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<div id="projectbrief">Real-Time Appearance-Based Mapping</div>
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<a href="#pub-methods">Public Member Functions</a> &#124;
<a href="#pro-methods">Protected Member Functions</a> &#124;
<a href="classrtabmap_1_1Camera-members.html">List of all members</a> </div>
<div class="headertitle"><div class="title">rtabmap::Camera Class Reference<span class="mlabels"><span class="mlabel">abstract</span></span></div></div>
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<p><code>#include &lt;<a class="el" href="Camera_8h_source.html">Camera.h</a>&gt;</code></p>
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Inheritance diagram for rtabmap::Camera:</div>
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Collaboration diagram for rtabmap::Camera:</div>
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<table class="memberdecls">
<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pub-methods" name="pub-methods"></a>
Public Member Functions</h2></td></tr>
<tr class="memitem:ae43544cc24470a1d42efcb5ec959b63c" id="r_ae43544cc24470a1d42efcb5ec959b63c"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#ae43544cc24470a1d42efcb5ec959b63c">takeImage</a> (<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> *info=0)</td></tr>
<tr class="separator:ae43544cc24470a1d42efcb5ec959b63c"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a5cfb75ca3d5f63e0c31633a2effae716" id="r_a5cfb75ca3d5f63e0c31633a2effae716"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#a5cfb75ca3d5f63e0c31633a2effae716">getImageRate</a> () const</td></tr>
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<tr class="memitem:a2b89ca2dcbe020c4026d19900268311c" id="r_a2b89ca2dcbe020c4026d19900268311c"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#a2b89ca2dcbe020c4026d19900268311c">setImageRate</a> (float imageRate)</td></tr>
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<tr class="memitem:af03be5ebafb6ebf9341d8de8d7fea4c5" id="r_af03be5ebafb6ebf9341d8de8d7fea4c5"><td class="memItemLeft" align="right" valign="top"><a id="af03be5ebafb6ebf9341d8de8d7fea4c5" name="af03be5ebafb6ebf9341d8de8d7fea4c5"></a>
void&#160;</td><td class="memItemRight" valign="bottom"><b>setInterIMUPublishing</b> (bool enabled, <a class="el" href="classrtabmap_1_1IMUFilter.html">IMUFilter</a> *filter=0, bool baseFrameConversion=false)</td></tr>
<tr class="separator:af03be5ebafb6ebf9341d8de8d7fea4c5"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:ac1f77dd10cc2f6e4f75d087c29726802" id="r_ac1f77dd10cc2f6e4f75d087c29726802"><td class="memItemLeft" align="right" valign="top">bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#ac1f77dd10cc2f6e4f75d087c29726802">isInterIMUPublishing</a> () const</td></tr>
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<tr class="memitem:a03f166a742e250d7db2693affe92c387" id="r_a03f166a742e250d7db2693affe92c387"><td class="memItemLeft" align="right" valign="top"><a id="a03f166a742e250d7db2693affe92c387" name="a03f166a742e250d7db2693affe92c387"></a>
bool&#160;</td><td class="memItemRight" valign="bottom"><b>initFromFile</b> (const std::string &amp;calibrationPath)</td></tr>
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<tr class="memitem:a9be483da0c1f90b6947a5b18de53fd42" id="r_a9be483da0c1f90b6947a5b18de53fd42"><td class="memItemLeft" align="right" valign="top"><a id="a9be483da0c1f90b6947a5b18de53fd42" name="a9be483da0c1f90b6947a5b18de53fd42"></a>
virtual bool&#160;</td><td class="memItemRight" valign="bottom"><b>isCalibrated</b> () const =0</td></tr>
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<tr class="inherit_header pub_methods_classrtabmap_1_1SensorCapture"><td colspan="2" onclick="javascript:toggleInherit('pub_methods_classrtabmap_1_1SensorCapture')"><img src="closed.png" alt="-"/>&#160;Public Member Functions inherited from <a class="el" href="classrtabmap_1_1SensorCapture.html">rtabmap::SensorCapture</a></td></tr>
<tr class="memitem:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a0578f6540ecdf8c4b3b747d511ecb625"><td class="memItemLeft" align="right" valign="top">
virtual&#160;</td><td class="memItemRight" valign="bottom"><b>~SensorCapture</b> ()</td></tr>
<tr class="memdesc:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Virtual destructor. <br /></td></tr>
<tr class="separator:a0578f6540ecdf8c4b3b747d511ecb625 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_aca06c645212a7501a246ea593406bcaf"><td class="memItemLeft" align="right" valign="top"><a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#aca06c645212a7501a246ea593406bcaf">takeData</a> (<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> *info=0)</td></tr>
<tr class="memdesc:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Captures sensor data with frame rate control. <br /></td></tr>
<tr class="separator:aca06c645212a7501a246ea593406bcaf inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a1c0cd843969fab53f157cbe0fd333b8a inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a1c0cd843969fab53f157cbe0fd333b8a"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#a1c0cd843969fab53f157cbe0fd333b8a">init</a> (const std::string &amp;calibrationFolder=&quot;.&quot;, const std::string &amp;cameraName=&quot;&quot;)=0</td></tr>
<tr class="memdesc:a1c0cd843969fab53f157cbe0fd333b8a inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Initializes the sensor. <br /></td></tr>
<tr class="separator:a1c0cd843969fab53f157cbe0fd333b8a inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:a7830e571e45752f9d8f30fa806f6aa64 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a7830e571e45752f9d8f30fa806f6aa64"><td class="memItemLeft" align="right" valign="top">virtual std::string&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#a7830e571e45752f9d8f30fa806f6aa64">getSerial</a> () const =0</td></tr>
