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2026-09-20 06:51:14 +00:00
< div id = "projectname" > RTAB-Map< span id = "projectnumber" >   0.23.12</ span >
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< div class = "fragment" >< div class = "line" >< a id = "l00001" name = "l00001" ></ a >< span class = "lineno" > 1</ span >< span class = "comment" > /*</ span ></ div >
< div class = "line" >< a id = "l00002" name = "l00002" ></ a >< span class = "lineno" > 2</ span >< span class = "comment" > Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</ span ></ div >
< div class = "line" >< a id = "l00003" name = "l00003" ></ a >< span class = "lineno" > 3</ span >< span class = "comment" > All rights reserved.</ span ></ div >
< div class = "line" >< a id = "l00004" name = "l00004" ></ a >< span class = "lineno" > 4</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00005" name = "l00005" ></ a >< span class = "lineno" > 5</ span >< span class = "comment" > Redistribution and use in source and binary forms, with or without</ span ></ div >
< div class = "line" >< a id = "l00006" name = "l00006" ></ a >< span class = "lineno" > 6</ span >< span class = "comment" > modification, are permitted provided that the following conditions are met:</ span ></ div >
< div class = "line" >< a id = "l00007" name = "l00007" ></ a >< span class = "lineno" > 7</ span >< span class = "comment" > * Redistributions of source code must retain the above copyright</ span ></ div >
< div class = "line" >< a id = "l00008" name = "l00008" ></ a >< span class = "lineno" > 8</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer.</ span ></ div >
< div class = "line" >< a id = "l00009" name = "l00009" ></ a >< span class = "lineno" > 9</ span >< span class = "comment" > * Redistributions in binary form must reproduce the above copyright</ span ></ div >
< div class = "line" >< a id = "l00010" name = "l00010" ></ a >< span class = "lineno" > 10</ span >< span class = "comment" > notice, this list of conditions and the following disclaimer in the</ span ></ div >
< div class = "line" >< a id = "l00011" name = "l00011" ></ a >< span class = "lineno" > 11</ span >< span class = "comment" > documentation and/or other materials provided with the distribution.</ span ></ div >
< div class = "line" >< a id = "l00012" name = "l00012" ></ a >< span class = "lineno" > 12</ span >< span class = "comment" > * Neither the name of the Universite de Sherbrooke nor the</ span ></ div >
< div class = "line" >< a id = "l00013" name = "l00013" ></ a >< span class = "lineno" > 13</ span >< span class = "comment" > names of its contributors may be used to endorse or promote products</ span ></ div >
< div class = "line" >< a id = "l00014" name = "l00014" ></ a >< span class = "lineno" > 14</ span >< span class = "comment" > derived from this software without specific prior written permission.</ span ></ div >
< div class = "line" >< a id = "l00015" name = "l00015" ></ a >< span class = "lineno" > 15</ span >< span class = "comment" ></ span > </ div >
< div class = "line" >< a id = "l00016" name = "l00016" ></ a >< span class = "lineno" > 16</ span >< span class = "comment" > THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS " AS IS" AND</ span ></ div >
< div class = "line" >< a id = "l00017" name = "l00017" ></ a >< span class = "lineno" > 17</ span >< span class = "comment" > ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</ span ></ div >
< div class = "line" >< a id = "l00018" name = "l00018" ></ a >< span class = "lineno" > 18</ span >< span class = "comment" > WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</ span ></ div >
< div class = "line" >< a id = "l00019" name = "l00019" ></ a >< span class = "lineno" > 19</ span >< span class = "comment" > DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</ span ></ div >
< div class = "line" >< a id = "l00020" name = "l00020" ></ a >< span class = "lineno" > 20</ span >< span class = "comment" > DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</ span ></ div >
< div class = "line" >< a id = "l00021" name = "l00021" ></ a >< span class = "lineno" > 21</ span >< span class = "comment" > (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</ span ></ div >
