Abstract base class for sensor data capture (cameras, lidars, etc.) More...

#include <SensorCapture.h>

Inheritance diagram for rtabmap::SensorCapture:

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Public Member Functions
virtual	~SensorCapture ()
	Virtual destructor.

SensorData	takeData (SensorCaptureInfo *info=0)
	Captures sensor data with frame rate control.

virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")=0
	Initializes the sensor.

virtual std::string	getSerial () const =0
	Returns the sensor's serial number or unique identifier.

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
	SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
	Protected constructor.

virtual SensorData	captureData (SensorCaptureInfo *info=0)=0
	Pure virtual method to capture sensor data.

int	getNextSeqID ()
	Gets the next sequence ID.

Detailed Description

Abstract base class for sensor data capture (cameras, lidars, etc.)

SensorCapture provides a unified interface for capturing sensor data from various sensor types including cameras (RGB-D, stereo, mono) and lidars. It handles frame rate control, local transform management, and provides a common API for sensor initialization and data capture.

The class implements the Template Method pattern:

takeData() handles frame rate control and timing, then calls the pure virtual captureData() method implemented by derived classes
Derived classes must implement captureData() to perform the actual sensor capture

Key features:

Frame rate control: Automatic throttling to maintain target frame rate
Local transform: Transform from robot base frame to sensor frame
Capture timing: Tracks capture time and provides it via SensorCaptureInfo
Sequence IDs: Automatic sequence number generation for captured data

Derived classes include:

Camera: Base class for all camera types (RGB-D, stereo, mono, file readers, etc.)
Lidar: Base class for lidar sensors

Note: This is an abstract class. Use concrete implementations like CameraRGBD, CameraStereo, LidarVLP16, etc., or create custom derived classes.

See also: Camera; Lidar; SensorData; SensorCaptureInfo; SensorCaptureThread

Definition at line 78 of file SensorCapture.h.

Constructor & Destructor Documentation

◆ SensorCapture()

rtabmap::SensorCapture::SensorCapture	(	float	frameRate = `0`,
		const Transform &	localTransform = `Transform::getIdentity()`
	)

protected

Protected constructor.

Creates a SensorCapture instance with the specified frame rate and local transform. This constructor is protected because SensorCapture is an abstract base class and should not be instantiated directly.

Parameters

frameRate	Target frame rate in Hz (0 = unlimited, capture as fast as possible)
localTransform	Transform from base frame to sensor frame (default: identity)

Member Function Documentation

◆ takeData()

SensorData rtabmap::SensorCapture::takeData ( SensorCaptureInfo * info = 0 )

Captures sensor data with frame rate control.

This method handles frame rate throttling and timing, then calls the pure virtual captureData() method to perform the actual capture.

The method:

Enforces the target frame rate by sleeping if necessary
Measures capture time and stores it in SensorCaptureInfo
Assigns sequence IDs to captured data
Warns if the target frame rate cannot be reached

Parameters

info	Optional pointer to SensorCaptureInfo to fill with capture metadata (ID, timestamp, capture time). If null, no info is filled.

Returns: SensorData containing the captured sensor data

Note: If frame rate is 0, data is captured as fast as possible without throttling.; The returned SensorData should have rectified images if calibration was loaded.

See also: captureData()

◆ init()

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

pure virtual

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()

Implemented in rtabmap::CameraDepthAI, rtabmap::CameraFreenect, rtabmap::CameraFreenect2, rtabmap::CameraImages, rtabmap::CameraK4A, rtabmap::CameraK4W2, rtabmap::CameraMyntEye, rtabmap::CameraOpenni, rtabmap::CameraOpenNI2, rtabmap::CameraOpenNICV, rtabmap::CameraOrbbecSDK, rtabmap::CameraRealSense, rtabmap::CameraRealSense2, rtabmap::CameraRGBDImages, rtabmap::CameraSeerSense, rtabmap::CameraStereoDC1394, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraStereoImages, rtabmap::CameraStereoTara, rtabmap::CameraStereoVideo, rtabmap::CameraStereoZed, rtabmap::CameraStereoZedOC, rtabmap::CameraVideo, rtabmap::DBReader, and rtabmap::LidarVLP16.

