Camera References
- class RGBCamera
-
- ~RGBCamera()
Deconstruct the RGBCamera.
- Return type:
None
- setRelPose(const Ref<Vector<3>> B_r_BC, const Ref<Matrix<3, 3>> R_BC)
Set the relative position of the camera to quadrotor.
- Parameters:
B_r_BC (const Ref<Vector<3>>) – relative position
R_BC (const Ref<Matrix<3, 3>>) – relative orientation
- Return type:
bool
- setWidth(const int width)
Set the width of the camera screen.
- Parameters:
width (const int) – screen width
- Return type:
bool
- setHeight(const int height)
Set the height of the camera screen.
- Parameters:
height (const int) – screen height
- Return type:
bool
- setFOV(const Scalar fov)
Set the field of view of the camera. Together with the height and the width the camera calibration matrix is defined.
- Parameters:
fov (const Scalar) – Field of view
- Return type:
bool
- setDepthScale(const Scalar depth_scale)
Set the depth scale. The value needs to be within the range [0.0, 1.0].
- Parameters:
depth_scale (const Scalar) – Depth scale
- Return type:
bool
- setPostProcesscing(const std::vector<bool>& enabled_layers)
Enable the post-processing layers.
- Parameters:
enabled_layers (const std::vector<bool>&) – Layers enables (depth, segmentation, optical flow)
- Return type:
bool
- feedImageQueue(const int image_layer, const cv::Mat& image_mat)
Store OpenCV mat within a queue.
- Parameters:
image_layer (const int) – Layers (rgb=0, depth=1, segmentation=2, optical flow=3)
image_mat (const cv::Mat&) – OpenCV Mat (CV_8UC3)
- Return type:
bool
- getEnabledLayers()
Get a list of enabled layers. (depth, segmentation, optical flow)
- Return type:
std::vector<bool> (Default=false, false, false)
- getRelPose()
Get the relative pose of the camera.
:rtype:Matrix<4, 4>
- getChannels()
Get the number of channels of the camera.
- Return type:
int (Default=3)
- getWidth()
Get the width of the camera screen.
- Return type:
int (Default=720)
- getHeight()
Get the height of the camera screen.
- Return type:
int (Default=480)
- getFOV()
Get the field of view of the camera.
- Return type:
Scalar (Default=70.0)
- getDepthScale()
Get the depth scale of the camera.
- Return type:
Scalar (Default=0.2)
- getRGBImage(cv::Mat& rgb_img)
Get an image from the RGBImageQueue. Mat format CV_8UC3.
- Return type:
bool, successfully retrieved an image
- getDepthMap(cv::Mat& depth_map)
Get an image from the DepthMapQueue. Mat format CV_8UC3.
- Return type:
bool, successfully retrieved an image
- getSegmentation(cv::Mat& segmentation)
Get an image from the SegmentationQueue. Mat format CV_8UC3.
- Return type:
bool, successfully retrieved an image
- getOpticalFlow(cv::Mat& opticalflow)
Get an image from the OpticalFlowQueue. Mat format CV_8UC3.
- Return type:
bool, successfully retrieved an image
- enableDepth(const bool on)
Auxiliary function to enable the depth.
- Parameters:
on (bool) – Enable depth
- Return type:
None
- enableSegmentation(const bool on)
Auxiliary function to enable the segmentation.
- Parameters:
on (bool) – Enable segmentation
- Return type:
None
- enableOpticalFlow(const bool on)
Auxiliary function to enable the optical flow.
- Parameters:
on (bool) – Enable optical flow
- Return type:
None