UnitreeCameraSDK  1.0.1
unitree stereo camra apis
UnitreeCameraSDK.hpp
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1 
14 #ifndef __UNITREE_CAMERA_SDK_HPP__
15 #define __UNITREE_CAMERA_SDK_HPP__
16 
17 #include "StereoCameraCommon.hpp"
18 
20 {
21 private:
22  std::string m_logName = "UnitreeCameraSDK";
23  SystemLog *m_log = nullptr;
24 
25 public:
38  UnitreeCamera();
52  UnitreeCamera(std::string fileName);
66  UnitreeCamera(int deviceNode);
76  ~UnitreeCamera(void);
77 
78 public:
90  bool updateCalibParams2Flash(std::string fileName);
102  bool checkFirmwareVersion(std::string &version);
114  bool updateFirmware(std::string fileName);
115 
116 private:
128  bool loadInternalCalibParams(void);
129 };
130 
143 cv::Mat getRotationMatrix(int axis = 'x', float theta = 0.0);
156 cv::Mat getTranslationMatrix(int axis = 'x', float theta = 0.0, cv::Mat vec = cv::Mat());
157 
158 #endif
bool updateCalibParams2Flash(std::string fileName)
update camera calibrate parameters
Definition: UnitreeCameraSDK.cc:314
Definition: UnitreeCameraSDK.hpp:19
this class integrate camera control and stereo vision algorithm
Definition: StereoCameraCommon.hpp:38
This file is part of UnitreeCameraSDK, which declare stereo camera algorithm APIs.
~UnitreeCamera(void)
UnitreeCamera destructor.
Definition: UnitreeCameraSDK.cc:300
bool checkFirmwareVersion(std::string &version)
check camera's firmware version
Definition: UnitreeCameraSDK.cc:319
Definition: SystemLog.hpp:18
UnitreeCamera()
UnitreeCamera init unitree stereo camera object for default parameters.
Definition: UnitreeCameraSDK.cc:231
bool updateFirmware(std::string fileName)
update camera's firmware
Definition: UnitreeCameraSDK.cc:309