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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
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Inheritance diagram for rtabmap::DBReader:</div>
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Collaboration diagram for rtabmap::DBReader:</div>
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<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:a3e6a52b48e5a446b50a18ab5ddbef023" id="r_a3e6a52b48e5a446b50a18ab5ddbef023"><td class="memItemLeft" align="right" valign="top"><a id="a3e6a52b48e5a446b50a18ab5ddbef023" name="a3e6a52b48e5a446b50a18ab5ddbef023"></a>
&#160;</td><td class="memItemRight" valign="bottom"><b>DBReader</b> (const std::string &amp;databasePath, float frameRate=0.0f, bool odometryIgnored=false, bool ignoreGoalDelay=false, bool goalsIgnored=false, int startId=0, const std::vector&lt; unsigned int &gt; &amp;cameraIndices=std::vector&lt; unsigned int &gt;(), int stopId=0, bool intermediateNodesIgnored=false, bool landmarksIgnored=false, bool featuresIgnored=false, int startMapId=0, int stopMapId=-1, bool priorsIgnored=false, bool imuIgnored=false, bool intermediateNodesAreNormalNodes=false, const std::vector&lt; <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;cameraLocalTransformOverrides=std::vector&lt; <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;())</td></tr>
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&#160;</td><td class="memItemRight" valign="bottom"><b>DBReader</b> (const std::list&lt; std::string &gt; &amp;databasePaths, float frameRate=0.0f, bool odometryIgnored=false, bool ignoreGoalDelay=false, bool goalsIgnored=false, int startId=0, const std::vector&lt; unsigned int &gt; &amp;cameraIndices=std::vector&lt; unsigned int &gt;(), int stopId=0, bool intermediateNodesIgnored=false, bool landmarksIgnored=false, bool featuresIgnored=false, int startMapId=0, int stopMapId=-1, bool priorsIgnored=false, bool imuIgnored=false, bool intermediateNodesAreNormalNodes=false, const std::vector&lt; <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt; &amp;cameraLocalTransformOverrides=std::vector&lt; <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &gt;())</td></tr>
<tr class="separator:a026e82ba76a8f8981eba7cf7f09872a7"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a31b8ffc3d213da7ab58a85ce89b8055e" id="r_a31b8ffc3d213da7ab58a85ce89b8055e"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBReader.html#a31b8ffc3d213da7ab58a85ce89b8055e">init</a> (const std::string &amp;calibrationFolder=&quot;.&quot;, const std::string &amp;cameraName=&quot;&quot;)</td></tr>
<tr class="memdesc:a31b8ffc3d213da7ab58a85ce89b8055e"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes the sensor. <br /></td></tr>
<tr class="separator:a31b8ffc3d213da7ab58a85ce89b8055e"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5fa70ec1eb9a9a1d28859942e1f7a550" id="r_a5fa70ec1eb9a9a1d28859942e1f7a550"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBReader.html#a5fa70ec1eb9a9a1d28859942e1f7a550">isCalibrated</a> () const</td></tr>
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<tr class="memitem:ac6e8622842447cdccfaab061c1cab3c4" id="r_ac6e8622842447cdccfaab061c1cab3c4"><td class="memItemLeft" align="right" valign="top">virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBReader.html#ac6e8622842447cdccfaab061c1cab3c4">getSerial</a> () const</td></tr>
<tr class="memdesc:ac6e8622842447cdccfaab061c1cab3c4"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the sensor's serial number or unique identifier. <br /></td></tr>
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<tr class="memitem:a24351b1eb5776a83548a1d972e489dba" id="r_a24351b1eb5776a83548a1d972e489dba"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBReader.html#a24351b1eb5776a83548a1d972e489dba">odomProvided</a> () const</td></tr>
<tr class="memdesc:a24351b1eb5776a83548a1d972e489dba"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if the sensor provides odometry poses. <br /></td></tr>
<tr class="separator:a24351b1eb5776a83548a1d972e489dba"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:abd2b32ae00a05810465f63d63c44d5ed" id="r_abd2b32ae00a05810465f63d63c44d5ed"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBReader.html#abd2b32ae00a05810465f63d63c44d5ed">getPose</a> (double stamp, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;pose, cv::Mat &amp;covariance, double maxWaitTime=0.06)</td></tr>
<tr class="memdesc:abd2b32ae00a05810465f63d63c44d5ed"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the sensor's pose estimate at a specific timestamp. <br /></td></tr>
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<tr class="memitem:a8ef6a3d1ab0e1d180662b00bca135b79" id="r_a8ef6a3d1ab0e1d180662b00bca135b79"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1DBDriver.html">DBDriver</a> *&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBReader.html#a8ef6a3d1ab0e1d180662b00bca135b79">driver</a> () const</td></tr>
