rtabmap::CameraRealSense2 Class Reference

Inheritance diagram for rtabmap::CameraRealSense2:

Collaboration diagram for rtabmap::CameraRealSense2:

Public Member Functions
	CameraRealSense2 (const std::string &deviceId="", 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.
virtual bool	getPose (double stamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
	Gets the sensor's pose estimate at a specific timestamp.
void	setEmitterEnabled (bool enabled)
void	setIRFormat (bool enabled, bool useDepthInsteadOfRightImage)
void	setResolution (int width, int height, int fps=30)
void	setDepthResolution (int width, int height, int fps=30)
void	setGlobalTimeSync (bool enabled)
void	setDualMode (bool enabled, const Transform &extrinsics)
void	setJsonConfig (const std::string &json)
void	setImagesRectified (bool enabled)
void	setOdomProvided (bool enabled, bool imageStreamsDisabled=false, bool onlyLeftStream=false)
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.
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.

Static Public Member Functions
static bool	available ()

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

Detailed Description

Definition at line 54 of file CameraRealSense2.h.

Member Function Documentation

init()

virtual bool rtabmap::CameraRealSense2::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.

isCalibrated()

virtual bool rtabmap::CameraRealSense2::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

getSerial()

virtual std::string rtabmap::CameraRealSense2::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.

odomProvided()

virtual bool rtabmap::CameraRealSense2::odomProvided ( ) const

virtual

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.

getPose()

virtual bool rtabmap::CameraRealSense2::getPose ( double  stamp, Transform &  pose, cv::Mat &  covariance, double  maxWaitTime = 0.06  )

virtual

Gets the sensor's pose estimate at a specific timestamp.

Queries the sensor for its pose estimate at the given timestamp. This is typically used for sensors that provide visual-inertial odometry or other pose estimation capabilities.

Parameters

	stamp	Timestamp in seconds for which to query the pose
[out]	pose	Output transform representing the sensor pose
[out]	covariance	Output covariance matrix (6x6) representing twist uncertainty
	maxWaitTime	Maximum time in seconds to wait for pose data (default: 0.06)

Returns

True if pose was successfully retrieved, false otherwise

Note

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

See also

odomProvided()

Reimplemented from rtabmap::SensorCapture.

setDualMode()

void rtabmap::CameraRealSense2::setDualMode	(	bool	enabled,
		const Transform &	extrinsics
	)

Dual mode (D400+T265 or L500+T265)

Parameters

enabled	enable dual mode
extrinsics	the extrinsics between T265 pose frame (middle of the camera) to D400/L500 main camera (without optical rotation).

captureImage()

virtual SensorData rtabmap::CameraRealSense2::captureImage ( SensorCaptureInfo *  info = 0 )

protectedvirtual

Implements rtabmap::Camera.

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

• corelib/include/rtabmap/core/camera/CameraRealSense2.h