf2fe7ad19743d23">&#9670;&#160;</a></span>cameraName</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">std::string rtabmap::SensorCaptureInfo::cameraName</td>
</tr>
</table>
</div><div class="memdoc">
<p>Camera/sensor name identifier. </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00104">104</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="a2cd84bbdd9bd60f906b9b925ab0d302c" name="a2cd84bbdd9bd60f906b9b925ab0d302c"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2cd84bbdd9bd60f906b9b925ab0d302c">&#9670;&#160;</a></span>id</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">int rtabmap::SensorCaptureInfo::id</td>
</tr>
</table>
</div><div class="memdoc">
<p>Capture ID (typically matches <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> ID) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00105">105</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="ab9f52d419f810e3044f56583ed230902" name="ab9f52d419f810e3044f56583ed230902"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ab9f52d419f810e3044f56583ed230902">&#9670;&#160;</a></span>stamp</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">double rtabmap::SensorCaptureInfo::stamp</td>
</tr>
</table>
</div><div class="memdoc">
<p>Timestamp in seconds (typically matches <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> stamp) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00106">106</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="a14653b32350b0e5437d0effd8af03ddd" name="a14653b32350b0e5437d0effd8af03ddd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a14653b32350b0e5437d0effd8af03ddd">&#9670;&#160;</a></span>timeCapture</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float rtabmap::SensorCaptureInfo::timeCapture</td>
</tr>
</table>
</div><div class="memdoc">
<p>Time to capture data from the sensor (seconds) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00109">109</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="a94779ab38ab44408fd81df43338a03dd" name="a94779ab38ab44408fd81df43338a03dd"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a94779ab38ab44408fd81df43338a03dd">&#9670;&#160;</a></span>timeDeskewing</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float rtabmap::SensorCaptureInfo::timeDeskewing</td>
</tr>
</table>
</div><div class="memdoc">
<p>Time for laser scan deskewing (seconds) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00110">110</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="ae7178e4a406254614a227904c08035a7" name="ae7178e4a406254614a227904c08035a7"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ae7178e4a406254614a227904c08035a7">&#9670;&#160;</a></span>timeDisparity</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float rtabmap::SensorCaptureInfo::timeDisparity</td>
</tr>
</table>
</div><div class="memdoc">
<p>Time to compute stereo disparity (seconds) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00111">111</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="a2e95b64dd13e9960460965f7121dc948" name="a2e95b64dd13e9960460965f7121dc948"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a2e95b64dd13e9960460965f7121dc948">&#9670;&#160;</a></span>timeMirroring</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float rtabmap::SensorCaptureInfo::timeMirroring</td>
</tr>
</table>
</div><div class="memdoc">
<p>Time for image mirroring/flipping (seconds) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00112">112</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="a319070f2296632120e1101bf8ea18cda" name="a319070f2296632120e1101bf8ea18cda"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a319070f2296632120e1101bf8ea18cda">&#9670;&#160;</a></span>timeStereoExposureCompensation</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float rtabmap::SensorCaptureInfo::timeStereoExposureCompensation</td>
</tr>
</table>
</div><div class="memdoc">
<p>Time for stereo exposure compensation (seconds) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00113">113</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="ad270963d02944fa0e93751304d7a14ae" name="ad270963d02944fa0e93751304d7a14ae"></a>
<h2 class="memtitle"><span class="permalink"><a href="#ad270963d02944fa0e93751304d7a14ae">&#9670;&#160;</a></span>timeImageDecimation</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float rtabmap::SensorCaptureInfo::timeImageDecimation</td>
</tr>
</table>
</div><div class="memdoc">
<p>Time for image decimation/downsampling (seconds) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00114">114</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="aa5b8ab859cae2ef8b71b2768c9119204" name="aa5b8ab859cae2ef8b71b2768c9119204"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aa5b8ab859cae2ef8b71b2768c9119204">&#9670;&#160;</a></span>timeHistogramEqualization</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float rtabmap::SensorCaptureInfo::timeHistogramEqualization</td>