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<tr class="inherit_header pub_methods_classrtabmap_1_1Camera"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classrtabmap_1_1Camera')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrtabmap_1_1Camera.html">rtabmap::Camera</a></td></tr>
<tr class="memitem:ae43544cc24470a1d42efcb5ec959b63c inherit pub_methods_classrtabmap_1_1Camera" id="r_ae43544cc24470a1d42efcb5ec959b63c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#ae43544cc24470a1d42efcb5ec959b63c">takeImage</a> (<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> *info=0)</td></tr>
<tr class="separator:ae43544cc24470a1d42efcb5ec959b63c inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5cfb75ca3d5f63e0c31633a2effae716 inherit pub_methods_classrtabmap_1_1Camera" id="r_a5cfb75ca3d5f63e0c31633a2effae716"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#a5cfb75ca3d5f63e0c31633a2effae716">getImageRate</a> () const</td></tr>
<tr class="separator:a5cfb75ca3d5f63e0c31633a2effae716 inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2b89ca2dcbe020c4026d19900268311c inherit pub_methods_classrtabmap_1_1Camera" id="r_a2b89ca2dcbe020c4026d19900268311c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#a2b89ca2dcbe020c4026d19900268311c">setImageRate</a> (float imageRate)</td></tr>
<tr class="separator:a2b89ca2dcbe020c4026d19900268311c inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af03be5ebafb6ebf9341d8de8d7fea4c5 inherit pub_methods_classrtabmap_1_1Camera" id="r_af03be5ebafb6ebf9341d8de8d7fea4c5"><td class="memItemLeft" align="right" valign="top">
void&#160;</td><td class="memItemRight" valign="bottom"><b>setInterIMUPublishing</b> (bool enabled, <a class="el" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a> *filter=0, bool baseFrameConversion=false)</td></tr>
<tr class="separator:af03be5ebafb6ebf9341d8de8d7fea4c5 inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1f77dd10cc2f6e4f75d087c29726802 inherit pub_methods_classrtabmap_1_1Camera" id="r_ac1f77dd10cc2f6e4f75d087c29726802"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#ac1f77dd10cc2f6e4f75d087c29726802">isInterIMUPublishing</a> () const</td></tr>
<tr class="separator:ac1f77dd10cc2f6e4f75d087c29726802 inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a03f166a742e250d7db2693affe92c387 inherit pub_methods_classrtabmap_1_1Camera" id="r_a03f166a742e250d7db2693affe92c387"><td class="memItemLeft" align="right" valign="top">
bool&#160;</td><td class="memItemRight" valign="bottom"><b>initFromFile</b> (const std::string &amp;calibrationPath)</td></tr>
<tr class="separator:a03f166a742e250d7db2693affe92c387 inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pub_methods_classrtabmap_1_1SensorCapture"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classrtabmap_1_1SensorCapture')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrtabmap_1_1SensorCapture.html">rtabmap::SensorCapture</a></td></tr>
<tr class="memitem:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a0578f6540ecdf8c4b3b747d511ecb625"><td class="memItemLeft" align="right" valign="top">
virtual&#160;</td><td class="memItemRight" valign="bottom"><b>~SensorCapture</b> ()</td></tr>
<tr class="memdesc:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Virtual destructor. <br /></td></tr>
<tr class="separator:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_aca06c645212a7501a246ea593406bcaf"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf">takeData</a> (<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> *info=0)</td></tr>
<tr class="memdesc:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Captures sensor data with frame rate control. <br /></td></tr>
<tr class="separator:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_af7de847c118ec1ba77a5c9f29f7efece"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#af7de847c118ec1ba77a5c9f29f7efece">getFrameRate</a> () const</td></tr>
<tr class="memdesc:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the target frame rate. <br /></td></tr>
<tr class="separator:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a99829249c51fd08c32310b788b00b663 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a99829249c51fd08c32310b788b00b663"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#a99829249c51fd08c32310b788b00b663">getLocalTransform</a> () const</td></tr>
<tr class="memdesc:a99829249c51fd08c32310b788b00b663 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the local transform from base frame to sensor frame. <br /></td></tr>
<tr class="separator:a99829249c51fd08c32310b788b00b663 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a1e195970f52334094174783c5fd06456"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#a1e195970f52334094174783c5fd06456">setFrameRate</a> (float frameRate)</td></tr>
<tr class="memdesc:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the target frame rate. <br /></td></tr>
<tr class="separator:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a0ea4e217047c234bcfcb9866e36ea7c0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#a0ea4e217047c234bcfcb9866e36ea7c0">setLocalTransform</a> (const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;localTransform)</td></tr>
