UnitreeCameraSDK  1.0.1
unitree stereo camra apis
Public Member Functions | List of all members
UnitreeCamera Class Reference
Inheritance diagram for UnitreeCamera:
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Collaboration diagram for UnitreeCamera:
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Public Member Functions

 UnitreeCamera ()
 UnitreeCamera init unitree stereo camera object for default parameters. More...
 
 UnitreeCamera (std::string fileName)
 
 UnitreeCamera (int deviceNode)
 
 ~UnitreeCamera (void)
 UnitreeCamera destructor. More...
 
bool updateCalibParams2Flash (std::string fileName)
 update camera calibrate parameters More...
 
bool checkFirmwareVersion (std::string &version)
 check camera's firmware version More...
 
bool updateFirmware (std::string fileName)
 update camera's firmware More...
 
- Public Member Functions inherited from StereoCamera
 StereoCamera (void)
 StereoCamera. More...
 
 StereoCamera (std::string fileName)
 
 StereoCamera (int deviceNode)
 
virtual ~StereoCamera ()
 StereoCamera destructor. More...
 
virtual bool isOpened (void)
 get stereo camera running status More...
 
virtual bool setLogLevel (int level)
 set stereo camera ouput log level More...
 
virtual bool setPosNumber (int posNumber)
 set stereo camera position number More...
 
virtual bool setSerialNumber (int serialNumber)
 set stereo camera serial number More...
 
virtual bool setRawFrameRate (int frameRate)
 set stereo camera FPS (Frames Per Seconds) More...
 
virtual bool setRawFrameSize (cv::Size frameSize)
 set stereo camera frame size More...
 
virtual bool setRectFrameSize (cv::Size frameSize)
 set rectification image size More...
 
virtual bool setCalibParams (std::vector< cv::Mat > paramsArray, bool flag=false)
 set stereo camera calibration parameters More...
 
virtual int getLogLevel (void) const
 get log system output level More...
 
virtual int getDeviceNode (void) const
 get camera device node More...
 
virtual int getPosNumber (void) const
 get stereo camera device node More...
 
virtual int getSerialNumber (void) const
 get stereo camera serial number More...
 
virtual float getRawFrameRate (void) const
 get stereo camera capture frame rate More...
 
virtual cv::Size getRawFrameSize (void) const
 get stereo camera frame size More...
 
virtual bool getRawFrame (cv::Mat &frame, std::chrono::microseconds &timeStamp)
 get stereo camera raw frame More...
 
virtual bool getStereoFrame (cv::Mat &left, cv::Mat &right, std::chrono::microseconds &timeStamp)
 get stereo camera left and right image More...
 
virtual bool getDepthFrame (cv::Mat &depth, bool color, std::chrono::microseconds &timeStamp)
 get stereo camera depth image More...
 
virtual bool getPointCloud (std::vector< cv::Vec3f > &pcl, std::chrono::microseconds &timeStamp)
 
virtual bool getPointCloud (std::vector< PCLType > &pcl, std::chrono::microseconds &timeStamp)
 
virtual bool getCalibParams (std::vector< cv::Mat > &paramsArray, bool flag=false)
 get stereo camera calibration paramerters More...
 
virtual bool getRectStereoFrame (cv::Mat &left, cv::Mat &right, cv::Mat &feim)
 
virtual bool getRectStereoFrame (cv::Mat &left, cv::Mat &right, cv::Mat &feim, std::chrono::microseconds &timeStamp)
 
virtual bool loadConfig (std::string fileName)
 load stereo camera config parameters More...
 
virtual bool loadCalibParams (std::string fileName)
 load stereo camera calibration params More...
 
virtual bool saveConfig (std::string fileName="stereo_camera_config.yaml")
 save stereo camera settings to config file More...
 
virtual bool saveCalibParams (std::string fileName="stereo_camera_calibparams.yaml")
 save stereo camera calibration parameters to file More...
 
virtual bool startCapture (bool udpFlag=false, bool shmFlag=false)
 start stereo camera capture thread More...
 
virtual bool startStereoCompute (void)
 start stereo camera computing disparity thread More...
 
virtual bool stopStereoCompute (void)
 stop stereo camera computing disparity thread More...
 
virtual bool stopCapture (void)
 stop stereo camera capture thread More...
 

Constructor & Destructor Documentation

◆ UnitreeCamera()

UnitreeCamera::UnitreeCamera ( void  )

UnitreeCamera init unitree stereo camera object for default parameters.

UnitreeCamera constructor overload.

default constructor

Parameters
[in]None
[out]None
Returns
None
Note

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

use camera config file to init unitree stereo camera

Parameters
[in]fileNamecamera config file, include file path, for example: ~/test/stereoConfig.yaml
[out]None
Returns
None
Note
UnitreeCamera("path_to/config.yaml");

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

use camera device node number to init unitree stereo camera

Parameters
[in]deviceNodecamera device node, for example: /dev/video0, camera device node: 0
[out]None
Returns
None
Note
StereoCamera(0); // for /dev/video0

◆ ~UnitreeCamera()

UnitreeCamera::~UnitreeCamera ( void  )

UnitreeCamera destructor.

release all unitree stereo camera resource

Parameters
[in]None
[out]None
Returns
None
Note
automatically called when UnitreeCamera object released

Member Function Documentation

◆ checkFirmwareVersion()

bool UnitreeCamera::checkFirmwareVersion ( std::string &  version)

check camera's firmware version

Parameters
[in]versionfirmware version
[out]None
Returns
None
Note

◆ updateCalibParams2Flash()

bool UnitreeCamera::updateCalibParams2Flash ( std::string  fileName)

update camera calibrate parameters

Parameters
[in]fileNamecalibration parameters file
[out]None
Returns
None
Note

◆ updateFirmware()

bool UnitreeCamera::updateFirmware ( std::string  fileName)

update camera's firmware

Parameters
[in]fileNamefirmware file
[out]None
Returns
None
Note

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