< div class = "line" >< a id = "l00022" name = "l00022" ></ a >< span class = "lineno" > 22</ span >< span class = "comment" > LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</ span ></ div >
< div class = "line" >< a id = "l00023" name = "l00023" ></ a >< span class = "lineno" > 23</ span >< span class = "comment" > ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</ span ></ div >
< div class = "line" >< a id = "l00024" name = "l00024" ></ a >< span class = "lineno" > 24</ span >< span class = "comment" > (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</ span ></ div >
< div class = "line" >< a id = "l00025" name = "l00025" ></ a >< span class = "lineno" > 25</ span >< span class = "comment" > SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</ span ></ div >
< div class = "line" >< a id = "l00026" name = "l00026" ></ a >< span class = "lineno" > 26</ span >< span class = "comment" > */</ span ></ div >
< div class = "line" >< a id = "l00027" name = "l00027" ></ a >< span class = "lineno" > 27</ span > </ div >
< div class = "line" >< a id = "l00028" name = "l00028" ></ a >< span class = "lineno" > 28</ span >< span class = "preprocessor" > #pragma once</ span ></ div >
< div class = "line" >< a id = "l00029" name = "l00029" ></ a >< span class = "lineno" > 29</ span > </ div >
< div class = "line" >< a id = "l00030" name = "l00030" ></ a >< span class = "lineno" > 30</ span >< span class = "preprocessor" > #include " rtabmap/core/CameraModel.h" </ span ></ div >
< div class = "line" >< a id = "l00031" name = "l00031" ></ a >< span class = "lineno" > 31</ span >< span class = "preprocessor" > #include " rtabmap/core/Camera.h" </ span ></ div >
< div class = "line" >< a id = "l00032" name = "l00032" ></ a >< span class = "lineno" > 32</ span >< span class = "preprocessor" > #include " rtabmap/core/Version.h" </ span ></ div >
< div class = "line" >< a id = "l00033" name = "l00033" ></ a >< span class = "lineno" > 33</ span > </ div >
< div class = "line" >< a id = "l00034" name = "l00034" ></ a >< span class = "lineno" > 34</ span >< span class = "preprocessor" > #include < pcl/pcl_config.h> </ span ></ div >
< div class = "line" >< a id = "l00035" name = "l00035" ></ a >< span class = "lineno" > 35</ span > </ div >
< div class = "line" >< a id = "l00036" name = "l00036" ></ a >< span class = "lineno" > 36</ span >< span class = "preprocessor" > #ifdef RTABMAP_REALSENSE2</ span ></ div >
< div class = "line" >< a id = "l00037" name = "l00037" ></ a >< span class = "lineno" > 37</ span >< span class = "preprocessor" > #include < librealsense2/rs.hpp> </ span ></ div >
< div class = "line" >< a id = "l00038" name = "l00038" ></ a >< span class = "lineno" > 38</ span >< span class = "preprocessor" > #include < librealsense2/hpp/rs_frame.hpp> </ span ></ div >
< div class = "line" >< a id = "l00039" name = "l00039" ></ a >< span class = "lineno" > 39</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00040" name = "l00040" ></ a >< span class = "lineno" > 40</ span > </ div >
< div class = "line" >< a id = "l00041" name = "l00041" ></ a >< span class = "lineno" > 41</ span > </ div >
< div class = "line" >< a id = "l00042" name = "l00042" ></ a >< span class = "lineno" > 42</ span >< span class = "keyword" > namespace </ span > rs2</ div >
< div class = "line" >< a id = "l00043" name = "l00043" ></ a >< span class = "lineno" > 43</ span > {</ div >
< div class = "line" >< a id = "l00044" name = "l00044" ></ a >< span class = "lineno" > 44</ span > < span class = "keyword" > class </ span > context;</ div >
< div class = "line" >< a id = "l00045" name = "l00045" ></ a >< span class = "lineno" > 45</ span > < span class = "keyword" > class </ span > device;</ div >
< div class = "line" >< a id = "l00046" name = "l00046" ></ a >< span class = "lineno" > 46</ span > < span class = "keyword" > class </ span > syncer;</ div >
< div class = "line" >< a id = "l00047" name = "l00047" ></ a >< span class = "lineno" > 47</ span > }</ div >
< div class = "line" >< a id = "l00048" name = "l00048" ></ a >< span class = "lineno" > 48</ span >< span class = "keyword" > struct </ span > rs2_intrinsics;</ div >
