<divclass="line"><aid="l00005"name="l00005"></a><spanclass="lineno"> 5</span><spanclass="comment">Redistribution and use in source and binary forms, with or without</span></div>
<divclass="line"><aid="l00006"name="l00006"></a><spanclass="lineno"> 6</span><spanclass="comment">modification, are permitted provided that the following conditions are met:</span></div>
<divclass="line"><aid="l00007"name="l00007"></a><spanclass="lineno"> 7</span><spanclass="comment"> * Redistributions of source code must retain the above copyright</span></div>
<divclass="line"><aid="l00008"name="l00008"></a><spanclass="lineno"> 8</span><spanclass="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<divclass="line"><aid="l00009"name="l00009"></a><spanclass="lineno"> 9</span><spanclass="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<divclass="line"><aid="l00010"name="l00010"></a><spanclass="lineno"> 10</span><spanclass="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<divclass="line"><aid="l00011"name="l00011"></a><spanclass="lineno"> 11</span><spanclass="comment"> documentation and/or other materials provided with the distribution.</span></div>
<divclass="line"><aid="l00012"name="l00012"></a><spanclass="lineno"> 12</span><spanclass="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<divclass="line"><aid="l00013"name="l00013"></a><spanclass="lineno"> 13</span><spanclass="comment"> names of its contributors may be used to endorse or promote products</span></div>
<divclass="line"><aid="l00014"name="l00014"></a><spanclass="lineno"> 14</span><spanclass="comment"> derived from this software without specific prior written permission.</span></div>
<divclass="line"><aid="l00016"name="l00016"></a><spanclass="lineno"> 16</span><spanclass="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND</span></div>
<divclass="line"><aid="l00017"name="l00017"></a><spanclass="lineno"> 17</span><spanclass="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<divclass="line"><aid="l00018"name="l00018"></a><spanclass="lineno"> 18</span><spanclass="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<divclass="line"><aid="l00019"name="l00019"></a><spanclass="lineno"> 19</span><spanclass="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<divclass="line"><aid="l00020"name="l00020"></a><spanclass="lineno"> 20</span><spanclass="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<divclass="line"><aid="l00021"name="l00021"></a><spanclass="lineno"> 21</span><spanclass="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<divclass="line"><aid="l00022"name="l00022"></a><spanclass="lineno"> 22</span><spanclass="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<divclass="line"><aid="l00023"name="l00023"></a><spanclass="lineno"> 23</span><spanclass="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<divclass="line"><aid="l00024"name="l00024"></a><spanclass="lineno"> 24</span><spanclass="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<divclass="line"><aid="l00025"name="l00025"></a><spanclass="lineno"> 25</span><spanclass="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<divclass="line"><aid="l00047"name="l00047"></a><spanclass="lineno"> 47</span><spanclass="keyword">const</span> std::string & pathLeftImages,</div>
<divclass="line"><aid="l00048"name="l00048"></a><spanclass="lineno"> 48</span><spanclass="keyword">const</span> std::string & pathRightImages,</div>
<divclass="line"><aid="l00053"name="l00053"></a><spanclass="lineno"> 53</span><spanclass="keyword">const</span> std::string & pathLeftRightImages,</div>
<divclass="line"><aid="l00061"name="l00061"></a><spanclass="lineno"> 61</span><spanclass="comment">// Enable multi-camera stereo mode. Each left/right image in the folders is</span></div>
<divclass="line"><aid="l00062"name="l00062"></a><spanclass="lineno"> 62</span><spanclass="comment">// expected to be the horizontal concatenation of N sub-camera images of a</span></div>
