34 #include "rtabmap/core/Version.h"
48 class slam_event_handler;
53 static bool available();
62 bool computeOdometry =
false,
67 void setDepthScaledToRGBSize(
bool enabled);
68 void setRGBSource(RGBSource
source);
69 virtual bool init(
const std::string & calibrationFolder =
".",
const std::string & cameraName =
"");
70 virtual bool isCalibrated()
const;
71 virtual std::string getSerial()
const;
72 virtual bool odomProvided()
const;
78 #ifdef RTABMAP_REALSENSE
84 bool computeOdometry_;
85 bool depthScaledToRGBSize_;
88 std::vector<int> rsRectificationTable_;
91 rs::slam::slam * slam_;
94 std::map<double, std::pair<cv::Mat, cv::Mat> > bufferedFrames_;
95 std::pair<cv::Mat, cv::Mat> lastSyncFrames_;