Inheritance diagram for rtabmap::CameraStereoZed:

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Collaboration diagram for rtabmap::CameraStereoZed:

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Public Member Functions
	CameraStereoZed (int deviceId, int resolution=-1, int quality=1, int sensingMode=0, int confidenceThr=100, bool computeOdometry=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity(), bool selfCalibration=true, bool odomForce3DoF=false, int texturenessConfidenceThr=90)

	CameraStereoZed (const std::string &svoFilePath, int quality=1, int sensingMode=0, int confidenceThr=100, bool computeOdometry=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity(), bool selfCalibration=true, bool odomForce3DoF=false, int texturenessConfidenceThr=90)

virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")
	Initializes the sensor.

virtual bool	isCalibrated () const

virtual std::string	getSerial () const
	Returns the sensor's serial number or unique identifier.

virtual bool	odomProvided () const
	Checks if the sensor provides odometry poses.

virtual bool	getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.0)
	Gets the sensor's pose estimate at a specific timestamp.

void	postInterIMUPublic (const IMU &imu, double stamp)

void	setRightGrayScale (bool enabled=true)

Public Member Functions inherited from rtabmap::Camera
SensorData	takeImage (SensorCaptureInfo *info=0)

float	getImageRate () const

void	setImageRate (float imageRate)

void	setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)

bool	isInterIMUPublishing () const

bool	initFromFile (const std::string &calibrationPath)

Public Member Functions inherited from rtabmap::SensorCapture
virtual	~SensorCapture ()
	Virtual destructor.

SensorData	takeData (SensorCaptureInfo *info=0)
	Captures sensor data with frame rate control.

float	getFrameRate () const
	Returns the target frame rate.

const Transform &	getLocalTransform () const
	Returns the local transform from base frame to sensor frame.

void	setFrameRate (float frameRate)
	Sets the target frame rate.

void	setLocalTransform (const Transform &localTransform)
	Sets the local transform from base frame to sensor frame.

void	resetTimer ()
	Resets the frame rate timer.

Static Public Member Functions
static bool	available ()

static int	sdkVersion ()

static std::string	getNeuralModelWarning (int quality)

Protected Member Functions
virtual SensorData	captureImage (SensorCaptureInfo *info=0)

Protected Member Functions inherited from rtabmap::Camera
	Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())

void	postInterIMU (const IMU &imu, double stamp)

Protected Member Functions inherited from rtabmap::SensorCapture
	SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
	Protected constructor.

int	getNextSeqID ()
	Gets the next sequence ID.

Detailed Description

Definition at line 43 of file CameraStereoZed.h.

Member Function Documentation

◆ init()

virtual bool rtabmap::CameraStereoZed::init	(	const std::string &	calibrationFolder = `"."`,
		const std::string &	cameraName = `""`
	)

virtual

Initializes the sensor.

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

Opening device connections or file streams
Loading camera calibration parameters
Configuring sensor settings

Parameters

calibrationFolder	Directory path where calibration files are located (default: current directory ".")
cameraName	Base name of the camera for loading calibration files (default: empty string)

Returns: True if initialization was successful, false otherwise

Note: Must be called before calling takeData() or captureData()

Implements rtabmap::SensorCapture.

◆ isCalibrated()

virtual bool rtabmap::CameraStereoZed::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

◆ getSerial()

virtual std::string rtabmap::CameraStereoZed::getSerial ( ) const

virtual

Returns the sensor's serial number or unique identifier.

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).

Returns: String identifier for the sensor

Implements rtabmap::SensorCapture.

◆ odomProvided()

virtual bool rtabmap::CameraStereoZed::odomProvided ( ) const

virtual

Checks if the sensor provides odometry poses.

Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.

Returns: True if the sensor provides odometry poses, false otherwise

Note: Default implementation returns false. Derived classes should override if they support pose estimation.

See also: getPose()

Reimplemented from rtabmap::SensorCapture.

◆ getPose()

virtual bool rtabmap::CameraStereoZed::getPose	(	double	stamp,
		Transform &	pose,
		cv::Mat &	covariance,
		double	maxWaitTime = `0.0`
	)

virtual

Gets the sensor's pose estimate at a specific timestamp.

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.

Parameters

	stamp	Timestamp in seconds for which to query the pose
[out]	pose	Output transform representing the sensor pose
[out]	covariance	Output covariance matrix (6x6) representing twist uncertainty
	maxWaitTime	Maximum time in seconds to wait for pose data (default: 0.06)

Returns: True if pose was successfully retrieved, false otherwise

Note: Default implementation returns false. Derived classes should override if they support pose estimation.

See also: odomProvided()

Reimplemented from rtabmap::SensorCapture.

◆ getNeuralModelWarning()

static std::string rtabmap::CameraStereoZed::getNeuralModelWarning ( int quality )

static

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 init()). Returns an empty string when the model is ready, the mode isn't neural, or the SDK/build doesn't support the check.

◆ captureImage()

virtual SensorData rtabmap::CameraStereoZed::captureImage ( SensorCaptureInfo * info = 0 )

protectedvirtual

Implements rtabmap::Camera.

The documentation for this class was generated from the following file:

corelib/include/rtabmap/core/camera/CameraStereoZed.h

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Member Function Documentation

◆ init()

◆ isCalibrated()

◆ getSerial()

◆ odomProvided()

◆ getPose()

◆ getNeuralModelWarning()

◆ captureImage()