Inheritance diagram for rtabmap::CameraStereoImages:

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Collaboration diagram for rtabmap::CameraStereoImages:

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Public Member Functions
	CameraStereoImages (const std::string &pathLeftImages, const std::string &pathRightImages, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())

	CameraStereoImages (const std::string &pathLeftRightImages, bool rectifyImages=false, float imageRate=0.0f, const Transform &localTransform=Transform::getIdentity())

void	setRightGrayScale (bool enabled=true)

void	setMultiCameraCalibration (bool enabled)

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 void	setStartIndex (int index)

virtual void	setMaxFrames (int value)

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

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)

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.

Static Public Member Functions
static bool	available ()

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

Protected Member Functions inherited from rtabmap::CameraImages
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.

Additional Inherited Members
Protected Attributes inherited from rtabmap::CameraImages
std::string	_calibrationFolder

bool	_multiCameraCalib

int	_multiCameraCount

Detailed Description

Definition at line 39 of file CameraStereoImages.h.

Member Function Documentation

◆ setRightGrayScale()

void rtabmap::CameraStereoImages::setRightGrayScale ( bool enabled = true )

inline

Definition at line 59 of file CameraStereoImages.h.

◆ setMultiCameraCalibration()

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

inline

Definition at line 77 of file CameraStereoImages.h.

◆ init()

virtual bool rtabmap::CameraStereoImages::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()

Reimplemented from rtabmap::CameraImages.

◆ isCalibrated()

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

virtual

Reimplemented from rtabmap::CameraImages.

◆ getSerial()

virtual std::string rtabmap::CameraStereoImages::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

Reimplemented from rtabmap::CameraImages.

◆ setStartIndex()

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

inlinevirtual

Reimplemented from rtabmap::CameraImages.

Definition at line 83 of file CameraStereoImages.h.

◆ setMaxFrames()

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

inlinevirtual

Reimplemented from rtabmap::CameraImages.

Definition at line 84 of file CameraStereoImages.h.

◆ captureImage()

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

protectedvirtual

Reimplemented from rtabmap::CameraImages.

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

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Additional Inherited Members

Detailed Description

Member Function Documentation

◆ setRightGrayScale()

◆ setMultiCameraCalibration()

◆ init()

◆ isCalibrated()

◆ getSerial()

◆ setStartIndex()

◆ setMaxFrames()

◆ captureImage()