68 void setImageRate(
float imageRate);
69 void setDistortionModel(
const std::string & path);
70 void enableBilateralFiltering(
float sigmaS,
float sigmaR);
73 void disableIMUFiltering();
83 bool forceGroundNormalsUp) ,
"Use new version of this function with groundNormalsUp=0.8 for forceGroundNormalsUp=True and groundNormalsUp=0.0 for forceGroundNormalsUp=False.");
84 void setScanParameters(
89 float voxelSize = 0.0
f,
91 int normalsRadius = 0.0
f,
92 float groundNormalsUp = 0.0
f);
97 bool isPaused()
const {
return !this->isRunning();}
103 virtual void mainLoopBegin();
104 virtual void mainLoop();
105 virtual void mainLoopKill();
void setStereoExposureCompensation(bool enabled)
void disableBilateralFiltering()
std::map< std::string, std::string > ParametersMap
#define RTABMAP_DEPRECATED(func, msg)
float _scanForceGroundNormalsUp
void setColorOnly(bool colorOnly)
clams::DiscreteDepthDistortionModel * _distortionModel
StereoDense * _stereoDense
void setMirroringEnabled(bool enabled)
void setImageDecimation(int decimation)
void setStereoToDepth(bool enabled)
bool _stereoExposureCompensation