◆ getSerial()

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

pure virtual

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

Implemented in rtabmap::CameraDepthAI, rtabmap::CameraFreenect, rtabmap::CameraFreenect2, rtabmap::CameraImages, rtabmap::CameraK4A, rtabmap::CameraK4W2, rtabmap::CameraMyntEye, rtabmap::CameraOpenni, rtabmap::CameraOpenNI2, rtabmap::CameraOpenNICV, rtabmap::CameraOrbbecSDK, rtabmap::CameraRealSense, rtabmap::CameraRealSense2, rtabmap::CameraSeerSense, rtabmap::CameraStereoDC1394, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraStereoImages, rtabmap::CameraStereoTara, rtabmap::CameraStereoVideo, rtabmap::CameraStereoZed, rtabmap::CameraStereoZedOC, rtabmap::CameraVideo, rtabmap::DBReader, and rtabmap::LidarVLP16.

◆ odomProvided()

virtual bool rtabmap::SensorCapture::odomProvided ( ) const

inlinevirtual

Checks if the sensor provides odometry poses.

Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.

Returns: True if the sensor provides odometry poses, false otherwise

Note: Default implementation returns false. Derived classes should override if they support pose estimation.

See also: getPose()

Reimplemented in rtabmap::CameraImages, rtabmap::CameraMyntEye, rtabmap::CameraRealSense, rtabmap::CameraRealSense2, rtabmap::CameraSeerSense, rtabmap::CameraStereoZed, and rtabmap::DBReader.

Definition at line 152 of file SensorCapture.h.

◆ getPose()

virtual bool rtabmap::SensorCapture::getPose	(	double	stamp,
		Transform &	pose,
		cv::Mat &	covariance,
		double	maxWaitTime = `0.06`
	)

inlinevirtual

Gets the sensor's pose estimate at a specific timestamp.

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.

Parameters

	stamp	Timestamp in seconds for which to query the pose
[out]	pose	Output transform representing the sensor pose
[out]	covariance	Output covariance matrix (6x6) representing twist uncertainty
	maxWaitTime	Maximum time in seconds to wait for pose data (default: 0.06)

Returns: True if pose was successfully retrieved, false otherwise

Note: Default implementation returns false. Derived classes should override if they support pose estimation.

See also: odomProvided()

Reimplemented in rtabmap::CameraSeerSense, rtabmap::CameraStereoZed, rtabmap::CameraRealSense2, and rtabmap::DBReader.

Definition at line 172 of file SensorCapture.h.

◆ getFrameRate()

float rtabmap::SensorCapture::getFrameRate ( ) const

inline

Returns the target frame rate.

Returns: Frame rate in Hz (0 = unlimited, capture as fast as possible)

Definition at line 180 of file SensorCapture.h.

◆ getLocalTransform()

const Transform & rtabmap::SensorCapture::getLocalTransform ( ) const

inline

Returns the local transform from base frame to sensor frame.

Returns: Const reference to the local transform

Definition at line 186 of file SensorCapture.h.

◆ setFrameRate()

void rtabmap::SensorCapture::setFrameRate ( float frameRate )

inline

Sets the target frame rate.

Controls how often takeData() will capture data. The method will throttle captures to maintain the target rate.

Parameters

frameRate Target frame rate in Hz (0 = unlimited, capture as fast as possible)

Note: Setting frame rate to 0 disables throttling and captures as fast as possible.

Definition at line 200 of file SensorCapture.h.

◆ setLocalTransform()

void rtabmap::SensorCapture::setLocalTransform ( const Transform & localTransform )

inline

Sets the local transform from base frame to sensor frame.

The local transform represents the pose of the sensor relative to the robot's base frame. This is used to transform sensor data into the robot's coordinate system.

Parameters

localTransform Transform from base frame to sensor frame

Definition at line 210 of file SensorCapture.h.

◆ resetTimer()

void rtabmap::SensorCapture::resetTimer ( )

Resets the frame rate timer.

Resets the internal timer used for frame rate control. This is useful when starting a new capture session or after a pause.

◆ captureData()

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

protectedpure virtual

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()

Implemented in rtabmap::LidarVLP16.

◆ getNextSeqID()

int rtabmap::SensorCapture::getNextSeqID ( )

inlineprotected

Gets the next sequence ID.

Returns and increments the internal sequence counter. This is used to assign unique sequence numbers to captured data.

Returns: Next sequence ID (starts at 1, increments with each call)

Definition at line 264 of file SensorCapture.h.

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

corelib/include/rtabmap/core/SensorCapture.h

Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

◆ SensorCapture()

Member Function Documentation

◆ takeData()

◆ init()

◆ getSerial()

◆ odomProvided()

◆ getPose()

◆ getFrameRate()

◆ getLocalTransform()

◆ setFrameRate()

◆ setLocalTransform()

◆ resetTimer()

◆ captureData()

◆ getNextSeqID()