rtabmap::Camera Class Reference

#include <Camera.h>

Inheritance diagram for rtabmap::Camera:

Public Member Functions
float	getImageRate () const
const Transform &	getLocalTransform () const
virtual bool	getPose (double stamp, Transform &pose, cv::Mat &covariance)
virtual std::string	getSerial () const =0
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")=0
bool	initFromFile (const std::string &calibrationPath)
virtual bool	isCalibrated () const =0
virtual bool	odomProvided () const
void	resetTimer ()
void	setImageRate (float imageRate)
void	setLocalTransform (const Transform &localTransform)
SensorData	takeImage (CameraInfo *info=0)
virtual	~Camera ()

Protected Member Functions
	Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
virtual SensorData	captureImage (CameraInfo *info=0)=0
int	getNextSeqID ()

Private Attributes
UTimer *	_frameRateTimer
float	_imageRate
Transform	_localTransform
int	_seq
cv::Size	_targetImageSize

Detailed Description

Class Camera

Definition at line 50 of file Camera.h.

Constructor & Destructor Documentation

~Camera()

rtabmap::Camera::~Camera ( )

virtual

Definition at line 55 of file Camera.cpp.

Camera()

rtabmap::Camera::Camera ( float  imageRate = 0, const Transform &  localTransform = Transform::getIdentity()  )

protected

Constructor

Parameters

imageRate	the frame rate (Hz), 0 for fast as the camera can
localTransform	the transform from base frame to camera frame (without optical rotation)

Definition at line 46 of file Camera.cpp.

Member Function Documentation

captureImage()

virtual SensorData rtabmap::Camera::captureImage ( CameraInfo *  info = 0 )

protectedpure virtual

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

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

getImageRate()

float rtabmap::Camera::getImageRate ( ) const

inline

Definition at line 64 of file Camera.h.

getLocalTransform()

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

inline

Definition at line 65 of file Camera.h.

getNextSeqID()

int rtabmap::Camera::getNextSeqID ( )

inlineprotected

Definition at line 86 of file Camera.h.

getPose()

virtual bool rtabmap::Camera::getPose ( double  stamp, Transform &  pose, cv::Mat &  covariance  )

inlinevirtual

Reimplemented in rtabmap::CameraStereoZed, and rtabmap::CameraRealSense2.

Definition at line 61 of file Camera.h.

getSerial()

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

pure virtual

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

init()

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

pure virtual

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

initFromFile()

bool rtabmap::Camera::initFromFile

(

const std::string &

calibrationPath

)

Definition at line 67 of file Camera.cpp.

isCalibrated()

virtual bool rtabmap::Camera::isCalibrated ( ) const

pure virtual

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

odomProvided()

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

inlinevirtual

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

Definition at line 60 of file Camera.h.

resetTimer()

void rtabmap::Camera::resetTimer

(

)

Definition at line 62 of file Camera.cpp.

setImageRate()

void rtabmap::Camera::setImageRate ( float  imageRate )

inline

Definition at line 68 of file Camera.h.

setLocalTransform()

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

inline

Definition at line 69 of file Camera.h.

takeImage()

SensorData rtabmap::Camera::takeImage

(

CameraInfo *

info = 0

)

Definition at line 72 of file Camera.cpp.

Member Data Documentation

_frameRateTimer

UTimer* rtabmap::Camera::_frameRateTimer

private

Definition at line 92 of file Camera.h.

_imageRate

float rtabmap::Camera::_imageRate

private

Definition at line 89 of file Camera.h.

_localTransform

Transform rtabmap::Camera::_localTransform

private

Definition at line 90 of file Camera.h.

_seq

int rtabmap::Camera::_seq

private

Definition at line 93 of file Camera.h.

_targetImageSize

cv::Size rtabmap::Camera::_targetImageSize

private

Definition at line 91 of file Camera.h.

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

• Camera.h
• Camera.cpp