RTAB-Map 0.23.10
Real-Time Appearance-Based Mapping
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Public Member Functions | Public Attributes | List of all members
rtabmap::SensorCaptureInfo Class Reference

Metadata structure for sensor data capture and processing. More...

#include <SensorCaptureInfo.h>

Collaboration diagram for rtabmap::SensorCaptureInfo:
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Public Member Functions

 SensorCaptureInfo ()
 Default constructor.
 
virtual ~SensorCaptureInfo ()
 Virtual destructor.
 

Public Attributes

std::string cameraName
 Camera/sensor name identifier.
 
int id
 Capture ID (typically matches SensorData ID)
 
double stamp
 Timestamp in seconds (typically matches SensorData stamp)
 
float timeCapture
 Time to capture data from the sensor (seconds)
 
float timeDeskewing
 Time for laser scan deskewing (seconds)
 
float timeDisparity
 Time to compute stereo disparity (seconds)
 
float timeMirroring
 Time for image mirroring/flipping (seconds)
 
float timeStereoExposureCompensation
 Time for stereo exposure compensation (seconds)
 
float timeImageDecimation
 Time for image decimation/downsampling (seconds)
 
float timeHistogramEqualization
 Time for histogram equalization (seconds)
 
float timeScanFromDepth
 Time to convert depth image to laser scan (seconds)
 
float timeUndistortDepth
 Time to undistort depth image (seconds)
 
float timeBilateralFiltering
 Time for bilateral filtering of depth (seconds)
 
float timeTotal
 Total processing time (seconds)
 
Transform odomPose
 Odometry pose at the time of capture (in odometry coordinate frame)
 
cv::Mat odomCovariance
 Odometry twist covariance matrix (6x6, CV_64FC1). Default: identity matrix.
 
std::vector< float > odomVelocity
 6DOF odometry velocity [vx, vy, vz, vroll, vpitch, vyaw] (m/s, rad/s)
 

Detailed Description

Metadata structure for sensor data capture and processing.

SensorCaptureInfo contains metadata about sensor data capture, including timing information for various processing steps, camera identification, and odometry information. This information is typically attached to SensorEvent objects to provide context about how the sensor data was captured and processed.

The class tracks timing for various processing stages:

  • Capture: Time to capture data from the sensor
  • Processing: Time for various image processing steps (deskewing, disparity, mirroring, exposure compensation, decimation, histogram equalization, etc.)
  • Depth processing: Time for depth-related operations (scan from depth, undistort depth, bilateral filtering)
  • Total: Total processing time

Odometry information includes:

  • Pose: The odometry pose at the time of capture
  • Covariance: Uncertainty of the odometry twist (6x6 matrix)
  • Velocity: 6DOF velocity vector [vx, vy, vz, vroll, vpitch, vyaw]
Note
All timing values are in seconds (float).
The odometry covariance matrix is initialized to identity by default.
See also
SensorEvent
SensorData

Definition at line 64 of file SensorCaptureInfo.h.

Constructor & Destructor Documentation

◆ SensorCaptureInfo()

rtabmap::SensorCaptureInfo::SensorCaptureInfo ( )
inline

Default constructor.

Initializes all fields to default values:

  • cameraName: empty string
  • id: 0
  • stamp: 0.0
  • All timing fields: 0.0f
  • odomPose: null transform
  • odomCovariance: 6x6 identity matrix
  • odomVelocity: empty vector

Definition at line 80 of file SensorCaptureInfo.h.

◆ ~SensorCaptureInfo()

virtual rtabmap::SensorCaptureInfo::~SensorCaptureInfo ( )
inlinevirtual

Virtual destructor.

Definition at line 102 of file SensorCaptureInfo.h.

Member Data Documentation

◆ cameraName

std::string rtabmap::SensorCaptureInfo::cameraName

Camera/sensor name identifier.

Definition at line 104 of file SensorCaptureInfo.h.

◆ id

int rtabmap::SensorCaptureInfo::id

Capture ID (typically matches SensorData ID)

Definition at line 105 of file SensorCaptureInfo.h.

◆ stamp

double rtabmap::SensorCaptureInfo::stamp

Timestamp in seconds (typically matches SensorData stamp)

Definition at line 106 of file SensorCaptureInfo.h.

◆ timeCapture

float rtabmap::SensorCaptureInfo::timeCapture

Time to capture data from the sensor (seconds)

Definition at line 109 of file SensorCaptureInfo.h.

◆ timeDeskewing

float rtabmap::SensorCaptureInfo::timeDeskewing

Time for laser scan deskewing (seconds)

Definition at line 110 of file SensorCaptureInfo.h.

◆ timeDisparity

float rtabmap::SensorCaptureInfo::timeDisparity

Time to compute stereo disparity (seconds)

Definition at line 111 of file SensorCaptureInfo.h.

◆ timeMirroring

float rtabmap::SensorCaptureInfo::timeMirroring

Time for image mirroring/flipping (seconds)

Definition at line 112 of file SensorCaptureInfo.h.

◆ timeStereoExposureCompensation

float rtabmap::SensorCaptureInfo::timeStereoExposureCompensation

Time for stereo exposure compensation (seconds)

Definition at line 113 of file SensorCaptureInfo.h.

◆ timeImageDecimation

float rtabmap::SensorCaptureInfo::timeImageDecimation

Time for image decimation/downsampling (seconds)

Definition at line 114 of file SensorCaptureInfo.h.

◆ timeHistogramEqualization

float rtabmap::SensorCaptureInfo::timeHistogramEqualization

Time for histogram equalization (seconds)

Definition at line 115 of file SensorCaptureInfo.h.

◆ timeScanFromDepth

float rtabmap::SensorCaptureInfo::timeScanFromDepth

Time to convert depth image to laser scan (seconds)

Definition at line 116 of file SensorCaptureInfo.h.

◆ timeUndistortDepth

float rtabmap::SensorCaptureInfo::timeUndistortDepth

Time to undistort depth image (seconds)

Definition at line 117 of file SensorCaptureInfo.h.

◆ timeBilateralFiltering

float rtabmap::SensorCaptureInfo::timeBilateralFiltering

Time for bilateral filtering of depth (seconds)

Definition at line 118 of file SensorCaptureInfo.h.

◆ timeTotal

float rtabmap::SensorCaptureInfo::timeTotal

Total processing time (seconds)

Definition at line 119 of file SensorCaptureInfo.h.

◆ odomPose

Transform rtabmap::SensorCaptureInfo::odomPose

Odometry pose at the time of capture (in odometry coordinate frame)

Definition at line 122 of file SensorCaptureInfo.h.

◆ odomCovariance

cv::Mat rtabmap::SensorCaptureInfo::odomCovariance

Odometry twist covariance matrix (6x6, CV_64FC1). Default: identity matrix.

Definition at line 123 of file SensorCaptureInfo.h.

◆ odomVelocity

std::vector<float> rtabmap::SensorCaptureInfo::odomVelocity

6DOF odometry velocity [vx, vy, vz, vroll, vpitch, vyaw] (m/s, rad/s)

Definition at line 124 of file SensorCaptureInfo.h.

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