CameraOpenNICV.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:
7  * Redistributions of source code must retain the above copyright
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
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #pragma once
29 
30 #include "rtabmap/core/Camera.h"
31 #include "rtabmap/core/Version.h"
32 
33 namespace rtabmap
34 {
35 
36 class RTABMAP_CORE_EXPORT CameraOpenNICV :
37  public Camera
38 {
39 
40 public:
41  static bool available();
42 
43 public:
44  CameraOpenNICV(bool asus = false,
45  float imageRate = 0,
46  const Transform & localTransform = Transform::getIdentity());
47  virtual ~CameraOpenNICV();
48 
49  virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
50  virtual bool isCalibrated() const;
51  virtual std::string getSerial() const {return "";} // unknown with OpenCV
52 
53 protected:
54  virtual SensorData captureImage(SensorCaptureInfo * info = 0);
55 
56 private:
57  bool _asus;
58  cv::VideoCapture _capture;
59  float _depthFocal;
60 };
61 
62 } // namespace rtabmap
rtabmap::SensorData
Definition: SensorData.h:51
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:411
rtabmap::SensorCaptureInfo
Definition: SensorCaptureInfo.h:36
rtabmap::CameraOpenNICV::_depthFocal
float _depthFocal
Definition: CameraOpenNICV.h:59
rtabmap::CameraOpenNICV::_asus
bool _asus
Definition: CameraOpenNICV.h:57
rtabmap::Camera
Definition: Camera.h:43
rtabmap::CameraOpenNICV
Definition: CameraOpenNICV.h:36
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::CameraOpenNICV::_capture
cv::VideoCapture _capture
Definition: CameraOpenNICV.h:58
rtabmap::CameraOpenNICV::getSerial
virtual std::string getSerial() const
Definition: CameraOpenNICV.h:51


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