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30 #include "rtabmap/core/rtabmap_core_export.h"
39 class DiscreteDepthDistortionModel;
48 class SensorCaptureInfo;
77 double poseTimeOffset = 0.0,
78 float poseScaleFactor = 1.0
f,
79 double poseWaitTime = 0.1,
102 double poseTimeOffset = 0.0,
103 float poseScaleFactor = 1.0
f,
104 double poseWaitTime = 0.1,
117 double poseTimeOffset = 0.0,
118 float poseScaleFactor = 1.0
f,
119 double poseWaitTime = 0.1,
129 void setFrameRate(
float frameRate);
131 void setDistortionModel(
const std::string & path);
133 void enableBilateralFiltering(
float sigmaS,
float sigmaR);
135 void enableIMUFiltering(
int filteringStrategy=1,
const ParametersMap & parameters =
ParametersMap(),
bool baseFrameConversion =
false);
136 void disableIMUFiltering();
138 void disableFeatureDetection();
149 bool forceGroundNormalsUp,
151 void setScanParameters(
153 int downsampleStep=1,
156 float voxelSize = 0.0f,
158 float normalsRadius = 0.0f,
159 float groundNormalsUp = 0.0f,
160 bool deskewing =
false);
167 bool odomProvided()
const;
174 virtual void mainLoopBegin();
175 virtual void mainLoop();
176 virtual void mainLoopKill();
SensorCapture * _odomSensor
SensorCapture * odomSensor()
float _scanForceGroundNormalsUp
RTABMAP_DEPRECATED(typedef SensorData Image, "rtabmap::Image class is renamed to rtabmap::SensorData, use the last one instead.")
RTABMAP_DEPRECATED typedef SensorCaptureThread CameraThread
void disableBilateralFiltering()
void setColorOnly(bool colorOnly)
std::map< std::string, std::string > ParametersMap
Feature2D * _featureDetector
bool _imuBaseFrameConversion
bool _stereoExposureCompensation
void setStereoExposureCompensation(bool enabled)
void setMirroringEnabled(bool enabled)
RTABMAP_DEPRECATED void setImageRate(float frameRate)
void setStereoToDepth(bool enabled)
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
StereoDense * _stereoDense
Transform _extrinsicsOdomToCamera
void setImageDecimation(int decimation)
Camera camera(Pose3(Rot3().retract(Vector3(0.1, 0.2, 0.3)), Point3(0, 5, 0)), Cal3Bundler0(1, 0, 0))
clams::DiscreteDepthDistortionModel * _distortionModel
void setHistogramMethod(int histogramMethod)
void setOdomAsGroundTruth(bool enabled)
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:15