rtabmap::CameraDepthAI Class Reference

#include <CameraDepthAI.h>

Inheritance diagram for rtabmap::CameraDepthAI:

Public Member Functions
	CameraDepthAI (const std::string &mxidOrName="", int imageWidth=1280, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
virtual std::string	getSerial () const
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")
virtual bool	isCalibrated () const
void	setDepthProfile (int confThreshold=200, int lrcThreshold=5)
void	setDetectFeatures (int detectFeatures=0, const std::string &blobPath="")
void	setDisparityWidthAndFilter (int disparityWidth=96, int medianFilter=5)
void	setExtendedDisparity (bool extendedDisparity=false, bool enableCompanding=false)
void	setGFTTDetector (bool useHarrisDetector=false, float minDistance=7.0f, int numTargetFeatures=1000)
void	setIMU (bool imuPublished, bool publishInterIMU)
void	setIrIntensity (float dotIntensity=0.0f, float floodIntensity=0.0f)
void	setOutputMode (int outputMode=0)
void	setRectification (bool useSpecTranslation=false, float alphaScaling=0.0f, bool enabled=true)
void	setSubpixelMode (bool enabled=false, int fractionalBits=3)
void	setSuperPointDetector (float threshold=0.01f, bool nms=true, int nmsRadius=4)
virtual	~CameraDepthAI ()
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 Transform &	getLocalTransform () const
virtual bool	getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
virtual bool	odomProvided () 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 44 of file CameraDepthAI.h.

Constructor & Destructor Documentation

CameraDepthAI()

rtabmap::CameraDepthAI::CameraDepthAI	(	const std::string &	mxidOrName = "",
		int	imageWidth = 1280,
		float	imageRate = 0.0f,
		const Transform &	localTransform = Transform::getIdentity()
	)

Definition at line 48 of file CameraDepthAI.cpp.

~CameraDepthAI()

rtabmap::CameraDepthAI::~CameraDepthAI ( )

virtual

Definition at line 89 of file CameraDepthAI.cpp.

Member Function Documentation

available()

bool rtabmap::CameraDepthAI::available ( )

static

Definition at line 39 of file CameraDepthAI.cpp.

captureImage()

SensorData rtabmap::CameraDepthAI::captureImage ( SensorCaptureInfo *  info = 0 )

protectedvirtual

Implements rtabmap::Camera.

Definition at line 731 of file CameraDepthAI.cpp.

getSerial()

std::string rtabmap::CameraDepthAI::getSerial ( ) const

virtual

Implements rtabmap::SensorCapture.

Definition at line 723 of file CameraDepthAI.cpp.

init()

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

virtual

Implements rtabmap::SensorCapture.

Definition at line 231 of file CameraDepthAI.cpp.

isCalibrated()

bool rtabmap::CameraDepthAI::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 714 of file CameraDepthAI.cpp.

setDepthProfile()

void rtabmap::CameraDepthAI::setDepthProfile	(	int	confThreshold = 200,
		int	lrcThreshold = 5
	)

Definition at line 106 of file CameraDepthAI.cpp.

setDetectFeatures()

void rtabmap::CameraDepthAI::setDetectFeatures	(	int	detectFeatures = 0,
		const std::string &	blobPath = ""
	)

Definition at line 189 of file CameraDepthAI.cpp.

setDisparityWidthAndFilter()

void rtabmap::CameraDepthAI::setDisparityWidthAndFilter	(	int	disparityWidth = 96,
		int	medianFilter = 5
	)

Definition at line 141 of file CameraDepthAI.cpp.

setExtendedDisparity()

void rtabmap::CameraDepthAI::setExtendedDisparity	(	bool	extendedDisparity = false,
		bool	enableCompanding = false
	)

Definition at line 116 of file CameraDepthAI.cpp.

setGFTTDetector()

void rtabmap::CameraDepthAI::setGFTTDetector	(	bool	useHarrisDetector = false,
		float	minDistance = 7.0f,
		int	numTargetFeatures = 1000
	)

Definition at line 209 of file CameraDepthAI.cpp.

setIMU()

void rtabmap::CameraDepthAI::setIMU	(	bool	imuPublished,
		bool	publishInterIMU
	)

Definition at line 169 of file CameraDepthAI.cpp.

setIrIntensity()

void rtabmap::CameraDepthAI::setIrIntensity	(	float	dotIntensity = 0.0f,
		float	floodIntensity = 0.0f
	)

Definition at line 179 of file CameraDepthAI.cpp.

setOutputMode()

void rtabmap::CameraDepthAI::setOutputMode

(

int

outputMode = 0

)

Definition at line 97 of file CameraDepthAI.cpp.

setRectification()

void rtabmap::CameraDepthAI::setRectification	(	bool	useSpecTranslation = false,
		float	alphaScaling = 0.0f,
		bool	enabled = true
	)

Definition at line 158 of file CameraDepthAI.cpp.

setSubpixelMode()

void rtabmap::CameraDepthAI::setSubpixelMode	(	bool	enabled = false,
		int	fractionalBits = 3
	)

Definition at line 131 of file CameraDepthAI.cpp.

setSuperPointDetector()

void rtabmap::CameraDepthAI::setSuperPointDetector	(	float	threshold = 0.01f,
		bool	nms = true,
		int	nmsRadius = 4
	)

Definition at line 220 of file CameraDepthAI.cpp.

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

• CameraDepthAI.h
• CameraDepthAI.cpp