rtabmap::Camera Class Reference

#include <Camera.h>

Inheritance diagram for rtabmap::Camera:

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
bool	initFromFile (const std::string &calibrationPath)
virtual bool	isCalibrated () const =0
virtual bool	odomProvided () const
void	resetTimer ()
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=CameraModel::opticalRotation())
virtual SensorData	captureImage (CameraInfo *info=0)=0
int	getNextSeqID ()

Private Attributes
UTimer *	_frameRateTimer
float	_imageRate
Transform	_localTransform
int	_seq
cv::Size	_targetImageSize

Detailed Description

Class Camera

Definition at line 50 of file Camera.h.

Constructor & Destructor Documentation

rtabmap::Camera::~Camera ( )

virtual

Definition at line 55 of file Camera.cpp.

rtabmap::Camera::Camera ( float  imageRate = 0, const Transform &  localTransform = CameraModel::opticalRotation()  )

protected

Constructor

Parameters

imageRate

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

Definition at line 46 of file Camera.cpp.

Member Function Documentation

virtual SensorData rtabmap::Camera::captureImage ( CameraInfo *  info = 0 )

protectedpure virtual

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

Implemented in rtabmap::CameraImages, rtabmap::CameraMobile, rtabmap::CameraRealSense2, rtabmap::CameraOpenni, rtabmap::CameraStereoZed, rtabmap::CameraARCore, rtabmap::CameraFreenect2, rtabmap::CameraRealSense, rtabmap::CameraK4W2, rtabmap::DBReader, rtabmap::CameraStereoVideo, rtabmap::CameraOpenNI2, rtabmap::CameraMyntEye, rtabmap::CameraVideo, rtabmap::CameraK4A, rtabmap::CameraStereoImages, rtabmap::CameraStereoTara, rtabmap::CameraTango, rtabmap::CameraFreenect, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraAREngine, rtabmap::CameraOpenNICV, rtabmap::CameraRGBDImages, and rtabmap::CameraStereoDC1394.

float rtabmap::Camera::getImageRate ( ) const

inline

Definition at line 63 of file Camera.h.

const Transform& rtabmap::Camera::getLocalTransform ( ) const

inline

Definition at line 64 of file Camera.h.

int rtabmap::Camera::getNextSeqID ( )

inlineprotected

Definition at line 84 of file Camera.h.

virtual std::string rtabmap::Camera::getSerial ( ) const

pure virtual

Implemented in rtabmap::CameraOpenni, rtabmap::CameraMobile, rtabmap::CameraFreenect2, rtabmap::CameraStereoZed, rtabmap::CameraARCore, rtabmap::CameraK4W2, rtabmap::CameraRealSense, rtabmap::CameraStereoVideo, rtabmap::DBReader, rtabmap::CameraRealSense2, rtabmap::CameraK4A, rtabmap::CameraOpenNI2, rtabmap::CameraStereoImages, rtabmap::CameraStereoTara, rtabmap::CameraFreenect, rtabmap::CameraMyntEye, rtabmap::CameraVideo, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraImages, rtabmap::CameraAREngine, rtabmap::CameraTango, rtabmap::CameraOpenNICV, and rtabmap::CameraStereoDC1394.

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

pure virtual

Implemented in rtabmap::CameraOpenni, rtabmap::CameraMobile, rtabmap::CameraFreenect2, rtabmap::CameraStereoZed, rtabmap::CameraARCore, rtabmap::CameraK4W2, rtabmap::CameraRealSense, rtabmap::CameraStereoVideo, rtabmap::CameraRealSense2, rtabmap::DBReader, rtabmap::CameraK4A, rtabmap::CameraOpenNI2, rtabmap::CameraStereoImages, rtabmap::CameraStereoTara, rtabmap::CameraFreenect, rtabmap::CameraMyntEye, rtabmap::CameraVideo, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraImages, rtabmap::CameraAREngine, rtabmap::CameraTango, rtabmap::CameraOpenNICV, rtabmap::CameraStereoDC1394, and rtabmap::CameraRGBDImages.

bool rtabmap::Camera::initFromFile

(

const std::string &

calibrationPath

)

Definition at line 67 of file Camera.cpp.

virtual bool rtabmap::Camera::isCalibrated ( ) const

pure virtual

Implemented in rtabmap::CameraMobile, rtabmap::CameraOpenni, rtabmap::CameraFreenect2, rtabmap::CameraStereoZed, rtabmap::CameraK4W2, rtabmap::CameraRealSense, rtabmap::CameraStereoVideo, rtabmap::DBReader, rtabmap::CameraRealSense2, rtabmap::CameraK4A, rtabmap::CameraOpenNI2, rtabmap::CameraStereoImages, rtabmap::CameraStereoTara, rtabmap::CameraFreenect, rtabmap::CameraMyntEye, rtabmap::CameraVideo, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraImages, rtabmap::CameraOpenNICV, and rtabmap::CameraStereoDC1394.

virtual bool rtabmap::Camera::odomProvided ( ) const

inlinevirtual

Reimplemented in rtabmap::CameraStereoZed, rtabmap::CameraRealSense, rtabmap::DBReader, rtabmap::CameraRealSense2, rtabmap::CameraMyntEye, and rtabmap::CameraImages.

Definition at line 60 of file Camera.h.

void rtabmap::Camera::resetTimer

(

)

Definition at line 62 of file Camera.cpp.

void rtabmap::Camera::setImageRate ( float  imageRate )

inline

Definition at line 67 of file Camera.h.

void rtabmap::Camera::setLocalTransform ( const Transform &  localTransform )

inline

Definition at line 68 of file Camera.h.

SensorData rtabmap::Camera::takeImage

(

CameraInfo *

info = 0

)

Definition at line 72 of file Camera.cpp.

Member Data Documentation

UTimer* rtabmap::Camera::_frameRateTimer

private

Definition at line 90 of file Camera.h.

float rtabmap::Camera::_imageRate

private

Definition at line 87 of file Camera.h.

Transform rtabmap::Camera::_localTransform

private

Definition at line 88 of file Camera.h.

int rtabmap::Camera::_seq

private

Definition at line 91 of file Camera.h.

cv::Size rtabmap::Camera::_targetImageSize

private

Definition at line 89 of file Camera.h.

---

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

• Camera.h
• Camera.cpp