#include <CameraImages.h>

Inheritance diagram for rtabmap::CameraImages:

Public Member Functions
	CameraImages ()

	CameraImages (const std::string &path, float imageRate=0, const Transform &localTransform=CameraModel::opticalRotation())

const CameraModel &	cameraModel () const

std::vector< std::string >	filenames () const

int	getBayerMode () const

double	getMaxPoseTimeDiff () const

std::string	getPath () const

virtual std::string	getSerial () const

unsigned int	imagesCount () const

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

virtual bool	isCalibrated () const

bool	isImagesRectified () const

virtual bool	odomProvided () const

void	setBayerMode (int mode)

void	setConfigForEachFrame (bool value)

void	setDepth (bool isDepth, float depthScaleFactor=1.0f)

void	setDepthFromScan (bool enabled, int fillHoles=1, bool fillHolesFromBorder=false)

void	setDirRefreshed (bool enabled)

void	setGroundTruthPath (const std::string &filePath, int format=0)

void	setImagesRectified (bool enabled)

virtual void	setMaxFrames (int value)

void	setMaxPoseTimeDiff (double diff)

void	setOdometryPath (const std::string &filePath, int format=0)

void	setPath (const std::string &dir)

void	setScanPath (const std::string &dir, int maxScanPts=0, const Transform &localTransform=Transform::getIdentity())

virtual void	setStartIndex (int index)

void	setTimestamps (bool fileNamesAreStamps, const std::string &filePath="", bool syncImageRateWithStamps=true)

virtual	~CameraImages ()

Public Member Functions inherited from rtabmap::Camera
float	getImageRate () const

const Transform &	getLocalTransform () const

bool	initFromFile (const std::string &calibrationPath)

void	resetTimer ()

void	setImageRate (float imageRate)

void	setLocalTransform (const Transform &localTransform)

SensorData	takeImage (CameraInfo *info=0)

virtual	~Camera ()

Protected Member Functions
virtual SensorData	captureImage (CameraInfo *info=0)

Protected Member Functions inherited from rtabmap::Camera
	Camera (float imageRate=0, const Transform &localTransform=CameraModel::opticalRotation())

int	getNextSeqID ()

Private Member Functions
bool	readPoses (std::list< Transform > &outputPoses, std::list< double > &stamps, const std::string &filePath, int format, double maxTimeDiff) const

Private Attributes
int	_bayerMode

double	_captureDelay

UTimer	_captureTimer

int	_count

int	_countScan

bool	_depthFromScan

int	_depthFromScanFillHoles

bool	_depthFromScanFillHolesFromBorder

float	_depthScaleFactor

UDirectory *	_dir

bool	_filenamesAreTimestamps

int	_framesPublished

int	_groundTruthFormat

std::string	_groundTruthPath

bool	_hasConfigForEachFrame

bool	_isDepth

std::string	_lastFileName

std::string	_lastScanFileName

int	_maxFrames

double	_maxPoseTimeDiff

CameraModel	_model

std::list< CameraModel >	_models

int	_odometryFormat

std::string	_odometryPath

std::string	_path

bool	_rectifyImages

bool	_refreshDir

UDirectory *	_scanDir

Transform	_scanLocalTransform

int	_scanMaxPts

std::string	_scanPath

std::list< double >	_stamps

int	_startAt

bool	_syncImageRateWithStamps

std::string	_timestampsPath

std::list< cv::Mat >	covariances_

std::list< Transform >	groundTruth_

std::list< Transform >	odometry_

Detailed Description

Definition at line 41 of file CameraImages.h.

Constructor & Destructor Documentation

rtabmap::CameraImages::CameraImages ( )

Definition at line 43 of file CameraImages.cpp.

rtabmap::CameraImages::CameraImages	(	const std::string &	path,
		float	imageRate = `0`,
		const Transform &	localTransform = `CameraModel::opticalRotation()`
	)

Definition at line 69 of file CameraImages.cpp.

rtabmap::CameraImages::~CameraImages ( )

virtual

Definition at line 102 of file CameraImages.cpp.

Member Function Documentation

const CameraModel& rtabmap::CameraImages::cameraModel ( ) const

inline

Definition at line 61 of file CameraImages.h.

