rtabmap::Camera Class Reference

#include <Camera.h>

Inheritance diagram for rtabmap::Camera:

List of all members.

Public Member Functions
float	getImageRate () const
const Transform &	getLocalTransform () const
virtual std::string	getSerial () const =0
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")=0
virtual bool	isCalibrated () const =0
virtual bool	odomProvided () const
void	setImageRate (float imageRate)
void	setLocalTransform (const Transform &localTransform)
SensorData	takeImage (CameraInfo *info=0)
virtual	~Camera ()
Protected Member Functions
	Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
virtual SensorData	captureImage (CameraInfo *info=0)=0
int	getNextSeqID ()
Private Attributes
UTimer *	_frameRateTimer
float	_imageRate
Transform	_localTransform
int	_seq
cv::Size	_targetImageSize

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Detailed Description

Class Camera

Definition at line 50 of file Camera.h.

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Constructor & Destructor Documentation

rtabmap::Camera::~Camera

(

)

[virtual]

Definition at line 55 of file Camera.cpp.

rtabmap::Camera::Camera	(	float	imageRate = 0,
		const Transform &	localTransform = Transform::getIdentity()
	)		[protected]

Constructor

Parameters:

imageRate

: image/second , 0 for fast as the camera can

Definition at line 46 of file Camera.cpp.

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Member Function Documentation

virtual SensorData rtabmap::Camera::captureImage

(

CameraInfo *

info = 0

)

[protected, pure virtual]

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

Implemented in rtabmap::CameraRGBDImages, rtabmap::CameraFreenect2, rtabmap::CameraStereoVideo, rtabmap::CameraFreenect, rtabmap::CameraVideo, rtabmap::CameraStereoImages, rtabmap::CameraOpenNI2, rtabmap::CameraStereoZed, rtabmap::CameraOpenNICV, rtabmap::CameraImages, rtabmap::CameraOpenni, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraTango, rtabmap::CameraStereoDC1394, and rtabmap::DBReader.

float rtabmap::Camera::getImageRate

(

)

const [inline]

Definition at line 62 of file Camera.h.

const Transform& rtabmap::Camera::getLocalTransform

(

)

const [inline]

Definition at line 63 of file Camera.h.

int rtabmap::Camera::getNextSeqID

(

)

[inline, protected]

Definition at line 82 of file Camera.h.

virtual std::string rtabmap::Camera::getSerial

(

)

const [pure virtual]

Implemented in rtabmap::CameraRGBDImages, rtabmap::CameraFreenect2, rtabmap::CameraStereoVideo, rtabmap::CameraFreenect, rtabmap::CameraVideo, rtabmap::CameraStereoImages, rtabmap::CameraOpenNI2, rtabmap::CameraStereoZed, rtabmap::CameraOpenNICV, rtabmap::CameraOpenni, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraTango, rtabmap::CameraStereoDC1394, rtabmap::DBReader, and rtabmap::CameraImages.

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

Implemented in rtabmap::CameraRGBDImages, rtabmap::CameraFreenect2, rtabmap::CameraStereoVideo, rtabmap::CameraFreenect, rtabmap::CameraVideo, rtabmap::CameraStereoImages, rtabmap::CameraOpenNI2, rtabmap::CameraStereoZed, rtabmap::CameraOpenNICV, rtabmap::CameraOpenni, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraTango, rtabmap::CameraStereoDC1394, rtabmap::DBReader, and rtabmap::CameraImages.

virtual bool rtabmap::Camera::isCalibrated

(

)

const [pure virtual]

Implemented in rtabmap::CameraRGBDImages, rtabmap::CameraFreenect2, rtabmap::CameraStereoVideo, rtabmap::CameraFreenect, rtabmap::CameraVideo, rtabmap::CameraStereoImages, rtabmap::CameraOpenNI2, rtabmap::CameraStereoZed, rtabmap::CameraOpenNICV, rtabmap::CameraOpenni, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraTango, rtabmap::CameraStereoDC1394, rtabmap::DBReader, and rtabmap::CameraImages.

virtual bool rtabmap::Camera::odomProvided

(

)

const [inline, virtual]

Reimplemented in rtabmap::CameraStereoZed, and rtabmap::DBReader.

Definition at line 59 of file Camera.h.

void rtabmap::Camera::setImageRate

(

float

imageRate

)

[inline]

Definition at line 66 of file Camera.h.

void rtabmap::Camera::setLocalTransform

(

const Transform &

localTransform

)

[inline]

Definition at line 67 of file Camera.h.

SensorData rtabmap::Camera::takeImage

(

CameraInfo *

info = 0

)

Definition at line 62 of file Camera.cpp.

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Member Data Documentation

UTimer* rtabmap::Camera::_frameRateTimer [private]

Definition at line 88 of file Camera.h.

float rtabmap::Camera::_imageRate [private]

Definition at line 85 of file Camera.h.

Transform rtabmap::Camera::_localTransform [private]

Definition at line 86 of file Camera.h.

int rtabmap::Camera::_seq [private]

Definition at line 89 of file Camera.h.

cv::Size rtabmap::Camera::_targetImageSize [private]

Definition at line 87 of file Camera.h.

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

• Camera.h
• Camera.cpp