CameraStereoVideo.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
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;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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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 
32 
33 namespace rtabmap
34 {
35 
36 class RTABMAP_CORE_EXPORT CameraStereoVideo :
37  public Camera
38 {
39 public:
40  static bool available();
41 
42 public:
44  const std::string & pathSideBySide,
45  bool rectifyImages = false,
46  float imageRate=0.0f,
47  const Transform & localTransform = Transform::getIdentity());
49  const std::string & pathLeft,
50  const std::string & pathRight,
51  bool rectifyImages = false,
52  float imageRate=0.0f,
53  const Transform & localTransform = Transform::getIdentity());
55  int device,
56  bool rectifyImages = false,
57  float imageRate = 0.0f,
58  const Transform & localTransform = Transform::getIdentity());
60  int deviceLeft,
61  int deviceRight,
62  bool rectifyImages = false,
63  float imageRate = 0.0f,
64  const Transform & localTransform = Transform::getIdentity());
65  virtual ~CameraStereoVideo();
66 
67  virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
68  virtual bool isCalibrated() const;
69  virtual std::string getSerial() const;
70 
71  void setResolution(int width, int height) {_width=width, _height=height;}
72 
73 protected:
74  virtual SensorData captureImage(SensorCaptureInfo * info = 0);
75 
76 private:
77  cv::VideoCapture capture_;
78  cv::VideoCapture capture2_;
79  std::string path_;
80  std::string path2_;
83  std::string cameraName_;
87  int _width;
88  int _height;
89 };
90 
91 } // 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