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2026-09-28 16:36:22 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.13</ span >
2026-08-06 22:56:24 +00:00
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< div id = "projectbrief" > Real-Time Appearance-Based Mapping</ div >
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< a href = "#pub-methods" > Public Member Functions</ a > |
< a href = "#pub-static-methods" > Static Public Member Functions</ a > |
< a href = "#pro-methods" > Protected Member Functions</ a > |
< a href = "classrtabmap_1_1CameraStereoZed-members.html" > List of all members</ a > </ div >
< div class = "headertitle" >< div class = "title" > rtabmap::CameraStereoZed Class Reference</ div ></ div >
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Inheritance diagram for rtabmap::CameraStereoZed:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classrtabmap_1_1CameraStereoZed__inherit__graph.png" border = "0" usemap = "#artabmap_1_1CameraStereoZed_inherit__map" alt = "Inheritance graph" /></ div >
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Collaboration diagram for rtabmap::CameraStereoZed:</ div >
< div class = "dyncontent" >
< div class = "center" >< img src = "classrtabmap_1_1CameraStereoZed__coll__graph.png" border = "0" usemap = "#artabmap_1_1CameraStereoZed_coll__map" alt = "Collaboration graph" /></ div >
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< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-methods" name = "pub-methods" ></ a >
Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a5eb085151dc8c4873db86a3fd7d048cc" id = "r_a5eb085151dc8c4873db86a3fd7d048cc" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a5eb085151dc8c4873db86a3fd7d048cc" name = "a5eb085151dc8c4873db86a3fd7d048cc" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > CameraStereoZed</ b > (int deviceId, int resolution=-1, int quality=1, int sensingMode=0, int confidenceThr=100, bool computeOdometry=false, float imageRate=0.0f, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool selfCalibration=true, bool odomForce3DoF=false, int texturenessConfidenceThr=90)</ td ></ tr >
< tr class = "separator:a5eb085151dc8c4873db86a3fd7d048cc" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aa4993f0026204416dd2761d66ecccbaf" id = "r_aa4993f0026204416dd2761d66ecccbaf" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aa4993f0026204416dd2761d66ecccbaf" name = "aa4993f0026204416dd2761d66ecccbaf" ></ a >
  </ td >< td class = "memItemRight" valign = "bottom" >< b > CameraStereoZed</ b > (const std::string & svoFilePath, int quality=1, int sensingMode=0, int confidenceThr=100, bool computeOdometry=false, float imageRate=0.0f, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > (), bool selfCalibration=true, bool odomForce3DoF=false, int texturenessConfidenceThr=90)</ td ></ tr >
< tr class = "separator:aa4993f0026204416dd2761d66ecccbaf" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a80088853404d1c4e89b5f29933d7b020" id = "r_a80088853404d1c4e89b5f29933d7b020" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CameraStereoZed.html#a80088853404d1c4e89b5f29933d7b020" > init</ a > (const std::string & calibrationFolder=" ." , const std::string & cameraName="" )</ td ></ tr >
< tr class = "memdesc:a80088853404d1c4e89b5f29933d7b020" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Initializes the sensor. < br /></ td ></ tr >
< tr class = "separator:a80088853404d1c4e89b5f29933d7b020" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a48041ccbcdf5215b54ed29280603bea0" id = "r_a48041ccbcdf5215b54ed29280603bea0" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CameraStereoZed.html#a48041ccbcdf5215b54ed29280603bea0" > isCalibrated</ a > () const</ td ></ tr >
< tr class = "separator:a48041ccbcdf5215b54ed29280603bea0" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a8c13902c0c25565357e6f7e0a16f0838" id = "r_a8c13902c0c25565357e6f7e0a16f0838" >< td class = "memItemLeft" align = "right" valign = "top" > virtual std::string  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CameraStereoZed.html#a8c13902c0c25565357e6f7e0a16f0838" > getSerial</ a > () const</ td ></ tr >
