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<table class="memberdecls">
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
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Public Member Functions</h2></td></tr>
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<tr class="memitem:a5eb085151dc8c4873db86a3fd7d048cc" id="r_a5eb085151dc8c4873db86a3fd7d048cc"><td class="memItemLeft" align="right" valign="top"><a id="a5eb085151dc8c4873db86a3fd7d048cc" name="a5eb085151dc8c4873db86a3fd7d048cc"></a>
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 </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>
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<tr class="separator:a5eb085151dc8c4873db86a3fd7d048cc"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:aa4993f0026204416dd2761d66ecccbaf" id="r_aa4993f0026204416dd2761d66ecccbaf"><td class="memItemLeft" align="right" valign="top"><a id="aa4993f0026204416dd2761d66ecccbaf" name="aa4993f0026204416dd2761d66ecccbaf"></a>
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 </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>
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<tr class="separator:aa4993f0026204416dd2761d66ecccbaf"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memdesc:a80088853404d1c4e89b5f29933d7b020"><td class="mdescLeft"> </td><td class="mdescRight">Initializes the sensor. <br /></td></tr>
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<tr class="separator:a80088853404d1c4e89b5f29933d7b020"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a48041ccbcdf5215b54ed29280603bea0"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memdesc:a8c13902c0c25565357e6f7e0a16f0838"><td class="mdescLeft"> </td><td class="mdescRight">Returns the sensor's serial number or unique identifier. <br /></td></tr>
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<tr class="separator:a8c13902c0c25565357e6f7e0a16f0838"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memdesc:ac57ca4d52b5a0a3c3911ffa4a139564c"><td class="mdescLeft"> </td><td class="mdescRight">Checks if the sensor provides odometry poses. <br /></td></tr>
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<tr class="separator:ac57ca4d52b5a0a3c3911ffa4a139564c"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memdesc:a1fceb3208a256d1023739a60f5931def"><td class="mdescLeft"> </td><td class="mdescRight">Gets the sensor's pose estimate at a specific timestamp. <br /></td></tr>
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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>
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<tr class="memitem:aefcd11c66782bead4889b15ff4a88050" id="r_aefcd11c66782bead4889b15ff4a88050"><td class="memItemLeft" align="right" valign="top"><a id="aefcd11c66782bead4889b15ff4a88050" name="aefcd11c66782bead4889b15ff4a88050"></a>
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void </td><td class="memItemRight" valign="bottom"><b>setRightGrayScale</b> (bool enabled=true)</td></tr>
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<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>
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<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>
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<tr class="separator:ae43544cc24470a1d42efcb5ec959b63c inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a5cfb75ca3d5f63e0c31633a2effae716 inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:a2b89ca2dcbe020c4026d19900268311c inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:af03be5ebafb6ebf9341d8de8d7fea4c5 inherit pub_methods_classrtabmap_1_1Camera" id="r_af03be5ebafb6ebf9341d8de8d7fea4c5"><td class="memItemLeft" align="right" valign="top">
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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>
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<tr class="separator:af03be5ebafb6ebf9341d8de8d7fea4c5 inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="separator:ac1f77dd10cc2f6e4f75d087c29726802 inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a03f166a742e250d7db2693affe92c387 inherit pub_methods_classrtabmap_1_1Camera" id="r_a03f166a742e250d7db2693affe92c387"><td class="memItemLeft" align="right" valign="top">
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bool </td><td class="memItemRight" valign="bottom"><b>initFromFile</b> (const std::string &calibrationPath)</td></tr>
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<tr class="separator:a03f166a742e250d7db2693affe92c387 inherit pub_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<tr class="memitem:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a0578f6540ecdf8c4b3b747d511ecb625"><td class="memItemLeft" align="right" valign="top">
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virtual </td><td class="memItemRight" valign="bottom"><b>~SensorCapture</b> ()</td></tr>
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<tr class="memdesc:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft"> </td><td class="mdescRight">Virtual destructor. <br /></td></tr>
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<tr class="separator:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:a99829249c51fd08c32310b788b00b663 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-static-methods" name="pub-static-methods"></a>
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Static Public Member Functions</h2></td></tr>
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<tr class="memitem:a55eb88c369078cc20b78b0fc9e913377" id="r_a55eb88c369078cc20b78b0fc9e913377"><td class="memItemLeft" align="right" valign="top"><a id="a55eb88c369078cc20b78b0fc9e913377" name="a55eb88c369078cc20b78b0fc9e913377"></a>
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static bool </td><td class="memItemRight" valign="bottom"><b>available</b> ()</td></tr>
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static int </td><td class="memItemRight" valign="bottom"><b>sdkVersion</b> ()</td></tr>
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<tr class="separator:a2079a8879a9bb4734c957da8e4a461db"><td class="memSeparator" colspan="2"> </td></tr>
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<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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Protected Member Functions</h2></td></tr>
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<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>
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<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>
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<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>
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<tr class="separator:aaae7434ffa5e54f5006355779d335dd3 inherit pro_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2"> </td></tr>
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<tr class="memitem:a90c716bf4383af63b275dd9b5e7ec1a6 inherit pro_methods_classrtabmap_1_1Camera" id="r_a90c716bf4383af63b275dd9b5e7ec1a6"><td class="memItemLeft" align="right" valign="top">
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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>
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<tr class="separator:a90c716bf4383af63b275dd9b5e7ec1a6 inherit pro_methods_classrtabmap_1_1Camera"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="memdesc:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft"> </td><td class="mdescRight">Protected constructor. <br /></td></tr>
