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<a href="#pub-types">Public Types</a> &#124;
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<p>Event class for sensor data communication in RTAB-Map's event system.
<a href="classrtabmap_1_1SensorEvent.html#details">More...</a></p>
<p><code>#include &lt;<a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>&gt;</code></p>
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Inheritance diagram for rtabmap::SensorEvent:</div>
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Collaboration diagram for rtabmap::SensorEvent:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-types" name="pub-types"></a>
Public Types</h2></td></tr>
<tr class="memitem:a8a1c7b859ae730c1e0ade9fa5e302a66" id="r_a8a1c7b859ae730c1e0ade9fa5e302a66"><td class="memItemLeft" align="right" valign="top">enum &#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorEvent.html#a8a1c7b859ae730c1e0ade9fa5e302a66">Code</a> { <a class="el" href="classrtabmap_1_1SensorEvent.html#a8a1c7b859ae730c1e0ade9fa5e302a66a96386fbcb6a0fd382113f188c193ed61">kCodeData</a>
, <a class="el" href="classrtabmap_1_1SensorEvent.html#a8a1c7b859ae730c1e0ade9fa5e302a66a377f61ebd393e5db46b02121270abdf2">kCodeNoMoreImages</a>
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<tr class="memdesc:a8a1c7b859ae730c1e0ade9fa5e302a66"><td class="mdescLeft">&#160;</td><td class="mdescRight">Event codes for <a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a>. <a href="classrtabmap_1_1SensorEvent.html#a8a1c7b859ae730c1e0ade9fa5e302a66">More...</a><br /></td></tr>
<tr class="separator:a8a1c7b859ae730c1e0ade9fa5e302a66"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><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:aa6c0584b85a70fe240f745c759948591" id="r_aa6c0584b85a70fe240f745c759948591"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorEvent.html#aa6c0584b85a70fe240f745c759948591">SensorEvent</a> (const cv::Mat &amp;image, int seq=0, double stamp=0.0, const std::string &amp;<a class="el" href="classrtabmap_1_1SensorEvent.html#adaf11817f3e0338ab63b1e8fee4a3c01">cameraName</a>=std::string())</td></tr>
<tr class="memdesc:aa6c0584b85a70fe240f745c759948591"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor from a single image. <br /></td></tr>
<tr class="separator:aa6c0584b85a70fe240f745c759948591"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aef6624e43c3f7f29684072782a377e20" id="r_aef6624e43c3f7f29684072782a377e20"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorEvent.html#aef6624e43c3f7f29684072782a377e20">SensorEvent</a> ()</td></tr>
<tr class="memdesc:aef6624e43c3f7f29684072782a377e20"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor for end-of-stream event. <br /></td></tr>
<tr class="separator:aef6624e43c3f7f29684072782a377e20"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a6e120cf7c4aea9201462c9cbb224b787" id="r_a6e120cf7c4aea9201462c9cbb224b787"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorEvent.html#a6e120cf7c4aea9201462c9cbb224b787">SensorEvent</a> (const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp;<a class="el" href="classrtabmap_1_1SensorEvent.html#a02d0ef0c42eab24adb8013a9693e02b1">data</a>)</td></tr>
<tr class="memdesc:a6e120cf7c4aea9201462c9cbb224b787"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor from <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a>. <br /></td></tr>
<tr class="separator:a6e120cf7c4aea9201462c9cbb224b787"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1a47910aed70809eabfc195ca2515f85" id="r_a1a47910aed70809eabfc195ca2515f85"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorEvent.html#a1a47910aed70809eabfc195ca2515f85">SensorEvent</a> (const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp;<a class="el" href="classrtabmap_1_1SensorEvent.html#a02d0ef0c42eab24adb8013a9693e02b1">data</a>, const std::string &amp;<a class="el" href="classrtabmap_1_1SensorEvent.html#adaf11817f3e0338ab63b1e8fee4a3c01">cameraName</a>)</td></tr>
<tr class="memdesc:a1a47910aed70809eabfc195ca2515f85"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor from <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> with camera name. <br /></td></tr>
<tr class="separator:a1a47910aed70809eabfc195ca2515f85"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1e35f9e5433d00628dd51876bc74fec5" id="r_a1e35f9e5433d00628dd51876bc74fec5"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorEvent.html#a1e35f9e5433d00628dd51876bc74fec5">SensorEvent</a> (const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp;<a class="el" href="classrtabmap_1_1SensorEvent.html#a02d0ef0c42eab24adb8013a9693e02b1">data</a>, const <a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> &amp;sensorCaptureInfo)</td></tr>