< tr class = "memdesc:a8c13902c0c25565357e6f7e0a16f0838" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the sensor's serial number or unique identifier. < br /></ td ></ tr >
< tr class = "separator:a8c13902c0c25565357e6f7e0a16f0838" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac57ca4d52b5a0a3c3911ffa4a139564c" id = "r_ac57ca4d52b5a0a3c3911ffa4a139564c" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CameraStereoZed.html#ac57ca4d52b5a0a3c3911ffa4a139564c" > odomProvided</ a > () const</ td ></ tr >
< tr class = "memdesc:ac57ca4d52b5a0a3c3911ffa4a139564c" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Checks if the sensor provides odometry poses. < br /></ td ></ tr >
< tr class = "separator:ac57ca4d52b5a0a3c3911ffa4a139564c" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1fceb3208a256d1023739a60f5931def" id = "r_a1fceb3208a256d1023739a60f5931def" >< td class = "memItemLeft" align = "right" valign = "top" > virtual bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CameraStereoZed.html#a1fceb3208a256d1023739a60f5931def" > getPose</ a > (double stamp, < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, cv::Mat & covariance, double maxWaitTime=0.0)</ td ></ tr >
< tr class = "memdesc:a1fceb3208a256d1023739a60f5931def" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Gets the sensor's pose estimate at a specific timestamp. < br /></ td ></ tr >
< tr class = "separator:a1fceb3208a256d1023739a60f5931def" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0c4f09b4babc986c19c5ead734e496e6" id = "r_a0c4f09b4babc986c19c5ead734e496e6" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a0c4f09b4babc986c19c5ead734e496e6" name = "a0c4f09b4babc986c19c5ead734e496e6" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > postInterIMUPublic</ b > (const < a class = "el" href = "classrtabmap_1_1IMU.html" > IMU</ a > & imu, double stamp)</ td ></ tr >
< tr class = "separator:a0c4f09b4babc986c19c5ead734e496e6" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aefcd11c66782bead4889b15ff4a88050" id = "r_aefcd11c66782bead4889b15ff4a88050" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "aefcd11c66782bead4889b15ff4a88050" name = "aefcd11c66782bead4889b15ff4a88050" ></ a >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > setRightGrayScale</ b > (bool enabled=true)</ td ></ tr >
< tr class = "separator:aefcd11c66782bead4889b15ff4a88050" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_methods_classrtabmap_1_1Camera" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classrtabmap_1_1Camera')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classrtabmap_1_1Camera.html" > rtabmap::Camera</ a ></ td ></ tr >
< tr class = "memitem:ae43544cc24470a1d42efcb5ec959b63c inherit pub_methods_classrtabmap_1_1Camera" id = "r_ae43544cc24470a1d42efcb5ec959b63c" >< td class = "memItemLeft" align = "right" valign = "top" >< a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Camera.html#ae43544cc24470a1d42efcb5ec959b63c" > takeImage</ a > (< a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > *info=0)</ td ></ tr >
< tr class = "separator:ae43544cc24470a1d42efcb5ec959b63c inherit pub_methods_classrtabmap_1_1Camera" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a5cfb75ca3d5f63e0c31633a2effae716 inherit pub_methods_classrtabmap_1_1Camera" id = "r_a5cfb75ca3d5f63e0c31633a2effae716" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Camera.html#a5cfb75ca3d5f63e0c31633a2effae716" > getImageRate</ a > () const</ td ></ tr >
< tr class = "separator:a5cfb75ca3d5f63e0c31633a2effae716 inherit pub_methods_classrtabmap_1_1Camera" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a2b89ca2dcbe020c4026d19900268311c inherit pub_methods_classrtabmap_1_1Camera" id = "r_a2b89ca2dcbe020c4026d19900268311c" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Camera.html#a2b89ca2dcbe020c4026d19900268311c" > setImageRate</ a > (float imageRate)</ td ></ tr >
< tr class = "separator:a2b89ca2dcbe020c4026d19900268311c inherit pub_methods_classrtabmap_1_1Camera" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af03be5ebafb6ebf9341d8de8d7fea4c5 inherit pub_methods_classrtabmap_1_1Camera" id = "r_af03be5ebafb6ebf9341d8de8d7fea4c5" >< td class = "memItemLeft" align = "right" valign = "top" >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > setInterIMUPublishing</ b > (bool enabled, < a class = "el" href = "classrtabmap_1_1IMUFilter.html" > IMUFilter</ a > *filter=0, bool baseFrameConversion=false)</ td ></ tr >
< tr class = "separator:af03be5ebafb6ebf9341d8de8d7fea4c5 inherit pub_methods_classrtabmap_1_1Camera" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:ac1f77dd10cc2f6e4f75d087c29726802 inherit pub_methods_classrtabmap_1_1Camera" id = "r_ac1f77dd10cc2f6e4f75d087c29726802" >< td class = "memItemLeft" align = "right" valign = "top" > bool  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Camera.html#ac1f77dd10cc2f6e4f75d087c29726802" > isInterIMUPublishing</ a > () const</ td ></ tr >
< tr class = "separator:ac1f77dd10cc2f6e4f75d087c29726802 inherit pub_methods_classrtabmap_1_1Camera" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a03f166a742e250d7db2693affe92c387 inherit pub_methods_classrtabmap_1_1Camera" id = "r_a03f166a742e250d7db2693affe92c387" >< td class = "memItemLeft" align = "right" valign = "top" >
bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > initFromFile</ b > (const std::string & calibrationPath)</ td ></ tr >
< tr class = "separator:a03f166a742e250d7db2693affe92c387 inherit pub_methods_classrtabmap_1_1Camera" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pub_methods_classrtabmap_1_1SensorCapture" >< td colspan = "2" onclick = "javascript:toggleInherit('pub_methods_classrtabmap_1_1SensorCapture')" >< img src = "closed.png" alt = "-" />   Public Member Functions inherited from < a class = "el" href = "classrtabmap_1_1SensorCapture.html" > rtabmap::SensorCapture</ a ></ td ></ tr >
< tr class = "memitem:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_a0578f6540ecdf8c4b3b747d511ecb625" >< td class = "memItemLeft" align = "right" valign = "top" >
virtual  </ td >< td class = "memItemRight" valign = "bottom" >< b > ~SensorCapture</ b > ()</ td ></ tr >
< tr class = "memdesc:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Virtual destructor. < br /></ td ></ tr >
< tr class = "separator:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_aca06c645212a7501a246ea593406bcaf" >< td class = "memItemLeft" align = "right" valign = "top" >< a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf" > takeData</ a > (< a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > *info=0)</ td ></ tr >
< tr class = "memdesc:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Captures sensor data with frame rate control. < br /></ td ></ tr >
< tr class = "separator:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_af7de847c118ec1ba77a5c9f29f7efece" >< td class = "memItemLeft" align = "right" valign = "top" > float  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#af7de847c118ec1ba77a5c9f29f7efece" > getFrameRate</ a > () const</ td ></ tr >
< tr class = "memdesc:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the target frame rate. < br /></ td ></ tr >
< tr class = "separator:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a99829249c51fd08c32310b788b00b663 inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_a99829249c51fd08c32310b788b00b663" >< td class = "memItemLeft" align = "right" valign = "top" > const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > &  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#a99829249c51fd08c32310b788b00b663" > getLocalTransform</ a > () const</ td ></ tr >
< tr class = "memdesc:a99829249c51fd08c32310b788b00b663 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Returns the local transform from base frame to sensor frame. < br /></ td ></ tr >
< tr class = "separator:a99829249c51fd08c32310b788b00b663 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_a1e195970f52334094174783c5fd06456" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#a1e195970f52334094174783c5fd06456" > setFrameRate</ a > (float frameRate)</ td ></ tr >
< tr class = "memdesc:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sets the target frame rate. < br /></ td ></ tr >
< tr class = "separator:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_a0ea4e217047c234bcfcb9866e36ea7c0" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#a0ea4e217047c234bcfcb9866e36ea7c0" > setLocalTransform</ a > (const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform)</ td ></ tr >
