Public Member Functions | Static Public Member Functions | Protected Member Functions | List of all members
rtabmap::CameraRealSense2 Class Reference

#include <CameraRealSense2.h>

Inheritance diagram for rtabmap::CameraRealSense2:
Inheritance graph
[legend]

Public Member Functions

 CameraRealSense2 (const std::string &deviceId="", float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
virtual bool getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 
virtual std::string getSerial () const
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 
virtual bool isCalibrated () const
 
virtual bool odomProvided () const
 
void setDepthResolution (int width, int height, int fps=30)
 
void setDualMode (bool enabled, const Transform &extrinsics)
 
void setEmitterEnabled (bool enabled)
 
void setGlobalTimeSync (bool enabled)
 
void setImagesRectified (bool enabled)
 
void setIRFormat (bool enabled, bool useDepthInsteadOfRightImage)
 
void setJsonConfig (const std::string &json)
 
void setOdomProvided (bool enabled, bool imageStreamsDisabled=false, bool onlyLeftStream=false)
 
void setResolution (int width, int height, int fps=30)
 
virtual ~CameraRealSense2 ()
 
- Public Member Functions inherited from rtabmap::Camera
float getImageRate () const
 
bool initFromFile (const std::string &calibrationPath)
 
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
 
void resetTimer ()
 
void setFrameRate (float frameRate)
 
void setLocalTransform (const Transform &localTransform)
 
SensorData takeData (SensorCaptureInfo *info=0)
 
virtual ~SensorCapture ()
 

Static Public Member Functions

static bool available ()
 

Protected Member Functions

virtual SensorData captureImage (SensorCaptureInfo *info=0)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
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())
 

Detailed Description

Definition at line 54 of file CameraRealSense2.h.

Constructor & Destructor Documentation

◆ CameraRealSense2()

rtabmap::CameraRealSense2::CameraRealSense2 ( const std::string deviceId = "",
float  imageRate = 0,
const Transform localTransform = Transform::getIdentity() 
)

Definition at line 54 of file CameraRealSense2.cpp.

◆ ~CameraRealSense2()

rtabmap::CameraRealSense2::~CameraRealSense2 ( )
virtual

Definition at line 87 of file CameraRealSense2.cpp.

Member Function Documentation

◆ available()

bool rtabmap::CameraRealSense2::available ( )
static

Definition at line 45 of file CameraRealSense2.cpp.

◆ captureImage()

SensorData rtabmap::CameraRealSense2::captureImage ( SensorCaptureInfo info = 0)
protectedvirtual

Implements rtabmap::Camera.

Definition at line 1246 of file CameraRealSense2.cpp.

◆ getPose()

bool rtabmap::CameraRealSense2::getPose ( double  stamp,
Transform pose,
cv::Mat covariance,
double  maxWaitTime = 0.06 
)
virtual

Reimplemented from rtabmap::SensorCapture.

Definition at line 1140 of file CameraRealSense2.cpp.

◆ getSerial()

std::string rtabmap::CameraRealSense2::getSerial ( ) const
virtual

Implements rtabmap::SensorCapture.

Definition at line 1120 of file CameraRealSense2.cpp.

◆ init()

bool rtabmap::CameraRealSense2::init ( const std::string calibrationFolder = ".",
const std::string cameraName = "" 
)
virtual

Implements rtabmap::SensorCapture.

Definition at line 483 of file CameraRealSense2.cpp.

◆ isCalibrated()

bool rtabmap::CameraRealSense2::isCalibrated ( ) const
virtual

Implements rtabmap::Camera.

Definition at line 1111 of file CameraRealSense2.cpp.

◆ odomProvided()

bool rtabmap::CameraRealSense2::odomProvided ( ) const
virtual

Reimplemented from rtabmap::SensorCapture.

Definition at line 1131 of file CameraRealSense2.cpp.

◆ setDepthResolution()

void rtabmap::CameraRealSense2::setDepthResolution ( int  width,
int  height,
int  fps = 30 
)

Definition at line 1187 of file CameraRealSense2.cpp.

◆ setDualMode()

void rtabmap::CameraRealSense2::setDualMode ( bool  enabled,
const Transform extrinsics 
)

Dual mode (D400+T265 or L500+T265)

Parameters
enabledenable dual mode
extrinsicsthe extrinsics between T265 pose frame (middle of the camera) to D400/L500 main camera (without optical rotation).

Definition at line 1203 of file CameraRealSense2.cpp.

◆ setEmitterEnabled()

void rtabmap::CameraRealSense2::setEmitterEnabled ( bool  enabled)

Definition at line 1163 of file CameraRealSense2.cpp.

◆ setGlobalTimeSync()

void rtabmap::CameraRealSense2::setGlobalTimeSync ( bool  enabled)

Definition at line 1196 of file CameraRealSense2.cpp.

◆ setImagesRectified()

void rtabmap::CameraRealSense2::setImagesRectified ( bool  enabled)

Definition at line 1225 of file CameraRealSense2.cpp.

◆ setIRFormat()

void rtabmap::CameraRealSense2::setIRFormat ( bool  enabled,
bool  useDepthInsteadOfRightImage 
)

Definition at line 1170 of file CameraRealSense2.cpp.

◆ setJsonConfig()

void rtabmap::CameraRealSense2::setJsonConfig ( const std::string json)

Definition at line 1218 of file CameraRealSense2.cpp.

◆ setOdomProvided()

void rtabmap::CameraRealSense2::setOdomProvided ( bool  enabled,
bool  imageStreamsDisabled = false,
bool  onlyLeftStream = false 
)

Definition at line 1232 of file CameraRealSense2.cpp.

◆ setResolution()

void rtabmap::CameraRealSense2::setResolution ( int  width,
int  height,
int  fps = 30 
)

Definition at line 1178 of file CameraRealSense2.cpp.


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