Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::CameraImages Class Reference

#include <CameraImages.h>

Inheritance diagram for rtabmap::CameraImages:
Inheritance graph
[legend]

Public Member Functions

 CameraImages ()
 
 CameraImages (const std::string &path, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
const CameraModel & cameraModel () const
 
std::vector< std::string > filenames () const
 
int getBayerMode () const
 
double getMaxPoseTimeDiff () const
 
std::string getPath () const
 
virtual std::string getSerial () const
 
unsigned int imagesCount () const
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 
virtual bool isCalibrated () const
 
bool isImagesRectified () const
 
virtual bool odomProvided () const
 
void setBayerMode (int mode)
 
void setConfigForEachFrame (bool value)
 
void setDepth (bool isDepth, float depthScaleFactor=1.0f)
 
void setDepthFromScan (bool enabled, int fillHoles=1, bool fillHolesFromBorder=false)
 
void setDirRefreshed (bool enabled)
 
void setGroundTruthPath (const std::string &filePath, int format=0)
 
void setImagesRectified (bool enabled)
 
virtual void setMaxFrames (int value)
 
void setMaxPoseTimeDiff (double diff)
 
void setOdometryPath (const std::string &filePath, int format=0)
 
void setPath (const std::string &dir)
 
void setScanPath (const std::string &dir, int maxScanPts=0, const Transform &localTransform=Transform::getIdentity())
 
virtual void setStartIndex (int index)
 
void setTimestamps (bool fileNamesAreStamps, const std::string &filePath="", bool syncImageRateWithStamps=true)
 
virtual ~CameraImages ()
 
- Public Member Functions inherited from rtabmap::Camera
float getImageRate () const
 
const Transform & getLocalTransform () const
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance)
 
bool initFromFile (const std::string &calibrationPath)
 
void resetTimer ()
 
void setImageRate (float imageRate)
 
void setLocalTransform (const Transform &localTransform)
 
SensorData takeImage (CameraInfo *info=0)
 
virtual ~Camera ()
 

Protected Member Functions

virtual SensorData captureImage (CameraInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
int getNextSeqID ()
 

Private Member Functions

bool readPoses (std::list< Transform > &outputPoses, std::list< double > &stamps, const std::string &filePath, int format, double maxTimeDiff) const
 

Private Attributes

int _bayerMode
 
double _captureDelay
 
UTimer _captureTimer
 
int _count
 
int _countScan
 
bool _depthFromScan
 
int _depthFromScanFillHoles
 
bool _depthFromScanFillHolesFromBorder
 
float _depthScaleFactor
 
UDirectory * _dir
 
bool _filenamesAreTimestamps
 
int _framesPublished
 
int _groundTruthFormat
 
std::string _groundTruthPath
 
bool _hasConfigForEachFrame
 
bool _isDepth
 
std::string _lastFileName
 
std::string _lastScanFileName
 
int _maxFrames
 
double _maxPoseTimeDiff
 
CameraModel _model
 
std::list< CameraModel > _models
 
int _odometryFormat
 
std::string _odometryPath
 
std::string _path
 
bool _rectifyImages
 
bool _refreshDir
 
UDirectory * _scanDir
 
Transform _scanLocalTransform
 
int _scanMaxPts
 
std::string _scanPath
 
std::list< double > _stamps
 
int _startAt
 
bool _syncImageRateWithStamps
 
std::string _timestampsPath
 
std::list< cv::Mat > covariances_
 
std::list< Transform > groundTruth_
 
std::list< Transform > odometry_
 

Detailed Description

Definition at line 41 of file CameraImages.h.

Constructor & Destructor Documentation

◆ CameraImages() [1/2]

rtabmap::CameraImages::CameraImages ( )

Definition at line 43 of file CameraImages.cpp.

◆ CameraImages() [2/2]

rtabmap::CameraImages::CameraImages ( const std::string &  path,
float  imageRate = 0,
const Transform &  localTransform = Transform::getIdentity() 
)

Definition at line 69 of file CameraImages.cpp.

◆ ~CameraImages()

rtabmap::CameraImages::~CameraImages ( )
virtual

Definition at line 102 of file CameraImages.cpp.

Member Function Documentation

◆ cameraModel()

const CameraModel& rtabmap::CameraImages::cameraModel ( ) const
inline

Definition at line 61 of file CameraImages.h.

◆ captureImage()

SensorData rtabmap::CameraImages::captureImage ( CameraInfo *  info = 0)
protectedvirtual

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

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraStereoImages, and rtabmap::CameraRGBDImages.

Definition at line 673 of file CameraImages.cpp.

◆ filenames()

std::vector< std::string > rtabmap::CameraImages::filenames ( ) const

Definition at line 660 of file CameraImages.cpp.

◆ getBayerMode()

int rtabmap::CameraImages::getBayerMode ( ) const
inline

Definition at line 60 of file CameraImages.h.

