rtabmap::CameraRGBD Class Reference

#include <CameraRGBD.h>

Inheritance diagram for rtabmap::CameraRGBD:

List of all members.

Public Member Functions
float	getImageRate () const
const Transform &	getLocalTransform () const
virtual std::string	getSerial () const =0
virtual bool	init (const std::string &calibrationFolder=".")=0
virtual bool	isCalibrated () const =0
bool	isColorOnly () const
bool	isMirroringEnabled () const
void	setColorOnly (bool colorOnly)
void	setImageRate (float imageRate)
void	setLocalTransform (const Transform &localTransform)
void	setMirroringEnabled (bool mirroring)
void	takeImage (cv::Mat &rgb, cv::Mat &depth, float &fx, float &fy, float &cx, float &cy)
virtual	~CameraRGBD ()
Protected Member Functions
	CameraRGBD (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
virtual void	captureImage (cv::Mat &rgb, cv::Mat &depth, float &fx, float &fy, float &cx, float &cy)=0
Private Attributes
bool	_colorOnly
UTimer *	_frameRateTimer
float	_imageRate
Transform	_localTransform
bool	_mirroring

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Detailed Description

Class CameraRGBD

Definition at line 85 of file CameraRGBD.h.

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Constructor & Destructor Documentation

rtabmap::CameraRGBD::~CameraRGBD

(

)

[virtual]

Definition at line 85 of file CameraRGBD.cpp.

rtabmap::CameraRGBD::CameraRGBD	(	float	imageRate = 0,
		const Transform &	localTransform = Transform::getIdentity()
	)		[protected]

Constructor

Parameters:

imageRate

: image/second , 0 for fast as the camera can

Definition at line 76 of file CameraRGBD.cpp.

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Member Function Documentation

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

returned rgb and depth images should be already rectified

Implemented in rtabmap::CameraStereoFlyCapture2, rtabmap::CameraStereoDC1394, rtabmap::CameraFreenect2, rtabmap::CameraFreenect, rtabmap::CameraOpenNI2, rtabmap::CameraOpenNICV, and rtabmap::CameraOpenni.

float rtabmap::CameraRGBD::getImageRate

(

)

const [inline]

Definition at line 96 of file CameraRGBD.h.

const Transform& rtabmap::CameraRGBD::getLocalTransform

(

)

const [inline]

Definition at line 97 of file CameraRGBD.h.

virtual std::string rtabmap::CameraRGBD::getSerial

(

)

const [pure virtual]

Implemented in rtabmap::CameraStereoFlyCapture2, rtabmap::CameraStereoDC1394, rtabmap::CameraFreenect2, rtabmap::CameraFreenect, rtabmap::CameraOpenNI2, rtabmap::CameraOpenNICV, and rtabmap::CameraOpenni.

virtual bool rtabmap::CameraRGBD::init

(

const std::string &

calibrationFolder = "."

)

[pure virtual]

Implemented in rtabmap::CameraStereoFlyCapture2, rtabmap::CameraStereoDC1394, rtabmap::CameraFreenect2, rtabmap::CameraFreenect, rtabmap::CameraOpenNI2, rtabmap::CameraOpenNICV, and rtabmap::CameraOpenni.

virtual bool rtabmap::CameraRGBD::isCalibrated

(

)

const [pure virtual]

Implemented in rtabmap::CameraStereoFlyCapture2, rtabmap::CameraStereoDC1394, rtabmap::CameraFreenect2, rtabmap::CameraFreenect, rtabmap::CameraOpenNI2, rtabmap::CameraOpenNICV, and rtabmap::CameraOpenni.

bool rtabmap::CameraRGBD::isColorOnly

(

)

const [inline]

Definition at line 99 of file CameraRGBD.h.

bool rtabmap::CameraRGBD::isMirroringEnabled

(

)

const [inline]

Definition at line 98 of file CameraRGBD.h.

void rtabmap::CameraRGBD::setColorOnly

(

bool

colorOnly

)

[inline]

Definition at line 105 of file CameraRGBD.h.

void rtabmap::CameraRGBD::setImageRate

(

float

imageRate

)

[inline]

Definition at line 102 of file CameraRGBD.h.

void rtabmap::CameraRGBD::setLocalTransform

(

const Transform &

localTransform

)

[inline]

Definition at line 103 of file CameraRGBD.h.

void rtabmap::CameraRGBD::setMirroringEnabled

(

bool

mirroring

)

[inline]

Definition at line 104 of file CameraRGBD.h.

void rtabmap::CameraRGBD::takeImage	(	cv::Mat &	rgb,
		cv::Mat &	depth,
		float &	fx,
		float &	fy,
		float &	cx,
		float &	cy
	)

Definition at line 93 of file CameraRGBD.cpp.

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Member Data Documentation

bool rtabmap::CameraRGBD::_colorOnly [private]

Definition at line 125 of file CameraRGBD.h.

UTimer* rtabmap::CameraRGBD::_frameRateTimer [private]

Definition at line 126 of file CameraRGBD.h.

float rtabmap::CameraRGBD::_imageRate [private]

Definition at line 122 of file CameraRGBD.h.

Transform rtabmap::CameraRGBD::_localTransform [private]

Definition at line 123 of file CameraRGBD.h.

bool rtabmap::CameraRGBD::_mirroring [private]

Definition at line 124 of file CameraRGBD.h.

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

• CameraRGBD.h
• CameraRGBD.cpp