< div class = "line" >< a id = "l00049" name = "l00049" ></ a >< span class = "lineno" > 49</ span >< span class = "keyword" > struct </ span > rs2_extrinsics;</ div >
< div class = "line" >< a id = "l00050" name = "l00050" ></ a >< span class = "lineno" > 50</ span > </ div >
< div class = "line" >< a id = "l00051" name = "l00051" ></ a >< span class = "lineno" > 51</ span >< span class = "keyword" > namespace </ span >< a class = "code hl_namespace" href = "namespacertabmap.html" > rtabmap</ a ></ div >
< div class = "line" >< a id = "l00052" name = "l00052" ></ a >< span class = "lineno" > 52</ span > {</ div >
< div class = "line" >< a id = "l00053" name = "l00053" ></ a >< span class = "lineno" > 53</ span > </ div >
< div class = "foldopen" id = "foldopen00054" data-start = "{" data-end = "};" >
< div class = "line" >< a id = "l00054" name = "l00054" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1CameraRealSense2.html" > 54</ a ></ span >< span class = "keyword" > class </ span > RTABMAP_CORE_EXPORT < a class = "code hl_class" href = "classrtabmap_1_1CameraRealSense2.html" > CameraRealSense2</ a > :</ div >
< div class = "line" >< a id = "l00055" name = "l00055" ></ a >< span class = "lineno" > 55</ span > < span class = "keyword" > public</ span > < a class = "code hl_class" href = "classrtabmap_1_1Camera.html" > Camera</ a ></ div >
< div class = "line" >< a id = "l00056" name = "l00056" ></ a >< span class = "lineno" > 56</ span > {</ div >
< div class = "line" >< a id = "l00057" name = "l00057" ></ a >< span class = "lineno" > 57</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00058" name = "l00058" ></ a >< span class = "lineno" > 58</ span > < span class = "keyword" > static</ span > < span class = "keywordtype" > bool</ span > available();</ div >
< div class = "line" >< a id = "l00059" name = "l00059" ></ a >< span class = "lineno" > 59</ span > </ div >
< div class = "line" >< a id = "l00060" name = "l00060" ></ a >< span class = "lineno" > 60</ span >< span class = "keyword" > public</ span > :</ div >
< div class = "line" >< a id = "l00061" name = "l00061" ></ a >< span class = "lineno" > 61</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraRealSense2.html" > CameraRealSense2</ a > (</ div >
< div class = "line" >< a id = "l00062" name = "l00062" ></ a >< span class = "lineno" > 62</ span > < span class = "keyword" > const</ span > std::string & deviceId = < span class = "stringliteral" > "" </ span > ,</ div >
< div class = "line" >< a id = "l00063" name = "l00063" ></ a >< span class = "lineno" > 63</ span > < span class = "keywordtype" > float</ span > imageRate = 0,</ div >
< div class = "line" >< a id = "l00064" name = "l00064" ></ a >< span class = "lineno" > 64</ span > < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & localTransform = Transform::getIdentity());</ div >
< div class = "line" >< a id = "l00065" name = "l00065" ></ a >< span class = "lineno" > 65</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraRealSense2.html" > ~CameraRealSense2</ a > ();</ div >
< div class = "line" >< a id = "l00066" name = "l00066" ></ a >< span class = "lineno" > 66</ span > </ div >
< div class = "line" >< a id = "l00067" name = "l00067" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1CameraRealSense2.html#a7efbcb280ddd451a9c8fdbdba599c68f" > 67</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1CameraRealSense2.html#a7efbcb280ddd451a9c8fdbdba599c68f" > init</ a > (< span class = "keyword" > const</ span > std::string & calibrationFolder = < span class = "stringliteral" > " ." </ span > , < span class = "keyword" > const</ span > std::string & cameraName = < span class = "stringliteral" > "" </ span > );</ div >
< div class = "line" >< a id = "l00068" name = "l00068" ></ a >< span class = "lineno" > 68</ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > isCalibrated() < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00069" name = "l00069" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1CameraRealSense2.html#aff19c4db66d2403c0e09a67d1418bcdc" > 69</ a ></ span > < span class = "keyword" > virtual</ span > std::string < a class = "code hl_function" href = "classrtabmap_1_1CameraRealSense2.html#aff19c4db66d2403c0e09a67d1418bcdc" > getSerial</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00070" name = "l00070" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1CameraRealSense2.html#a3b5aa7434457e09cbc6f01b985440183" > 70</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1CameraRealSense2.html#a3b5aa7434457e09cbc6f01b985440183" > odomProvided</ a > () < span class = "keyword" > const</ span > ;</ div >
