#include <CameraThread.h>

Inheritance diagram for rtabmap::CameraThread:

Public Member Functions
Camera *	camera ()
	CameraThread (Camera *camera, const ParametersMap &parameters=ParametersMap())
void	disableBilateralFiltering ()
void	enableBilateralFiltering (float sigmaS, float sigmaR)
bool	isCapturing () const
bool	isPaused () const
void	postUpdate (SensorData data, CameraInfo info=0) const
void	setColorOnly (bool colorOnly)
void	setDistortionModel (const std::string &path)
void	setImageDecimation (int decimation)
void	setImageRate (float imageRate)
void	setMirroringEnabled (bool enabled)
void	setScanFromDepth (bool enabled, int decimation=4, float maxDepth=4.0f, float voxelSize=0.0f, int normalsK=0, int normalsRadius=0.0f)
void	setStereoExposureCompensation (bool enabled)
void	setStereoToDepth (bool enabled)
virtual	~CameraThread ()
Private Member Functions
virtual void	mainLoop ()
virtual void	mainLoopBegin ()
virtual void	mainLoopKill ()
Private Attributes
bool	_bilateralFiltering
float	_bilateralSigmaR
float	_bilateralSigmaS
Camera *	_camera
bool	_colorOnly
clams::DiscreteDepthDistortionModel *	_distortionModel
int	_imageDecimation
bool	_mirroring
int	_scanDecimation
bool	_scanFromDepth
float	_scanMaxDepth
float	_scanMinDepth
int	_scanNormalsK
float	_scanNormalsRadius
float	_scanVoxelSize
StereoDense *	_stereoDense
bool	_stereoExposureCompensation
bool	_stereoToDepth

Detailed Description

Class CameraThread

Definition at line 53 of file CameraThread.h.

Constructor & Destructor Documentation

rtabmap::CameraThread::CameraThread	(	Camera *	camera,
		const ParametersMap &	parameters = `ParametersMap()`
	)

Definition at line 49 of file CameraThread.cpp.

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

Definition at line 72 of file CameraThread.cpp.

Member Function Documentation

Camera* rtabmap::CameraThread::camera ( ) [inline]

Definition at line 94 of file CameraThread.h.

void rtabmap::CameraThread::disableBilateralFiltering ( ) [inline]

Definition at line 70 of file CameraThread.h.

void rtabmap::CameraThread::enableBilateralFiltering	(	float	sigmaS,
		float	sigmaR
	)

Definition at line 109 of file CameraThread.cpp.

bool rtabmap::CameraThread::isCapturing ( ) const [inline]

Definition at line 92 of file CameraThread.h.

bool rtabmap::CameraThread::isPaused ( ) const [inline]

Definition at line 91 of file CameraThread.h.

void rtabmap::CameraThread::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 123 of file CameraThread.cpp.

void rtabmap::CameraThread::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 117 of file CameraThread.cpp.

void rtabmap::CameraThread::mainLoopKill ( ) [private, virtual]

Virtual method mainLoopKill(). User can implement this function to add a behavior before the thread is killed. When this function is called, the state of the thread is set to kSKilled. It is useful to wake up a sleeping thread to finish his loop and to avoid a deadlock.

Reimplemented from UThread.

Definition at line 146 of file CameraThread.cpp.

void rtabmap::CameraThread::postUpdate	(	SensorData *	data,
		CameraInfo *	info = `0`
	)		const

Definition at line 172 of file CameraThread.cpp.

void rtabmap::CameraThread::setColorOnly ( bool colorOnly ) [inline]

Definition at line 64 of file CameraThread.h.

void rtabmap::CameraThread::setDistortionModel ( const std::string & path )

Definition at line 89 of file CameraThread.cpp.

void rtabmap::CameraThread::setImageDecimation ( int decimation ) [inline]

Definition at line 65 of file CameraThread.h.

void rtabmap::CameraThread::setImageRate ( float imageRate )

Definition at line 81 of file CameraThread.cpp.

void rtabmap::CameraThread::setMirroringEnabled ( bool enabled ) [inline]

Definition at line 62 of file CameraThread.h.

void rtabmap::CameraThread::setScanFromDepth	(	bool	enabled,
		int	decimation = `4`,
		float	maxDepth = `4.0f`,
		float	voxelSize = `0.0f`,
		int	normalsK = `0`,
		int	normalsRadius = `0.0f`
	)		`[inline]`