rtabmap::Camera Class Reference

#include <Camera.h>

Inheritance diagram for rtabmap::Camera:

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 Transform &	getLocalTransform () 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
IMUFilter *	imuFilter_
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

imageRate	the frame rate (Hz), 0 for fast as the camera can
localTransform	the 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

Implemented in rtabmap::CameraMobile, rtabmap::CameraImages, rtabmap::CameraRealSense2, rtabmap::DBReader, rtabmap::CameraOpenni, rtabmap::CameraStereoZed, rtabmap::CameraFreenect2, rtabmap::CameraStereoVideo, rtabmap::CameraDepthAI, rtabmap::CameraK4W2, rtabmap::CameraRealSense, rtabmap::CameraOpenNI2, rtabmap::CameraMyntEye, rtabmap::CameraStereoImages, rtabmap::CameraStereoZedOC, rtabmap::CameraVideo, rtabmap::CameraK4A, rtabmap::CameraFreenect, rtabmap::CameraStereoTara, rtabmap::CameraRGBDImages, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraOpenNICV, rtabmap::CameraStereoDC1394, and rtabmap::CameraSeerSense.

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

Implemented in rtabmap::CameraMobile, rtabmap::DBReader, rtabmap::CameraOpenni, rtabmap::CameraFreenect2, rtabmap::CameraStereoZed, rtabmap::CameraDepthAI, rtabmap::CameraK4W2, rtabmap::CameraRealSense, rtabmap::CameraRealSense2, rtabmap::CameraStereoVideo, rtabmap::CameraStereoImages, rtabmap::CameraStereoZedOC, rtabmap::CameraFreenect, rtabmap::CameraK4A, rtabmap::CameraOpenNI2, rtabmap::CameraStereoTara, rtabmap::CameraMyntEye, rtabmap::CameraVideo, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraImages, rtabmap::CameraOpenNICV, rtabmap::CameraStereoDC1394, and rtabmap::CameraSeerSense.

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.

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

• Camera.h
• Camera.cpp