<tr class="memdesc:a1e35f9e5433d00628dd51876bc74fec5"><td class="mdescLeft">&#160;</td><td class="mdescRight">Constructor from <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> with full capture info. <br /></td></tr>
<tr class="separator:a1e35f9e5433d00628dd51876bc74fec5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a02d0ef0c42eab24adb8013a9693e02b1" id="r_a02d0ef0c42eab24adb8013a9693e02b1"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorEvent.html#a02d0ef0c42eab24adb8013a9693e02b1">data</a> () const</td></tr>
<tr class="memdesc:a02d0ef0c42eab24adb8013a9693e02b1"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the sensor data contained in this event. <br /></td></tr>
<tr class="separator:a02d0ef0c42eab24adb8013a9693e02b1"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:adaf11817f3e0338ab63b1e8fee4a3c01" id="r_adaf11817f3e0338ab63b1e8fee4a3c01"><td class="memItemLeft" align="right" valign="top">const std::string &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorEvent.html#adaf11817f3e0338ab63b1e8fee4a3c01">cameraName</a> () const</td></tr>
<tr class="memdesc:adaf11817f3e0338ab63b1e8fee4a3c01"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the camera name. <br /></td></tr>
<tr class="separator:adaf11817f3e0338ab63b1e8fee4a3c01"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a89ec0e00ab443a71b4735e392e419331" id="r_a89ec0e00ab443a71b4735e392e419331"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorEvent.html#a89ec0e00ab443a71b4735e392e419331">info</a> () const</td></tr>
<tr class="memdesc:a89ec0e00ab443a71b4735e392e419331"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the sensor capture information. <br /></td></tr>
<tr class="separator:a89ec0e00ab443a71b4735e392e419331"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2794fb8f052c08efdfd4b379e359fecb" id="r_a2794fb8f052c08efdfd4b379e359fecb"><td class="memItemLeft" align="right" valign="top">virtual&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorEvent.html#a2794fb8f052c08efdfd4b379e359fecb">~SensorEvent</a> ()</td></tr>
<tr class="memdesc:a2794fb8f052c08efdfd4b379e359fecb"><td class="mdescLeft">&#160;</td><td class="mdescRight">Virtual destructor. <br /></td></tr>
<tr class="separator:a2794fb8f052c08efdfd4b379e359fecb"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7bb8ca3a235aa8b58227bc50e19d7493" id="r_a7bb8ca3a235aa8b58227bc50e19d7493"><td class="memItemLeft" align="right" valign="top">virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorEvent.html#a7bb8ca3a235aa8b58227bc50e19d7493">getClassName</a> () const</td></tr>
<tr class="memdesc:a7bb8ca3a235aa8b58227bc50e19d7493"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the class name for event identification. <br /></td></tr>
<tr class="separator:a7bb8ca3a235aa8b58227bc50e19d7493"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classUEvent"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classUEvent')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classUEvent.html">UEvent</a></td></tr>
<tr class="memitem:a7356350719dfd5ba2d28368d1fdcd143 inherit pub_methods_classUEvent" id="r_a7356350719dfd5ba2d28368d1fdcd143"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUEvent.html#a7356350719dfd5ba2d28368d1fdcd143">getCode</a> () const</td></tr>
<tr class="separator:a7356350719dfd5ba2d28368d1fdcd143 inherit pub_methods_classUEvent"><td class="memSeparator" colspan="2">&#160;</td></tr>
</table><table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="inherited" name="inherited"></a>
Additional Inherited Members</h2></td></tr>
<tr class="inherit_header pro_methods_classUEvent"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classUEvent')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classUEvent.html">UEvent</a></td></tr>
<tr class="memitem:a662b610c2e9ebaae5e91ed5ea1dcef34 inherit pro_methods_classUEvent" id="r_a662b610c2e9ebaae5e91ed5ea1dcef34"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classUEvent.html#a662b610c2e9ebaae5e91ed5ea1dcef34">UEvent</a> (int code=0)</td></tr>
<tr class="separator:a662b610c2e9ebaae5e91ed5ea1dcef34 inherit pro_methods_classUEvent"><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>Event class for sensor data communication in RTAB-Map's event system. </p>
<p><a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a> is an event class that extends <a class="el" href="classUEvent.html">UEvent</a> and is used to communicate sensor data (images, depth, laser scans, etc.) through RTAB-Map's event-driven architecture. It is typically posted by sensor capture threads and handled by event handlers (e.g., <a class="el" href="classrtabmap_1_1RtabmapThread.html" title="Runs a Rtabmap instance in its own thread, driven by events.">RtabmapThread</a>, DataRecorder, CalibrationDialog).</p>
