Event class for sensor data communication in RTAB-Map's event system. More...

#include <SensorEvent.h>

Inheritance diagram for rtabmap::SensorEvent:

Collaboration diagram for rtabmap::SensorEvent:

Public Types
enum	Code { kCodeData , kCodeNoMoreImages }
	Event codes for SensorEvent. More...

Public Member Functions
	SensorEvent (const cv::Mat &image, int seq=0, double stamp=0.0, const std::string &cameraName=std::string())
	Constructor from a single image.

	SensorEvent ()
	Constructor for end-of-stream event.

	SensorEvent (const SensorData &data)
	Constructor from SensorData.

	SensorEvent (const SensorData &data, const std::string &cameraName)
	Constructor from SensorData with camera name.

	SensorEvent (const SensorData &data, const SensorCaptureInfo &sensorCaptureInfo)
	Constructor from SensorData with full capture info.

const SensorData &	data () const
	Returns the sensor data contained in this event.

const std::string &	cameraName () const
	Returns the camera name.

const SensorCaptureInfo &	info () const
	Returns the sensor capture information.

virtual	~SensorEvent ()
	Virtual destructor.

virtual std::string	getClassName () const
	Returns the class name for event identification.

Public Member Functions inherited from UEvent
int	getCode () const

Additional Inherited Members
Protected Member Functions inherited from UEvent
	UEvent (int code=0)

Detailed Description

Event class for sensor data communication in RTAB-Map's event system.

SensorEvent is an event class that extends UEvent and is used to communicate sensor data (images, depth, laser scans, etc.) through RTAB-Map's event-driven architecture. It is typically posted by sensor capture threads and handled by event handlers (e.g., RtabmapThread, DataRecorder, CalibrationDialog).

The class supports two event codes:

kCodeData: Indicates that new sensor data is available
kCodeNoMoreImages: Indicates that the sensor stream has ended (end of file, camera disconnected, etc.)

SensorEvent carries:

SensorData: The actual sensor data (images, depth, scans, camera models, etc.)
SensorCaptureInfo: Metadata about the capture (camera name, timing information, odometry pose, etc.)

Note: This class is part of RTAB-Map's event system. Handlers should check the event code and class name before processing the event.

See also: UEvent; SensorData; SensorCaptureInfo; UEventsHandler; UEventsManager

Definition at line 63 of file SensorEvent.h.

Member Enumeration Documentation

◆ Code

enum rtabmap::SensorEvent::Code

Event codes for SensorEvent.

Enumerator
kCodeData	Event code indicating new sensor data is available.
kCodeNoMoreImages	Event code indicating the sensor stream has ended.

Definition at line 71 of file SensorEvent.h.

Constructor & Destructor Documentation

◆ SensorEvent() [1/5]

rtabmap::SensorEvent::SensorEvent	(	const cv::Mat &	image,
		int	seq = `0`,
		double	stamp = `0.0`,
		const std::string &	cameraName = `std::string()`
	)

inline

Constructor from a single image.

Creates a SensorEvent with kCodeData containing a single image. This is a convenience constructor for simple image-only sensor data.

Parameters

image	The image to include in the sensor data
seq	Sequence number (default: 0)
stamp	Timestamp in seconds (default: 0.0)
cameraName	Optional camera name identifier (default: empty)

Definition at line 88 of file SensorEvent.h.

◆ SensorEvent() [2/5]

rtabmap::SensorEvent::SensorEvent ( )

inline

Constructor for end-of-stream event.

Creates a SensorEvent with kCodeNoMoreImages to signal that the sensor stream has ended (e.g., end of file, camera disconnected).

Note: This constructor does not include any sensor data.

Definition at line 103 of file SensorEvent.h.

◆ SensorEvent() [3/5]

rtabmap::SensorEvent::SensorEvent ( const SensorData & data )

inline

Constructor from SensorData.

Creates a SensorEvent with kCodeData containing the provided SensorData.

Parameters

data	The sensor data to include in the event

Definition at line 115 of file SensorEvent.h.

◆ SensorEvent() [4/5]

rtabmap::SensorEvent::SensorEvent	(	const SensorData &	data,
		const std::string &	cameraName
	)

inline

Constructor from SensorData with camera name.

Creates a SensorEvent with kCodeData containing the provided SensorData and camera name.

Parameters

data	The sensor data to include in the event
cameraName	Camera name identifier

Definition at line 130 of file SensorEvent.h.

◆ SensorEvent() [5/5]

rtabmap::SensorEvent::SensorEvent	(	const SensorData &	data,
		const SensorCaptureInfo &	sensorCaptureInfo
	)

inline

Constructor from SensorData with full capture info.

Creates a SensorEvent with kCodeData containing the provided SensorData and complete sensor capture information (camera name, timing, odometry, etc.).

Parameters

data	The sensor data to include in the event
sensorCaptureInfo	Complete sensor capture information

Definition at line 146 of file SensorEvent.h.

◆ ~SensorEvent()

virtual rtabmap::SensorEvent::~SensorEvent ( )

inlinevirtual

Virtual destructor.

Definition at line 185 of file SensorEvent.h.

Member Function Documentation

◆ data()

const SensorData & rtabmap::SensorEvent::data ( ) const

inline

Returns the sensor data contained in this event.

Returns the SensorData object containing images, depth, laser scans, camera models, and other sensor information.

Returns: Const reference to the sensor data

Definition at line 161 of file SensorEvent.h.

◆ cameraName()

const std::string & rtabmap::SensorEvent::cameraName ( ) const

inline

Returns the camera name.

Returns the camera name identifier from the sensor capture info.

Returns: Const reference to the camera name string

Definition at line 170 of file SensorEvent.h.

◆ info()

const SensorCaptureInfo & rtabmap::SensorEvent::info ( ) const

inline

Returns the sensor capture information.

Returns the complete sensor capture information including camera name, timing information, odometry pose, covariance, and other metadata.

Returns: Const reference to the sensor capture info

Definition at line 180 of file SensorEvent.h.

◆ getClassName()

virtual std::string rtabmap::SensorEvent::getClassName ( ) const

inlinevirtual

Returns the class name for event identification.

Returns "SensorEvent" to allow event handlers to identify this event type.

Returns: Class name string "SensorEvent"

Implements UEvent.

Definition at line 194 of file SensorEvent.h.

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

corelib/include/rtabmap/core/SensorEvent.h

Public Types

Public Member Functions

Additional Inherited Members

Detailed Description

Member Enumeration Documentation

◆ Code

Constructor & Destructor Documentation

◆ SensorEvent() [1/5]

◆ SensorEvent() [2/5]

◆ SensorEvent() [3/5]

◆ SensorEvent() [4/5]

◆ SensorEvent() [5/5]

◆ ~SensorEvent()

Member Function Documentation

◆ data()

◆ cameraName()

◆ info()

◆ getClassName()