◆ getMaxPoseTimeDiff()

double rtabmap::CameraImages::getMaxPoseTimeDiff ( ) const
inline

Definition at line 114 of file CameraImages.h.

◆ getPath()

std::string rtabmap::CameraImages::getPath ( ) const
inline

Definition at line 56 of file CameraImages.h.

◆ getSerial()

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

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraStereoImages.

Definition at line 642 of file CameraImages.cpp.

◆ imagesCount()

unsigned int rtabmap::CameraImages::imagesCount ( ) const

Definition at line 647 of file CameraImages.cpp.

◆ init()

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

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraStereoImages, and rtabmap::CameraRGBDImages.

Definition at line 109 of file CameraImages.cpp.

◆ isCalibrated()

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

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraStereoImages.

Definition at line 636 of file CameraImages.cpp.

◆ isImagesRectified()

bool rtabmap::CameraImages::isImagesRectified ( ) const
inline

Definition at line 59 of file CameraImages.h.

◆ odomProvided()

virtual bool rtabmap::CameraImages::odomProvided ( ) const
inlinevirtual

Reimplemented from rtabmap::Camera.

Definition at line 55 of file CameraImages.h.

◆ readPoses()

bool rtabmap::CameraImages::readPoses ( std::list< Transform > &  outputPoses,
std::list< double > &  stamps,
const std::string &  filePath,
int  format,
double  maxTimeDiff 
) const
private

Definition at line 511 of file CameraImages.cpp.

◆ setBayerMode()

void rtabmap::CameraImages::setBayerMode ( int  mode)
inline

Definition at line 68 of file CameraImages.h.

◆ setConfigForEachFrame()

void rtabmap::CameraImages::setConfigForEachFrame ( bool  value)
inline

Definition at line 77 of file CameraImages.h.

◆ setDepth()

void rtabmap::CameraImages::setDepth ( bool  isDepth,
float  depthScaleFactor = 1.0f 
)
inline

Definition at line 116 of file CameraImages.h.

◆ setDepthFromScan()

void rtabmap::CameraImages::setDepthFromScan ( bool  enabled,
int  fillHoles = 1,
bool  fillHolesFromBorder = false 
)
inline

Definition at line 92 of file CameraImages.h.

◆ setDirRefreshed()

void rtabmap::CameraImages::setDirRefreshed ( bool  enabled)
inline

Definition at line 66 of file CameraImages.h.

◆ setGroundTruthPath()

void rtabmap::CameraImages::setGroundTruthPath ( const std::string &  filePath,
int  format = 0 
)
inline

Definition at line 107 of file CameraImages.h.

◆ setImagesRectified()

void rtabmap::CameraImages::setImagesRectified ( bool  enabled)
inline

Definition at line 67 of file CameraImages.h.

◆ setMaxFrames()

virtual void rtabmap::CameraImages::setMaxFrames ( int  value)
inlinevirtual

Reimplemented in rtabmap::CameraStereoImages, and rtabmap::CameraRGBDImages.

Definition at line 65 of file CameraImages.h.

◆ setMaxPoseTimeDiff()

void rtabmap::CameraImages::setMaxPoseTimeDiff ( double  diff)
inline

Definition at line 113 of file CameraImages.h.

◆ setOdometryPath()

void rtabmap::CameraImages::setOdometryPath ( const std::string &  filePath,
int  format = 0 
)
inline

Definition at line 100 of file CameraImages.h.

◆ setPath()

void rtabmap::CameraImages::setPath ( const std::string &  dir)
inline

Definition at line 63 of file CameraImages.h.

◆ setScanPath()

void rtabmap::CameraImages::setScanPath ( const std::string &  dir,
int  maxScanPts = 0,
const Transform &  localTransform = Transform::getIdentity() 
)
inline

Definition at line 82 of file CameraImages.h.

◆ setStartIndex()

virtual void rtabmap::CameraImages::setStartIndex ( int  index)
inlinevirtual

Reimplemented in rtabmap::CameraStereoImages, and rtabmap::CameraRGBDImages.

Definition at line 64 of file CameraImages.h.

◆ setTimestamps()

void rtabmap::CameraImages::setTimestamps ( bool  fileNamesAreStamps,
const std::string &  filePath = "",
bool  syncImageRateWithStamps = true 
)
inline

Definition at line 70 of file CameraImages.h.

Member Data Documentation

◆ _bayerMode

int rtabmap::CameraImages::_bayerMode
private

Definition at line 141 of file CameraImages.h.

◆ _captureDelay

double rtabmap::CameraImages::_captureDelay
private

Definition at line 179 of file CameraImages.h.

◆ _captureTimer

UTimer rtabmap::CameraImages::_captureTimer
private

Definition at line 178 of file CameraImages.h.

