Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::Camera Class Referenceabstract

#include <Camera.h>

Inheritance diagram for rtabmap::Camera:
Inheritance graph
[legend]

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 TransformgetLocalTransform () 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

IMUFilterimuFilter_
 
bool publishInterIMU_
 

Detailed Description

Class Camera

Definition at line 43 of file Camera.h.

Constructor & Destructor Documentation

◆ ~Camera()

Camera::~Camera ( )
virtual

Definition at line 45 of file Camera.cpp.

◆ Camera()

Camera::Camera ( float  imageRate = 0,
const Transform localTransform = Transform::getIdentity() 
)
protected

Constructor

Parameters
imageRatethe frame rate (Hz), 0 for fast as the camera can
localTransformthe transform from base frame to camera frame (without optical rotation)

Definition at line 39 of file Camera.cpp.

Member Function Documentation

◆ captureData()

virtual SensorData rtabmap::Camera::captureData ( SensorCaptureInfo info = 0)
inlineprivatevirtual

returned rgb and depth images should be already rectified if calibration was loaded

Implements rtabmap::SensorCapture.

Definition at line 71 of file Camera.h.

◆ captureImage()

virtual SensorData rtabmap::Camera::captureImage ( SensorCaptureInfo info = 0)
protectedpure virtual

◆ getImageRate()

float rtabmap::Camera::getImageRate ( ) const
inline

Definition at line 49 of file Camera.h.

◆ initFromFile()

bool Camera::initFromFile ( const std::string calibrationPath)

Definition at line 50 of file Camera.cpp.

◆ isCalibrated()

virtual bool rtabmap::Camera::isCalibrated ( ) const
pure virtual

◆ isInterIMUPublishing()

bool rtabmap::Camera::isInterIMUPublishing ( ) const
inline

Definition at line 52 of file Camera.h.

◆ postInterIMU()

void Camera::postInterIMU ( const IMU imu,
double  stamp 
)
protected

Definition at line 62 of file Camera.cpp.

◆ setImageRate()

void rtabmap::Camera::setImageRate ( float  imageRate)
inline

Definition at line 50 of file Camera.h.

◆ setInterIMUPublishing()

void Camera::setInterIMUPublishing ( bool  enabled,
IMUFilter filter = 0 
)

Definition at line 55 of file Camera.cpp.

◆ takeImage()

SensorData rtabmap::Camera::takeImage ( SensorCaptureInfo info = 0)
inline

Definition at line 48 of file Camera.h.

Member Data Documentation

◆ imuFilter_

IMUFilter* rtabmap::Camera::imuFilter_
private

Definition at line 74 of file Camera.h.

◆ publishInterIMU_

bool rtabmap::Camera::publishInterIMU_
private

Definition at line 75 of file Camera.h.


The documentation for this class was generated from the following files:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:27