< tr class = "memdesc:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Sets the local transform from base frame to sensor frame. < br /></ td ></ tr >
< tr class = "separator:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:afa9923bb4a3b88e6dbf4c8ae7f060437 inherit pub_methods_classrtabmap_1_1SensorCapture" id = "r_afa9923bb4a3b88e6dbf4c8ae7f060437" >< td class = "memItemLeft" align = "right" valign = "top" > void  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#afa9923bb4a3b88e6dbf4c8ae7f060437" > resetTimer</ a > ()</ td ></ tr >
< tr class = "memdesc:afa9923bb4a3b88e6dbf4c8ae7f060437 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Resets the frame rate timer. < br /></ td ></ tr >
< tr class = "separator:afa9923bb4a3b88e6dbf4c8ae7f060437 inherit pub_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pub-static-methods" name = "pub-static-methods" ></ a >
Static Public Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:a55eb88c369078cc20b78b0fc9e913377" id = "r_a55eb88c369078cc20b78b0fc9e913377" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a55eb88c369078cc20b78b0fc9e913377" name = "a55eb88c369078cc20b78b0fc9e913377" ></ a >
static bool  </ td >< td class = "memItemRight" valign = "bottom" >< b > available</ b > ()</ td ></ tr >
< tr class = "separator:a55eb88c369078cc20b78b0fc9e913377" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a2079a8879a9bb4734c957da8e4a461db" id = "r_a2079a8879a9bb4734c957da8e4a461db" >< td class = "memItemLeft" align = "right" valign = "top" >< a id = "a2079a8879a9bb4734c957da8e4a461db" name = "a2079a8879a9bb4734c957da8e4a461db" ></ a >
static int  </ td >< td class = "memItemRight" valign = "bottom" >< b > sdkVersion</ b > ()</ td ></ tr >
< tr class = "separator:a2079a8879a9bb4734c957da8e4a461db" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:aab6005c68f61b37ee1919ef6828b32a4" id = "r_aab6005c68f61b37ee1919ef6828b32a4" >< td class = "memItemLeft" align = "right" valign = "top" > static std::string  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CameraStereoZed.html#aab6005c68f61b37ee1919ef6828b32a4" > getNeuralModelWarning</ a > (int quality)</ td ></ tr >
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</ table >< table class = "memberdecls" >
< tr class = "heading" >< td colspan = "2" >< h2 class = "groupheader" >< a id = "pro-methods" name = "pro-methods" ></ a >
Protected Member Functions</ h2 ></ td ></ tr >
< tr class = "memitem:aa6ce74d9d160300a895a01769eecd5e1" id = "r_aa6ce74d9d160300a895a01769eecd5e1" >< td class = "memItemLeft" align = "right" valign = "top" > virtual < a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1CameraStereoZed.html#aa6ce74d9d160300a895a01769eecd5e1" > captureImage</ a > (< a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > *info=0)</ td ></ tr >
< tr class = "separator:aa6ce74d9d160300a895a01769eecd5e1" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_methods_classrtabmap_1_1Camera" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_methods_classrtabmap_1_1Camera')" >< img src = "closed.png" alt = "-" />   Protected Member Functions inherited from < a class = "el" href = "classrtabmap_1_1Camera.html" > rtabmap::Camera</ a ></ td ></ tr >
< tr class = "memitem:aaae7434ffa5e54f5006355779d335dd3 inherit pro_methods_classrtabmap_1_1Camera" id = "r_aaae7434ffa5e54f5006355779d335dd3" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1Camera.html#aaae7434ffa5e54f5006355779d335dd3" > Camera</ a > (float imageRate=0, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ())</ td ></ tr >
< tr class = "separator:aaae7434ffa5e54f5006355779d335dd3 inherit pro_methods_classrtabmap_1_1Camera" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:a90c716bf4383af63b275dd9b5e7ec1a6 inherit pro_methods_classrtabmap_1_1Camera" id = "r_a90c716bf4383af63b275dd9b5e7ec1a6" >< td class = "memItemLeft" align = "right" valign = "top" >
void  </ td >< td class = "memItemRight" valign = "bottom" >< b > postInterIMU</ b > (const < a class = "el" href = "classrtabmap_1_1IMU.html" > IMU</ a > & imu, double stamp)</ td ></ tr >
