CameraVideo.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #pragma once
29 
30 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
31 
32 #include <opencv2/highgui/highgui.hpp>
33 #include "rtabmap/core/Camera.h"
34 
35 namespace rtabmap
36 {
37 
39  public Camera
40 {
41 public:
42  enum Source{kVideoFile, kUsbDevice};
43 
44 public:
45  CameraVideo(int usbDevice = 0,
46  bool rectifyImages = false,
47  float imageRate = 0,
48  const Transform & localTransform = CameraModel::opticalRotation());
49  CameraVideo(const std::string & filePath,
50  bool rectifyImages = false,
51  float imageRate = 0,
52  const Transform & localTransform = CameraModel::opticalRotation());
53  virtual ~CameraVideo();
54 
55  virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
56  virtual bool isCalibrated() const;
57  virtual std::string getSerial() const;
58  int getUsbDevice() const {return _usbDevice;}
59  const std::string & getFilePath() const {return _filePath;}
60 
66  void setResolution(int width, int height) {_width=width, _height=height;}
67 
68 protected:
69  virtual SensorData captureImage(CameraInfo * info = 0);
70 
71 private:
72  // File type
73  std::string _filePath;
75 
76  cv::VideoCapture _capture;
78 
79  // Usb camera
81  std::string _guid;
82  int _width;
83  int _height;
84 
86 };
87 
88 
89 } // namespace rtabmap
cv::VideoCapture _capture
Definition: CameraVideo.h:76
def init(descriptorDim, matchThreshold, iterations, cuda, model_path)
std::string _guid
Definition: CameraVideo.h:81
static Transform opticalRotation()
Definition: CameraModel.h:45
int getUsbDevice() const
Definition: CameraVideo.h:58
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
CameraModel _model
Definition: CameraVideo.h:85
const std::string & getFilePath() const
Definition: CameraVideo.h:59
void setResolution(int width, int height)
Definition: CameraVideo.h:66
std::string _filePath
Definition: CameraVideo.h:73


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:58