32 #include "rtabmap/core/Version.h"
47 static bool available();
48 static int sdkVersion();
55 int confidenceThr = 100,
56 bool computeOdometry =
false,
59 bool selfCalibration =
true,
60 bool odomForce3DoF =
false,
61 int texturenessConfidenceThr = 90);
63 const std::string & svoFilePath,
66 int confidenceThr = 100,
67 bool computeOdometry =
false,
70 bool selfCalibration =
true,
71 bool odomForce3DoF =
false,
72 int texturenessConfidenceThr = 90);
75 virtual bool init(
const std::string & calibrationFolder =
".",
const std::string & cameraName =
"");
76 virtual bool isCalibrated()
const;
77 virtual std::string getSerial()
const;
78 virtual bool odomProvided()
const;
79 virtual bool getPose(
double stamp,
Transform & pose, cv::Mat & covariance,
double maxWaitTime = 0.0);
81 void postInterIMUPublic(
const IMU & imu,
double stamp);
93 std::string svoFilePath_;
96 bool selfCalibration_;
99 int texturenessConfidenceThr_;
100 bool computeOdometry_;
103 ZedIMUThread * imuPublishingThread_;