< tr class = "separator:a90c716bf4383af63b275dd9b5e7ec1a6 inherit pro_methods_classrtabmap_1_1Camera" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "inherit_header pro_methods_classrtabmap_1_1SensorCapture" >< td colspan = "2" onclick = "javascript:toggleInherit('pro_methods_classrtabmap_1_1SensorCapture')" >< img src = "closed.png" alt = "-" />   Protected Member Functions inherited from < a class = "el" href = "classrtabmap_1_1SensorCapture.html" > rtabmap::SensorCapture</ a ></ td ></ tr >
< tr class = "memitem:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture" id = "r_adf4b1dfd8e5b45b8eecf938a92dbae94" >< td class = "memItemLeft" align = "right" valign = "top" >   </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#adf4b1dfd8e5b45b8eecf938a92dbae94" > SensorCapture</ a > (float frameRate=0, const < a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform=< a class = "el" href = "classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2" > Transform::getIdentity</ a > ())</ td ></ tr >
< tr class = "memdesc:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Protected constructor. < br /></ td ></ tr >
< tr class = "separator:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
< tr class = "memitem:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture" id = "r_acbffaf17772639bc65b0a5457bc56b22" >< td class = "memItemLeft" align = "right" valign = "top" > int  </ td >< td class = "memItemRight" valign = "bottom" >< a class = "el" href = "classrtabmap_1_1SensorCapture.html#acbffaf17772639bc65b0a5457bc56b22" > getNextSeqID</ a > ()</ td ></ tr >
< tr class = "memdesc:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture" >< td class = "mdescLeft" >   </ td >< td class = "mdescRight" > Gets the next sequence ID. < br /></ td ></ tr >
< tr class = "separator:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture" >< td class = "memSeparator" colspan = "2" >   </ td ></ tr >
</ table >
< a name = "details" id = "details" ></ a >< h2 class = "groupheader" > Detailed Description</ h2 >
< div class = "textblock" >
< p class = "definition" > Definition at line < a class = "el" href = "CameraStereoZed_8h_source.html#l00043" > 43</ a > of file < a class = "el" href = "CameraStereoZed_8h_source.html" > CameraStereoZed.h</ a > .</ p >
</ div >< h2 class = "groupheader" > Member Function Documentation</ h2 >
< a id = "a80088853404d1c4e89b5f29933d7b020" name = "a80088853404d1c4e89b5f29933d7b020" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a80088853404d1c4e89b5f29933d7b020" > ◆  </ a ></ span > init()</ h2 >
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< td class = "memname" > virtual bool rtabmap::CameraStereoZed::init </ td >
< td > (</ td >
< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > calibrationFolder</ em > = < code > " ." </ code > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > const std::string &  </ td >
< td class = "paramname" >< em > cameraName</ em > = < code > "" </ code >   </ td >
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< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > Initializes the sensor. </ p >
< p > Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:</ p >< ul >
< li > Opening device connections or file streams</ li >
< li > Loading camera calibration parameters</ li >
< li > Configuring sensor settings</ li >
</ ul >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramname" > calibrationFolder</ td >< td > Directory path where calibration files are located (default: current directory ".") </ td ></ tr >
< tr >< td class = "paramname" > cameraName</ td >< td > Base name of the camera for loading calibration files (default: empty string) </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd > True if initialization was successful, false otherwise</ dd ></ dl >
< dl class = "section note" >< dt > Note</ dt >< dd > Must be called before calling < a class = "el" href = "classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf" title = "Captures sensor data with frame rate control." > takeData()</ a > or captureData() </ dd ></ dl >
< p > Implements < a class = "el" href = "classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a" > rtabmap::SensorCapture</ a > .</ p >