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<tr class="separator:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2"> </td></tr>
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<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>
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<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>
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<tr class="separator:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2"> </td></tr>
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</table>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
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<div class="textblock">
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<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>
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</div><h2 class="groupheader">Member Function Documentation</h2>
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<a id="a80088853404d1c4e89b5f29933d7b020" name="a80088853404d1c4e89b5f29933d7b020"></a>
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<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>
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<td>(</td>
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<td class="paramtype">const std::string & </td>
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<td class="paramname"><em>calibrationFolder</em> = <code>"."</code>, </td>
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<span class="mlabels"><span class="mlabel">virtual</span></span> </td>
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<p>Initializes the sensor. </p>
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<p>Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:</p><ul>
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<li>Opening device connections or file streams</li>
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<li>Loading camera calibration parameters</li>
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<li>Configuring sensor settings</li>
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</ul>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">calibrationFolder</td><td>Directory path where calibration files are located (default: current directory ".") </td></tr>
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<tr><td class="paramname">cameraName</td><td>Base name of the camera for loading calibration files (default: empty string) </td></tr>
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</dd>
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<dl class="section return"><dt>Returns</dt><dd>True if initialization was successful, false otherwise</dd></dl>
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<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>
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<p>Implements <a class="el" href="classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a">rtabmap::SensorCapture</a>.</p>
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<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>
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<td> const</td>
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<p>Implements <a class="el" href="classrtabmap_1_1Camera.html">rtabmap::Camera</a>.</p>
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<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>
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<p>Returns the sensor's serial number or unique identifier. </p>
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<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>
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<dl class="section return"><dt>Returns</dt><dd>String identifier for the sensor </dd></dl>
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<p>Implements <a class="el" href="classrtabmap_1_1SensorCapture.html#a7830e571e45752f9d8f30fa806f6aa64">rtabmap::SensorCapture</a>.</p>
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<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>
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<p>Checks if the sensor provides odometry poses. </p>
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<p>Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.</p>
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<dl class="section return"><dt>Returns</dt><dd>True if the sensor provides odometry poses, false otherwise</dd></dl>
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<dl class="section note"><dt>Note</dt><dd>Default implementation returns false. Derived classes should override if they support pose estimation.</dd></dl>
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<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>
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<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>
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<td class="paramtype">cv::Mat & </td>
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<td>)</td>
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<p>Gets the sensor's pose estimate at a specific timestamp. </p>
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<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>
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<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramdir"></td><td class="paramname">stamp</td><td>Timestamp in seconds for which to query the pose </td></tr>
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<tr><td class="paramdir">[out]</td><td class="paramname">pose</td><td>Output transform representing the sensor pose </td></tr>
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<tr><td class="paramdir">[out]</td><td class="paramname">covariance</td><td>Output covariance matrix (6x6) representing twist uncertainty </td></tr>
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<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>
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<dl class="section return"><dt>Returns</dt><dd>True if pose was successfully retrieved, false otherwise</dd></dl>
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<dl class="section note"><dt>Note</dt><dd>Default implementation returns false. Derived classes should override if they support pose estimation.</dd></dl>
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<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>
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<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>
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<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>
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<td>(</td>
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<td class="paramtype">int </td>
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<td class="paramname"><em>quality</em></td><td>)</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>
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<td>(</td>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> * </td>
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<td class="paramname"><em>info</em> = <code>0</code></td><td>)</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>
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<li>corelib/include/rtabmap/core/camera/<a class="el" href="CameraStereoZed_8h_source.html">CameraStereoZed.h</a></li>
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