rtabmap::SensorCapture Class Reference

#include <SensorCapture.h>

Inheritance diagram for rtabmap::SensorCapture:

Public Member Functions
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
virtual SensorData	captureData (SensorCaptureInfo *info=0)=0
int	getNextSeqID ()
	SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())

Private Attributes
float	_frameRate
UTimer *	_frameRateTimer
Transform	_localTransform
int	_seq

Detailed Description

Class Camera

Definition at line 49 of file SensorCapture.h.

Constructor & Destructor Documentation

~SensorCapture()

rtabmap::SensorCapture::~SensorCapture ( )

virtual

Definition at line 54 of file SensorCapture.cpp.

SensorCapture()

rtabmap::SensorCapture::SensorCapture ( float  frameRate = 0, const Transform &  localTransform = Transform::getIdentity()  )

protected

Constructor

Parameters

frameRate	the frame rate (Hz), 0 for fast as the sensor can
localTransform	the transform from base frame to sensor frame

Definition at line 46 of file SensorCapture.cpp.

Member Function Documentation

captureData()

virtual SensorData rtabmap::SensorCapture::captureData ( SensorCaptureInfo *  info = 0 )

protectedpure virtual

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

Implemented in rtabmap::LidarVLP16, and rtabmap::Camera.

getFrameRate()

float rtabmap::SensorCapture::getFrameRate ( ) const

inline

Definition at line 61 of file SensorCapture.h.

getLocalTransform()

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

inline

Definition at line 62 of file SensorCapture.h.

getNextSeqID()

int rtabmap::SensorCapture::getNextSeqID ( )

inlineprotected

Definition at line 83 of file SensorCapture.h.

getPose()

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

inlinevirtual

Reimplemented in rtabmap::DBReader, rtabmap::CameraRealSense2, rtabmap::CameraStereoZed, rtabmap::CameraSeerSense, and rtabmap::CameraMobile.

Definition at line 58 of file SensorCapture.h.

getSerial()

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

pure virtual

Implemented in rtabmap::LidarVLP16, rtabmap::CameraMobile, rtabmap::CameraOpenni, rtabmap::DBReader, rtabmap::CameraFreenect2, rtabmap::CameraStereoZed, rtabmap::CameraDepthAI, rtabmap::CameraK4W2, rtabmap::CameraRealSense, rtabmap::CameraARCore, rtabmap::CameraRealSense2, rtabmap::CameraStereoVideo, rtabmap::CameraStereoZedOC, rtabmap::CameraFreenect, rtabmap::CameraStereoImages, rtabmap::CameraK4A, rtabmap::CameraOpenNI2, rtabmap::CameraStereoTara, rtabmap::CameraMyntEye, rtabmap::CameraAREngine, rtabmap::CameraVideo, rtabmap::CameraTango, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraImages, rtabmap::CameraOpenNICV, rtabmap::CameraStereoDC1394, and rtabmap::CameraSeerSense.

init()

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

pure virtual

Implemented in rtabmap::LidarVLP16, rtabmap::CameraMobile, rtabmap::CameraOpenni, rtabmap::DBReader, rtabmap::CameraFreenect2, rtabmap::CameraStereoZed, rtabmap::CameraDepthAI, rtabmap::CameraK4W2, rtabmap::CameraRealSense, rtabmap::CameraARCore, rtabmap::CameraRealSense2, rtabmap::CameraStereoVideo, rtabmap::CameraStereoZedOC, rtabmap::CameraFreenect, rtabmap::CameraStereoImages, rtabmap::CameraK4A, rtabmap::CameraOpenNI2, rtabmap::CameraStereoTara, rtabmap::CameraMyntEye, rtabmap::CameraAREngine, rtabmap::CameraVideo, rtabmap::CameraTango, rtabmap::CameraStereoFlyCapture2, rtabmap::CameraImages, rtabmap::CameraRGBDImages, rtabmap::CameraOpenNICV, rtabmap::CameraStereoDC1394, and rtabmap::CameraSeerSense.

odomProvided()

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

inlinevirtual

Reimplemented in rtabmap::CameraMobile, rtabmap::DBReader, rtabmap::CameraStereoZed, rtabmap::CameraRealSense, rtabmap::CameraRealSense2, rtabmap::CameraMyntEye, rtabmap::CameraImages, and rtabmap::CameraSeerSense.

Definition at line 57 of file SensorCapture.h.

resetTimer()

void rtabmap::SensorCapture::resetTimer

(

)

Definition at line 59 of file SensorCapture.cpp.

setFrameRate()

void rtabmap::SensorCapture::setFrameRate ( float  frameRate )

inline

Definition at line 65 of file SensorCapture.h.

setLocalTransform()

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

inline

Definition at line 66 of file SensorCapture.h.

takeData()

SensorData rtabmap::SensorCapture::takeData

(

SensorCaptureInfo *

info = 0

)

Definition at line 64 of file SensorCapture.cpp.

Member Data Documentation

_frameRate

float rtabmap::SensorCapture::_frameRate

private

Definition at line 86 of file SensorCapture.h.

_frameRateTimer

UTimer* rtabmap::SensorCapture::_frameRateTimer

private

Definition at line 88 of file SensorCapture.h.

_localTransform

Transform rtabmap::SensorCapture::_localTransform

private

Definition at line 87 of file SensorCapture.h.

_seq

int rtabmap::SensorCapture::_seq

private

Definition at line 89 of file SensorCapture.h.

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

• SensorCapture.h
• SensorCapture.cpp