<tr class="memdesc:a7830e571e45752f9d8f30fa806f6aa64 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the sensor's serial number or unique identifier. <br /></td></tr>
<tr class="separator:a7830e571e45752f9d8f30fa806f6aa64 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="memSeparator" colspan="2">&#160;</td></tr>
<tr class="memitem:aee217767808a9df9c63a27b284461c89 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_aee217767808a9df9c63a27b284461c89"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#aee217767808a9df9c63a27b284461c89">odomProvided</a> () const</td></tr>
<tr class="memdesc:aee217767808a9df9c63a27b284461c89 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Checks if the sensor provides odometry poses. <br /></td></tr>
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<tr class="memitem:a2f940d75366088bfae0164e1803ffe9a inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a2f940d75366088bfae0164e1803ffe9a"><td class="memItemLeft" align="right" valign="top">virtual bool&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#a2f940d75366088bfae0164e1803ffe9a">getPose</a> (double stamp, <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;pose, cv::Mat &amp;covariance, double maxWaitTime=0.06)</td></tr>
<tr class="memdesc:a2f940d75366088bfae0164e1803ffe9a inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the sensor's pose estimate at a specific timestamp. <br /></td></tr>
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<tr class="memitem:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_af7de847c118ec1ba77a5c9f29f7efece"><td class="memItemLeft" align="right" valign="top">float&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#af7de847c118ec1ba77a5c9f29f7efece">getFrameRate</a> () const</td></tr>
<tr class="memdesc:af7de847c118ec1ba77a5c9f29f7efece inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the target frame rate. <br /></td></tr>
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<tr class="memitem:a99829249c51fd08c32310b788b00b663 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a99829249c51fd08c32310b788b00b663"><td class="memItemLeft" align="right" valign="top">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#a99829249c51fd08c32310b788b00b663">getLocalTransform</a> () const</td></tr>
<tr class="memdesc:a99829249c51fd08c32310b788b00b663 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Returns the local transform from base frame to sensor frame. <br /></td></tr>
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<tr class="memitem:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a1e195970f52334094174783c5fd06456"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#a1e195970f52334094174783c5fd06456">setFrameRate</a> (float frameRate)</td></tr>
<tr class="memdesc:a1e195970f52334094174783c5fd06456 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the target frame rate. <br /></td></tr>
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<tr class="memitem:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_a0ea4e217047c234bcfcb9866e36ea7c0"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#a0ea4e217047c234bcfcb9866e36ea7c0">setLocalTransform</a> (const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;localTransform)</td></tr>
<tr class="memdesc:a0ea4e217047c234bcfcb9866e36ea7c0 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Sets the local transform from base frame to sensor frame. <br /></td></tr>
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<tr class="memitem:afa9923bb4a3b88e6dbf4c8ae7f060437 inherit pub_methods_classrtabmap_1_1SensorCapture" id="r_afa9923bb4a3b88e6dbf4c8ae7f060437"><td class="memItemLeft" align="right" valign="top">void&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#afa9923bb4a3b88e6dbf4c8ae7f060437">resetTimer</a> ()</td></tr>
<tr class="memdesc:afa9923bb4a3b88e6dbf4c8ae7f060437 inherit pub_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Resets the frame rate timer. <br /></td></tr>
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<tr class="heading"><td colspan="2"><h2 class="groupheader"><a id="pro-methods" name="pro-methods"></a>
Protected Member Functions</h2></td></tr>
<tr class="memitem:aaae7434ffa5e54f5006355779d335dd3" id="r_aaae7434ffa5e54f5006355779d335dd3"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#aaae7434ffa5e54f5006355779d335dd3">Camera</a> (float imageRate=0, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
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<tr class="memitem:aa19c8f2c7d6602e2b591152b9326ab6d" id="r_aa19c8f2c7d6602e2b591152b9326ab6d"><td class="memItemLeft" align="right" valign="top">virtual <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a>&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1Camera.html#aa19c8f2c7d6602e2b591152b9326ab6d">captureImage</a> (<a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> *info=0)=0</td></tr>
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void&#160;</td><td class="memItemRight" valign="bottom"><b>postInterIMU</b> (const <a class="el" href="classrtabmap_1_1IMU.html">IMU</a> &amp;imu, double stamp)</td></tr>
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<tr class="inherit_header pro_methods_classrtabmap_1_1SensorCapture"><td colspan="2" onclick="javascript:toggleInherit('pro_methods_classrtabmap_1_1SensorCapture')"><img src="closed.png" alt="-"/>&#160;Protected Member Functions inherited from <a class="el" href="classrtabmap_1_1SensorCapture.html">rtabmap::SensorCapture</a></td></tr>
<tr class="memitem:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture" id="r_adf4b1dfd8e5b45b8eecf938a92dbae94"><td class="memItemLeft" align="right" valign="top">&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#adf4b1dfd8e5b45b8eecf938a92dbae94">SensorCapture</a> (float frameRate=0, const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;localTransform=<a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>())</td></tr>
<tr class="memdesc:adf4b1dfd8e5b45b8eecf938a92dbae94 inherit pro_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Protected constructor. <br /></td></tr>
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<tr class="memitem:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture" id="r_acbffaf17772639bc65b0a5457bc56b22"><td class="memItemLeft" align="right" valign="top">int&#160;</td><td class="memItemRight" valign="bottom"><a class="el" href="classrtabmap_1_1SensorCapture.html#acbffaf17772639bc65b0a5457bc56b22">getNextSeqID</a> ()</td></tr>
<tr class="memdesc:acbffaf17772639bc65b0a5457bc56b22 inherit pro_methods_classrtabmap_1_1SensorCapture"><td class="mdescLeft">&#160;</td><td class="mdescRight">Gets the next sequence ID. <br /></td></tr>
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<a name="details" id="details"></a><h2 class="groupheader">Detailed Description</h2>
<div class="textblock"><p>Class <a class="el" href="classrtabmap_1_1Camera.html">Camera</a> </p>
<p class="definition">Definition at line <a class="el" href="Camera_8h_source.html#l00043">43</a> of file <a class="el" href="Camera_8h_source.html">Camera.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aaae7434ffa5e54f5006355779d335dd3">&#9670;&#160;</a></span>Camera()</h2>
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<td class="memname">rtabmap::Camera::Camera </td>
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<td class="paramtype">const <a class="el" href="classrtabmap_1_1Transform.html">Transform</a> &amp;&#160;</td>
<td class="paramname"><em>localTransform</em> = <code><a class="el" href="classrtabmap_1_1Transform.html#a8ea4368f2018d751d2733038081d56a2">Transform::getIdentity</a>()</code>&#160;</td>
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<p>Constructor</p>
<dl class="params"><dt>Parameters</dt><dd>
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<tr><td class="paramname">imageRate</td><td>the frame rate (Hz), 0 for fast as the camera can </td></tr>
<tr><td class="paramname">localTransform</td><td>the transform from base frame to camera frame (without optical rotation) </td></tr>
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<h2 class="groupheader">Member Function Documentation</h2>
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<h2 class="memtitle"><span class="permalink"><a href="#ae43544cc24470a1d42efcb5ec959b63c">&#9670;&#160;</a></span>takeImage()</h2>
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<td class="memname"><a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> rtabmap::Camera::takeImage </td>
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<td class="paramtype"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> *&#160;</td>
<td class="paramname"><em>info</em> = <code>0</code></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="Camera_8h_source.html#l00048">48</a> of file <a class="el" href="Camera_8h_source.html">Camera.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a5cfb75ca3d5f63e0c31633a2effae716">&#9670;&#160;</a></span>getImageRate()</h2>
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<td class="memname">float rtabmap::Camera::getImageRate </td>
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<p class="definition">Definition at line <a class="el" href="Camera_8h_source.html#l00049">49</a> of file <a class="el" href="Camera_8h_source.html">Camera.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#a2b89ca2dcbe020c4026d19900268311c">&#9670;&#160;</a></span>setImageRate()</h2>
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<td class="memname">void rtabmap::Camera::setImageRate </td>
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<td class="paramname"><em>imageRate</em></td><td>)</td>
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<p class="definition">Definition at line <a class="el" href="Camera_8h_source.html#l00050">50</a> of file <a class="el" href="Camera_8h_source.html">Camera.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#ac1f77dd10cc2f6e4f75d087c29726802">&#9670;&#160;</a></span>isInterIMUPublishing()</h2>
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<td class="memname">bool rtabmap::Camera::isInterIMUPublishing </td>
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<p class="definition">Definition at line <a class="el" href="Camera_8h_source.html#l00052">52</a> of file <a class="el" href="Camera_8h_source.html">Camera.h</a>.</p>
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<h2 class="memtitle"><span class="permalink"><a href="#aa19c8f2c7d6602e2b591152b9326ab6d">&#9670;&#160;</a></span>captureImage()</h2>
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<td class="memname">virtual <a class="el" href="classrtabmap_1_1SensorData.html">SensorData</a> rtabmap::Camera::captureImage </td>
<td>(</td>
<td class="paramtype"><a class="el" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> *&#160;</td>
<td class="paramname"><em>info</em> = <code>0</code></td><td>)</td>
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<p>Implemented in <a class="el" href="classrtabmap_1_1CameraMyntEye.html#acefbf910185313e7cf645ecff344329c">rtabmap::CameraMyntEye</a>.</p>
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<hr/>The documentation for this class was generated from the following file:<ul>
<li>corelib/include/rtabmap/core/<a class="el" href="Camera_8h_source.html">Camera.h</a></li>
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