rtabmap::CameraOpenNI2 Class Reference

#include <CameraOpenNI2.h>

Inheritance diagram for rtabmap::CameraOpenNI2:

Public Types
enum	Type { kTypeColorDepth, kTypeIRDepth, kTypeIR }

Public Member Functions
	CameraOpenNI2 (const std::string &deviceId="", Type type=kTypeColorDepth, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
virtual std::string	getSerial () const
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")
virtual bool	isCalibrated () const
bool	setAutoExposure (bool enabled)
bool	setAutoWhiteBalance (bool enabled)
void	setDepthDecimation (int decimation)
bool	setExposure (int value)
bool	setGain (int value)
void	setIRDepthShift (int horizontal, int vertical)
bool	setMirroring (bool enabled)
void	setOpenNI2StampsAndIDsUsed (bool used)
virtual	~CameraOpenNI2 ()
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)
virtual bool	odomProvided () const
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 ()
static bool	exposureGainAvailable ()

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 ()

Detailed Description

Definition at line 44 of file CameraOpenNI2.h.

Member Enumeration Documentation

Type

enum rtabmap::CameraOpenNI2::Type

Enumerator
kTypeColorDepth
kTypeIRDepth
kTypeIR

Definition at line 51 of file CameraOpenNI2.h.

Constructor & Destructor Documentation

CameraOpenNI2()

rtabmap::CameraOpenNI2::CameraOpenNI2	(	const std::string &	deviceId = "",
		Type	type = kTypeColorDepth,
		float	imageRate = 0,
		const Transform &	localTransform = Transform::getIdentity()
	)

Definition at line 60 of file CameraOpenNI2.cpp.

~CameraOpenNI2()

rtabmap::CameraOpenNI2::~CameraOpenNI2 ( )

virtual

Definition at line 83 of file CameraOpenNI2.cpp.

Member Function Documentation

available()

bool rtabmap::CameraOpenNI2::available ( )

static

Definition at line 42 of file CameraOpenNI2.cpp.

captureImage()

SensorData rtabmap::CameraOpenNI2::captureImage ( CameraInfo *  info = 0 )

protectedvirtual

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

Implements rtabmap::Camera.

Definition at line 476 of file CameraOpenNI2.cpp.

exposureGainAvailable()

bool rtabmap::CameraOpenNI2::exposureGainAvailable ( )

static

Definition at line 51 of file CameraOpenNI2.cpp.

getSerial()

std::string rtabmap::CameraOpenNI2::getSerial ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 465 of file CameraOpenNI2.cpp.

init()

bool rtabmap::CameraOpenNI2::init ( const std::string &  calibrationFolder = ".", const std::string &  cameraName = ""  )

virtual

Implements rtabmap::Camera.

Definition at line 194 of file CameraOpenNI2.cpp.

isCalibrated()

bool rtabmap::CameraOpenNI2::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 460 of file CameraOpenNI2.cpp.

setAutoExposure()

bool rtabmap::CameraOpenNI2::setAutoExposure

(

bool

enabled

)

Definition at line 112 of file CameraOpenNI2.cpp.

setAutoWhiteBalance()

bool rtabmap::CameraOpenNI2::setAutoWhiteBalance

(

bool

enabled

)

Definition at line 99 of file CameraOpenNI2.cpp.

setDepthDecimation()

void rtabmap::CameraOpenNI2::setDepthDecimation

(

int

decimation

)

Definition at line 186 of file CameraOpenNI2.cpp.

setExposure()

bool rtabmap::CameraOpenNI2::setExposure

(

int

value

)

Definition at line 125 of file CameraOpenNI2.cpp.

setGain()

bool rtabmap::CameraOpenNI2::setGain

(

int

value

)

Definition at line 142 of file CameraOpenNI2.cpp.

setIRDepthShift()

void rtabmap::CameraOpenNI2::setIRDepthShift	(	int	horizontal,
		int	vertical
	)

Definition at line 178 of file CameraOpenNI2.cpp.

setMirroring()

bool rtabmap::CameraOpenNI2::setMirroring

(

bool

enabled

)

Definition at line 159 of file CameraOpenNI2.cpp.

setOpenNI2StampsAndIDsUsed()

void rtabmap::CameraOpenNI2::setOpenNI2StampsAndIDsUsed

(

bool

used

)

Definition at line 171 of file CameraOpenNI2.cpp.

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

• CameraOpenNI2.h
• CameraOpenNI2.cpp