#include <Camera.h>
Public Member Functions | |
float | getImageRate () const |
bool | initFromFile (const std::string &calibrationPath) |
virtual bool | isCalibrated () const =0 |
bool | isInterIMUPublishing () const |
void | setImageRate (float imageRate) |
void | setInterIMUPublishing (bool enabled, IMUFilter *filter=0) |
SensorData | takeImage (SensorCaptureInfo *info=0) |
virtual | ~Camera () |
Public Member Functions inherited from rtabmap::SensorCapture | |
float | getFrameRate () const |
const Transform & | getLocalTransform () const |
virtual bool | getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06) |
virtual std::string | getSerial () const =0 |
virtual bool | init (const std::string &calibrationFolder=".", const std::string &cameraName="")=0 |
virtual bool | odomProvided () const |
void | resetTimer () |
void | setFrameRate (float frameRate) |
void | setLocalTransform (const Transform &localTransform) |
SensorData | takeData (SensorCaptureInfo *info=0) |
virtual | ~SensorCapture () |
Protected Member Functions | |
Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity()) | |
virtual SensorData | captureImage (SensorCaptureInfo *info=0)=0 |
void | postInterIMU (const IMU &imu, double stamp) |
Protected Member Functions inherited from rtabmap::SensorCapture | |
int | getNextSeqID () |
SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity()) | |
Private Member Functions | |
virtual SensorData | captureData (SensorCaptureInfo *info=0) |
Private Attributes | |
IMUFilter * | imuFilter_ |
bool | publishInterIMU_ |
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virtual |
Definition at line 45 of file Camera.cpp.
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protected |
Constructor
imageRate | the frame rate (Hz), 0 for fast as the camera can |
localTransform | the transform from base frame to camera frame (without optical rotation) |
Definition at line 39 of file Camera.cpp.
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inlineprivatevirtual |
returned rgb and depth images should be already rectified if calibration was loaded
Implements rtabmap::SensorCapture.
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protectedpure virtual |
Implemented in rtabmap::CameraMobile, rtabmap::CameraImages, rtabmap::CameraRealSense2, rtabmap::DBReader, rtabmap::CameraOpenni, rtabmap::CameraStereoZed, rtabmap::CameraFreenect2, rtabmap::CameraDepthAI, rtabmap::CameraK4W2, rtabmap::CameraRealSense, rtabmap::CameraStereoVideo, rtabmap::CameraOpenNI2, rtabmap::CameraMyntEye, rtabmap::CameraStereoImages, rtabmap::CameraVideo, rtabmap::CameraK4A, rtabmap::CameraStereoZedOC, rtabmap::CameraFreenect, rtabmap::CameraStereoTara, rtabmap::CameraRGBDImages, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraOpenNICV, rtabmap::CameraStereoDC1394, and rtabmap::CameraSeerSense.
bool Camera::initFromFile | ( | const std::string & | calibrationPath | ) |
Definition at line 50 of file Camera.cpp.
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pure virtual |
Implemented in rtabmap::CameraMobile, rtabmap::CameraOpenni, rtabmap::DBReader, rtabmap::CameraFreenect2, rtabmap::CameraStereoZed, rtabmap::CameraDepthAI, rtabmap::CameraK4W2, rtabmap::CameraRealSense, rtabmap::CameraRealSense2, rtabmap::CameraStereoVideo, rtabmap::CameraStereoZedOC, rtabmap::CameraFreenect, rtabmap::CameraStereoImages, rtabmap::CameraK4A, rtabmap::CameraOpenNI2, rtabmap::CameraStereoTara, rtabmap::CameraMyntEye, rtabmap::CameraVideo, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraImages, rtabmap::CameraOpenNICV, rtabmap::CameraStereoDC1394, and rtabmap::CameraSeerSense.
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protected |
Definition at line 62 of file Camera.cpp.
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inline |
void Camera::setInterIMUPublishing | ( | bool | enabled, |
IMUFilter * | filter = 0 |
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) |
Definition at line 55 of file Camera.cpp.
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inline |