UnitreeCameraSDK
1.0.1
unitree stereo camra apis
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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... | |
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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 > ¶msArray, 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... | |
UnitreeCamera::UnitreeCamera | ( | void | ) |
UnitreeCamera init unitree stereo camera object for default parameters.
UnitreeCamera constructor overload.
default constructor
[in] | None | |
[out] | None |
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
[in] | fileName | camera config file, include file path, for example: ~/test/stereoConfig.yaml |
[out] | None |
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
[in] | deviceNode | camera device node, for example: /dev/video0, camera device node: 0 |
[out] | None |
UnitreeCamera::~UnitreeCamera | ( | void | ) |
UnitreeCamera destructor.
release all unitree stereo camera resource
[in] | None | |
[out] | None |
bool UnitreeCamera::checkFirmwareVersion | ( | std::string & | version | ) |
check camera's firmware version
[in] | version | firmware version |
[out] | None |
bool UnitreeCamera::updateCalibParams2Flash | ( | std::string | fileName | ) |
update camera calibrate parameters
[in] | fileName | calibration parameters file |
[out] | None |
bool UnitreeCamera::updateFirmware | ( | std::string | fileName | ) |
update camera's firmware
[in] | fileName | firmware file |
[out] | None |