#include <CameraRealSense2.h>
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| CameraRealSense2 (const std::string &deviceId="", float imageRate=0, const Transform &localTransform=Transform::getIdentity()) |
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virtual bool | getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06) |
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virtual std::string | getSerial () const |
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virtual bool | init (const std::string &calibrationFolder=".", const std::string &cameraName="") |
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virtual bool | isCalibrated () const |
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virtual bool | odomProvided () const |
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void | setDepthResolution (int width, int height, int fps=30) |
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void | setDualMode (bool enabled, const Transform &extrinsics) |
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void | setEmitterEnabled (bool enabled) |
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void | setGlobalTimeSync (bool enabled) |
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void | setImagesRectified (bool enabled) |
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void | setIRFormat (bool enabled, bool useDepthInsteadOfRightImage) |
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void | setJsonConfig (const std::string &json) |
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void | setOdomProvided (bool enabled, bool imageStreamsDisabled=false, bool onlyLeftStream=false) |
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void | setResolution (int width, int height, int fps=30) |
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virtual | ~CameraRealSense2 () |
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float | getImageRate () const |
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bool | initFromFile (const std::string &calibrationPath) |
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bool | isInterIMUPublishing () const |
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void | setImageRate (float imageRate) |
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void | setInterIMUPublishing (bool enabled, IMUFilter *filter=0) |
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SensorData | takeImage (SensorCaptureInfo *info=0) |
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virtual | ~Camera () |
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float | getFrameRate () const |
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const Transform & | getLocalTransform () const |
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void | resetTimer () |
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void | setFrameRate (float frameRate) |
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void | setLocalTransform (const Transform &localTransform) |
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SensorData | takeData (SensorCaptureInfo *info=0) |
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virtual | ~SensorCapture () |
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Definition at line 54 of file CameraRealSense2.h.
◆ CameraRealSense2()
◆ ~CameraRealSense2()
rtabmap::CameraRealSense2::~CameraRealSense2 |
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◆ available()
bool rtabmap::CameraRealSense2::available |
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◆ captureImage()
◆ getPose()
bool rtabmap::CameraRealSense2::getPose |
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double |
stamp, |
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Transform & |
pose, |
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cv::Mat & |
covariance, |
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double |
maxWaitTime = 0.06 |
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◆ getSerial()
std::string rtabmap::CameraRealSense2::getSerial |
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const |
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◆ init()
bool rtabmap::CameraRealSense2::init |
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const std::string & |
calibrationFolder = "." , |
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const std::string & |
cameraName = "" |
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) |
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◆ isCalibrated()
bool rtabmap::CameraRealSense2::isCalibrated |
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const |
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◆ odomProvided()
bool rtabmap::CameraRealSense2::odomProvided |
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const |
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◆ setDepthResolution()
void rtabmap::CameraRealSense2::setDepthResolution |
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int |
width, |
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int |
height, |
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int |
fps = 30 |
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◆ setDualMode()
void rtabmap::CameraRealSense2::setDualMode |
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bool |
enabled, |
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const Transform & |
extrinsics |
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Dual mode (D400+T265 or L500+T265)
- Parameters
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enabled | enable dual mode |
extrinsics | the 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 |
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bool |
enabled | ) |
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◆ setGlobalTimeSync()
void rtabmap::CameraRealSense2::setGlobalTimeSync |
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bool |
enabled | ) |
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◆ setImagesRectified()
void rtabmap::CameraRealSense2::setImagesRectified |
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bool |
enabled | ) |
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◆ setIRFormat()
void rtabmap::CameraRealSense2::setIRFormat |
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bool |
enabled, |
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bool |
useDepthInsteadOfRightImage |
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◆ setJsonConfig()
void rtabmap::CameraRealSense2::setJsonConfig |
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const std::string & |
json | ) |
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◆ setOdomProvided()
void rtabmap::CameraRealSense2::setOdomProvided |
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bool |
enabled, |
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bool |
imageStreamsDisabled = false , |
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bool |
onlyLeftStream = false |
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◆ setResolution()
void rtabmap::CameraRealSense2::setResolution |
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int |
width, |
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int |
height, |
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int |
fps = 30 |
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The documentation for this class was generated from the following files: