#include <CameraTango.h>

Inheritance diagram for rtabmap::CameraTango:

Public Member Functions
	CameraTango (bool colorCamera, int decimation, bool publishRawScan, bool smoothing)
void	close ()
void	cloudReceived (const cv::Mat &cloud, double timestamp)
const CameraModel &	getCameraModel () const
virtual std::string	getSerial () const
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")
virtual bool	isCalibrated () const
void	poseReceived (const Transform &pose)
void	resetOrigin ()
void	rgbReceived (const cv::Mat &tangoImage, int type, double timestamp)
void	setColorCamera (bool enabled)
void	setDecimation (int value)
void	setGPS (const GPS &gps)
void	setRawScanPublished (bool enabled)
void	setScreenRotation (TangoSupportRotation colorCameraToDisplayRotation)
void	setSmoothing (bool enabled)
void	tangoEventReceived (int type, const char key, const char value)
rtabmap::Transform	tangoPoseToTransform (const TangoPoseData *tangoPose) const
virtual	~CameraTango ()
Static Public Attributes
static const float	bilateralFilteringSigmaR = 0.075f
static const float	bilateralFilteringSigmaS = 2.0f
Protected Member Functions
virtual SensorData	captureImage (CameraInfo *info=0)
Private Member Functions
rtabmap::Transform	getPoseAtTimestamp (double timestamp)
virtual void	mainLoop ()
virtual void	mainLoopBegin ()
Private Attributes
UTimer	cameraStartedTime_
cv::Mat	cloud_
double	cloudStamp_
bool	colorCamera_
TangoSupportRotation	colorCameraToDisplayRotation_
boost::mutex	dataMutex_
USemaphore	dataReady_
int	decimation_
Transform	deviceTColorCamera_
cv::Mat	fisheyeRectifyMapX_
cv::Mat	fisheyeRectifyMapY_
GPS	lastKnownGPS_
CameraModel	model_
Transform	originOffset_
bool	originUpdate_
Transform	previousPose_
double	previousStamp_
bool	rawScanPublished_
bool	smoothing_
double	stampEpochOffset_
void *	tango_config_
cv::Mat	tangoColor_
double	tangoColorStamp_
int	tangoColorType_

Detailed Description

Definition at line 73 of file CameraTango.h.

Constructor & Destructor Documentation

rtabmap::CameraTango::CameraTango	(	bool	colorCamera,
		int	decimation,
		bool	publishRawScan,
		bool	smoothing
	)

Definition at line 110 of file CameraTango.cpp.

rtabmap::CameraTango::~CameraTango ( ) [virtual]

Definition at line 128 of file CameraTango.cpp.

Member Function Documentation

SensorData rtabmap::CameraTango::captureImage ( CameraInfo * info = 0 ) [protected, virtual]

returned rgb and depth images should be already rectified if calibration was loaded

Implements rtabmap::Camera.

Definition at line 597 of file CameraTango.cpp.

void rtabmap::CameraTango::close ( )

Definition at line 426 of file CameraTango.cpp.

void rtabmap::CameraTango::cloudReceived	(	const cv::Mat &	cloud,
		double	timestamp
	)

Definition at line 450 of file CameraTango.cpp.

const CameraModel& rtabmap::CameraTango::getCameraModel ( ) const [inline]

Definition at line 87 of file CameraTango.h.

rtabmap::Transform rtabmap::CameraTango::getPoseAtTimestamp ( double timestamp ) [private]

Definition at line 565 of file CameraTango.cpp.

std::string rtabmap::CameraTango::getSerial ( ) const [virtual]

Implements rtabmap::Camera.

Definition at line 538 of file CameraTango.cpp.

bool rtabmap::CameraTango::init	(	const std::string &	calibrationFolder = `"."`,
		const std::string &	cameraName = `""`
	)		`[virtual]`

Implements rtabmap::Camera.

Definition at line 192 of file CameraTango.cpp.

bool rtabmap::CameraTango::isCalibrated ( ) const [virtual]

Implements rtabmap::Camera.

Definition at line 533 of file CameraTango.cpp.

void rtabmap::CameraTango::mainLoop ( ) [private, virtual]

Pure virtual method mainLoop(). The inner loop of the thread. This method is called repetitively until the thread is killed. Note that if kill() is called in mainLoopBegin(), mainLoop() is not called, terminating immediately the thread.

See also:: mainLoop(); kill()

Implements UThread.

Definition at line 929 of file CameraTango.cpp.

void rtabmap::CameraTango::mainLoopBegin ( ) [private, virtual]

Virtual method mainLoopBegin(). User can implement this function to add a behavior before the main loop is started. It is called once (before entering mainLoop()).

Reimplemented from UThread.

Definition at line 920 of file CameraTango.cpp.

void rtabmap::CameraTango::poseReceived ( const Transform & pose )

Definition at line 506 of file CameraTango.cpp.

void rtabmap::CameraTango::resetOrigin ( )

Definition at line 445 of file CameraTango.cpp.