#include <Camera.h>

Inheritance diagram for rtabmap::Camera:

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Public Member Functions
float	getImageRate () const

const Transform &	getLocalTransform () const

virtual std::string	getSerial () const =0

virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")=0

virtual bool	isCalibrated () const =0

virtual bool	odomProvided () const

void	resetTimer ()

void	setImageRate (float imageRate)

void	setLocalTransform (const Transform &localTransform)

SensorData	takeImage (CameraInfo *info=0)

virtual	~Camera ()

Protected Member Functions
	Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())

virtual SensorData	captureImage (CameraInfo *info=0)=0

int	getNextSeqID ()

Private Attributes
UTimer *	_frameRateTimer

float	_imageRate

Transform	_localTransform

int	_seq

cv::Size	_targetImageSize

Detailed Description

Class Camera

Definition at line 50 of file Camera.h.

Constructor & Destructor Documentation

rtabmap::Camera::~Camera ( )

virtual

Definition at line 55 of file Camera.cpp.

rtabmap::Camera::Camera	(	float	imageRate = `0`,
		const Transform &	localTransform = `Transform::getIdentity()`
	)

protected

Constructor

Parameters

imageRate : image/second , 0 for fast as the camera can

Definition at line 46 of file Camera.cpp.

Member Function Documentation

virtual SensorData rtabmap::Camera::captureImage ( CameraInfo * info = 0 )

protectedpure virtual

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

Implemented in rtabmap::CameraRGBDImages, rtabmap::CameraRealSense2, rtabmap::CameraRealSense, rtabmap::CameraK4W2, rtabmap::CameraFreenect2, rtabmap::CameraFreenect, rtabmap::CameraStereoVideo, rtabmap::CameraVideo, rtabmap::CameraOpenNI2, rtabmap::CameraStereoImages, rtabmap::CameraOpenNICV, rtabmap::CameraStereoZed, rtabmap::CameraImages, rtabmap::CameraOpenni, rtabmap::CameraTango, rtabmap::CameraStereoFlyCapture2, rtabmap::DBReader, and rtabmap::CameraStereoDC1394.

float rtabmap::Camera::getImageRate ( ) const

inline

Definition at line 62 of file Camera.h.

const Transform& rtabmap::Camera::getLocalTransform ( ) const

inline

Definition at line 63 of file Camera.h.

int rtabmap::Camera::getNextSeqID ( )

inlineprotected

Definition at line 83 of file Camera.h.

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

pure virtual

Implemented in rtabmap::CameraRGBDImages, rtabmap::CameraRealSense2, rtabmap::CameraRealSense, rtabmap::CameraK4W2, rtabmap::CameraFreenect2, rtabmap::CameraFreenect, rtabmap::CameraStereoVideo, rtabmap::CameraVideo, rtabmap::CameraOpenNI2, rtabmap::CameraStereoImages, rtabmap::CameraOpenNICV, rtabmap::CameraStereoZed, rtabmap::CameraOpenni, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraTango, rtabmap::DBReader, rtabmap::CameraStereoDC1394, and rtabmap::CameraImages.

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

pure virtual

Implemented in rtabmap::CameraRGBDImages, rtabmap::CameraRealSense2, rtabmap::CameraRealSense, rtabmap::CameraK4W2, rtabmap::CameraFreenect2, rtabmap::CameraFreenect, rtabmap::CameraStereoVideo, rtabmap::CameraVideo, rtabmap::CameraOpenNI2, rtabmap::CameraStereoImages, rtabmap::CameraOpenNICV, rtabmap::CameraStereoZed, rtabmap::CameraOpenni, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraTango, rtabmap::CameraStereoDC1394, rtabmap::DBReader, and rtabmap::CameraImages.

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

pure virtual

Implemented in rtabmap::CameraRGBDImages, rtabmap::CameraRealSense2, rtabmap::CameraRealSense, rtabmap::CameraK4W2, rtabmap::CameraFreenect2, rtabmap::CameraFreenect, rtabmap::CameraStereoVideo, rtabmap::CameraVideo, rtabmap::CameraOpenNI2, rtabmap::CameraStereoImages, rtabmap::CameraOpenNICV, rtabmap::CameraStereoZed, rtabmap::CameraOpenni, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraTango, rtabmap::DBReader, rtabmap::CameraStereoDC1394, and rtabmap::CameraImages.

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

inlinevirtual

Reimplemented in rtabmap::CameraRealSense, rtabmap::CameraStereoZed, rtabmap::DBReader, and rtabmap::CameraImages.

Definition at line 59 of file Camera.h.

void rtabmap::Camera::resetTimer ( )

Definition at line 62 of file Camera.cpp.

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

inline

Definition at line 66 of file Camera.h.

void rtabmap::Camera::setLocalTransform ( const Transform & localTransform )

inline

Definition at line 67 of file Camera.h.

SensorData rtabmap::Camera::takeImage ( CameraInfo * info = 0 )

Definition at line 67 of file Camera.cpp.

Member Data Documentation

UTimer* rtabmap::Camera::_frameRateTimer

private

Definition at line 89 of file Camera.h.

float rtabmap::Camera::_imageRate

private

Definition at line 86 of file Camera.h.

Transform rtabmap::Camera::_localTransform

private

Definition at line 87 of file Camera.h.

int rtabmap::Camera::_seq

private

Definition at line 90 of file Camera.h.

cv::Size rtabmap::Camera::_targetImageSize

private

Definition at line 88 of file Camera.h.

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

Public Member Functions

Protected Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation