#include <CameraRealSense2.h>

Inheritance diagram for rtabmap::CameraRealSense2:

Public Member Functions
	CameraRealSense2 (const std::string &deviceId="", float imageRate=0, const Transform &localTransform=CameraModel::opticalRotation())

virtual std::string	getSerial () const

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

virtual bool	isCalibrated () const

bool	odomProvided () const

void	publishInterIMU (bool enabled)

void	setDualMode (bool enabled, const Transform &extrinsics)

void	setEmitterEnabled (bool enabled)

void	setGlobalTimeSync (bool enabled)

void	setImagesRectified (bool enabled)

void	setIRFormat (bool enabled, bool useDepthInsteadOfRightImage)

void	setJsonConfig (const std::string &json)

void	setOdomProvided (bool enabled)

void	setResolution (int width, int height, int fps=30)

virtual	~CameraRealSense2 ()

Public Member Functions inherited from rtabmap::Camera
float	getImageRate () const

const Transform &	getLocalTransform () const

bool	initFromFile (const std::string &calibrationPath)

void	resetTimer ()

void	setImageRate (float imageRate)

void	setLocalTransform (const Transform &localTransform)

SensorData	takeImage (CameraInfo *info=0)

virtual	~Camera ()

Static Public Member Functions
static bool	available ()

Protected Member Functions
virtual SensorData	captureImage (CameraInfo *info=0)

Protected Member Functions inherited from rtabmap::Camera
	Camera (float imageRate=0, const Transform &localTransform=CameraModel::opticalRotation())

int	getNextSeqID ()

Detailed Description

Definition at line 55 of file CameraRealSense2.h.

Constructor & Destructor Documentation

rtabmap::CameraRealSense2::CameraRealSense2	(	const std::string &	deviceId = `""`,
		float	imageRate = `0`,
		const Transform &	localTransform = `CameraModel::opticalRotation()`
	)

Definition at line 54 of file CameraRealSense2.cpp.

rtabmap::CameraRealSense2::~CameraRealSense2 ( )

virtual

Definition at line 90 of file CameraRealSense2.cpp.

Member Function Documentation

bool rtabmap::CameraRealSense2::available ( )

static

Definition at line 45 of file CameraRealSense2.cpp.

SensorData rtabmap::CameraRealSense2::captureImage ( CameraInfo * info = 0 )

protectedvirtual

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

Implements rtabmap::Camera.

Definition at line 1189 of file CameraRealSense2.cpp.

std::string rtabmap::CameraRealSense2::getSerial ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 1092 of file CameraRealSense2.cpp.

bool rtabmap::CameraRealSense2::init	(	const std::string &	calibrationFolder = `"."`,
		const std::string &	cameraName = `""`
	)

virtual

Implements rtabmap::Camera.

Definition at line 470 of file CameraRealSense2.cpp.

bool rtabmap::CameraRealSense2::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 1083 of file CameraRealSense2.cpp.

bool rtabmap::CameraRealSense2::odomProvided ( ) const

virtual

Reimplemented from rtabmap::Camera.

Definition at line 1103 of file CameraRealSense2.cpp.

void rtabmap::CameraRealSense2::publishInterIMU ( bool enabled )

Definition at line 1143 of file CameraRealSense2.cpp.

void rtabmap::CameraRealSense2::setDualMode	(	bool	enabled,
		const Transform &	extrinsics
	)

Definition at line 1150 of file CameraRealSense2.cpp.

void rtabmap::CameraRealSense2::setEmitterEnabled ( bool enabled )

Definition at line 1112 of file CameraRealSense2.cpp.

void rtabmap::CameraRealSense2::setGlobalTimeSync ( bool enabled )

Definition at line 1136 of file CameraRealSense2.cpp.

void rtabmap::CameraRealSense2::setImagesRectified ( bool enabled )

Definition at line 1170 of file CameraRealSense2.cpp.

void rtabmap::CameraRealSense2::setIRFormat	(	bool	enabled,
		bool	useDepthInsteadOfRightImage
	)

Definition at line 1119 of file CameraRealSense2.cpp.

void rtabmap::CameraRealSense2::setJsonConfig ( const std::string & json )

Definition at line 1163 of file CameraRealSense2.cpp.

void rtabmap::CameraRealSense2::setOdomProvided ( bool enabled )

Definition at line 1177 of file CameraRealSense2.cpp.

void rtabmap::CameraRealSense2::setResolution	(	int	width,
		int	height,
		int	fps = `30`
	)

Definition at line 1127 of file CameraRealSense2.cpp.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation