rtabmap::CameraK4W2 Class Reference

#include <CameraK4W2.h>

Inheritance diagram for rtabmap::CameraK4W2:

Public Types
enum	Type { kTypeColor2DepthSD, kTypeDepth2ColorSD, kTypeDepth2ColorHD }

Public Member Functions
	CameraK4W2 (int deviceId=0, Type type=kTypeDepth2ColorSD, 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
virtual	~CameraK4W2 ()
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 ()

Static Public Attributes
static const int	cColorHeight = 1080
static const int	cColorWidth = 1920
static const int	cDepthHeight = 424
static const int	cDepthWidth = 512

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())

Private Member Functions
void	close ()

Detailed Description

Definition at line 44 of file CameraK4W2.h.

Member Enumeration Documentation

Type

enum rtabmap::CameraK4W2::Type

Enumerator
kTypeColor2DepthSD
kTypeDepth2ColorSD
kTypeDepth2ColorHD

Definition at line 50 of file CameraK4W2.h.

Constructor & Destructor Documentation

CameraK4W2()

rtabmap::CameraK4W2::CameraK4W2	(	int	deviceId = 0,
		Type	type = kTypeDepth2ColorSD,
		float	imageRate = 0.0f,
		const Transform &	localTransform = Transform::getIdentity()
	)

Definition at line 62 of file CameraK4W2.cpp.

~CameraK4W2()

rtabmap::CameraK4W2::~CameraK4W2 ( )

virtual

Definition at line 82 of file CameraK4W2.cpp.

Member Function Documentation

available()

bool rtabmap::CameraK4W2::available ( )

static

Definition at line 53 of file CameraK4W2.cpp.

captureImage()

SensorData rtabmap::CameraK4W2::captureImage ( SensorCaptureInfo *  info = 0 )

protectedvirtual

Implements rtabmap::Camera.

Definition at line 281 of file CameraK4W2.cpp.

close()

void rtabmap::CameraK4W2::close ( )

private

Definition at line 107 of file CameraK4W2.cpp.

getSerial()

std::string rtabmap::CameraK4W2::getSerial ( ) const

virtual

Implements rtabmap::SensorCapture.

Definition at line 263 of file CameraK4W2.cpp.

init()

bool rtabmap::CameraK4W2::init ( const std::string &  calibrationFolder = ".", const std::string &  cameraName = ""  )

virtual

Implements rtabmap::SensorCapture.

Definition at line 135 of file CameraK4W2.cpp.

isCalibrated()

bool rtabmap::CameraK4W2::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 258 of file CameraK4W2.cpp.

Member Data Documentation

cColorHeight

const int rtabmap::CameraK4W2::cColorHeight = 1080

static

Definition at line 60 of file CameraK4W2.h.

cColorWidth

const int rtabmap::CameraK4W2::cColorWidth = 1920

static

Definition at line 59 of file CameraK4W2.h.

cDepthHeight

const int rtabmap::CameraK4W2::cDepthHeight = 424

static

Definition at line 58 of file CameraK4W2.h.

cDepthWidth

const int rtabmap::CameraK4W2::cDepthWidth = 512

static

Definition at line 57 of file CameraK4W2.h.

---

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

• CameraK4W2.h
• CameraK4W2.cpp