rtabmap::LidarVLP16 Class Reference

Inheritance diagram for rtabmap::LidarVLP16:

Collaboration diagram for rtabmap::LidarVLP16:

Public Member Functions
	LidarVLP16 (const std::string &pcapFile, bool organized=false, bool stampLast=true, float frameRate=0.0f, Transform localTransform=Transform::getIdentity())
	LidarVLP16 (const boost::asio::ip::address &ipAddress, const std::uint16_t port=2368, bool organized=false, bool useHostTime=true, bool stampLast=true, float frameRate=0.0f, Transform localTransform=Transform::getIdentity())
SensorData	takeScan (SensorCaptureInfo *info=0)
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="") override
	Initializes the sensor.
virtual std::string	getSerial () const override
	Returns the sensor's serial number or unique identifier.
void	setOrganized (bool enable)
Public Member Functions inherited from rtabmap::SensorCapture
virtual	~SensorCapture ()
	Virtual destructor.
SensorData	takeData (SensorCaptureInfo *info=0)
	Captures sensor data with frame rate control.
virtual bool	odomProvided () const
	Checks if the sensor provides odometry poses.
virtual bool	getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
	Gets the sensor's pose estimate at a specific timestamp.
float	getFrameRate () const
	Returns the target frame rate.
const Transform &	getLocalTransform () const
	Returns the local transform from base frame to sensor frame.
void	setFrameRate (float frameRate)
	Sets the target frame rate.
void	setLocalTransform (const Transform &localTransform)
	Sets the local transform from base frame to sensor frame.
void	resetTimer ()
	Resets the frame rate timer.

Protected Member Functions
virtual SensorData	captureData (SensorCaptureInfo *info=0) override
	Pure virtual method to capture sensor data.
Protected Member Functions inherited from rtabmap::Lidar
	Lidar (float lidarRate=0, const Transform &localTransform=Transform::getIdentity())
Protected Member Functions inherited from rtabmap::SensorCapture
	SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
	Protected constructor.
int	getNextSeqID ()
	Gets the next sequence ID.

Detailed Description

Definition at line 61 of file LidarVLP16.h.

Member Function Documentation

takeScan()

SensorData rtabmap::LidarVLP16::takeScan ( SensorCaptureInfo *  info = 0 )

inline

Definition at line 79 of file LidarVLP16.h.

init()

virtual bool rtabmap::LidarVLP16::init ( const std::string &  calibrationFolder = ".", const std::string &  cameraName = ""  )

overridevirtual

Initializes the sensor.

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

• Opening device connections or file streams
• Loading camera calibration parameters
• Configuring sensor settings

Parameters

calibrationFolder	Directory path where calibration files are located (default: current directory ".")
cameraName	Base name of the camera for loading calibration files (default: empty string)

Returns

True if initialization was successful, false otherwise

Note

Must be called before calling takeData() or captureData()

Implements rtabmap::SensorCapture.

getSerial()

virtual std::string rtabmap::LidarVLP16::getSerial ( ) const

inlineoverridevirtual

Returns the sensor's serial number or unique identifier.

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).

Returns

String identifier for the sensor

Implements rtabmap::SensorCapture.

Definition at line 82 of file LidarVLP16.h.

captureData()

virtual SensorData rtabmap::LidarVLP16::captureData ( SensorCaptureInfo *  info = 0 )

overrideprotectedvirtual

Pure virtual method to capture sensor data.

This method must be implemented by derived classes to perform the actual sensor data capture. It is called by takeData() after frame rate throttling.

The returned SensorData should:

• Have rectified images if calibration was loaded during init()
• Include proper timestamps
• Contain valid sensor data (images, depth, laser scans, etc.)

Parameters

info	Optional pointer to SensorCaptureInfo to fill with capture metadata. The base class will fill ID, timestamp, and capture time, but derived classes can add additional information.

Returns

SensorData containing the captured sensor data

Note

If capture fails, return an empty SensorData (id=0, stamp=0.0).

RGB and depth images should be already rectified if calibration was loaded.

See also

takeData()

Implements rtabmap::SensorCapture.

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The documentation for this class was generated from the following file:

• corelib/include/rtabmap/core/lidar/LidarVLP16.h