◆ _count

int rtabmap::CameraImages::_count
private

Definition at line 144 of file CameraImages.h.

◆ _countScan

int rtabmap::CameraImages::_countScan
private

Definition at line 149 of file CameraImages.h.

◆ _depthFromScan

bool rtabmap::CameraImages::_depthFromScan
private

Definition at line 156 of file CameraImages.h.

◆ _depthFromScanFillHoles

int rtabmap::CameraImages::_depthFromScanFillHoles
private

Definition at line 157 of file CameraImages.h.

◆ _depthFromScanFillHolesFromBorder

bool rtabmap::CameraImages::_depthFromScanFillHolesFromBorder
private

Definition at line 158 of file CameraImages.h.

◆ _depthScaleFactor

float rtabmap::CameraImages::_depthScaleFactor
private

Definition at line 143 of file CameraImages.h.

◆ _dir

UDirectory* rtabmap::CameraImages::_dir
private

Definition at line 146 of file CameraImages.h.

◆ _filenamesAreTimestamps

bool rtabmap::CameraImages::_filenamesAreTimestamps
private

Definition at line 160 of file CameraImages.h.

◆ _framesPublished

int rtabmap::CameraImages::_framesPublished
private

Definition at line 145 of file CameraImages.h.

◆ _groundTruthFormat

int rtabmap::CameraImages::_groundTruthFormat
private

Definition at line 168 of file CameraImages.h.

◆ _groundTruthPath

std::string rtabmap::CameraImages::_groundTruthPath
private

Definition at line 167 of file CameraImages.h.

◆ _hasConfigForEachFrame

bool rtabmap::CameraImages::_hasConfigForEachFrame
private

Definition at line 161 of file CameraImages.h.

◆ _isDepth

bool rtabmap::CameraImages::_isDepth
private

Definition at line 142 of file CameraImages.h.

◆ _lastFileName

std::string rtabmap::CameraImages::_lastFileName
private

Definition at line 147 of file CameraImages.h.

◆ _lastScanFileName

std::string rtabmap::CameraImages::_lastScanFileName
private

Definition at line 151 of file CameraImages.h.

◆ _maxFrames

int rtabmap::CameraImages::_maxFrames
private

Definition at line 136 of file CameraImages.h.

◆ _maxPoseTimeDiff

double rtabmap::CameraImages::_maxPoseTimeDiff
private

Definition at line 169 of file CameraImages.h.

◆ _model

CameraModel rtabmap::CameraImages::_model
private

Definition at line 175 of file CameraImages.h.

◆ _models

std::list<CameraModel> rtabmap::CameraImages::_models
private

Definition at line 176 of file CameraImages.h.

◆ _odometryFormat

int rtabmap::CameraImages::_odometryFormat
private

Definition at line 166 of file CameraImages.h.

◆ _odometryPath

std::string rtabmap::CameraImages::_odometryPath
private

Definition at line 165 of file CameraImages.h.

◆ _path

std::string rtabmap::CameraImages::_path
private

Definition at line 134 of file CameraImages.h.

◆ _rectifyImages

bool rtabmap::CameraImages::_rectifyImages
private

Definition at line 140 of file CameraImages.h.

◆ _refreshDir

bool rtabmap::CameraImages::_refreshDir
private

Definition at line 139 of file CameraImages.h.

◆ _scanDir

UDirectory* rtabmap::CameraImages::_scanDir
private

Definition at line 150 of file CameraImages.h.

◆ _scanLocalTransform

Transform rtabmap::CameraImages::_scanLocalTransform
private

Definition at line 153 of file CameraImages.h.

◆ _scanMaxPts

int rtabmap::CameraImages::_scanMaxPts
private

Definition at line 154 of file CameraImages.h.

◆ _scanPath

std::string rtabmap::CameraImages::_scanPath
private

Definition at line 152 of file CameraImages.h.

◆ _stamps

std::list<double> rtabmap::CameraImages::_stamps
private

Definition at line 171 of file CameraImages.h.

◆ _startAt

int rtabmap::CameraImages::_startAt
private

Definition at line 135 of file CameraImages.h.

◆ _syncImageRateWithStamps

bool rtabmap::CameraImages::_syncImageRateWithStamps
private

Definition at line 163 of file CameraImages.h.

◆ _timestampsPath

std::string rtabmap::CameraImages::_timestampsPath
private

Definition at line 162 of file CameraImages.h.

◆ covariances_

std::list<cv::Mat> rtabmap::CameraImages::covariances_
private

Definition at line 173 of file CameraImages.h.

◆ groundTruth_

std::list<Transform> rtabmap::CameraImages::groundTruth_
private

Definition at line 174 of file CameraImages.h.

◆ odometry_

std::list<Transform> rtabmap::CameraImages::odometry_
private

Definition at line 172 of file CameraImages.h.

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

rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:39:00