< div class = "line" >< a id = "l00071" name = "l00071" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1CameraRealSense2.html#a31fc38dca7aa6dc61c68150d5409204e" > 71</ a ></ span > < span class = "keyword" > virtual</ span > < span class = "keywordtype" > bool</ span > < a class = "code hl_function" href = "classrtabmap_1_1CameraRealSense2.html#a31fc38dca7aa6dc61c68150d5409204e" > getPose</ a > (< span class = "keywordtype" > double</ span > stamp, < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose, cv::Mat & covariance, < span class = "keywordtype" > double</ span > maxWaitTime = 0.06);</ div >
< div class = "line" >< a id = "l00072" name = "l00072" ></ a >< span class = "lineno" > 72</ span > </ div >
< div class = "line" >< a id = "l00073" name = "l00073" ></ a >< span class = "lineno" > 73</ span > < span class = "comment" > // parameters are set during initialization</ span ></ div >
< div class = "line" >< a id = "l00074" name = "l00074" ></ a >< span class = "lineno" > 74</ span > < span class = "comment" > // D400 series</ span ></ div >
< div class = "line" >< a id = "l00075" name = "l00075" ></ a >< span class = "lineno" > 75</ span > < span class = "keywordtype" > void</ span > setEmitterEnabled(< span class = "keywordtype" > bool</ span > enabled);</ div >
< div class = "line" >< a id = "l00076" name = "l00076" ></ a >< span class = "lineno" > 76</ span > < span class = "keywordtype" > void</ span > setIRFormat(< span class = "keywordtype" > bool</ span > enabled, < span class = "keywordtype" > bool</ span > useDepthInsteadOfRightImage);</ div >
< div class = "line" >< a id = "l00077" name = "l00077" ></ a >< span class = "lineno" > 77</ span > < span class = "keywordtype" > void</ span > setResolution(< span class = "keywordtype" > int</ span > width, < span class = "keywordtype" > int</ span > height, < span class = "keywordtype" > int</ span > fps = 30);</ div >
< div class = "line" >< a id = "l00078" name = "l00078" ></ a >< span class = "lineno" > 78</ span > < span class = "keywordtype" > void</ span > setDepthResolution(< span class = "keywordtype" > int</ span > width, < span class = "keywordtype" > int</ span > height, < span class = "keywordtype" > int</ span > fps = 30);</ div >
< div class = "line" >< a id = "l00079" name = "l00079" ></ a >< span class = "lineno" > 79</ span > < span class = "keywordtype" > void</ span > setGlobalTimeSync(< span class = "keywordtype" > bool</ span > enabled);</ div >
< div class = "line" >< a id = "l00080" name = "l00080" ></ a >< span class = "lineno" > 80</ span > </ div >
< div class = "line" >< a id = "l00086" name = "l00086" ></ a >< span class = "lineno" >< a class = "line" href = "classrtabmap_1_1CameraRealSense2.html#ad9a5218ed20bad24c020a18e2ed0b12c" > 86</ a ></ span > < span class = "keywordtype" > void</ span > < a class = "code hl_function" href = "classrtabmap_1_1CameraRealSense2.html#ad9a5218ed20bad24c020a18e2ed0b12c" > setDualMode</ a > (< span class = "keywordtype" > bool</ span > enabled, < span class = "keyword" > const</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & extrinsics);</ div >
< div class = "line" >< a id = "l00087" name = "l00087" ></ a >< span class = "lineno" > 87</ span > < span class = "keywordtype" > void</ span > setJsonConfig(< span class = "keyword" > const</ span > std::string & json);</ div >
< div class = "line" >< a id = "l00088" name = "l00088" ></ a >< span class = "lineno" > 88</ span > < span class = "comment" > // T265 related parameters</ span ></ div >
< div class = "line" >< a id = "l00089" name = "l00089" ></ a >< span class = "lineno" > 89</ span > < span class = "keywordtype" > void</ span > setImagesRectified(< span class = "keywordtype" > bool</ span > enabled);</ div >
< div class = "line" >< a id = "l00090" name = "l00090" ></ a >< span class = "lineno" > 90</ span > < span class = "keywordtype" > void</ span > setOdomProvided(< span class = "keywordtype" > bool</ span > enabled, < span class = "keywordtype" > bool</ span > imageStreamsDisabled=< span class = "keyword" > false</ span > , < span class = "keywordtype" > bool</ span > onlyLeftStream = < span class = "keyword" > false</ span > );</ div >
< div class = "line" >< a id = "l00091" name = "l00091" ></ a >< span class = "lineno" > 91</ span > </ div >
< div class = "line" >< a id = "l00092" name = "l00092" ></ a >< span class = "lineno" > 92</ span >< span class = "preprocessor" > #ifdef RTABMAP_REALSENSE2</ span ></ div >
< div class = "line" >< a id = "l00093" name = "l00093" ></ a >< span class = "lineno" > 93</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00094" name = "l00094" ></ a >< span class = "lineno" > 94</ span > < span class = "keywordtype" > void</ span > close();</ div >
< div class = "line" >< a id = "l00095" name = "l00095" ></ a >< span class = "lineno" > 95</ span > < span class = "keywordtype" > void</ span > imu_callback(rs2::frame frame);</ div >
< div class = "line" >< a id = "l00096" name = "l00096" ></ a >< span class = "lineno" > 96</ span > < span class = "keywordtype" > void</ span > pose_callback(rs2::frame frame);</ div >
< div class = "line" >< a id = "l00097" name = "l00097" ></ a >< span class = "lineno" > 97</ span > < span class = "keywordtype" > void</ span > frame_callback(rs2::frame frame);</ div >
< div class = "line" >< a id = "l00098" name = "l00098" ></ a >< span class = "lineno" > 98</ span > < span class = "keywordtype" > void</ span > multiple_message_callback(rs2::frame frame);</ div >
< div class = "line" >< a id = "l00099" name = "l00099" ></ a >< span class = "lineno" > 99</ span > < span class = "keywordtype" > void</ span > getPoseAndIMU(</ div >
< div class = "line" >< a id = "l00100" name = "l00100" ></ a >< span class = "lineno" > 100</ span > < span class = "keyword" > const</ span > < span class = "keywordtype" > double</ span > & stamp,</ div >
< div class = "line" >< a id = "l00101" name = "l00101" ></ a >< span class = "lineno" > 101</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > & pose,</ div >
< div class = "line" >< a id = "l00102" name = "l00102" ></ a >< span class = "lineno" > 102</ span > < span class = "keywordtype" > unsigned</ span > < span class = "keywordtype" > int</ span > & poseConfidence,</ div >
< div class = "line" >< a id = "l00103" name = "l00103" ></ a >< span class = "lineno" > 103</ span > < a class = "code hl_class" href = "classrtabmap_1_1IMU.html" > IMU</ a > & imu,</ div >
< div class = "line" >< a id = "l00104" name = "l00104" ></ a >< span class = "lineno" > 104</ span > < span class = "keywordtype" > int</ span > maxWaitTimeMs = 35);</ div >
< div class = "line" >< a id = "l00105" name = "l00105" ></ a >< span class = "lineno" > 105</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00106" name = "l00106" ></ a >< span class = "lineno" > 106</ span > </ div >
< div class = "line" >< a id = "l00107" name = "l00107" ></ a >< span class = "lineno" > 107</ span >< span class = "keyword" > protected</ span > :</ div >
< div class = "line" >< a id = "l00108" name = "l00108" ></ a >< span class = "lineno" > 108</ span > < span class = "keyword" > virtual</ span > < a class = "code hl_class" href = "classrtabmap_1_1SensorData.html" > SensorData</ a > captureImage(< a class = "code hl_class" href = "classrtabmap_1_1SensorCaptureInfo.html" > SensorCaptureInfo</ a > * info = 0);</ div >
< div class = "line" >< a id = "l00109" name = "l00109" ></ a >< span class = "lineno" > 109</ span > </ div >
< div class = "line" >< a id = "l00110" name = "l00110" ></ a >< span class = "lineno" > 110</ span >< span class = "keyword" > private</ span > :</ div >
< div class = "line" >< a id = "l00111" name = "l00111" ></ a >< span class = "lineno" > 111</ span >< span class = "preprocessor" > #ifdef RTABMAP_REALSENSE2</ span ></ div >
< div class = "line" >< a id = "l00112" name = "l00112" ></ a >< span class = "lineno" > 112</ span > rs2::context ctx_;</ div >
< div class = "line" >< a id = "l00113" name = "l00113" ></ a >< span class = "lineno" > 113</ span > std::vector< rs2::device> dev_;</ div >
