rtabmap::CameraOpenni Class Reference

#include <CameraOpenni.h>

Inheritance diagram for rtabmap::CameraOpenni:

Public Member Functions
	CameraOpenni (const std::string &deviceId="", 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
virtual	~CameraOpenni ()
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 ()

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 Attributes
boost::signals2::connection	connection_
UMutex	dataMutex_
USemaphore	dataReady_
cv::Mat	depth_
float	depthConstant_
std::string	deviceId_
pcl::Grabber *	interface_
cv::Mat	rgb_

Detailed Description

Definition at line 59 of file CameraOpenni.h.

Constructor & Destructor Documentation

CameraOpenni()

rtabmap::CameraOpenni::CameraOpenni	(	const std::string &	deviceId = "",
		float	imageRate = 0,
		const Transform &	localTransform = Transform::getIdentity()
	)

Definition at line 43 of file CameraOpenni.cpp.

~CameraOpenni()

rtabmap::CameraOpenni::~CameraOpenni ( )

virtual

Definition at line 60 of file CameraOpenni.cpp.

Member Function Documentation

available()

bool rtabmap::CameraOpenni::available ( )

static

Definition at line 51 of file CameraOpenni.cpp.

captureImage()

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

protectedvirtual

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

Implements rtabmap::Camera.

Definition at line 185 of file CameraOpenni.cpp.

getSerial()

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

virtual

Implements rtabmap::Camera.

Definition at line 174 of file CameraOpenni.cpp.

init()

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

virtual

Implements rtabmap::Camera.

Definition at line 111 of file CameraOpenni.cpp.

isCalibrated()

bool rtabmap::CameraOpenni::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 165 of file CameraOpenni.cpp.

Member Data Documentation

connection_

boost::signals2::connection rtabmap::CameraOpenni::connection_

private

Definition at line 95 of file CameraOpenni.h.

dataMutex_

UMutex rtabmap::CameraOpenni::dataMutex_

private

Definition at line 99 of file CameraOpenni.h.

dataReady_

USemaphore rtabmap::CameraOpenni::dataReady_

private

Definition at line 100 of file CameraOpenni.h.

depth_

cv::Mat rtabmap::CameraOpenni::depth_

private

Definition at line 96 of file CameraOpenni.h.

depthConstant_

float rtabmap::CameraOpenni::depthConstant_

private

Definition at line 98 of file CameraOpenni.h.

deviceId_

std::string rtabmap::CameraOpenni::deviceId_

private

Definition at line 94 of file CameraOpenni.h.

interface_

pcl::Grabber* rtabmap::CameraOpenni::interface_

private

Definition at line 93 of file CameraOpenni.h.

rgb_

cv::Mat rtabmap::CameraOpenni::rgb_

private

Definition at line 97 of file CameraOpenni.h.

---

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

• CameraOpenni.h
• CameraOpenni.cpp