CameraOpenNI2.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
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8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #pragma once
29 
31 #include "rtabmap/core/Camera.h"
32 #include "rtabmap/core/Version.h"
33 
34 namespace openni
35 {
36 class Device;
37 class VideoStream;
38 }
39 
40 namespace rtabmap
41 {
42 class RTABMAP_CORE_EXPORT CameraOpenNI2 :
43  public Camera
44 {
45 
46 public:
47  static bool available();
48  static bool exposureGainAvailable();
49  enum Type {kTypeColorDepth, kTypeIRDepth, kTypeIR};
50 
51 public:
52  CameraOpenNI2(const std::string & deviceId = "",
53  Type type = kTypeColorDepth,
54  float imageRate = 0,
55  const Transform & localTransform = Transform::getIdentity());
56  virtual ~CameraOpenNI2();
57 
58  virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
59  virtual bool isCalibrated() const;
60  virtual std::string getSerial() const;
61 
62  bool setAutoWhiteBalance(bool enabled);
63  bool setAutoExposure(bool enabled);
64  bool setExposure(int value);
65  bool setGain(int value);
66  bool setMirroring(bool enabled);
67  void setOpenNI2StampsAndIDsUsed(bool used);
68  void setIRDepthShift(int horizontal, int vertical);
69  void setDepthDecimation(int decimation);
70 
71 protected:
72  virtual SensorData captureImage(SensorCaptureInfo * info = 0);
73 
74 private:
75 #ifdef RTABMAP_OPENNI2
76  Type _type;
77  openni::Device * _device;
78  openni::VideoStream * _color;
79  openni::VideoStream * _depth;
80  float _depthFx;
81  float _depthFy;
82  std::string _deviceId;
83  bool _openNI2StampsAndIDsUsed;
84  StereoCameraModel _stereoModel;
85  int _depthHShift;
86  int _depthVShift;
87  int _depthDecimation;
88 #endif
89 };
90 
91 
92 
93 } // 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::SensorCaptureInfo
Definition: SensorCaptureInfo.h:36
Type
rtabmap::CameraOpenNI2
Definition: CameraOpenNI2.h:42
StereoCameraModel.h
rtabmap::Camera
Definition: Camera.h:43
openni
Definition: CameraOpenNI2.h:34
rtabmap_netvlad.init
def init(descriptorDim)
Definition: rtabmap_netvlad.py:30
rtabmap::Transform
Definition: Transform.h:41
Camera.h
rtabmap
Definition: CameraARCore.cpp:35


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:07