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add xvImu

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This commit is contained in:
Borong Yuan
2024-05-24 23:12:16 +08:00
parent 41a7eff8fa
commit 3d5f1ad5c2
3 changed files with 81 additions and 3 deletions
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20
corelib/include/rtabmap/core/camera/CameraSeerSense.h
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@@ -17,8 +17,26 @@ public:
static bool available();
public:
CameraSeerSense();
CameraSeerSense(
float imageRate=0.0f,
const Transform & localTransform = Transform::getIdentity()
);
virtual ~CameraSeerSense();
void setIMU(bool imuPublished, bool publishInterIMU);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
private:
#ifdef RTABMAP_XVSDK
Transform imuLocalTransform_;
bool imuPublished_;
bool publishInterIMU_;
std::shared_ptr<xv::Device> device_;
std::map<double, cv::Vec3f> accBuffer_;
std::map<double, cv::Vec3f> gyroBuffer_;
UMutex imuMutex_;
#endif
};
} // namespace rtabmap