SensorData rtabmap::CameraImages::captureImage ( CameraInfo * info = 0 )

protectedvirtual

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

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraStereoImages, and rtabmap::CameraRGBDImages.

Definition at line 589 of file CameraImages.cpp.

std::vector< std::string > rtabmap::CameraImages::filenames ( ) const

Definition at line 580 of file CameraImages.cpp.

int rtabmap::CameraImages::getBayerMode ( ) const

inline

Definition at line 60 of file CameraImages.h.

double rtabmap::CameraImages::getMaxPoseTimeDiff ( ) const

inline

Definition at line 114 of file CameraImages.h.

std::string rtabmap::CameraImages::getPath ( ) const

inline

Definition at line 56 of file CameraImages.h.

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

virtual

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraStereoImages.

Definition at line 566 of file CameraImages.cpp.

unsigned int rtabmap::CameraImages::imagesCount ( ) const

Definition at line 571 of file CameraImages.cpp.

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

virtual

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraStereoImages, and rtabmap::CameraRGBDImages.

Definition at line 109 of file CameraImages.cpp.

bool rtabmap::CameraImages::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraStereoImages.

Definition at line 561 of file CameraImages.cpp.

bool rtabmap::CameraImages::isImagesRectified ( ) const

inline

Definition at line 59 of file CameraImages.h.

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

inlinevirtual

Reimplemented from rtabmap::Camera.

Definition at line 55 of file CameraImages.h.

bool rtabmap::CameraImages::readPoses	(	std::list< Transform > &	outputPoses,
		std::list< double > &	stamps,
		const std::string &	filePath,
		int	format,
		double	maxTimeDiff
	)		const

private

Definition at line 442 of file CameraImages.cpp.

void rtabmap::CameraImages::setBayerMode ( int mode )

inline

Definition at line 68 of file CameraImages.h.

void rtabmap::CameraImages::setConfigForEachFrame ( bool value )

inline

Definition at line 77 of file CameraImages.h.

void rtabmap::CameraImages::setDepth	(	bool	isDepth,
		float	depthScaleFactor = `1.0f`
	)

inline

Definition at line 116 of file CameraImages.h.

void rtabmap::CameraImages::setDepthFromScan	(	bool	enabled,
		int	fillHoles = `1`,
		bool	fillHolesFromBorder = `false`
	)

inline

Definition at line 92 of file CameraImages.h.

void rtabmap::CameraImages::setDirRefreshed ( bool enabled )

inline

Definition at line 66 of file CameraImages.h.

void rtabmap::CameraImages::setGroundTruthPath	(	const std::string &	filePath,
		int	format = `0`
	)

inline

Definition at line 107 of file CameraImages.h.

void rtabmap::CameraImages::setImagesRectified ( bool enabled )

inline

Definition at line 67 of file CameraImages.h.

virtual void rtabmap::CameraImages::setMaxFrames ( int value )

inlinevirtual

Reimplemented in rtabmap::CameraStereoImages, and rtabmap::CameraRGBDImages.

Definition at line 65 of file CameraImages.h.

void rtabmap::CameraImages::setMaxPoseTimeDiff ( double diff )

inline

Definition at line 113 of file CameraImages.h.

void rtabmap::CameraImages::setOdometryPath	(	const std::string &	filePath,
		int	format = `0`
	)

inline

Definition at line 100 of file CameraImages.h.

void rtabmap::CameraImages::setPath ( const std::string & dir )

inline

Definition at line 63 of file CameraImages.h.

void rtabmap::CameraImages::setScanPath	(	const std::string &	dir,
		int	maxScanPts = `0`,
		const Transform &	localTransform = `Transform::getIdentity()`
	)

inline

Definition at line 82 of file CameraImages.h.

virtual void rtabmap::CameraImages::setStartIndex ( int index )

inlinevirtual

Reimplemented in rtabmap::CameraStereoImages, and rtabmap::CameraRGBDImages.

Definition at line 64 of file CameraImages.h.

void rtabmap::CameraImages::setTimestamps	(	bool	fileNamesAreStamps,
		const std::string &	filePath = `""`,
		bool	syncImageRateWithStamps = `true`
	)

inline

Definition at line 70 of file CameraImages.h.

Member Data Documentation

int rtabmap::CameraImages::_bayerMode

private

Definition at line 141 of file CameraImages.h.

double rtabmap::CameraImages::_captureDelay

private

Definition at line 179 of file CameraImages.h.

UTimer rtabmap::CameraImages::_captureTimer

private

Definition at line 178 of file CameraImages.h.

int rtabmap::CameraImages::_count

private

Definition at line 144 of file CameraImages.h.

int rtabmap::CameraImages::_countScan

private

Definition at line 149 of file CameraImages.h.

bool rtabmap::CameraImages::_depthFromScan

private

Definition at line 156 of file CameraImages.h.

int rtabmap::CameraImages::_depthFromScanFillHoles

private

Definition at line 157 of file CameraImages.h.

bool rtabmap::CameraImages::_depthFromScanFillHolesFromBorder

private

Definition at line 158 of file CameraImages.h.

float rtabmap::CameraImages::_depthScaleFactor

private

Definition at line 143 of file CameraImages.h.

UDirectory* rtabmap::CameraImages::_dir

private

Definition at line 146 of file CameraImages.h.

bool rtabmap::CameraImages::_filenamesAreTimestamps

private

Definition at line 160 of file CameraImages.h.

int rtabmap::CameraImages::_framesPublished

private

Definition at line 145 of file CameraImages.h.

int rtabmap::CameraImages::_groundTruthFormat

private

Definition at line 168 of file CameraImages.h.

std::string rtabmap::CameraImages::_groundTruthPath

private

Definition at line 167 of file CameraImages.h.

bool rtabmap::CameraImages::_hasConfigForEachFrame

private

Definition at line 161 of file CameraImages.h.

bool rtabmap::CameraImages::_isDepth

private

Definition at line 142 of file CameraImages.h.

std::string rtabmap::CameraImages::_lastFileName

private

Definition at line 147 of file CameraImages.h.

std::string rtabmap::CameraImages::_lastScanFileName

private

Definition at line 151 of file CameraImages.h.

int rtabmap::CameraImages::_maxFrames

private

Definition at line 136 of file CameraImages.h.

double rtabmap::CameraImages::_maxPoseTimeDiff

private

Definition at line 169 of file CameraImages.h.

CameraModel rtabmap::CameraImages::_model

private

Definition at line 175 of file CameraImages.h.

std::list<CameraModel> rtabmap::CameraImages::_models

private

Definition at line 176 of file CameraImages.h.

int rtabmap::CameraImages::_odometryFormat

private

Definition at line 166 of file CameraImages.h.

std::string rtabmap::CameraImages::_odometryPath

private

Definition at line 165 of file CameraImages.h.

std::string rtabmap::CameraImages::_path

private

Definition at line 134 of file CameraImages.h.

bool rtabmap::CameraImages::_rectifyImages

private

Definition at line 140 of file CameraImages.h.

bool rtabmap::CameraImages::_refreshDir

private

Definition at line 139 of file CameraImages.h.

UDirectory* rtabmap::CameraImages::_scanDir

private

Definition at line 150 of file CameraImages.h.

Transform rtabmap::CameraImages::_scanLocalTransform

private

Definition at line 153 of file CameraImages.h.

int rtabmap::CameraImages::_scanMaxPts

private

Definition at line 154 of file CameraImages.h.

std::string rtabmap::CameraImages::_scanPath

private

Definition at line 152 of file CameraImages.h.

std::list<double> rtabmap::CameraImages::_stamps

private

Definition at line 171 of file CameraImages.h.

int rtabmap::CameraImages::_startAt

private

Definition at line 135 of file CameraImages.h.

bool rtabmap::CameraImages::_syncImageRateWithStamps

private

Definition at line 163 of file CameraImages.h.

std::string rtabmap::CameraImages::_timestampsPath

private

Definition at line 162 of file CameraImages.h.

std::list<cv::Mat> rtabmap::CameraImages::covariances_

private

Definition at line 173 of file CameraImages.h.

std::list<Transform> rtabmap::CameraImages::groundTruth_

private

Definition at line 174 of file CameraImages.h.

std::list<Transform> rtabmap::CameraImages::odometry_

private

Definition at line 172 of file CameraImages.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation