CameraVideo.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;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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 <opencv2/highgui/highgui.hpp>
31 #include "rtabmap/core/Camera.h"
32 
33 namespace rtabmap
34 {
35 
36 class RTABMAP_CORE_EXPORT CameraVideo :
37  public Camera
38 {
39 public:
40  enum Source{kVideoFile, kUsbDevice};
41 
42 public:
43  CameraVideo(int usbDevice = 0,
44  bool rectifyImages = false,
45  float imageRate = 0,
46  const Transform & localTransform = Transform::getIdentity());
47  CameraVideo(const std::string & filePath,
48  bool rectifyImages = false,
49  float imageRate = 0,
50  const Transform & localTransform = Transform::getIdentity());
51  virtual ~CameraVideo();
52 
53  virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
54  virtual bool isCalibrated() const;
55  virtual std::string getSerial() const;
56  int getUsbDevice() const {return _usbDevice;}
57  const std::string & getFilePath() const {return _filePath;}
58 
64  void setResolution(int width, int height) {_width=width, _height=height;}
65 
66 protected:
67  virtual SensorData captureImage(SensorCaptureInfo * info = 0);
68 
69 private:
70  // File type
71  std::string _filePath;
73 
74  cv::VideoCapture _capture;
76 
77  // Usb camera
79  std::string _guid;
80  int _width;
81  int _height;
82 
84 };
85 
86 
87 } // namespace rtabmap
rtabmap::SensorData
Definition: SensorData.h:51
rtabmap::CameraVideo::_height
int _height
Definition: CameraVideo.h:81
rtabmap::CameraVideo::getUsbDevice
int getUsbDevice() const
Definition: CameraVideo.h:56
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:411
rtabmap::CameraModel
Definition: CameraModel.h:38
rtabmap::CameraVideo::_width
int _width
Definition: CameraVideo.h:80
rtabmap::CameraVideo::setResolution
void setResolution(int width, int height)
Definition: CameraVideo.h:64
rtabmap::CameraVideo::_src
Source _src
Definition: CameraVideo.h:75
rtabmap::SensorCaptureInfo
Definition: SensorCaptureInfo.h:36
rtabmap::CameraVideo::Source
Source
Definition: CameraVideo.h:40
rtabmap::CameraVideo::_capture
cv::VideoCapture _capture
Definition: CameraVideo.h:74
rtabmap::Camera
Definition: Camera.h:43
rtabmap::CameraVideo::_filePath
std::string _filePath
Definition: CameraVideo.h:71
rtabmap_netvlad.init
def init(descriptorDim)
Definition: rtabmap_netvlad.py:30
rtabmap::Transform
Definition: Transform.h:41
rtabmap::CameraVideo::getFilePath
const std::string & getFilePath() const
Definition: CameraVideo.h:57
Camera.h
rtabmap::CameraVideo::_usbDevice
int _usbDevice
Definition: CameraVideo.h:78
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::CameraVideo::_rectifyImages
bool _rectifyImages
Definition: CameraVideo.h:72
rtabmap::CameraVideo::_guid
std::string _guid
Definition: CameraVideo.h:79
rtabmap::CameraVideo
Definition: CameraVideo.h:36
rtabmap::CameraVideo::_model
CameraModel _model
Definition: CameraVideo.h:83


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