#include <CameraRGB.h>

Inheritance diagram for rtabmap::CameraImages:

Public Member Functions
	CameraImages ()
	CameraImages (const std::string &path, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
const CameraModel &	cameraModel () const
std::vector< std::string >	filenames () const
int	getBayerMode () const
double	getMaxPoseTimeDiff () const
std::string	getPath () const
virtual std::string	getSerial () const
unsigned int	imagesCount () const
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")
virtual bool	isCalibrated () const
bool	isImagesRectified () const
virtual bool	odomProvided () const
void	setBayerMode (int mode)
void	setDepth (bool isDepth, float depthScaleFactor=1.0f)
void	setDepthFromScan (bool enabled, int fillHoles=1, bool fillHolesFromBorder=false)
void	setDirRefreshed (bool enabled)
void	setGroundTruthPath (const std::string &filePath, int format=0)
void	setImagesRectified (bool enabled)
void	setMaxPoseTimeDiff (double diff)
void	setOdometryPath (const std::string &filePath, int format=0)
void	setPath (const std::string &dir)
void	setScanPath (const std::string &dir, int maxScanPts=0, int downsampleStep=1, float voxelSize=0.0f, int normalsK=0, float normalsRadius=0, const Transform &localTransform=Transform::getIdentity(), bool forceGroundNormalsUp=false)
virtual void	setStartIndex (int index)
void	setTimestamps (bool fileNamesAreStamps, const std::string &filePath="", bool syncImageRateWithStamps=true)
virtual	~CameraImages ()
Protected Member Functions
virtual SensorData	captureImage (CameraInfo *info=0)
bool	readPoses (std::list< Transform > &outputPoses, std::list< double > &stamps, const std::string &filePath, int format, double maxTimeDiff) const
Private Attributes
int	_bayerMode
double	_captureDelay
UTimer	_captureTimer
int	_count
int	_countScan
bool	_depthFromScan
int	_depthFromScanFillHoles
bool	_depthFromScanFillHolesFromBorder
float	_depthScaleFactor
UDirectory *	_dir
bool	_filenamesAreTimestamps
int	_groundTruthFormat
std::string	_groundTruthPath
bool	_isDepth
std::string	_lastFileName
std::string	_lastScanFileName
double	_maxPoseTimeDiff
CameraModel	_model
int	_odometryFormat
std::string	_odometryPath
std::string	_path
bool	_rectifyImages
bool	_refreshDir
UDirectory *	_scanDir
int	_scanDownsampleStep
bool	_scanForceGroundNormalsUp
Transform	_scanLocalTransform
int	_scanMaxPts
int	_scanNormalsK
float	_scanNormalsRadius
std::string	_scanPath
float	_scanVoxelSize
std::list< double >	_stamps
int	_startAt
bool	_syncImageRateWithStamps
std::string	_timestampsPath
std::list< Transform >	groundTruth_
std::list< Transform >	odometry_

Detailed Description

Definition at line 48 of file CameraRGB.h.

Constructor & Destructor Documentation

rtabmap::CameraImages::CameraImages ( )

Definition at line 61 of file CameraRGB.cpp.

rtabmap::CameraImages::CameraImages	(	const std::string &	path,
		float	imageRate = `0`,
		const Transform &	localTransform = `Transform::getIdentity()`
	)

Definition at line 89 of file CameraRGB.cpp.

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

Definition at line 124 of file CameraRGB.cpp.

Member Function Documentation

const CameraModel& rtabmap::CameraImages::cameraModel ( ) const [inline]

Definition at line 68 of file CameraRGB.h.

SensorData rtabmap::CameraImages::captureImage ( CameraInfo * info = 0 ) [protected, virtual]

returned rgb and depth images should be already rectified if calibration was loaded

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraRGBDImages, and rtabmap::CameraStereoImages.

Definition at line 496 of file CameraRGB.cpp.

std::vector< std::string > rtabmap::CameraImages::filenames ( ) const

Definition at line 487 of file CameraRGB.cpp.

int rtabmap::CameraImages::getBayerMode ( ) const [inline]

Definition at line 67 of file CameraRGB.h.

double rtabmap::CameraImages::getMaxPoseTimeDiff ( ) const [inline]

Definition at line 125 of file CameraRGB.h.

std::string rtabmap::CameraImages::getPath ( ) const [inline]

Definition at line 63 of file CameraRGB.h.

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

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraRGBDImages, and rtabmap::CameraStereoImages.

Definition at line 473 of file CameraRGB.cpp.

unsigned int rtabmap::CameraImages::imagesCount ( ) const

Definition at line 478 of file CameraRGB.cpp.

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

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraRGBDImages, and rtabmap::CameraStereoImages.

Definition at line 131 of file CameraRGB.cpp.

bool rtabmap::CameraImages::isCalibrated ( ) const [virtual]

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraRGBDImages, and rtabmap::CameraStereoImages.

Definition at line 468 of file CameraRGB.cpp.

bool rtabmap::CameraImages::isImagesRectified ( ) const [inline]

Definition at line 66 of file CameraRGB.h.

virtual bool rtabmap::CameraImages::odomProvided ( ) const [inline, virtual]

Reimplemented from rtabmap::Camera.

Definition at line 62 of file CameraRGB.h.

bool rtabmap::CameraImages::readPoses	(	std::list< Transform > &	outputPoses,
		std::list< double > &	stamps,
		const std::string &	filePath,
		int	format,
		double	maxTimeDiff
	)		const `[protected]`

Definition at line 359 of file CameraRGB.cpp.

void rtabmap::CameraImages::setBayerMode ( int mode ) [inline]

Definition at line 74 of file CameraRGB.h.

void rtabmap::CameraImages::setDepth	(	bool	isDepth,
		float	depthScaleFactor = `1.0f`
	)		`[inline]`

Definition at line 127 of file CameraRGB.h.

void rtabmap::CameraImages::setDepthFromScan	(	bool	enabled,
		int	fillHoles = `1`,
		bool	fillHolesFromBorder = `false`
	)		`[inline]`

Definition at line 103 of file CameraRGB.h.

void rtabmap::CameraImages::setDirRefreshed ( bool enabled ) [inline]

Definition at line 72 of file CameraRGB.h.

void rtabmap::CameraImages::setGroundTruthPath	(	const std::string &	filePath,
		int	format = `0`
	)		`[inline]`

Definition at line 118 of file CameraRGB.h.

void rtabmap::CameraImages::setImagesRectified ( bool enabled ) [inline]

Definition at line 73 of file CameraRGB.h.

void rtabmap::CameraImages::setMaxPoseTimeDiff ( double diff ) [inline]

Definition at line 124 of file CameraRGB.h.

void rtabmap::CameraImages::setOdometryPath	(	const std::string &	filePath,
		int	format = `0`
	)		`[inline]`

Definition at line 111 of file CameraRGB.h.

void rtabmap::CameraImages::setPath ( const std::string & dir ) [inline]

Definition at line 70 of file CameraRGB.h.

void rtabmap::CameraImages::setScanPath	(	const std::string &	dir,
		int	maxScanPts = `0`,
		int	downsampleStep = `1`,
		float	voxelSize = `0.0f`,
		int	normalsK = `0`,
		float	normalsRadius = `0`,
		const Transform &	localTransform = `Transform::getIdentity()`,
		bool	forceGroundNormalsUp = `false`
	)		`[inline]`

Definition at line 83 of file CameraRGB.h.

virtual void rtabmap::CameraImages::setStartIndex ( int index ) [inline, virtual]

Reimplemented in rtabmap::CameraRGBDImages, and rtabmap::CameraStereoImages.

Definition at line 71 of file CameraRGB.h.

void rtabmap::CameraImages::setTimestamps	(	bool	fileNamesAreStamps,
		const std::string &	filePath = `""`,
		bool	syncImageRateWithStamps = `true`
	)		`[inline]`