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< a id = "a48041ccbcdf5215b54ed29280603bea0" name = "a48041ccbcdf5215b54ed29280603bea0" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a48041ccbcdf5215b54ed29280603bea0" > ◆  </ a ></ span > isCalibrated()</ h2 >
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< td class = "memname" > virtual bool rtabmap::CameraStereoZed::isCalibrated </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< span class = "mlabels" >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p > Implements < a class = "el" href = "classrtabmap_1_1Camera.html" > rtabmap::Camera</ a > .</ p >
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< a id = "a8c13902c0c25565357e6f7e0a16f0838" name = "a8c13902c0c25565357e6f7e0a16f0838" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a8c13902c0c25565357e6f7e0a16f0838" > ◆  </ a ></ span > getSerial()</ h2 >
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< td class = "memname" > virtual std::string rtabmap::CameraStereoZed::getSerial </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< p > Returns the sensor's serial number or unique identifier. </ p >
< p > 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).</ p >
< dl class = "section return" >< dt > Returns</ dt >< dd > String identifier for the sensor </ dd ></ dl >
< p > Implements < a class = "el" href = "classrtabmap_1_1SensorCapture.html#a7830e571e45752f9d8f30fa806f6aa64" > rtabmap::SensorCapture</ a > .</ p >
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< a id = "ac57ca4d52b5a0a3c3911ffa4a139564c" name = "ac57ca4d52b5a0a3c3911ffa4a139564c" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#ac57ca4d52b5a0a3c3911ffa4a139564c" > ◆  </ a ></ span > odomProvided()</ h2 >
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< td class = "memname" > virtual bool rtabmap::CameraStereoZed::odomProvided </ td >
< td > (</ td >
< td class = "paramname" ></ td >< td > )</ td >
< td > const</ td >
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< p > Checks if the sensor provides odometry poses. </ p >
< p > Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.</ p >
< dl class = "section return" >< dt > Returns</ dt >< dd > True if the sensor provides odometry poses, false otherwise</ dd ></ dl >
< dl class = "section note" >< dt > Note</ dt >< dd > Default implementation returns false. Derived classes should override if they support pose estimation.</ dd ></ dl >
< dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classrtabmap_1_1CameraStereoZed.html#a1fceb3208a256d1023739a60f5931def" title = "Gets the sensor's pose estimate at a specific timestamp." > getPose()</ a > </ dd ></ dl >
< p > Reimplemented from < a class = "el" href = "classrtabmap_1_1SensorCapture.html#aee217767808a9df9c63a27b284461c89" > rtabmap::SensorCapture</ a > .</ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#a1fceb3208a256d1023739a60f5931def" > ◆  </ a ></ span > getPose()</ h2 >
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< td class = "memname" > virtual bool rtabmap::CameraStereoZed::getPose </ td >
< td > (</ td >
< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > stamp</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1Transform.html" > Transform</ a > &  </ td >
< td class = "paramname" >< em > pose</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > cv::Mat &  </ td >
< td class = "paramname" >< em > covariance</ em > , </ td >
</ tr >
< tr >
< td class = "paramkey" ></ td >
< td ></ td >
< td class = "paramtype" > double  </ td >
< td class = "paramname" >< em > maxWaitTime</ em > = < code > 0.0</ code >   </ td >
</ tr >
< tr >
< td ></ td >
< td > )</ td >
< td ></ td >< td ></ td >
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< p > Gets the sensor's pose estimate at a specific timestamp. </ p >
< p > 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.</ p >
< dl class = "params" >< dt > Parameters</ dt >< dd >
< table class = "params" >
< tr >< td class = "paramdir" ></ td >< td class = "paramname" > stamp</ td >< td > Timestamp in seconds for which to query the pose </ td ></ tr >
< tr >< td class = "paramdir" > [out]</ td >< td class = "paramname" > pose</ td >< td > Output transform representing the sensor pose </ td ></ tr >
< tr >< td class = "paramdir" > [out]</ td >< td class = "paramname" > covariance</ td >< td > Output covariance matrix (6x6) representing twist uncertainty </ td ></ tr >
< tr >< td class = "paramdir" ></ td >< td class = "paramname" > maxWaitTime</ td >< td > Maximum time in seconds to wait for pose data (default: 0.06) </ td ></ tr >
</ table >
</ dd >
</ dl >
< dl class = "section return" >< dt > Returns</ dt >< dd > True if pose was successfully retrieved, false otherwise</ dd ></ dl >
< dl class = "section note" >< dt > Note</ dt >< dd > Default implementation returns false. Derived classes should override if they support pose estimation.</ dd ></ dl >
< dl class = "section see" >< dt > See also</ dt >< dd >< a class = "el" href = "classrtabmap_1_1CameraStereoZed.html#ac57ca4d52b5a0a3c3911ffa4a139564c" title = "Checks if the sensor provides odometry poses." > odomProvided()</ a > </ dd ></ dl >
< p > Reimplemented from < a class = "el" href = "classrtabmap_1_1SensorCapture.html#a2f940d75366088bfae0164e1803ffe9a" > rtabmap::SensorCapture</ a > .</ p >
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< a id = "aab6005c68f61b37ee1919ef6828b32a4" name = "aab6005c68f61b37ee1919ef6828b32a4" ></ a >
< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aab6005c68f61b37ee1919ef6828b32a4" > ◆  </ a ></ span > getNeuralModelWarning()</ h2 >
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< td class = "memname" > static std::string rtabmap::CameraStereoZed::getNeuralModelWarning </ td >
< td > (</ td >
< td class = "paramtype" > int  </ td >
< td class = "paramname" >< em > quality</ em ></ td >< td > )</ td >
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< span class = "mlabels" >< span class = "mlabel" > static</ span ></ span > </ td >
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< p > If the given ZED depth mode (quality: same encoding as the constructor) is a NEURAL mode whose AI model isn't yet downloaded/optimized for the GPU, returns a human-readable warning that the first start will be slower (the ZED SDK downloads/optimizes the model during < a class = "el" href = "classrtabmap_1_1CameraStereoZed.html#a80088853404d1c4e89b5f29933d7b020" title = "Initializes the sensor." > init()</ a > ). Returns an empty string when the model is ready, the mode isn't neural, or the SDK/build doesn't support the check. </ p >
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< h2 class = "memtitle" >< span class = "permalink" >< a href = "#aa6ce74d9d160300a895a01769eecd5e1" > ◆  </ a ></ span > captureImage()</ h2 >
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< td class = "memname" > virtual < a class = "el" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > rtabmap::CameraStereoZed::captureImage </ td >
< td > (</ td >
< td class = "paramtype" >< a class = "el" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > *  </ td >
< td class = "paramname" >< em > info</ em > = < code > 0</ code ></ td >< td > )</ td >
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< span class = "mlabels" >< span class = "mlabel" > protected</ span >< span class = "mlabel" > virtual</ span ></ span > </ td >
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< p > Implements < a class = "el" href = "classrtabmap_1_1Camera.html" > rtabmap::Camera</ a > .</ p >
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< hr /> The documentation for this class was generated from the following file:< ul >
< li > corelib/include/rtabmap/core/camera/< a class = "el" href = "CameraStereoZed_8h_source.html" > CameraStereoZed.h</ a ></ li >
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< li class = "navelem" >< a class = "el" href = "namespacertabmap.html" > rtabmap</ a ></ li >< li class = "navelem" >< a class = "el" href = "classrtabmap_1_1CameraStereoZed.html" > CameraStereoZed</ a ></ li >
< li class = "footer" > Generated by < a href = "https://www.doxygen.org/index.html" >< img class = "footer" src = "doxygen.svg" width = "104" height = "31" alt = "doxygen" /></ a > 1.9.8 </ li >
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