rtabmap::CameraVideo Class Reference

#include <CameraVideo.h>

Inheritance diagram for rtabmap::CameraVideo:

Public Types
enum	Source { kVideoFile, kUsbDevice }

Public Member Functions
	CameraVideo (int usbDevice=0, bool rectifyImages=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
	CameraVideo (const std::string &filePath, bool rectifyImages=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
const std::string &	getFilePath () const
virtual std::string	getSerial () const
int	getUsbDevice () const
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")
virtual bool	isCalibrated () const
void	setResolution (int width, int height)
virtual	~CameraVideo ()
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 ()

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
cv::VideoCapture	_capture
std::string	_filePath
std::string	_guid
int	_height
CameraModel	_model
bool	_rectifyImages
Source	_src
int	_usbDevice
int	_width

Detailed Description

Definition at line 38 of file CameraVideo.h.

Member Enumeration Documentation

Source

enum rtabmap::CameraVideo::Source

Enumerator
kVideoFile
kUsbDevice

Definition at line 42 of file CameraVideo.h.

Constructor & Destructor Documentation

CameraVideo() [1/2]

rtabmap::CameraVideo::CameraVideo	(	int	usbDevice = 0,
		bool	rectifyImages = false,
		float	imageRate = 0,
		const Transform &	localTransform = Transform::getIdentity()
	)

Definition at line 41 of file CameraVideo.cpp.

CameraVideo() [2/2]

rtabmap::CameraVideo::CameraVideo	(	const std::string &	filePath,
		bool	rectifyImages = false,
		float	imageRate = 0,
		const Transform &	localTransform = Transform::getIdentity()
	)

Definition at line 56 of file CameraVideo.cpp.

~CameraVideo()

rtabmap::CameraVideo::~CameraVideo ( )

virtual

Definition at line 71 of file CameraVideo.cpp.

Member Function Documentation

captureImage()

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

protectedvirtual

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

Implements rtabmap::Camera.

Definition at line 165 of file CameraVideo.cpp.

getFilePath()

const std::string& rtabmap::CameraVideo::getFilePath ( ) const

inline

Definition at line 59 of file CameraVideo.h.

getSerial()

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

virtual

Implements rtabmap::Camera.

Definition at line 160 of file CameraVideo.cpp.

getUsbDevice()

int rtabmap::CameraVideo::getUsbDevice ( ) const

inline

Definition at line 58 of file CameraVideo.h.

init()

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

virtual

Implements rtabmap::Camera.

Definition at line 76 of file CameraVideo.cpp.

isCalibrated()

bool rtabmap::CameraVideo::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 155 of file CameraVideo.cpp.

setResolution()

void rtabmap::CameraVideo::setResolution ( int  width, int  height  )

inline

Set wanted usb resolution, should be set before initialization. 0 means default resolution. It won't be applied if a valid camera calibration has been loaded, thus resolution from calibration is used.

Definition at line 66 of file CameraVideo.h.

Member Data Documentation

_capture

cv::VideoCapture rtabmap::CameraVideo::_capture

private

Definition at line 76 of file CameraVideo.h.

_filePath

std::string rtabmap::CameraVideo::_filePath

private

Definition at line 73 of file CameraVideo.h.

_guid

std::string rtabmap::CameraVideo::_guid

private

Definition at line 81 of file CameraVideo.h.

_height

int rtabmap::CameraVideo::_height

private

Definition at line 83 of file CameraVideo.h.

_model

CameraModel rtabmap::CameraVideo::_model

private

Definition at line 85 of file CameraVideo.h.

_rectifyImages

bool rtabmap::CameraVideo::_rectifyImages

private

Definition at line 74 of file CameraVideo.h.

_src

Source rtabmap::CameraVideo::_src

private

Definition at line 77 of file CameraVideo.h.

_usbDevice

int rtabmap::CameraVideo::_usbDevice

private

Definition at line 80 of file CameraVideo.h.

_width

int rtabmap::CameraVideo::_width

private

Definition at line 82 of file CameraVideo.h.

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

• CameraVideo.h
• CameraVideo.cpp