<p>The class supports two event codes:</p><ul>
<li><b>kCodeData</b>: Indicates that new sensor data is available</li>
<li><b>kCodeNoMoreImages</b>: Indicates that the sensor stream has ended (end of file, camera disconnected, etc.)</li>
</ul>
<p><a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a> carries:</p><ul>
<li><b><a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a></b>: The actual sensor data (images, depth, scans, camera models, etc.)</li>
<li><b><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html" title="Metadata structure for sensor data capture and processing.">SensorCaptureInfo</a></b>: Metadata about the capture (camera name, timing information, odometry pose, etc.)</li>
</ul>
<dl class="section note"><dt>Note</dt><dd>This class is part of RTAB-Map's event system. Handlers should check the event code and class name before processing the event.</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classUEvent.html">UEvent</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>
<dd>
<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html" title="Metadata structure for sensor data capture and processing.">SensorCaptureInfo</a> </dd>
<dd>
<a class="el" href="classUEventsHandler.html">UEventsHandler</a> </dd>
<dd>
<a class="el" href="classUEventsManager.html">UEventsManager</a> </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00063">63</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
</div><h2 class="groupheader">Member Enumeration Documentation</h2>
<a id="a8a1c7b859ae730c1e0ade9fa5e302a66" name="a8a1c7b859ae730c1e0ade9fa5e302a66"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a8a1c7b859ae730c1e0ade9fa5e302a66">&#9670;&#160;</a></span>Code</h2>
<div class="memitem">
<div class="memproto">
<table class="memname">
<tr>
<td class="memname">enum <a class="el" href="classrtabmap_1_1SensorEvent.html#a8a1c7b859ae730c1e0ade9fa5e302a66">rtabmap::SensorEvent::Code</a></td>
</tr>
</table>
</div><div class="memdoc">
<p>Event codes for <a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a>. </p>
<table class="fieldtable">
<tr><th colspan="2">Enumerator</th></tr><tr><td class="fieldname"><a id="a8a1c7b859ae730c1e0ade9fa5e302a66a96386fbcb6a0fd382113f188c193ed61" name="a8a1c7b859ae730c1e0ade9fa5e302a66a96386fbcb6a0fd382113f188c193ed61"></a>kCodeData&#160;</td><td class="fielddoc"><p>Event code indicating new sensor data is available. </p>
</td></tr>
<tr><td class="fieldname"><a id="a8a1c7b859ae730c1e0ade9fa5e302a66a377f61ebd393e5db46b02121270abdf2" name="a8a1c7b859ae730c1e0ade9fa5e302a66a377f61ebd393e5db46b02121270abdf2"></a>kCodeNoMoreImages&#160;</td><td class="fielddoc"><p>Event code indicating the sensor stream has ended. </p>
</td></tr>
</table>
<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00071">71</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
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<h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
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<td class="paramtype">const cv::Mat &amp;&#160;</td>
<td class="paramname"><em>image</em>, </td>
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<p>Constructor from a single image. </p>
<p>Creates a <a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a> with kCodeData containing a single image. This is a convenience constructor for simple image-only sensor data.</p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">image</td><td>The image to include in the sensor data </td></tr>
<tr><td class="paramname">seq</td><td>Sequence number (default: 0) </td></tr>
<tr><td class="paramname">stamp</td><td>Timestamp in seconds (default: 0.0) </td></tr>
<tr><td class="paramname">cameraName</td><td>Optional camera name identifier (default: empty) </td></tr>
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<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00088">88</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
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<p>Constructor for end-of-stream event. </p>
<p>Creates a <a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a> with kCodeNoMoreImages to signal that the sensor stream has ended (e.g., end of file, camera disconnected).</p>
<dl class="section note"><dt>Note</dt><dd>This constructor does not include any sensor data. </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00103">103</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp;&#160;</td>
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<p>Constructor from <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a>. </p>
<p>Creates a <a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a> with kCodeData containing the provided <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a>.</p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">data</td><td>The sensor data to include in the event </td></tr>
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<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00115">115</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp;&#160;</td>
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<p>Constructor from <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> with camera name. </p>
<p>Creates a <a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a> with kCodeData containing the provided <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> and camera name.</p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">data</td><td>The sensor data to include in the event </td></tr>
<tr><td class="paramname">cameraName</td><td><a class="el" href="classrtabmap_1_1Camera.html">Camera</a> name identifier </td></tr>
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<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00130">130</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> &amp;&#160;</td>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> &amp;&#160;</td>
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<p>Constructor from <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> with full capture info. </p>
<p>Creates a <a class="el" href="classrtabmap_1_1SensorEvent.html" title="Event class for sensor data communication in RTAB-Map&#39;s event system.">SensorEvent</a> with kCodeData containing the provided <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> and complete sensor capture information (camera name, timing, odometry, etc.).</p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">data</td><td>The sensor data to include in the event </td></tr>
<tr><td class="paramname">sensorCaptureInfo</td><td>Complete sensor capture information </td></tr>
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<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00146">146</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2794fb8f052c08efdfd4b379e359fecb">&#9670;&#160;</a></span>~SensorEvent()</h2>
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<td class="memname">virtual rtabmap::SensorEvent::~SensorEvent </td>
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<p>Virtual destructor. </p>
<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00185">185</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
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<h2 class="groupheader">Member Function Documentation</h2>
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<p>Returns the sensor data contained in this event. </p>
<p>Returns the <a class="el" href="classrtabmap_1_1SensorData.html" title="Container class for all sensor data captured at a specific time.">SensorData</a> object containing images, depth, laser scans, camera models, and other sensor information.</p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the sensor data </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00161">161</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#adaf11817f3e0338ab63b1e8fee4a3c01">&#9670;&#160;</a></span>cameraName()</h2>
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<p>Returns the camera name. </p>
<p>Returns the camera name identifier from the sensor capture info.</p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the camera name string </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00170">170</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a89ec0e00ab443a71b4735e392e419331">&#9670;&#160;</a></span>info()</h2>
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<p>Returns the sensor capture information. </p>
<p>Returns the complete sensor capture information including camera name, timing information, odometry pose, covariance, and other metadata.</p>
<dl class="section return"><dt>Returns</dt><dd>Const reference to the sensor capture info </dd></dl>
<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00180">180</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
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<p>Returns the class name for event identification. </p>
<p>Returns "SensorEvent" to allow event handlers to identify this event type.</p>
<dl class="section return"><dt>Returns</dt><dd>Class name string "SensorEvent" </dd></dl>
<p>Implements <a class="el" href="classUEvent.html#a2c7d278240ad4b7d88a2c534cc5f47b4">UEvent</a>.</p>
<p class="definition">Definition at line <a class="el" href="SensorEvent_8h_source.html#l00194">194</a> of file <a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="SensorEvent_8h_source.html">SensorEvent.h</a></li>
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