<divclass="line"><aid="l00063"name="l00063"></a><spanclass="lineno"> 63</span><spanclass="comment">// stereo rig, all sharing the same base name (timestamp or node id), e.g.</span></div>
<divclass="line"><aid="l00064"name="l00064"></a><spanclass="lineno"> 64</span><spanclass="comment">// "1779318290.502227.jpg". Two calibration files per sub-camera must exist in</span></div>
<divclass="line"><aid="l00065"name="l00065"></a><spanclass="lineno"> 65</span><spanclass="comment">// the calibrationFolder passed to init(), named "<prefix>_<index>_left.yaml"</span></div>
<divclass="line"><aid="l00066"name="l00066"></a><spanclass="lineno"> 66</span><spanclass="comment">// and "<prefix>_<index>_right.yaml" with index starting at 0. The number of</span></div>
<divclass="line"><aid="l00067"name="l00067"></a><spanclass="lineno"> 67</span><spanclass="comment">// cameras is auto-detected. Sub-images are split using a uniform width</span></div>
<divclass="line"><aid="l00069"name="l00069"></a><spanclass="lineno"> 69</span><spanclass="comment">// If setConfigForEachFrame() is enabled, one calibration set is loaded per frame</span></div>
<divclass="line"><aid="l00070"name="l00070"></a><spanclass="lineno"> 70</span><spanclass="comment">// using each image's base name as prefix. Otherwise a single calibration set is</span></div>
<divclass="line"><aid="l00071"name="l00071"></a><spanclass="lineno"> 71</span><spanclass="comment">// loaded and reused for all frames, using the cameraName passed to init() as</span></div>
<divclass="line"><aid="l00072"name="l00072"></a><spanclass="lineno"> 72</span><spanclass="comment">// prefix (it may differ from any image name), falling back to the first image's</span></div>
<divclass="line"><aid="l00073"name="l00073"></a><spanclass="lineno"> 73</span><spanclass="comment">// base name when cameraName is empty.</span></div>
<divclass="line"><aid="l00074"name="l00074"></a><spanclass="lineno"> 74</span><spanclass="comment">// Note that it is not recommended to use setConfigForEachFrame() if images have</span></div>
<divclass="line"><aid="l00075"name="l00075"></a><spanclass="lineno"> 75</span><spanclass="comment">// to be rectified, a rectification matrix would need to be re-initilaized for each</span></div>
<divclass="line"><aid="l00090"name="l00090"></a><spanclass="lineno"> 90</span><spanclass="comment">// Load the sub-camera stereo models of a frame from calibration files named</span></div>
<divclass="line"><aid="l00092"name="l00092"></a><spanclass="lineno"> 92</span><spanclass="comment">// _calibrationFolder. Returns an empty vector (and logs an error) on failure.</span></div>
<divclass="line"><aid="l00093"name="l00093"></a><spanclass="lineno"> 93</span> std::vector<StereoCameraModel> loadStereoCameraModels(<spanclass="keyword">const</span> std::string & baseName, <spanclass="keywordtype">bool</span> rectify) <spanclass="keyword">const</span>;</div>
<divclass="ttc"id="aclassrtabmap_1_1CameraStereoImages_html_a507ca5b4c37b75f4108e9aa8dad5125b"><divclass="ttname"><ahref="classrtabmap_1_1CameraStereoImages.html#a507ca5b4c37b75f4108e9aa8dad5125b">rtabmap::CameraStereoImages::getSerial</a></div><divclass="ttdeci">virtual std::string getSerial() const</div><divclass="ttdoc">Returns the sensor's serial number or unique identifier.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1CameraStereoImages_html_abc0cb4bfd56314d0003c6ce5d365cbca"><divclass="ttname"><ahref="classrtabmap_1_1CameraStereoImages.html#abc0cb4bfd56314d0003c6ce5d365cbca">rtabmap::CameraStereoImages::init</a></div><divclass="ttdeci">virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")</div><divclass="ttdoc">Initializes the sensor.</div></div>
<divclass="ttc"id="aclassrtabmap_1_1Transform_html"><divclass="ttname"><ahref="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><divclass="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><divclass="ttdef"><b>Definition</b><ahref="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
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