< div class = "line" >< a id = "l00114" name = "l00114" ></ a >< span class = "lineno" > 114</ span > std::string deviceId_;</ div >
< div class = "line" >< a id = "l00115" name = "l00115" ></ a >< span class = "lineno" > 115</ span > rs2::syncer syncer_;</ div >
< div class = "line" >< a id = "l00116" name = "l00116" ></ a >< span class = "lineno" > 116</ span > < span class = "keywordtype" > float</ span > depth_scale_meters_;</ div >
< div class = "line" >< a id = "l00117" name = "l00117" ></ a >< span class = "lineno" > 117</ span > cv::Mat depthBuffer_;</ div >
< div class = "line" >< a id = "l00118" name = "l00118" ></ a >< span class = "lineno" > 118</ span > cv::Mat rgbBuffer_;</ div >
< div class = "line" >< a id = "l00119" name = "l00119" ></ a >< span class = "lineno" > 119</ span > < a class = "code hl_class" href = "classrtabmap_1_1CameraModel.html" > CameraModel</ a > model_;</ div >
< div class = "line" >< a id = "l00120" name = "l00120" ></ a >< span class = "lineno" > 120</ span > < a class = "code hl_class" href = "classrtabmap_1_1StereoCameraModel.html" > StereoCameraModel</ a > stereoModel_;</ div >
< div class = "line" >< a id = "l00121" name = "l00121" ></ a >< span class = "lineno" > 121</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > imuLocalTransform_;</ div >
< div class = "line" >< a id = "l00122" name = "l00122" ></ a >< span class = "lineno" > 122</ span > std::map< double, cv::Vec3f> accBuffer_;</ div >
< div class = "line" >< a id = "l00123" name = "l00123" ></ a >< span class = "lineno" > 123</ span > std::map< double, cv::Vec3f> gyroBuffer_;</ div >
< div class = "line" >< a id = "l00124" name = "l00124" ></ a >< span class = "lineno" > 124</ span > std::map< double, std::pair< Transform, unsigned int> > poseBuffer_; < span class = "comment" > // < stamp, < Pose, confidence: 1=lost, 2=low, 3=high> > </ span ></ div >
< div class = "line" >< a id = "l00125" name = "l00125" ></ a >< span class = "lineno" > 125</ span > < a class = "code hl_class" href = "classUMutex.html" > UMutex</ a > poseMutex_;</ div >
< div class = "line" >< a id = "l00126" name = "l00126" ></ a >< span class = "lineno" > 126</ span > < a class = "code hl_class" href = "classUMutex.html" > UMutex</ a > imuMutex_;</ div >
< div class = "line" >< a id = "l00127" name = "l00127" ></ a >< span class = "lineno" > 127</ span > < span class = "keywordtype" > double</ span > lastImuStamp_;</ div >
< div class = "line" >< a id = "l00128" name = "l00128" ></ a >< span class = "lineno" > 128</ span > < span class = "keywordtype" > bool</ span > clockSyncWarningShown_;</ div >
< div class = "line" >< a id = "l00129" name = "l00129" ></ a >< span class = "lineno" > 129</ span > < span class = "keywordtype" > bool</ span > imuGlobalSyncWarningShown_;</ div >
< div class = "line" >< a id = "l00130" name = "l00130" ></ a >< span class = "lineno" > 130</ span > </ div >
< div class = "line" >< a id = "l00131" name = "l00131" ></ a >< span class = "lineno" > 131</ span > < span class = "keywordtype" > bool</ span > emitterEnabled_;</ div >
< div class = "line" >< a id = "l00132" name = "l00132" ></ a >< span class = "lineno" > 132</ span > < span class = "keywordtype" > bool</ span > ir_;</ div >
< div class = "line" >< a id = "l00133" name = "l00133" ></ a >< span class = "lineno" > 133</ span > < span class = "keywordtype" > bool</ span > irDepth_;</ div >
< div class = "line" >< a id = "l00134" name = "l00134" ></ a >< span class = "lineno" > 134</ span > < span class = "keywordtype" > bool</ span > rectifyImages_;</ div >
< div class = "line" >< a id = "l00135" name = "l00135" ></ a >< span class = "lineno" > 135</ span > < span class = "keywordtype" > bool</ span > odometryProvided_;</ div >
< div class = "line" >< a id = "l00136" name = "l00136" ></ a >< span class = "lineno" > 136</ span > < span class = "keywordtype" > bool</ span > odometryImagesDisabled_;</ div >
< div class = "line" >< a id = "l00137" name = "l00137" ></ a >< span class = "lineno" > 137</ span > < span class = "keywordtype" > bool</ span > odometryOnlyLeftStream_;</ div >
< div class = "line" >< a id = "l00138" name = "l00138" ></ a >< span class = "lineno" > 138</ span > < span class = "keywordtype" > int</ span > cameraWidth_;</ div >
