corelib
include
rtabmap
core
camera
CameraStereoVideo.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/StereoCameraModel.h
"
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#include "
rtabmap/core/camera/CameraVideo.h
"
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namespace
rtabmap
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{
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class
RTABMAP_CORE_EXPORT
CameraStereoVideo
:
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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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public
:
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CameraStereoVideo
(
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const
std::string & pathSideBySide,
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bool
rectifyImages =
false
,
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float
imageRate=0.0
f
,
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const
Transform
& localTransform =
Transform::getIdentity
());
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CameraStereoVideo
(
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const
std::string & pathLeft,
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const
std::string & pathRight,
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bool
rectifyImages =
false
,
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float
imageRate=0.0
f
,
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const
Transform
& localTransform =
Transform::getIdentity
());
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CameraStereoVideo
(
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int
device
,
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bool
rectifyImages =
false
,
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float
imageRate = 0.0
f
,
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const
Transform
& localTransform =
Transform::getIdentity
());
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CameraStereoVideo
(
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int
deviceLeft,
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int
deviceRight,
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bool
rectifyImages =
false
,
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float
imageRate = 0.0
f
,
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const
Transform
& localTransform =
Transform::getIdentity
());
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virtual
~
CameraStereoVideo
();
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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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void
setResolution
(
int
width,
int
height) {_width=width, _height=height;}
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protected
:
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virtual
SensorData
captureImage(
SensorCaptureInfo
* info = 0);
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private
:
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cv::VideoCapture
capture_
;
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cv::VideoCapture
capture2_
;
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std::string
path_
;
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std::string
path2_
;
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bool
rectifyImages_
;
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StereoCameraModel
stereoModel_
;
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std::string
cameraName_
;
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CameraVideo::Source
src_
;
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int
usbDevice_
;
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int
usbDevice2_
;
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int
_width
;
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int
_height
;
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};
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}
// namespace rtabmap
rtabmap::SensorData
Definition:
SensorData.h:51
rtabmap::StereoCameraModel
Definition:
StereoCameraModel.h:35
rtabmap::CameraStereoVideo
Definition:
CameraStereoVideo.h:36
rtabmap::CameraStereoVideo::usbDevice_
int usbDevice_
Definition:
CameraStereoVideo.h:85
rtabmap::CameraStereoVideo::rectifyImages_
bool rectifyImages_
Definition:
CameraStereoVideo.h:81
rtabmap::CameraStereoVideo::stereoModel_
StereoCameraModel stereoModel_
Definition:
CameraStereoVideo.h:82
CameraVideo.h
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition:
Transform.cpp:411
rtabmap::CameraStereoVideo::cameraName_
std::string cameraName_
Definition:
CameraStereoVideo.h:83
rtabmap::CameraStereoVideo::path_
std::string path_
Definition:
CameraStereoVideo.h:79
rtabmap::SensorCaptureInfo
Definition:
SensorCaptureInfo.h:36
rtabmap::CameraVideo::Source
Source
Definition:
CameraVideo.h:40
rtabmap::CameraStereoVideo::_width
int _width
Definition:
CameraStereoVideo.h:87
rtabmap_superglue.device
string device
Definition:
rtabmap_superglue.py:21
rtabmap::CameraStereoVideo::capture2_
cv::VideoCapture capture2_
Definition:
CameraStereoVideo.h:78
rtabmap::CameraStereoVideo::capture_
cv::VideoCapture capture_
Definition:
CameraStereoVideo.h:77
StereoCameraModel.h
rtabmap::Camera
Definition:
Camera.h:43
f
Point2(* f)(const Point3 &, OptionalJacobian< 2, 3 >)
rtabmap_netvlad.init
def init(descriptorDim)
Definition:
rtabmap_netvlad.py:30
rtabmap::Transform
Definition:
Transform.h:41
rtabmap::CameraStereoVideo::src_
CameraVideo::Source src_
Definition:
CameraStereoVideo.h:84
rtabmap::CameraStereoVideo::_height
int _height
Definition:
CameraStereoVideo.h:88
rtabmap::CameraStereoVideo::path2_
std::string path2_
Definition:
CameraStereoVideo.h:80
rtabmap::CameraStereoVideo::usbDevice2_
int usbDevice2_
Definition:
CameraStereoVideo.h:86
rtabmap
Definition:
CameraARCore.cpp:35
rtabmap::CameraStereoVideo::setResolution
void setResolution(int width, int height)
Definition:
CameraStereoVideo.h:71
rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:07