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add XVSDK VIO

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This commit is contained in:
Borong Yuan
2024-06-03 10:28:45 +08:00
parent fc9dcd6b3d
commit a327c9530c
4 changed files with 79 additions and 26 deletions
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10
corelib/include/rtabmap/core/camera/CameraSeerSense.h
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@@ -19,16 +19,17 @@ public:
public:
CameraSeerSense(
float imageRate=0.0f,
bool computeOdometry = false,
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 = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
virtual bool odomProvided() const;
virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.0);
protected:
virtual SensorData captureImage(SensorCaptureInfo * info = 0);
@@ -36,8 +37,7 @@ protected:
private:
#ifdef RTABMAP_XVSDK
CameraModel cameraModel_;
bool imuPublished_;
bool publishInterIMU_;
bool computeOdometry_;
int imuId_;
int tofId_;
std::shared_ptr<xv::Device> device_;