rtabmap::CameraRealSense2 Class Reference

#include <CameraRealSense2.h>

Inheritance diagram for rtabmap::CameraRealSense2:

Public Member Functions
	CameraRealSense2 (const std::string &deviceId="", float imageRate=0, const Transform &localTransform=Transform::getIdentity())
virtual bool	getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
virtual std::string	getSerial () const
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")
virtual bool	isCalibrated () const
virtual bool	odomProvided () const
void	setDepthResolution (int width, int height, int fps=30)
void	setDualMode (bool enabled, const Transform &extrinsics)
void	setEmitterEnabled (bool enabled)
void	setGlobalTimeSync (bool enabled)
void	setImagesRectified (bool enabled)
void	setIRFormat (bool enabled, bool useDepthInsteadOfRightImage)
void	setJsonConfig (const std::string &json)
void	setOdomProvided (bool enabled, bool imageStreamsDisabled=false, bool onlyLeftStream=false)
void	setResolution (int width, int height, int fps=30)
virtual	~CameraRealSense2 ()
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
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 54 of file CameraRealSense2.h.

Constructor & Destructor Documentation

CameraRealSense2()

rtabmap::CameraRealSense2::CameraRealSense2	(	const std::string &	deviceId = "",
		float	imageRate = 0,
		const Transform &	localTransform = Transform::getIdentity()
	)

Definition at line 54 of file CameraRealSense2.cpp.

~CameraRealSense2()

rtabmap::CameraRealSense2::~CameraRealSense2 ( )

virtual

Definition at line 87 of file CameraRealSense2.cpp.

Member Function Documentation

available()

bool rtabmap::CameraRealSense2::available ( )

static

Definition at line 45 of file CameraRealSense2.cpp.

captureImage()

SensorData rtabmap::CameraRealSense2::captureImage ( SensorCaptureInfo *  info = 0 )

protectedvirtual

Implements rtabmap::Camera.

Definition at line 1249 of file CameraRealSense2.cpp.

getPose()

bool rtabmap::CameraRealSense2::getPose ( double  stamp, Transform &  pose, cv::Mat &  covariance, double  maxWaitTime = 0.06  )

virtual

Reimplemented from rtabmap::SensorCapture.

Definition at line 1143 of file CameraRealSense2.cpp.

getSerial()

std::string rtabmap::CameraRealSense2::getSerial ( ) const

virtual

Implements rtabmap::SensorCapture.

Definition at line 1123 of file CameraRealSense2.cpp.

init()

bool rtabmap::CameraRealSense2::init ( const std::string &  calibrationFolder = ".", const std::string &  cameraName = ""  )

virtual

Implements rtabmap::SensorCapture.

Definition at line 483 of file CameraRealSense2.cpp.

isCalibrated()

bool rtabmap::CameraRealSense2::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 1114 of file CameraRealSense2.cpp.

odomProvided()

bool rtabmap::CameraRealSense2::odomProvided ( ) const

virtual

Reimplemented from rtabmap::SensorCapture.

Definition at line 1134 of file CameraRealSense2.cpp.

setDepthResolution()

void rtabmap::CameraRealSense2::setDepthResolution	(	int	width,
		int	height,
		int	fps = 30
	)

Definition at line 1190 of file CameraRealSense2.cpp.

setDualMode()

void rtabmap::CameraRealSense2::setDualMode	(	bool	enabled,
		const Transform &	extrinsics
	)

Dual mode (D400+T265 or L500+T265)

Parameters

enabled	enable dual mode
extrinsics	the extrinsics between T265 pose frame (middle of the camera) to D400/L500 main camera (without optical rotation).

Definition at line 1206 of file CameraRealSense2.cpp.

setEmitterEnabled()

void rtabmap::CameraRealSense2::setEmitterEnabled

(

bool

enabled

)

Definition at line 1166 of file CameraRealSense2.cpp.

setGlobalTimeSync()

void rtabmap::CameraRealSense2::setGlobalTimeSync

(

bool

enabled

)

Definition at line 1199 of file CameraRealSense2.cpp.

setImagesRectified()

void rtabmap::CameraRealSense2::setImagesRectified

(

bool

enabled

)

Definition at line 1228 of file CameraRealSense2.cpp.

setIRFormat()

void rtabmap::CameraRealSense2::setIRFormat	(	bool	enabled,
		bool	useDepthInsteadOfRightImage
	)

Definition at line 1173 of file CameraRealSense2.cpp.

setJsonConfig()

void rtabmap::CameraRealSense2::setJsonConfig

(

const std::string &

json

)

Definition at line 1221 of file CameraRealSense2.cpp.

setOdomProvided()

void rtabmap::CameraRealSense2::setOdomProvided	(	bool	enabled,
		bool	imageStreamsDisabled = false,
		bool	onlyLeftStream = false
	)

Definition at line 1235 of file CameraRealSense2.cpp.

setResolution()

void rtabmap::CameraRealSense2::setResolution	(	int	width,
		int	height,
		int	fps = 30
	)

Definition at line 1181 of file CameraRealSense2.cpp.

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

• CameraRealSense2.h
• CameraRealSense2.cpp