< div class = "line" >< a id = "l00139" name = "l00139" ></ a >< span class = "lineno" > 139</ span > < span class = "keywordtype" > int</ span > cameraHeight_;</ div >
< div class = "line" >< a id = "l00140" name = "l00140" ></ a >< span class = "lineno" > 140</ span > < span class = "keywordtype" > int</ span > cameraFps_;</ div >
< div class = "line" >< a id = "l00141" name = "l00141" ></ a >< span class = "lineno" > 141</ span > < span class = "keywordtype" > int</ span > cameraDepthWidth_;</ div >
< div class = "line" >< a id = "l00142" name = "l00142" ></ a >< span class = "lineno" > 142</ span > < span class = "keywordtype" > int</ span > cameraDepthHeight_;</ div >
< div class = "line" >< a id = "l00143" name = "l00143" ></ a >< span class = "lineno" > 143</ span > < span class = "keywordtype" > int</ span > cameraDepthFps_;</ div >
< div class = "line" >< a id = "l00144" name = "l00144" ></ a >< span class = "lineno" > 144</ span > < span class = "keywordtype" > bool</ span > globalTimeSync_;</ div >
< div class = "line" >< a id = "l00145" name = "l00145" ></ a >< span class = "lineno" > 145</ span > < span class = "keywordtype" > bool</ span > dualMode_;</ div >
< div class = "line" >< a id = "l00146" name = "l00146" ></ a >< span class = "lineno" > 146</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > dualExtrinsics_;</ div >
< div class = "line" >< a id = "l00147" name = "l00147" ></ a >< span class = "lineno" > 147</ span > std::string jsonConfig_;</ div >
< div class = "line" >< a id = "l00148" name = "l00148" ></ a >< span class = "lineno" > 148</ span > < span class = "keywordtype" > bool</ span > closing_;</ div >
< div class = "line" >< a id = "l00149" name = "l00149" ></ a >< span class = "lineno" > 149</ span > < span class = "keywordtype" > bool</ span > playback_;</ div >
< div class = "line" >< a id = "l00150" name = "l00150" ></ a >< span class = "lineno" > 150</ span > </ div >
< div class = "line" >< a id = "l00151" name = "l00151" ></ a >< span class = "lineno" > 151</ span > < span class = "keyword" > static</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > realsense2PoseRotation_;</ div >
< div class = "line" >< a id = "l00152" name = "l00152" ></ a >< span class = "lineno" > 152</ span > < span class = "keyword" > static</ span > < a class = "code hl_class" href = "classrtabmap_1_1Transform.html" > Transform</ a > realsense2PoseRotationInv_;</ div >
< div class = "line" >< a id = "l00153" name = "l00153" ></ a >< span class = "lineno" > 153</ span >< span class = "preprocessor" > #endif</ span ></ div >
< div class = "line" >< a id = "l00154" name = "l00154" ></ a >< span class = "lineno" > 154</ span > };</ div >
</ div >
< div class = "line" >< a id = "l00155" name = "l00155" ></ a >< span class = "lineno" > 155</ span > </ div >
< div class = "line" >< a id = "l00156" name = "l00156" ></ a >< span class = "lineno" > 156</ span > </ div >
< div class = "line" >< a id = "l00157" name = "l00157" ></ a >< span class = "lineno" > 157</ span > } < span class = "comment" > // namespace rtabmap</ span ></ div >
< div class = "ttc" id = "aclassUMutex_html" >< div class = "ttname" >< a href = "classUMutex.html" > UMutex</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "UMutex_8h_source.html#l00054" > UMutex.h:55</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1CameraModel_html" >< div class = "ttname" >< a href = "classrtabmap_1_1CameraModel.html" > rtabmap::CameraModel</ a ></ div >< div class = "ttdoc" > Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "CameraModel_8h_source.html#l00052" > CameraModel.h:53</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1CameraRealSense2_html" >< div class = "ttname" >< a href = "classrtabmap_1_1CameraRealSense2.html" > rtabmap::CameraRealSense2</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "CameraRealSense2_8h_source.html#l00054" > CameraRealSense2.h:56</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1CameraRealSense2_html_a31fc38dca7aa6dc61c68150d5409204e" >< div class = "ttname" >< a href = "classrtabmap_1_1CameraRealSense2.html#a31fc38dca7aa6dc61c68150d5409204e" > rtabmap::CameraRealSense2::getPose</ a ></ div >< div class = "ttdeci" > virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime=0.06)</ div >< div class = "ttdoc" > Gets the sensor's pose estimate at a specific timestamp.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1CameraRealSense2_html_a3b5aa7434457e09cbc6f01b985440183" >< div class = "ttname" >< a href = "classrtabmap_1_1CameraRealSense2.html#a3b5aa7434457e09cbc6f01b985440183" > rtabmap::CameraRealSense2::odomProvided</ a ></ div >< div class = "ttdeci" > virtual bool odomProvided() const</ div >< div class = "ttdoc" > Checks if the sensor provides odometry poses.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1CameraRealSense2_html_a7efbcb280ddd451a9c8fdbdba599c68f" >< div class = "ttname" >< a href = "classrtabmap_1_1CameraRealSense2.html#a7efbcb280ddd451a9c8fdbdba599c68f" > rtabmap::CameraRealSense2::init</ a ></ div >< div class = "ttdeci" > virtual bool init(const std::string & calibrationFolder=" ." , const std::string & cameraName="" )</ div >< div class = "ttdoc" > Initializes the sensor.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1CameraRealSense2_html_ad9a5218ed20bad24c020a18e2ed0b12c" >< div class = "ttname" >< a href = "classrtabmap_1_1CameraRealSense2.html#ad9a5218ed20bad24c020a18e2ed0b12c" > rtabmap::CameraRealSense2::setDualMode</ a ></ div >< div class = "ttdeci" > void setDualMode(bool enabled, const Transform & extrinsics)</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1CameraRealSense2_html_aff19c4db66d2403c0e09a67d1418bcdc" >< div class = "ttname" >< a href = "classrtabmap_1_1CameraRealSense2.html#aff19c4db66d2403c0e09a67d1418bcdc" > rtabmap::CameraRealSense2::getSerial</ a ></ div >< div class = "ttdeci" > virtual std::string getSerial() const</ div >< div class = "ttdoc" > Returns the sensor's serial number or unique identifier.</ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Camera_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Camera.html" > rtabmap::Camera</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Camera_8h_source.html#l00043" > Camera.h:44</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1IMU_html" >< div class = "ttname" >< a href = "classrtabmap_1_1IMU.html" > rtabmap::IMU</ a ></ div >< div class = "ttdoc" > Inertial measurement sample (ROS sensor_msgs/Imu-like fields).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "IMU_8h_source.html#l00056" > IMU.h:57</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorCaptureInfo_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorCaptureInfo.html" > rtabmap::SensorCaptureInfo</ a ></ div >< div class = "ttdoc" > Metadata structure for sensor data capture and processing.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorCaptureInfo_8h_source.html#l00064" > SensorCaptureInfo.h:65</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1SensorData_html" >< div class = "ttname" >< a href = "classrtabmap_1_1SensorData.html" > rtabmap::SensorData</ a ></ div >< div class = "ttdoc" > Container class for all sensor data captured at a specific time.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "SensorData_8h_source.html#l00096" > SensorData.h:97</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1StereoCameraModel_html" >< div class = "ttname" >< a href = "classrtabmap_1_1StereoCameraModel.html" > rtabmap::StereoCameraModel</ a ></ div >< div class = "ttdoc" > A class representing a calibrated stereo camera system.</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "StereoCameraModel_8h_source.html#l00053" > StereoCameraModel.h:54</ a ></ div ></ div >
< div class = "ttc" id = "aclassrtabmap_1_1Transform_html" >< div class = "ttname" >< a href = "classrtabmap_1_1Transform.html" > rtabmap::Transform</ a ></ div >< div class = "ttdoc" > Represents a 3D rigid body transformation (rotation + translation).</ div >< div class = "ttdef" >< b > Definition</ b > < a href = "Transform_8h_source.html#l00052" > Transform.h:53</ a ></ div ></ div >
2026-08-23 20:27:42 +00:00
< div class = "ttc" id = "anamespacertabmap_html" >< div class = "ttname" >< a href = "namespacertabmap.html" > rtabmap</ a ></ div >< div class = "ttdef" >< b > Definition</ b > < a href = "BayesFilter_8h_source.html#l00042" > BayesFilter.h:42</ a ></ div ></ div >
2026-08-06 22:56:24 +00:00
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