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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<p><code>#include &lt;<a class="el" href="Lidar_8h_source.html">Lidar.h</a>&gt;</code></p>
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Inheritance diagram for rtabmap::Lidar:</div>
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Collaboration diagram for rtabmap::Lidar:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:a9d14987cd20918960d6b3705b66241ed" id="r_a9d14987cd20918960d6b3705b66241ed"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Lidar.html#a9d14987cd20918960d6b3705b66241ed">Lidar</a> (float lidarRate=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="separator:a9d14987cd20918960d6b3705b66241ed"><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>
<tr class="separator:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a85e8691b5201a5383d1463ed980f7958 inherit pro_methods_classrtabmap_1_1SensorCapture" id="r_a85e8691b5201a5383d1463ed980f7958"><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_1SensorCapture.html#a85e8691b5201a5383d1463ed980f7958">captureData</a> (<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> *info=0)=0</td></tr>
<tr class="memdesc:a85e8691b5201a5383d1463ed980f7958 inherit pro_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Pure virtual method to capture sensor data. <br /></td></tr>
<tr class="separator:a85e8691b5201a5383d1463ed980f7958 inherit pro_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<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>
</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 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:a1c0cd843969fab53f157cbe0fd333b8a inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a1c0cd843969fab53f157cbe0fd333b8a"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a">init</a> (const std::string &amp;calibrationFolder=&quot;.&quot;, const std::string &amp;cameraName=&quot;&quot;)=0</td></tr>
<tr class="memdesc:a1c0cd843969fab53f157cbe0fd333b8a inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes the sensor. <br /></td></tr>
<tr class="separator:a1c0cd843969fab53f157cbe0fd333b8a inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7830e571e45752f9d8f30fa806f6aa64 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a7830e571e45752f9d8f30fa806f6aa64"><td class="memItemLeft" align="right" valign="top">virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#a7830e571e45752f9d8f30fa806f6aa64">getSerial</a> () const =0</td></tr>
<tr class="memdesc:a7830e571e45752f9d8f30fa806f6aa64 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the sensor's serial number or unique identifier. <br /></td></tr>
<tr class="separator:a7830e571e45752f9d8f30fa806f6aa64 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee217767808a9df9c63a27b284461c89 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_aee217767808a9df9c63a27b284461c89"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#aee217767808a9df9c63a27b284461c89">odomProvided</a> () const</td></tr>
<tr class="memdesc:aee217767808a9df9c63a27b284461c89 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if the sensor provides odometry poses. <br /></td></tr>
<tr class="separator:aee217767808a9df9c63a27b284461c89 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a2f940d75366088bfae0164e1803ffe9a inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a2f940d75366088bfae0164e1803ffe9a"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#a2f940d75366088bfae0164e1803ffe9a">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:a2f940d75366088bfae0164e1803ffe9a inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the sensor's pose estimate at a specific timestamp. <br /></td></tr>
<tr class="separator:a2f940d75366088bfae0164e1803ffe9a 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>
<tr class="separator:afa9923bb4a3b88e6dbf4c8ae7f060437 inherit pub_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>
<div class="textblock"><p>Class <a class="el" href="classrtabmap_1_1Lidar.html">Lidar</a> </p>
<p class="definition">Definition at line <a class="el" href="Lidar_8h_source.html#l00040">40</a> of file <a class="el" href="Lidar_8h_source.html">Lidar.h</a>.</p>
</div><h2 class="groupheader">Constructor &amp; Destructor Documentation</h2>
<a id="aeff57ad9a75494454dd0d0faa2e76305" name="aeff57ad9a75494454dd0d0faa2e76305"></a>
<h2 class="memtitle"><span class="permalink"><a href="#aeff57ad9a75494454dd0d0faa2e76305">&#9670;&#160;</a></span>~Lidar()</h2>
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<td class="memname">virtual rtabmap::Lidar::~Lidar </td>
<td>(</td>
<td class="paramname"></td><td>)</td>
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<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">virtual</span></span> </td>
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<p class="definition">Definition at line <a class="el" href="Lidar_8h_source.html#l00043">43</a> of file <a class="el" href="Lidar_8h_source.html">Lidar.h</a>.</p>
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<a id="a9d14987cd20918960d6b3705b66241ed" name="a9d14987cd20918960d6b3705b66241ed"></a>
<h2 class="memtitle"><span class="permalink"><a href="#a9d14987cd20918960d6b3705b66241ed">&#9670;&#160;</a></span>Lidar()</h2>
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<td class="memname">rtabmap::Lidar::Lidar </td>
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<td class="paramtype">float&#160;</td>
<td class="paramname"><em>lidarRate</em> = <code>0</code>, </td>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;&#160;</td>
<td class="paramname"><em>localTransform</em> = <code><a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>()</code>&#160;</td>
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<td>)</td>
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<span class="mlabels"><span class="mlabel">inline</span><span class="mlabel">protected</span></span> </td>
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<p>Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">lidarRate</td><td>the frame rate (Hz), 0 for fast as the lidar can </td></tr>
<tr><td class="paramname">localTransform</td><td>the transform from base frame to lidar frame </td></tr>
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<p class="definition">Definition at line <a class="el" href="Lidar_8h_source.html#l00052">52</a> of file <a class="el" href="Lidar_8h_source.html">Lidar.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="Lidar_8h_source.html">Lidar.h</a></li>
</ul>
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