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

#include <SensorCapture.h>

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

Public Member Functions

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

virtual SensorData captureData (SensorCaptureInfo *info=0)=0
 
int getNextSeqID ()
 
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 

Private Attributes

float _frameRate
 
UTimer_frameRateTimer
 
Transform _localTransform
 
int _seq
 

Detailed Description

Class Camera

Definition at line 49 of file SensorCapture.h.

Constructor & Destructor Documentation

◆ ~SensorCapture()

rtabmap::SensorCapture::~SensorCapture ( )
virtual

Definition at line 54 of file SensorCapture.cpp.

◆ SensorCapture()

rtabmap::SensorCapture::SensorCapture ( float  frameRate = 0,
const Transform localTransform = Transform::getIdentity() 
)
protected

Constructor

Parameters
frameRatethe frame rate (Hz), 0 for fast as the sensor can
localTransformthe transform from base frame to sensor frame

Definition at line 46 of file SensorCapture.cpp.

Member Function Documentation

◆ captureData()

virtual SensorData rtabmap::SensorCapture::captureData ( SensorCaptureInfo info = 0)
protectedpure virtual

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

Implemented in rtabmap::LidarVLP16, and rtabmap::Camera.

◆ getFrameRate()

float rtabmap::SensorCapture::getFrameRate ( ) const
inline

Definition at line 61 of file SensorCapture.h.

◆ getLocalTransform()

const Transform& rtabmap::SensorCapture::getLocalTransform ( ) const
inline

Definition at line 62 of file SensorCapture.h.

◆ getNextSeqID()

int rtabmap::SensorCapture::getNextSeqID ( )
inlineprotected

Definition at line 83 of file SensorCapture.h.

◆ getPose()

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

◆ getSerial()

virtual std::string rtabmap::SensorCapture::getSerial ( ) const
pure virtual

◆ init()

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

◆ odomProvided()

virtual bool rtabmap::SensorCapture::odomProvided ( ) const
inlinevirtual

◆ resetTimer()

void rtabmap::SensorCapture::resetTimer ( )

Definition at line 59 of file SensorCapture.cpp.

◆ setFrameRate()

void rtabmap::SensorCapture::setFrameRate ( float  frameRate)
inline

Definition at line 65 of file SensorCapture.h.

◆ setLocalTransform()

void rtabmap::SensorCapture::setLocalTransform ( const Transform localTransform)
inline

Definition at line 66 of file SensorCapture.h.

◆ takeData()

SensorData rtabmap::SensorCapture::takeData ( SensorCaptureInfo info = 0)

Definition at line 64 of file SensorCapture.cpp.

Member Data Documentation

◆ _frameRate

float rtabmap::SensorCapture::_frameRate
private

Definition at line 86 of file SensorCapture.h.

◆ _frameRateTimer

UTimer* rtabmap::SensorCapture::_frameRateTimer
private

Definition at line 88 of file SensorCapture.h.

◆ _localTransform

Transform rtabmap::SensorCapture::_localTransform
private

Definition at line 87 of file SensorCapture.h.

◆ _seq

int rtabmap::SensorCapture::_seq
private

Definition at line 89 of file SensorCapture.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:28