rtabmap::Camera Class Reference

#include <Camera.h>

Inheritance diagram for rtabmap::Camera:

Collaboration diagram for rtabmap::Camera:

Public Member Functions
SensorData	takeImage (SensorCaptureInfo *info=0)
float	getImageRate () const
void	setImageRate (float imageRate)
void	setInterIMUPublishing (bool enabled, IMUFilter *filter=0, bool baseFrameConversion=false)
bool	isInterIMUPublishing () const
bool	initFromFile (const std::string &calibrationPath)
virtual bool	isCalibrated () const =0
Public Member Functions inherited from rtabmap::SensorCapture
virtual	~SensorCapture ()
	Virtual destructor.
SensorData	takeData (SensorCaptureInfo *info=0)
	Captures sensor data with frame rate control.
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")=0
	Initializes the sensor.
virtual std::string	getSerial () const =0
	Returns the sensor's serial number or unique identifier.
virtual bool	odomProvided () const
	Checks if the sensor provides odometry poses.
virtual bool	getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
	Gets the sensor's pose estimate at a specific timestamp.
float	getFrameRate () const
	Returns the target frame rate.
const Transform &	getLocalTransform () const
	Returns the local transform from base frame to sensor frame.
void	setFrameRate (float frameRate)
	Sets the target frame rate.
void	setLocalTransform (const Transform &localTransform)
	Sets the local transform from base frame to sensor frame.
void	resetTimer ()
	Resets the frame rate timer.

Protected Member Functions
	Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
virtual SensorData	captureImage (SensorCaptureInfo *info=0)=0
void	postInterIMU (const IMU &imu, double stamp)
Protected Member Functions inherited from rtabmap::SensorCapture
	SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
	Protected constructor.
int	getNextSeqID ()
	Gets the next sequence ID.

Detailed Description

Class Camera

Definition at line 43 of file Camera.h.

Constructor & Destructor Documentation

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)

Member Function Documentation

takeImage()

SensorData rtabmap::Camera::takeImage ( SensorCaptureInfo *  info = 0 )

inline

Definition at line 48 of file Camera.h.

getImageRate()

float rtabmap::Camera::getImageRate ( ) const

inline

Definition at line 49 of file Camera.h.

setImageRate()

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

inline

Definition at line 50 of file Camera.h.

isInterIMUPublishing()

bool rtabmap::Camera::isInterIMUPublishing ( ) const

inline

Definition at line 52 of file Camera.h.

captureImage()

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

protectedpure virtual

Implemented in rtabmap::CameraMyntEye.

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

• corelib/include/rtabmap/core/Camera.h