Thread-based sensor data capture and event posting for RTAB-Map. More...

#include <SensorCaptureThread.h>

Inheritance diagram for rtabmap::SensorCaptureThread:

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Collaboration diagram for rtabmap::SensorCaptureThread:

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Public Member Functions
	SensorCaptureThread (Camera *camera, const ParametersMap &parameters=ParametersMap())
	Constructor for camera-only capture.

	SensorCaptureThread (Camera camera, SensorCapture odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
	Constructor for camera with odometry sensor.

	SensorCaptureThread (Lidar *lidar, const ParametersMap &parameters=ParametersMap())
	Constructor for lidar-only capture.

	SensorCaptureThread (Lidar lidar, Camera camera, const ParametersMap &parameters=ParametersMap())
	Constructor for lidar with camera.

	SensorCaptureThread (Lidar lidar, SensorCapture odomSensor, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
	Constructor for lidar with odometry sensor.

	SensorCaptureThread (Lidar lidar, Camera camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
	Constructor for lidar with camera and odometry sensor.

virtual	~SensorCaptureThread ()
	Virtual destructor.

void	setMirroringEnabled (bool enabled)
	Enables or disables image mirroring (horizontal flip)

void	setStereoExposureCompensation (bool enabled)
	Enables or disables stereo exposure compensation.

void	setColorOnly (bool colorOnly)
	Sets whether to capture color images only (skip depth)

void	setImageDecimation (int decimation)
	Sets image decimation factor.

void	setHistogramMethod (int histogramMethod)
	Sets histogram equalization method.

void	setStereoToDepth (bool enabled)
	Enables or disables stereo-to-depth conversion.

void	setFrameRate (float frameRate)
	Sets the target frame rate for capture.

RTABMAP_DEPRECATED void	setImageRate (float frameRate)
	Sets the target image capture rate (deprecated)

void	setDistortionModel (const std::string &path)
	Sets the depth distortion model file path.

void	setOdomAsGroundTruth (bool enabled)
	Sets whether odometry poses should be treated as ground truth.

void	enableBilateralFiltering (float sigmaS, float sigmaR)
	Enables bilateral filtering for depth images.

void	disableBilateralFiltering ()
	Disables bilateral filtering.

void	enableIMUFiltering (int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
	Enables IMU data filtering.

void	disableIMUFiltering ()
	Disables IMU data filtering.

void	enableFeatureDetection (const ParametersMap &parameters=ParametersMap())
	Enables automatic feature detection on captured images.

void	disableFeatureDetection ()
	Disables automatic feature detection.

RTABMAP_DEPRECATED void	setScanParameters (bool fromDepth, int downsampleStep, float rangeMin, float rangeMax, float voxelSize, int normalsK, float normalsRadius, bool forceGroundNormalsUp, bool deskewing)
	Sets lidar scan processing parameters (deprecated)

void	setScanParameters (bool fromDepth, int downsampleStep=1, float rangeMin=0.0f, float rangeMax=0.0f, float voxelSize=0.0f, int normalsK=0, float normalsRadius=0.0f, float groundNormalsUp=0.0f, bool deskewing=false)
	Sets lidar scan processing parameters.

void	postUpdate (SensorData data, SensorCaptureInfo info=0) const
	Post-processing hook called before posting SensorEvent.

bool	isPaused () const
	Checks if the capture thread is paused.

bool	isCapturing () const
	Checks if the capture thread is actively capturing.

bool	odomProvided () const
	Checks if odometry is provided by the sensors.

Camera *	camera ()
	Returns the camera pointer.

SensorCapture *	odomSensor ()
	Returns the odometry sensor pointer.

Lidar *	lidar ()
	Returns the lidar pointer.

Public Member Functions inherited from UThread
	UThread (Priority priority=kPNormal)

virtual	~UThread ()

void	start ()

void	kill ()

void	join (bool killFirst=false)

void	setPriority (Priority priority)

void	setAffinity (int cpu=0)

bool	isCreating () const

bool	isRunning () const

bool	isIdle () const

bool	isKilled () const

Handle	getThreadHandle () const

unsigned long	getThreadId () const

Public Member Functions inherited from UThreadC< void >
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const

Additional Inherited Members
Public Types inherited from UThread
enum	Priority { kPLow , kPBelowNormal , kPNormal , kPAboveNormal , kPRealTime }

Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE	Handle

typedef void(*	Handler) ()

typedef THREAD_HANDLE	Handle

typedef void(*	Handler) ()

Static Public Member Functions inherited from UThread
static unsigned long	currentThreadId ()

Static Public Member Functions inherited from UThreadC< void >
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)

static int	Join (Handle H)

static int	Kill (Handle H)

static int	Detach (Handle H)

static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)

static int	Join (const Handle &H)

static int	Kill (const Handle &H)

static int	Detach (const Handle &H)

Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const

Static Protected Member Functions inherited from UThreadC< void >
static void	Exit ()

static void	TestCancel ()

static Handle	Self ()

static void	Exit ()

static void	TestCancel ()

static int	Self ()

Detailed Description

Thread-based sensor data capture and event posting for RTAB-Map.

SensorCaptureThread is a multi-threaded class that continuously captures sensor data from cameras and/or lidars in a background thread. It processes the data, optionally applies filtering and transformations, and posts SensorEvent events to registered handlers through RTAB-Map's event system.

The class supports various sensor configurations:

Camera-only: Single or multiple cameras for RGB-D or stereo imaging
Lidar-only: Single lidar for 3D point cloud capture
Camera + Lidar: Combined visual and range sensing
With odometry: Optional odometry sensor for pose estimation and deskewing

Key features:

Automatic data synchronization: Synchronizes camera and lidar data by timestamp
Deskewing: Corrects lidar scans using odometry poses
Image processing: Supports mirroring, decimation, histogram equalization, stereo-to-depth conversion
Depth filtering: Optional bilateral filtering for depth images
IMU filtering: Optional IMU data filtering and fusion
Feature detection: Optional automatic feature detection on captured images
Frame rate control: Configurable capture rate
Event-driven architecture: Posts SensorEvent events for downstream processing

The class inherits from UThread (for threading) and UEventsSender (for event posting).

Note: Ownership of Camera, Lidar, and SensorCapture pointers is transferred to this class.; The thread must be started with start() and stopped with kill() or join().

Warning: Thread Safety: All configuration parameters (setters) should be called before starting the thread with start(). Changing configuration after the thread is started is not thread-safe and may lead to race conditions or undefined behavior. If you need to change parameters at runtime, stop the thread first, modify the configuration, then restart it.

See also: Camera; Lidar; SensorCapture; SensorEvent; SensorData; UThread; UEventsSender

Definition at line 97 of file SensorCaptureThread.h.

Constructor & Destructor Documentation

◆ SensorCaptureThread() [1/6]

rtabmap::SensorCaptureThread::SensorCaptureThread	(	Camera *	camera,
		const ParametersMap &	parameters = `ParametersMap()`
	)

Constructor for camera-only capture.

Creates a SensorCaptureThread that captures images from a single camera. The camera can be RGB-D, stereo, or mono.

Parameters

camera	Pointer to the camera to capture from (ownership transferred)
parameters	Optional parameters map for configuration

Note: The camera pointer is owned by this class and will be deleted on destruction.

◆ SensorCaptureThread() [2/6]

rtabmap::SensorCaptureThread::SensorCaptureThread	(	Camera *	camera,
		SensorCapture *	odomSensor,
		const Transform &	extrinsics,
		double	poseTimeOffset = `0.0`,
		float	poseScaleFactor = `1.0f`,
		double	poseWaitTime = `0.1`,
		const ParametersMap &	parameters = `ParametersMap()`
	)

Constructor for camera with odometry sensor.

Creates a SensorCaptureThread that captures images from a camera and uses an odometry sensor for pose estimation. The odometry sensor can be the same as the camera or a different sensor.