</tr>
</table>
</div><div class="memdoc">
<p>Time for histogram equalization (seconds) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00115">115</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="a0903975d22d60fe339a18c7f3f114934" name="a0903975d22d60fe339a18c7f3f114934"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0903975d22d60fe339a18c7f3f114934">&#9670;&#160;</a></span>timeScanFromDepth</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float rtabmap::SensorCaptureInfo::timeScanFromDepth</td>
</tr>
</table>
</div><div class="memdoc">
<p>Time to convert depth image to laser scan (seconds) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00116">116</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="afddf554ad1f8a400d3c96c3ec1be61bf" name="afddf554ad1f8a400d3c96c3ec1be61bf"></a>
<h2 class="memtitle"><span class="permalink"><a href="#afddf554ad1f8a400d3c96c3ec1be61bf">&#9670;&#160;</a></span>timeUndistortDepth</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float rtabmap::SensorCaptureInfo::timeUndistortDepth</td>
</tr>
</table>
</div><div class="memdoc">
<p>Time to undistort depth image (seconds) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00117">117</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="a0052a472c18e314445e2af75f11e3fe2" name="a0052a472c18e314445e2af75f11e3fe2"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a0052a472c18e314445e2af75f11e3fe2">&#9670;&#160;</a></span>timeBilateralFiltering</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float rtabmap::SensorCaptureInfo::timeBilateralFiltering</td>
</tr>
</table>
</div><div class="memdoc">
<p>Time for bilateral filtering of depth (seconds) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00118">118</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="a974419b0d05f9c56db0ec40258b56535" name="a974419b0d05f9c56db0ec40258b56535"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a974419b0d05f9c56db0ec40258b56535">&#9670;&#160;</a></span>timeTotal</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">float rtabmap::SensorCaptureInfo::timeTotal</td>
</tr>
</table>
</div><div class="memdoc">
<p>Total processing time (seconds) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00119">119</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="a5c086f941e4fa816ec608779ac03f640" name="a5c086f941e4fa816ec608779ac03f640"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5c086f941e4fa816ec608779ac03f640">&#9670;&#160;</a></span>odomPose</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> rtabmap::SensorCaptureInfo::odomPose</td>
</tr>
</table>
</div><div class="memdoc">
<p><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> pose at the time of capture (in odometry coordinate frame) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00122">122</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="a8f5b899e1120bc8e68cdfd1b46327107" name="a8f5b899e1120bc8e68cdfd1b46327107"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8f5b899e1120bc8e68cdfd1b46327107">&#9670;&#160;</a></span>odomCovariance</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">cv::Mat rtabmap::SensorCaptureInfo::odomCovariance</td>
</tr>
</table>
</div><div class="memdoc">
<p><a class="el" href="classrtabmap_1_1Odometry.html" title="Abstract base class for visual, lidar and visual-inertial odometry backends.">Odometry</a> twist covariance matrix (6x6, CV_64FC1). Default: identity matrix. </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00123">123</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<a id="a5f544019df408896fed21c48fb3c0197" name="a5f544019df408896fed21c48fb3c0197"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a5f544019df408896fed21c48fb3c0197">&#9670;&#160;</a></span>odomVelocity</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">std::vector&lt;float&gt; rtabmap::SensorCaptureInfo::odomVelocity</td>
</tr>
</table>
</div><div class="memdoc">
<p>6DOF odometry velocity [vx, vy, vz, vroll, vpitch, vyaw] (m/s, rad/s) </p>
<p class="definition">Definition at line <a class="el" href="SensorCaptureInfo_8h_source.html#l00124">124</a> of file <a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a>.</p>
</div>
</div>
<hr/>The documentation for this class was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="SensorCaptureInfo_8h_source.html">SensorCaptureInfo.h</a></li>
</ul>
</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="namespacertabmap.html">rtabmap</a></li><li class="navelem"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a></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>