#include <CameraRGBD.h>

Inheritance diagram for rtabmap::CameraOpenni:

Public Member Functions
	CameraOpenni (const std::string &deviceId="", float imageRate=0, const Transform &localTransform=Transform::getIdentity())
virtual std::string	getSerial () const
void	image_cb (const boost::shared_ptr< openni_wrapper::Image > &rgb, const boost::shared_ptr< openni_wrapper::DepthImage > &depth, float constant)
virtual bool	init (const std::string &calibrationFolder=".")
virtual bool	isCalibrated () const
virtual	~CameraOpenni ()
Static Public Member Functions
static bool	available ()
Protected Member Functions
virtual void	captureImage (cv::Mat &rgb, cv::Mat &depth, float &fx, float &fy, float &cx, float &cy)
Private Attributes
boost::signals2::connection	connection_
UMutex	dataMutex_
USemaphore	dataReady_
cv::Mat	depth_
float	depthConstant_
std::string	deviceId_
pcl::Grabber *	interface_
cv::Mat	rgb_

Detailed Description

Definition at line 132 of file CameraRGBD.h.

Constructor & Destructor Documentation

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

Definition at line 156 of file CameraRGBD.cpp.

rtabmap::CameraOpenni::~CameraOpenni ( ) [virtual]

Definition at line 164 of file CameraRGBD.cpp.

static bool rtabmap::CameraOpenni::available ( ) [inline, static]

Definition at line 136 of file CameraRGBD.h.

void rtabmap::CameraOpenni::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

Definition at line 261 of file CameraRGBD.cpp.

std::string rtabmap::CameraOpenni::getSerial ( ) const [virtual]

Definition at line 252 of file CameraRGBD.cpp.

void rtabmap::CameraOpenni::image_cb	(	const boost::shared_ptr< openni_wrapper::Image > &	rgb,
		const boost::shared_ptr< openni_wrapper::DepthImage > &	depth,
		float	constant
	)