rtabmap::CameraOpenNI2 Class Reference

#include <CameraRGBD.h>

Inheritance diagram for rtabmap::CameraOpenNI2:

List of all members.

Public Member Functions
	CameraOpenNI2 (const std::string &deviceId="", float imageRate=0, const Transform &localTransform=Transform::getIdentity())
virtual std::string	getSerial () const
virtual bool	init (const std::string &calibrationFolder=".")
virtual bool	isCalibrated () const
bool	setAutoExposure (bool enabled)
bool	setAutoWhiteBalance (bool enabled)
bool	setExposure (int value)
bool	setGain (int value)
bool	setMirroring (bool enabled)
virtual	~CameraOpenNI2 ()
Static Public Member Functions
static bool	available ()
static bool	exposureGainAvailable ()
Protected Member Functions
virtual void	captureImage (cv::Mat &rgb, cv::Mat &depth, float &fx, float &fy, float &cx, float &cy)
Private Attributes
openni::VideoStream *	_color
openni::VideoStream *	_depth
float	_depthFx
float	_depthFy
openni::Device *	_device
std::string	_deviceId

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Detailed Description

Definition at line 200 of file CameraRGBD.h.

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Constructor & Destructor Documentation

rtabmap::CameraOpenNI2::CameraOpenNI2	(	const std::string &	deviceId = "",
		float	imageRate = 0,
		const Transform &	localTransform = Transform::getIdentity()
	)

Definition at line 416 of file CameraRGBD.cpp.

rtabmap::CameraOpenNI2::~CameraOpenNI2

(

)

[virtual]

Definition at line 436 of file CameraRGBD.cpp.

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Member Function Documentation

bool rtabmap::CameraOpenNI2::available

(

)

[static]

Definition at line 398 of file CameraRGBD.cpp.

void rtabmap::CameraOpenNI2::captureImage	(	cv::Mat &	rgb,
		cv::Mat &	depth,
		float &	fx,
		float &	fy,
		float &	cx,
		float &	cy
	)		[protected, virtual]

returned rgb and depth images should be already rectified

Implements rtabmap::CameraRGBD.

Definition at line 713 of file CameraRGBD.cpp.

bool rtabmap::CameraOpenNI2::exposureGainAvailable

(

)

[static]

Definition at line 407 of file CameraRGBD.cpp.

std::string rtabmap::CameraOpenNI2::getSerial

(

)

const [virtual]

Implements rtabmap::CameraRGBD.

Definition at line 702 of file CameraRGBD.cpp.

bool rtabmap::CameraOpenNI2::init

(

const std::string &

calibrationFolder = "."

)

[virtual]

Implements rtabmap::CameraRGBD.

Definition at line 524 of file CameraRGBD.cpp.

bool rtabmap::CameraOpenNI2::isCalibrated

(

)

const [virtual]

Implements rtabmap::CameraRGBD.

Definition at line 697 of file CameraRGBD.cpp.

bool rtabmap::CameraOpenNI2::setAutoExposure

(

bool

enabled

)

Definition at line 465 of file CameraRGBD.cpp.

bool rtabmap::CameraOpenNI2::setAutoWhiteBalance

(

bool

enabled

)

Definition at line 452 of file CameraRGBD.cpp.

bool rtabmap::CameraOpenNI2::setExposure

(

int

value

)

Definition at line 478 of file CameraRGBD.cpp.

bool rtabmap::CameraOpenNI2::setGain

(

int

value

)

Definition at line 495 of file CameraRGBD.cpp.

bool rtabmap::CameraOpenNI2::setMirroring

(

bool

enabled

)

Definition at line 512 of file CameraRGBD.cpp.

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Member Data Documentation

openni::VideoStream* rtabmap::CameraOpenNI2::_color [private]

Definition at line 229 of file CameraRGBD.h.

openni::VideoStream* rtabmap::CameraOpenNI2::_depth [private]

Definition at line 230 of file CameraRGBD.h.

float rtabmap::CameraOpenNI2::_depthFx [private]

Definition at line 231 of file CameraRGBD.h.

float rtabmap::CameraOpenNI2::_depthFy [private]

Definition at line 232 of file CameraRGBD.h.

openni::Device* rtabmap::CameraOpenNI2::_device [private]

Definition at line 228 of file CameraRGBD.h.

std::string rtabmap::CameraOpenNI2::_deviceId [private]

Definition at line 233 of file CameraRGBD.h.

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

• CameraRGBD.h
• CameraRGBD.cpp