<tr class="memdesc:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the local transform from base frame to sensor frame. <br /></td></tr>
<tr class="separator:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:afa9923bb4a3b88e6dbf4c8ae7f060437 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_afa9923bb4a3b88e6dbf4c8ae7f060437"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#afa9923bb4a3b88e6dbf4c8ae7f060437">resetTimer</a> ()</td></tr>
<tr class="memdesc:afa9923bb4a3b88e6dbf4c8ae7f060437 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resets the frame rate timer. <br /></td></tr>
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Protected Member Functions</h2></td></tr>
<tr class="memitem:a4e313b5a515926a2d526ad752a9184c5" id="r_a4e313b5a515926a2d526ad752a9184c5"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1DBReader.html#a4e313b5a515926a2d526ad752a9184c5">captureImage</a> (<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> *info=0)</td></tr>
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<tr class="inherit_header pro_methods_classrtabmap_1_1Camera"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classrtabmap_1_1Camera')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classrtabmap_1_1Camera.html">rtabmap::Camera</a></td></tr>
<tr class="memitem:aaae7434ffa5e54f5006355779d335dd3 inherit pro_methods_classrtabmap_1_1Camera" id="r_aaae7434ffa5e54f5006355779d335dd3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#aaae7434ffa5e54f5006355779d335dd3">Camera</a> (float imageRate=0, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
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<tr class="memitem:a90c716bf4383af63b275dd9b5e7ec1a6 inherit pro_methods_classrtabmap_1_1Camera" id="r_a90c716bf4383af63b275dd9b5e7ec1a6"><td class="memItemLeft" align="right" valign="top">
void&#160;</td><td class="memItemRight" valign="bottom"><b>postInterIMU</b> (const <a class="el" href="classrtabmap_1_1IMU.html">IMU</a> &amp;imu, double stamp)</td></tr>
<tr class="separator:a90c716bf4383af63b275dd9b5e7ec1a6 inherit pro_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="inherit_header pro_methods_classrtabmap_1_1SensorCapture"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classrtabmap_1_1SensorCapture')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classrtabmap_1_1SensorCapture.html">rtabmap::SensorCapture</a></td></tr>
<tr class="memitem:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture" id="r_adf4b1dfd8e5b45b8eecf938a92dbae94"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#adf4b1dfd8e5b45b8eecf938a92dbae94">SensorCapture</a> (float frameRate=0, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
<tr class="memdesc:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Protected constructor. <br /></td></tr>
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<tr class="memitem:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture" id="r_acbffaf17772639bc65b0a5457bc56b22"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#acbffaf17772639bc65b0a5457bc56b22">getNextSeqID</a> ()</td></tr>
<tr class="memdesc:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the next sequence ID. <br /></td></tr>
<tr class="separator:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<p class="definition">Definition at line <a class="el" href="DBReader_8h_source.html#l00046">46</a> of file <a class="el" href="DBReader_8h_source.html">DBReader.h</a>.</p>
</div><h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#a31b8ffc3d213da7ab58a85ce89b8055e">&#9670;&#160;</a></span>init()</h2>
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<td class="memname">virtual bool rtabmap::DBReader::init </td>
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<p>Initializes the sensor. </p>
<p>Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:</p><ul>
<li>Opening device connections or file streams</li>
<li>Loading camera calibration parameters</li>
<li>Configuring sensor settings</li>
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<tr><td class="paramname">calibrationFolder</td><td>Directory path where calibration files are located (default: current directory ".") </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>True if initialization was successful, false otherwise</dd></dl>
<dl class="section note"><dt>Note</dt><dd>Must be called before calling <a class="el" href="classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf" title="Captures sensor data with frame rate control.">takeData()</a> or captureData() </dd></dl>
<p>Implements <a class="el" href="classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a">rtabmap::SensorCapture</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a5fa70ec1eb9a9a1d28859942e1f7a550">&#9670;&#160;</a></span>isCalibrated()</h2>
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<td class="memname">virtual bool rtabmap::DBReader::isCalibrated </td>
