rtabmap::CameraRealSense Class Reference

#include <CameraRealSense.h>

Inheritance diagram for rtabmap::CameraRealSense:

Public Types
enum	RGBSource { kColor, kInfrared, kFishEye }

Public Member Functions
	CameraRealSense (int deviceId=0, int presetRGB=0, int presetDepth=0, bool computeOdometry=false, float imageRate=0, const Transform &localTransform=CameraModel::opticalRotation())
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	setDepthScaledToRGBSize (bool enabled)
void	setRGBSource (RGBSource source)
virtual	~CameraRealSense ()
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 ()

Static Public Member Functions
static bool	available ()

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 ()

Detailed Description

Definition at line 52 of file CameraRealSense.h.

Member Enumeration Documentation

enum rtabmap::CameraRealSense::RGBSource

Enumerator
kColor
kInfrared
kFishEye

Definition at line 57 of file CameraRealSense.h.

Constructor & Destructor Documentation

rtabmap::CameraRealSense::CameraRealSense	(	int	deviceId = 0,
		int	presetRGB = 0,
		int	presetDepth = 0,
		bool	computeOdometry = false,
		float	imageRate = 0,
		const Transform &	localTransform = CameraModel::opticalRotation()
	)

Definition at line 56 of file CameraRealSense.cpp.

rtabmap::CameraRealSense::~CameraRealSense ( )

virtual

Definition at line 80 of file CameraRealSense.cpp.

Member Function Documentation

bool rtabmap::CameraRealSense::available ( )

static

Definition at line 47 of file CameraRealSense.cpp.

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

protectedvirtual

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

Implements rtabmap::Camera.

Definition at line 859 of file CameraRealSense.cpp.

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

virtual

Implements rtabmap::Camera.

Definition at line 825 of file CameraRealSense.cpp.

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

virtual

Implements rtabmap::Camera.

Definition at line 257 of file CameraRealSense.cpp.

bool rtabmap::CameraRealSense::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 820 of file CameraRealSense.cpp.

bool rtabmap::CameraRealSense::odomProvided ( ) const

virtual

Reimplemented from rtabmap::Camera.

Definition at line 840 of file CameraRealSense.cpp.

void rtabmap::CameraRealSense::setDepthScaledToRGBSize

(

bool

enabled

)

Definition at line 145 of file CameraRealSense.cpp.

void rtabmap::CameraRealSense::setRGBSource

(

RGBSource

source

)

Definition at line 150 of file CameraRealSense.cpp.

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

• CameraRealSense.h
• CameraRealSense.cpp