rtabmap::CameraFreenect2 Class Reference

#include <CameraRGBD.h>

Inheritance diagram for rtabmap::CameraFreenect2:

List of all members.

Public Types
enum	Type {   kTypeColor2DepthSD, kTypeDepth2ColorSD, kTypeDepth2ColorHD, kTypeDepth2ColorHD2,   kTypeIRDepth, kTypeColorIR }
Public Member Functions
	CameraFreenect2 (int deviceId=0, Type type=kTypeColor2DepthSD, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity(), float minDepth=0.3f, float maxDepth=12.0f, bool bilateralFiltering=true, bool edgeAwareFiltering=true, bool noiseFiltering=true)
virtual std::string	getSerial () const
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")
virtual bool	isCalibrated () const
virtual	~CameraFreenect2 ()
Static Public Member Functions
static bool	available ()
Protected Member Functions
virtual SensorData	captureImage (CameraInfo *info=0)
Private Attributes
bool	bilateralFiltering_
libfreenect2::Freenect2Device *	dev_
int	deviceId_
bool	edgeAwareFiltering_
libfreenect2::Freenect2 *	freenect2_
libfreenect2::SyncMultiFrameListener *	listener_
float	maxKinect2Depth_
float	minKinect2Depth_
bool	noiseFiltering_
libfreenect2::Registration *	reg_
StereoCameraModel	stereoModel_
Type	type_

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Detailed Description

Definition at line 219 of file CameraRGBD.h.

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Member Enumeration Documentation

enum rtabmap::CameraFreenect2::Type

Enumerator:

kTypeColor2DepthSD
kTypeDepth2ColorSD
kTypeDepth2ColorHD
kTypeDepth2ColorHD2
kTypeIRDepth
kTypeColorIR

Definition at line 225 of file CameraRGBD.h.

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Constructor & Destructor Documentation

rtabmap::CameraFreenect2::CameraFreenect2	(	int	deviceId = 0,
		Type	type = kTypeColor2DepthSD,
		float	imageRate = 0.0f,
		const Transform &	localTransform = Transform::getIdentity(),
		float	minDepth = 0.3f,
		float	maxDepth = 12.0f,
		bool	bilateralFiltering = true,
		bool	edgeAwareFiltering = true,
		bool	noiseFiltering = true
	)

Definition at line 1088 of file CameraRGBD.cpp.

rtabmap::CameraFreenect2::~CameraFreenect2

(

)

[virtual]

Definition at line 1132 of file CameraRGBD.cpp.

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Member Function Documentation

bool rtabmap::CameraFreenect2::available

(

)

[static]

Definition at line 1079 of file CameraRGBD.cpp.

SensorData rtabmap::CameraFreenect2::captureImage

(

CameraInfo *

info = 0

)

[protected, virtual]

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

Implements rtabmap::Camera.

Definition at line 1311 of file CameraRGBD.cpp.

std::string rtabmap::CameraFreenect2::getSerial

(

)

const [virtual]

Implements rtabmap::Camera.

Definition at line 1300 of file CameraRGBD.cpp.

bool rtabmap::CameraFreenect2::init	(	const std::string &	calibrationFolder = ".",
		const std::string &	cameraName = ""
	)		[virtual]

Implements rtabmap::Camera.

Definition at line 1161 of file CameraRGBD.cpp.

bool rtabmap::CameraFreenect2::isCalibrated

(

)

const [virtual]

Implements rtabmap::Camera.

Definition at line 1295 of file CameraRGBD.cpp.

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Member Data Documentation

bool rtabmap::CameraFreenect2::bilateralFiltering_ [private]

Definition at line 264 of file CameraRGBD.h.

libfreenect2::Freenect2Device* rtabmap::CameraFreenect2::dev_ [private]

Definition at line 259 of file CameraRGBD.h.

int rtabmap::CameraFreenect2::deviceId_ [private]

Definition at line 255 of file CameraRGBD.h.

bool rtabmap::CameraFreenect2::edgeAwareFiltering_ [private]

Definition at line 265 of file CameraRGBD.h.

libfreenect2::Freenect2* rtabmap::CameraFreenect2::freenect2_ [private]

Definition at line 258 of file CameraRGBD.h.

libfreenect2::SyncMultiFrameListener* rtabmap::CameraFreenect2::listener_ [private]

Definition at line 260 of file CameraRGBD.h.

float rtabmap::CameraFreenect2::maxKinect2Depth_ [private]

Definition at line 263 of file CameraRGBD.h.

float rtabmap::CameraFreenect2::minKinect2Depth_ [private]

Definition at line 262 of file CameraRGBD.h.

bool rtabmap::CameraFreenect2::noiseFiltering_ [private]

Definition at line 266 of file CameraRGBD.h.

libfreenect2::Registration* rtabmap::CameraFreenect2::reg_ [private]

Definition at line 261 of file CameraRGBD.h.

StereoCameraModel rtabmap::CameraFreenect2::stereoModel_ [private]

Definition at line 257 of file CameraRGBD.h.

Type rtabmap::CameraFreenect2::type_ [private]

Definition at line 256 of file CameraRGBD.h.

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

• CameraRGBD.h
• CameraRGBD.cpp