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<p>Implements <a class="el" href="classrtabmap_1_1Camera.html">rtabmap::Camera</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac6e8622842447cdccfaab061c1cab3c4">&#9670;&#160;</a></span>getSerial()</h2>
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<p>Returns the sensor's serial number or unique identifier. </p>
<p>Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).</p>
<dl class="section return"><dt>Returns</dt><dd>String identifier for the sensor </dd></dl>
<p>Implements <a class="el" href="classrtabmap_1_1SensorCapture.html#a7830e571e45752f9d8f30fa806f6aa64">rtabmap::SensorCapture</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a24351b1eb5776a83548a1d972e489dba">&#9670;&#160;</a></span>odomProvided()</h2>
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<td class="memname">virtual bool rtabmap::DBReader::odomProvided </td>
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<p>Checks if the sensor provides odometry poses. </p>
<p>Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.</p>
<dl class="section return"><dt>Returns</dt><dd>True if the sensor provides odometry poses, false otherwise</dd></dl>
<dl class="section note"><dt>Note</dt><dd>Default implementation returns false. Derived classes should override if they support pose estimation.</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1DBReader.html#abd2b32ae00a05810465f63d63c44d5ed" title="Gets the sensor&#39;s pose estimate at a specific timestamp.">getPose()</a> </dd></dl>
<p>Reimplemented from <a class="el" href="classrtabmap_1_1SensorCapture.html#aee217767808a9df9c63a27b284461c89">rtabmap::SensorCapture</a>.</p>
<p class="definition">Definition at line <a class="el" href="DBReader_8h_source.html#l00090">90</a> of file <a class="el" href="DBReader_8h_source.html">DBReader.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#abd2b32ae00a05810465f63d63c44d5ed">&#9670;&#160;</a></span>getPose()</h2>
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<td class="memname">virtual bool rtabmap::DBReader::getPose </td>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;&#160;</td>
<td class="paramname"><em>pose</em>, </td>
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<p>Gets the sensor's pose estimate at a specific timestamp. </p>
<p>Queries the sensor for its pose estimate at the given timestamp. This is typically used for sensors that provide visual-inertial odometry or other pose estimation capabilities.</p>
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<tr><td class="paramdir"></td><td class="paramname">stamp</td><td>Timestamp in seconds for which to query the pose </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">pose</td><td>Output transform representing the sensor pose </td></tr>
<tr><td class="paramdir">[out]</td><td class="paramname">covariance</td><td>Output covariance matrix (6x6) representing twist uncertainty </td></tr>
<tr><td class="paramdir"></td><td class="paramname">maxWaitTime</td><td>Maximum time in seconds to wait for pose data (default: 0.06) </td></tr>
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<dl class="section return"><dt>Returns</dt><dd>True if pose was successfully retrieved, false otherwise</dd></dl>
<dl class="section note"><dt>Note</dt><dd>Default implementation returns false. Derived classes should override if they support pose estimation.</dd></dl>
<dl class="section see"><dt>See also</dt><dd><a class="el" href="classrtabmap_1_1DBReader.html#a24351b1eb5776a83548a1d972e489dba" title="Checks if the sensor provides odometry poses.">odomProvided()</a> </dd></dl>
<p>Reimplemented from <a class="el" href="classrtabmap_1_1SensorCapture.html#a2f940d75366088bfae0164e1803ffe9a">rtabmap::SensorCapture</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a8ef6a3d1ab0e1d180662b00bca135b79">&#9670;&#160;</a></span>driver()</h2>
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<td class="memname">const <a class="el" href="classrtabmap_1_1DBDriver.html">DBDriver</a> * rtabmap::DBReader::driver </td>
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<p class="definition">Definition at line <a class="el" href="DBReader_8h_source.html#l00093">93</a> of file <a class="el" href="DBReader_8h_source.html">DBReader.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a4e313b5a515926a2d526ad752a9184c5">&#9670;&#160;</a></span>captureImage()</h2>
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<td class="memname">virtual <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> rtabmap::DBReader::captureImage </td>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> *&#160;</td>
<td class="paramname"><em>info</em> = <code>0</code></td><td>)</td>
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<p>Implements <a class="el" href="classrtabmap_1_1Camera.html">rtabmap::Camera</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="DBReader_8h_source.html">DBReader.h</a></li>
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