corelib
include
rtabmap
core
camera
CameraFreenect.h
Go to the documentation of this file.
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/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include "rtabmap/core/rtabmap_core_export.h"
// DLL export/import defines
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#include "
rtabmap/core/StereoCameraModel.h
"
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#include "
rtabmap/core/Camera.h
"
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#include "rtabmap/core/Version.h"
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typedef
struct
_freenect_context
freenect_context
;
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typedef
struct
_freenect_device
freenect_device
;
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namespace
rtabmap
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{
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class
FreenectDevice;
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class
RTABMAP_CORE_EXPORT
CameraFreenect
:
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public
Camera
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{
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public
:
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static
bool
available();
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enum
Type
{kTypeColorDepth, kTypeIRDepth};
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public
:
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// default local transform z in, x right, y down));
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CameraFreenect
(
int
deviceId= 0,
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Type
type
= kTypeColorDepth,
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float
imageRate=0.0f,
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const
Transform
& localTransform =
Transform::getIdentity
());
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virtual
~
CameraFreenect
();
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virtual
bool
init
(
const
std::string & calibrationFolder =
"."
,
const
std::string & cameraName =
""
);
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virtual
bool
isCalibrated()
const
;
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virtual
std::string getSerial()
const
;
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protected
:
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virtual
SensorData
captureImage(
SensorCaptureInfo
* info = 0);
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private
:
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#ifdef RTABMAP_FREENECT
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int
deviceId_;
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Type
type_;
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freenect_context
* ctx_;
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FreenectDevice * freenectDevice_;
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StereoCameraModel
stereoModel_;
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#endif
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};
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}
// namespace rtabmap
rtabmap::SensorData
Definition:
SensorData.h:51
rtabmap::StereoCameraModel
Definition:
StereoCameraModel.h:35
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition:
Transform.cpp:411
type
rtabmap::CameraFreenect
Definition:
CameraFreenect.h:44
rtabmap::SensorCaptureInfo
Definition:
SensorCaptureInfo.h:36
Type
StereoCameraModel.h
freenect_context
struct _freenect_context freenect_context
Definition:
CameraFreenect.h:36
rtabmap::Camera
Definition:
Camera.h:43
rtabmap_netvlad.init
def init(descriptorDim)
Definition:
rtabmap_netvlad.py:30
rtabmap::Transform
Definition:
Transform.h:41
Camera.h
freenect_device
struct _freenect_device freenect_device
Definition:
CameraFreenect.h:37
rtabmap
Definition:
CameraARCore.cpp:35
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:07