rtabmap::CameraVideo Class Reference

Inheritance diagram for rtabmap::CameraVideo:

Collaboration diagram for rtabmap::CameraVideo:

Public Types
enum	Source { kVideoFile , kUsbDevice }

Public Member Functions
	CameraVideo (int usbDevice=0, bool rectifyImages=false, float imageRate=0, const Transform &localTransform=Transform::getIdentity())
	CameraVideo (const std::string &filePath, bool rectifyImages=false, 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.
int	getUsbDevice () const
const std::string &	getFilePath () const
void	setResolution (int width, int height)
void	setFOURCC (const std::string &fourcc)
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	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
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 36 of file CameraVideo.h.

Member Enumeration Documentation

Source

enum rtabmap::CameraVideo::Source

Definition at line 40 of file CameraVideo.h.

Member Function Documentation

init()

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

virtual

Implements rtabmap::Camera.

getSerial()

virtual std::string rtabmap::CameraVideo::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.

getUsbDevice()

int rtabmap::CameraVideo::getUsbDevice ( ) const

inline

Definition at line 56 of file CameraVideo.h.

getFilePath()

const std::string & rtabmap::CameraVideo::getFilePath ( ) const

inline

Definition at line 57 of file CameraVideo.h.

setResolution()

void rtabmap::CameraVideo::setResolution ( int  width, int  height  )

inline

Set wanted usb resolution, should be set before initialization. 0 means default resolution. It won't be applied if a valid camera calibration has been loaded, thus resolution from calibration is used.

Definition at line 64 of file CameraVideo.h.

setFOURCC()

void rtabmap::CameraVideo::setFOURCC ( const std::string &  fourcc )

inline

Definition at line 65 of file CameraVideo.h.

captureImage()

virtual SensorData rtabmap::CameraVideo::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/CameraVideo.h