Parameters

camera	Pointer to the camera to capture images from (ownership transferred)
odomSensor	Pointer to the odometry sensor for pose estimation (can be the same as camera)
extrinsics	Static transform from odometry sensor's left lens frame to camera's left lens frame (without optical rotation applied)
poseTimeOffset	Time offset in seconds to add to data timestamp when querying pose (default: 0.0)
poseScaleFactor	Scale factor to apply to pose translation (default: 1.0, no scaling)
poseWaitTime	Maximum time in seconds to wait for pose data (default: 0.1)
parameters	Optional parameters map for configuration

Note: If odomAsGt is set to true via setOdomAsGroundTruth(), the odometry pose will be used as ground truth instead of odometry.

◆ SensorCaptureThread() [3/6]

rtabmap::SensorCaptureThread::SensorCaptureThread	(	Lidar *	lidar,
		const ParametersMap &	parameters = `ParametersMap()`
	)

Constructor for lidar-only capture.

Creates a SensorCaptureThread that captures 3D point clouds from a lidar.

Parameters

lidar	Pointer to the lidar to capture scans from (ownership transferred)
parameters	Optional parameters map for configuration

Note: The lidar pointer is owned by this class and will be deleted on destruction.

◆ SensorCaptureThread() [4/6]

rtabmap::SensorCaptureThread::SensorCaptureThread	(	Lidar *	lidar,
		Camera *	camera,
		const ParametersMap &	parameters = `ParametersMap()`
	)

Constructor for lidar with camera.

Creates a SensorCaptureThread that captures both lidar scans and camera images. If the camera provides pose information, it can be used for deskewing lidar scans.

Parameters

lidar	Pointer to the lidar to capture scans from (ownership transferred)
camera	Pointer to the camera to capture images from (ownership transferred). If the camera provides pose, it can be used for deskewing.
parameters	Optional parameters map for configuration

◆ SensorCaptureThread() [5/6]

rtabmap::SensorCaptureThread::SensorCaptureThread	(	Lidar *	lidar,
		SensorCapture *	odomSensor,
		double	poseTimeOffset = `0.0`,
		float	poseScaleFactor = `1.0f`,
		double	poseWaitTime = `0.1`,
		const ParametersMap &	parameters = `ParametersMap()`
	)

Constructor for lidar with odometry sensor.

Creates a SensorCaptureThread that captures lidar scans and uses an odometry sensor for pose estimation and deskewing. The odometry sensor can be the same as the lidar or a different sensor.

Parameters

lidar	Pointer to the lidar to capture scans from (ownership transferred)
odomSensor	Pointer to the odometry sensor for pose estimation and deskewing (can be the same as lidar)
poseTimeOffset	Time offset in seconds to add to data timestamp when querying pose (default: 0.0)
poseScaleFactor	Scale factor to apply to pose translation (default: 1.0, no scaling)
poseWaitTime	Maximum time in seconds to wait for pose data (default: 0.1)
parameters	Optional parameters map for configuration

Note: Deskewing is enabled by default when an odometry sensor is provided. Use setScanParameters() to configure deskewing behavior.; The lidar's local transform should be set as the extrinsics between odometry sensor's frame and lidar's frame.

◆ SensorCaptureThread() [6/6]

rtabmap::SensorCaptureThread::SensorCaptureThread	(	Lidar *	lidar,
		Camera *	camera,
		SensorCapture *	odomSensor,
		const Transform &	extrinsics,
		double	poseTimeOffset = `0.0`,
		float	poseScaleFactor = `1.0f`,
		double	poseWaitTime = `0.1`,
		const ParametersMap &	parameters = `ParametersMap()`
	)

Constructor for lidar with camera and odometry sensor.

Creates a SensorCaptureThread that captures both lidar scans and camera images, and uses an odometry sensor for pose estimation and deskewing. This is the most comprehensive configuration, supporting multi-modal sensing with pose correction.

Parameters

lidar	Pointer to the lidar to capture scans from (ownership transferred)
camera	Pointer to the camera to capture images from (ownership transferred)
odomSensor	Pointer to the odometry sensor for pose estimation and deskewing (can be the same as camera or lidar)
extrinsics	Static transform from odometry frame to camera frame (without optical rotation applied)
poseTimeOffset	Time offset in seconds to add to data timestamp when querying pose (default: 0.0)
poseScaleFactor	Scale factor to apply to pose translation (default: 1.0, no scaling)
poseWaitTime	Maximum time in seconds to wait for pose data (default: 0.1)
parameters	Optional parameters map for configuration

Note: The camera and lidar data are synchronized by timestamp, with the camera frame being at least as recent as the lidar frame.; The lidar's local transform should be set as the extrinsics between odometry sensor's frame and lidar's frame.

◆ ~SensorCaptureThread()

virtual rtabmap::SensorCaptureThread::~SensorCaptureThread ( )

virtual

Virtual destructor.

Stops the capture thread if running and deletes owned sensor pointers.

Member Function Documentation

◆ setMirroringEnabled()

void rtabmap::SensorCaptureThread::setMirroringEnabled ( bool enabled )

inline

Enables or disables image mirroring (horizontal flip)

Parameters

enabled True to enable mirroring, false to disable

Definition at line 245 of file SensorCaptureThread.h.

◆ setStereoExposureCompensation()

void rtabmap::SensorCaptureThread::setStereoExposureCompensation ( bool enabled )

inline

Enables or disables stereo exposure compensation.

When enabled, adjusts exposure between left and right stereo cameras to improve matching quality.

Parameters

enabled True to enable exposure compensation, false to disable

Definition at line 255 of file SensorCaptureThread.h.

◆ setColorOnly()

void rtabmap::SensorCaptureThread::setColorOnly ( bool colorOnly )

inline

Sets whether to capture color images only (skip depth)

Parameters

colorOnly True to capture color only, false to capture both color and depth

Definition at line 261 of file SensorCaptureThread.h.

◆ setImageDecimation()

void rtabmap::SensorCaptureThread::setImageDecimation ( int decimation )

inline

Sets image decimation factor.

Decimation reduces image resolution by skipping pixels. A decimation of N means every Nth pixel is kept (e.g., 2 = half resolution, 4 = quarter resolution).

Parameters

decimation Decimation factor (1 = no decimation, 2 = half resolution, etc.)

Definition at line 271 of file SensorCaptureThread.h.

◆ setHistogramMethod()

void rtabmap::SensorCaptureThread::setHistogramMethod ( int histogramMethod )

inline

Sets histogram equalization method.

Controls the type of histogram equalization applied to captured images. Histogram equalization improves image contrast by redistributing pixel intensities.

Parameters

histogramMethod

Histogram equalization method:

0 = None (disabled)
1 = Standard histogram equalization (cv::equalizeHist)
2 = CLAHE - Contrast Limited Adaptive Histogram Equalization (cv::createCLAHE)

Note: For color images, histogram equalization is applied only to the luminance channel (Y in YCrCb color space).; For stereo images, histogram equalization is applied to both left and right images.

Definition at line 287 of file SensorCaptureThread.h.

◆ setStereoToDepth()

void rtabmap::SensorCaptureThread::setStereoToDepth ( bool enabled )

inline

Enables or disables stereo-to-depth conversion.

When enabled, converts stereo images to depth images using dense stereo matching.

Parameters

enabled True to enable stereo-to-depth conversion, false to disable

Definition at line 296 of file SensorCaptureThread.h.

◆ setFrameRate()

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

Sets the target frame rate for capture.

Controls how often the capture loop runs. A frame rate of 0 means capture as fast as possible.

Parameters

frameRate Target frame rate in Hz (0 = unlimited)

◆ setImageRate()

RTABMAP_DEPRECATED void rtabmap::SensorCaptureThread::setImageRate ( float frameRate )

inline

Sets the target image capture rate (deprecated)

Deprecated:: Use setFrameRate() instead

Definition at line 312 of file SensorCaptureThread.h.

◆ setDistortionModel()

void rtabmap::SensorCaptureThread::setDistortionModel ( const std::string & path )

Sets the depth distortion model file path.

Loads a discrete depth distortion model from the specified file path. This is used to correct systematic depth errors at longer ranges using the CLAMS (Calibration, Localization, And Mapping System) approach.

The distortion model is typically created using RTAB-Map's depth calibration tool, which uses visual odometry and 3D mapping to generate ground truth depth for calibration.

Parameters

path	Path to the distortion model file

See also: https://github.com/introlab/rtabmap/wiki/Depth-Calibration for detailed instructions on how to create and use depth distortion models

◆ setOdomAsGroundTruth()

void rtabmap::SensorCaptureThread::setOdomAsGroundTruth ( bool enabled )

inline

Sets whether odometry poses should be treated as ground truth.

When enabled, odometry poses from the odometry sensor are stored as ground truth poses instead of odometry poses in the SensorData.

Parameters

enabled True to use odometry as ground truth, false to use as odometry

Definition at line 340 of file SensorCaptureThread.h.

◆ enableBilateralFiltering()

void rtabmap::SensorCaptureThread::enableBilateralFiltering	(	float	sigmaS,
		float	sigmaR
	)

Enables bilateral filtering for depth images.

Bilateral filtering reduces noise in depth images while preserving edges.

Parameters

sigmaS	Spatial standard deviation (pixels)
sigmaR	Range standard deviation (depth units)

◆ disableBilateralFiltering()

void rtabmap::SensorCaptureThread::disableBilateralFiltering ( )

inline

Disables bilateral filtering.

Definition at line 355 of file SensorCaptureThread.h.

◆ enableIMUFiltering()

void rtabmap::SensorCaptureThread::enableIMUFiltering	(	int	filteringStrategy = `1`,
		const ParametersMap &	parameters = `ParametersMap()`,
		bool	baseFrameConversion = `false`
	)

Enables IMU data filtering.

Enables filtering and fusion of IMU data from the sensor. The filtering strategy determines how IMU data is processed to estimate orientation.

Parameters

filteringStrategy	Filtering strategy: 0 = Madgwick filter (requires RTAB-Map built with RTABMAP_MADGWICK option) 1 = Complementary filter (default)
parameters	Optional parameters map for IMU filter configuration
baseFrameConversion	If true, converts IMU data to base frame

Note: If Madgwick filter is requested but RTAB-Map is not built with the option enabled, the Complementary filter will be used instead.

See also: IMUFilter

◆ enableFeatureDetection()

void rtabmap::SensorCaptureThread::enableFeatureDetection ( const ParametersMap & parameters = ParametersMap() )

Enables automatic feature detection on captured images.

When enabled, automatically detects and extracts visual features (keypoints, descriptors) from captured images.

Parameters

parameters Optional parameters map for feature detector configuration. Parameters from the "Vis/" group (e.g., Vis/FeatureType, Vis/MaxFeatures) are automatically converted to "Kp/" parameters internally. If both Vis/ and Kp/ parameters are provided, Vis/ parameters take precedence.

Note: The function converts Vis/ parameters to Kp/ parameters before creating the Feature2D detector.

◆ setScanParameters() [1/2]

RTABMAP_DEPRECATED void rtabmap::SensorCaptureThread::setScanParameters	(	bool	fromDepth,
		int	downsampleStep,
		float	rangeMin,
		float	rangeMax,
		float	voxelSize,
		int	normalsK,
		float	normalsRadius,
		bool	forceGroundNormalsUp,
		bool	deskewing
	)

Sets lidar scan processing parameters (deprecated)

Deprecated:: Use the new version with groundNormalsUp parameter instead

Use the new version with groundNormalsUp parameter:

groundNormalsUp=0.8 for forceGroundNormalsUp=True
groundNormalsUp=0.0 for forceGroundNormalsUp=False

◆ setScanParameters() [2/2]

void rtabmap::SensorCaptureThread::setScanParameters	(	bool	fromDepth,
		int	downsampleStep = `1`,
		float	rangeMin = `0.0f`,
		float	rangeMax = `0.0f`,
		float	voxelSize = `0.0f`,
		int	normalsK = `0`,
		float	normalsRadius = `0.0f`,
		float	groundNormalsUp = `0.0f`,
		bool	deskewing = `false`
	)

Sets lidar scan processing parameters.

Configures how lidar scans are processed, including conversion from depth images, filtering, normal estimation, and deskewing.

Parameters

fromDepth	If true, generate scans from depth images instead of raw lidar data
downsampleStep	Downsampling step: If fromDepth is true: Image decimation step for depth images (1 = no decimation, 2 = every other pixel in both dimensions, etc.) If fromDepth is false: Point skipping step for laser scan data (1 = no skipping, 2 = every other point, etc.)
rangeMin	Minimum range in meters (points closer are filtered out, 0 = no minimum)
rangeMax	Maximum range in meters (points farther are filtered out, 0 = no maximum)
voxelSize	Voxel size in meters for downsampling (0 = no voxelization)
normalsK	Number of neighbors for K-nearest neighbors normal estimation (0 = no normals)
normalsRadius	Radius in meters for radius-based normal estimation (0 = use K-nearest)
groundNormalsUp	Threshold for forcing ground normals upward (0.0-1.0, 0.8 = strong, 0.0 = disabled)
deskewing	If true, apply deskewing using odometry poses

◆ postUpdate()

void rtabmap::SensorCaptureThread::postUpdate	(	SensorData *	data,
		SensorCaptureInfo *	info = `0`
	)		const

Post-processing hook called before posting SensorEvent.

This method is called after all processing is complete but before the SensorEvent is posted. Derived classes can override this to perform additional processing or modifications to the data.

Parameters

data	Pointer to the processed sensor data (can be modified)
info	Pointer to the sensor capture info (can be modified, may be null)

◆ isPaused()

bool rtabmap::SensorCaptureThread::isPaused ( ) const

inline

Checks if the capture thread is paused.

Returns: True if paused (not running), false if running

Definition at line 469 of file SensorCaptureThread.h.

◆ isCapturing()

bool rtabmap::SensorCaptureThread::isCapturing ( ) const

inline

Checks if the capture thread is actively capturing.

Returns: True if capturing (running), false if not running

Definition at line 475 of file SensorCaptureThread.h.

◆ odomProvided()

bool rtabmap::SensorCaptureThread::odomProvided ( ) const

Checks if odometry is provided by the sensors.

Returns: True if an odometry sensor is configured, false otherwise

◆ camera()

Camera * rtabmap::SensorCaptureThread::camera ( )

inline

Returns the camera pointer.

Returns: Pointer to the camera (null if not set). Valid until SensorCaptureThread is deleted.

Definition at line 487 of file SensorCaptureThread.h.

◆ odomSensor()

SensorCapture * rtabmap::SensorCaptureThread::odomSensor ( )

inline

Returns the odometry sensor pointer.

Returns: Pointer to the odometry sensor (null if not set). Valid until SensorCaptureThread is deleted.

Definition at line 493 of file SensorCaptureThread.h.

◆ lidar()

Lidar * rtabmap::SensorCaptureThread::lidar ( )

inline

Returns the lidar pointer.

Returns: Pointer to the lidar (null if not set). Valid until SensorCaptureThread is deleted.

Definition at line 499 of file SensorCaptureThread.h.

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

corelib/include/rtabmap/core/SensorCaptureThread.h

Public Member Functions

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ SensorCaptureThread() [1/6]

◆ SensorCaptureThread() [2/6]

◆ SensorCaptureThread() [3/6]

◆ SensorCaptureThread() [4/6]

◆ SensorCaptureThread() [5/6]

◆ SensorCaptureThread() [6/6]

◆ ~SensorCaptureThread()

Member Function Documentation

◆ setMirroringEnabled()

◆ setStereoExposureCompensation()

◆ setColorOnly()

◆ setImageDecimation()

◆ setHistogramMethod()

◆ setStereoToDepth()

◆ setFrameRate()

◆ setImageRate()

◆ setDistortionModel()

◆ setOdomAsGroundTruth()

◆ enableBilateralFiltering()

◆ disableBilateralFiltering()

◆ enableIMUFiltering()

◆ enableFeatureDetection()

◆ setScanParameters() [1/2]

◆ setScanParameters() [2/2]

◆ postUpdate()

◆ isPaused()

◆ isCapturing()

◆ odomProvided()

◆ camera()

◆ odomSensor()

◆ lidar()