Inheritance diagram for rtabmap::CameraImages:

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Collaboration diagram for rtabmap::CameraImages:

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Public Member Functions
	CameraImages (const std::string &path, float imageRate=0, const Transform &localTransform=Transform::getIdentity())

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

virtual bool	isCalibrated () const

virtual std::string	getSerial () const
	Returns the sensor's serial number or unique identifier.

virtual bool	odomProvided () const
	Checks if the sensor provides odometry poses.

std::string	getPath () const

unsigned int	imagesCount () const

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

bool	isImagesRectified () const

int	getBayerMode () const

const CameraModel &	cameraModel () const

void	setPath (const std::string &dir)

virtual void	setStartIndex (int index)

virtual void	setMaxFrames (int value)

void	setDirRefreshed (bool enabled)

void	setImagesRectified (bool enabled)

void	setBayerMode (int mode)

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

void	setConfigForEachFrame (bool value)

bool	isConfigForEachFrame () const

void	setMultiCameraCalibration (bool enabled)

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

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

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

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

void	setMaxPoseTimeDiff (double diff)

double	getMaxPoseTimeDiff () const

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

Public Member Functions inherited from rtabmap::Camera
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)

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	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
virtual SensorData	captureImage (SensorCaptureInfo *info=0)

const std::string &	lastImageFileName () const

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

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.

Protected Attributes
std::string	_calibrationFolder

bool	_multiCameraCalib

int	_multiCameraCount

Detailed Description

Definition at line 39 of file CameraImages.h.

Member Function Documentation

◆ init()

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

virtual

Initializes the sensor.

Pure virtual method that must be implemented by derived classes to initialize the sensor hardware or data source. This typically involves:

Opening device connections or file streams
Loading camera calibration parameters
Configuring sensor settings

Parameters

calibrationFolder	Directory path where calibration files are located (default: current directory ".")
cameraName	Base name of the camera for loading calibration files (default: empty string)

Returns: True if initialization was successful, false otherwise

Note: Must be called before calling takeData() or captureData()

Implements rtabmap::SensorCapture.

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

◆ isCalibrated()

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

virtual

Implements rtabmap::Camera.

◆ getSerial()

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

virtual

Returns the sensor's serial number or unique identifier.

Pure virtual method that must be implemented by derived classes to return a unique identifier for the sensor (e.g., device serial number, file path, or other identifier).

Returns: String identifier for the sensor

Implements rtabmap::SensorCapture.

Reimplemented in rtabmap::CameraStereoImages.

◆ odomProvided()

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

inlinevirtual

Checks if the sensor provides odometry poses.

Some sensors (e.g., visual-inertial cameras) can provide pose estimates directly. This method indicates whether the sensor supports pose queries.

Returns: True if the sensor provides odometry poses, false otherwise

Note: Default implementation returns false. Derived classes should override if they support pose estimation.

See also: getPose()

Reimplemented from rtabmap::SensorCapture.

Definition at line 53 of file CameraImages.h.

◆ getPath()

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

inline

Definition at line 54 of file CameraImages.h.

◆ isImagesRectified()

bool rtabmap::CameraImages::isImagesRectified ( ) const

inline

Definition at line 57 of file CameraImages.h.

◆ getBayerMode()

int rtabmap::CameraImages::getBayerMode ( ) const

inline

Definition at line 58 of file CameraImages.h.

◆ cameraModel()

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

inline

Definition at line 59 of file CameraImages.h.

◆ setPath()

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

inline

Definition at line 61 of file CameraImages.h.

◆ setStartIndex()

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

inlinevirtual

Definition at line 62 of file CameraImages.h.

◆ setMaxFrames()

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

inlinevirtual

Definition at line 63 of file CameraImages.h.

◆ setDirRefreshed()

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

inline

Definition at line 64 of file CameraImages.h.

◆ setImagesRectified()

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

inline

Definition at line 65 of file CameraImages.h.

◆ setBayerMode()

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

inline

Definition at line 66 of file CameraImages.h.

◆ setTimestamps()

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

inline

Definition at line 68 of file CameraImages.h.

◆ setConfigForEachFrame()

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

inline

Definition at line 75 of file CameraImages.h.

◆ isConfigForEachFrame()

bool rtabmap::CameraImages::isConfigForEachFrame ( ) const

inline

Definition at line 79 of file CameraImages.h.

◆ setMultiCameraCalibration()

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

inline

Definition at line 97 of file CameraImages.h.

◆ setScanPath()

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

inline

Definition at line 102 of file CameraImages.h.

◆ setDepthFromScan()

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

inline

Definition at line 112 of file CameraImages.h.

◆ setOdometryPath()

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

inline

Definition at line 120 of file CameraImages.h.

◆ setGroundTruthPath()

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

inline

Definition at line 127 of file CameraImages.h.

◆ setMaxPoseTimeDiff()

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

inline

Definition at line 134 of file CameraImages.h.

◆ getMaxPoseTimeDiff()

double rtabmap::CameraImages::getMaxPoseTimeDiff ( ) const

inline

Definition at line 135 of file CameraImages.h.

◆ setDepth()

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

inline

Definition at line 137 of file CameraImages.h.

◆ captureImage()

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

protectedvirtual

Implements rtabmap::Camera.

◆ lastImageFileName()

const std::string & rtabmap::CameraImages::lastImageFileName ( ) const

inlineprotected

Definition at line 149 of file CameraImages.h.

Member Data Documentation

◆ _calibrationFolder

std::string rtabmap::CameraImages::_calibrationFolder

protected

Definition at line 153 of file CameraImages.h.

◆ _multiCameraCalib

bool rtabmap::CameraImages::_multiCameraCalib

protected

Definition at line 159 of file CameraImages.h.

◆ _multiCameraCount

int rtabmap::CameraImages::_multiCameraCount

protected

Definition at line 160 of file CameraImages.h.

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

corelib/include/rtabmap/core/camera/CameraImages.h

Public Member Functions

Protected Member Functions

Protected Attributes

Detailed Description

Member Function Documentation

◆ init()

◆ isCalibrated()

◆ getSerial()

◆ odomProvided()

◆ getPath()

◆ isImagesRectified()

◆ getBayerMode()

◆ cameraModel()

◆ setPath()

◆ setStartIndex()

◆ setMaxFrames()

◆ setDirRefreshed()

◆ setImagesRectified()

◆ setBayerMode()

◆ setTimestamps()

◆ setConfigForEachFrame()

◆ isConfigForEachFrame()

◆ setMultiCameraCalibration()

◆ setScanPath()

◆ setDepthFromScan()

◆ setOdometryPath()

◆ setGroundTruthPath()

◆ setMaxPoseTimeDiff()

◆ getMaxPoseTimeDiff()

◆ setDepth()

◆ captureImage()

◆ lastImageFileName()

Member Data Documentation

◆ _calibrationFolder

◆ _multiCameraCalib

◆ _multiCameraCount