rtabmap::CameraFreenect2 Class Reference

#include <CameraRGBD.h>

Inheritance diagram for rtabmap::CameraFreenect2:

List of all members.

Public Types
enum	Type { kTypeRGBDepthSD, kTypeRGBDepthHD, kTypeIRDepth, kTypeRGBIR }
Public Member Functions
	CameraFreenect2 (int deviceId=0, Type type=kTypeRGBDepthSD, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())
virtual std::string	getSerial () const
virtual bool	init (const std::string &calibrationFolder=".")
virtual bool	isCalibrated () const
virtual	~CameraFreenect2 ()
Static Public Member Functions
static bool	available ()
Protected Member Functions
virtual void	captureImage (cv::Mat &rgb, cv::Mat &depth, float &fx, float &fy, float &cx, float &cy)
Private Attributes
libfreenect2::Freenect2Device *	dev_
int	deviceId_
libfreenect2::Freenect2 *	freenect2_
libfreenect2::SyncMultiFrameListener *	listener_
libfreenect2::PacketPipeline *	pipeline_
libfreenect2::Registration *	reg_
StereoCameraModel	stereoModel_
Type	type_

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Detailed Description

Definition at line 272 of file CameraRGBD.h.

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Member Enumeration Documentation

enum rtabmap::CameraFreenect2::Type

Enumerator:

kTypeRGBDepthSD
kTypeRGBDepthHD
kTypeIRDepth
kTypeRGBIR

Definition at line 278 of file CameraRGBD.h.

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Constructor & Destructor Documentation

rtabmap::CameraFreenect2::CameraFreenect2	(	int	deviceId = 0,
		Type	type = kTypeRGBDepthSD,
		float	imageRate = 0.0f,
		const Transform &	localTransform = Transform::getIdentity()
	)

Definition at line 1111 of file CameraRGBD.cpp.

rtabmap::CameraFreenect2::~CameraFreenect2

(

)

[virtual]

Definition at line 1162 of file CameraRGBD.cpp.

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Member Function Documentation

bool rtabmap::CameraFreenect2::available

(

)

[static]

Definition at line 1102 of file CameraRGBD.cpp.

void rtabmap::CameraFreenect2::captureImage	(	cv::Mat &	rgb,
		cv::Mat &	depth,
		float &	fx,
		float &	fy,
		float &	cx,
		float &	cy
	)		[protected, virtual]

returned rgb and depth images should be already rectified

Implements rtabmap::CameraRGBD.

Definition at line 1303 of file CameraRGBD.cpp.

std::string rtabmap::CameraFreenect2::getSerial

(

)

const [virtual]

Implements rtabmap::CameraRGBD.

Definition at line 1292 of file CameraRGBD.cpp.

bool rtabmap::CameraFreenect2::init

(

const std::string &

calibrationFolder = "."

)

[virtual]

Implements rtabmap::CameraRGBD.

Definition at line 1194 of file CameraRGBD.cpp.

bool rtabmap::CameraFreenect2::isCalibrated

(

)

const [virtual]

Implements rtabmap::CameraRGBD.

Definition at line 1287 of file CameraRGBD.cpp.

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Member Data Documentation

libfreenect2::Freenect2Device* rtabmap::CameraFreenect2::dev_ [private]

Definition at line 305 of file CameraRGBD.h.

int rtabmap::CameraFreenect2::deviceId_ [private]

Definition at line 301 of file CameraRGBD.h.

libfreenect2::Freenect2* rtabmap::CameraFreenect2::freenect2_ [private]

Definition at line 304 of file CameraRGBD.h.

libfreenect2::SyncMultiFrameListener* rtabmap::CameraFreenect2::listener_ [private]

Definition at line 307 of file CameraRGBD.h.

libfreenect2::PacketPipeline* rtabmap::CameraFreenect2::pipeline_ [private]

Definition at line 306 of file CameraRGBD.h.

libfreenect2::Registration* rtabmap::CameraFreenect2::reg_ [private]

Definition at line 308 of file CameraRGBD.h.

StereoCameraModel rtabmap::CameraFreenect2::stereoModel_ [private]

Definition at line 303 of file CameraRGBD.h.

Type rtabmap::CameraFreenect2::type_ [private]

Definition at line 302 of file CameraRGBD.h.

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

• CameraRGBD.h
• CameraRGBD.cpp