28 #ifndef CAMERATANGO_H_ 29 #define CAMERATANGO_H_ 40 #include <boost/thread/mutex.hpp> 41 #include <tango_client_api.h> 42 #include <tango_support_api.h> 48 CameraTango(
bool colorCamera,
int decimation,
bool publishRawScan,
bool smoothing);
51 virtual bool init(
const std::string & calibrationFolder =
".",
const std::string & cameraName =
"");
60 void rgbReceived(
const cv::Mat & tangoImage,
int type,
double timestamp);
virtual SensorData captureImage(CameraInfo *info=0)
cv::Mat fisheyeRectifyMapY_
void cloudReceived(const cv::Mat &cloud, double timestamp)
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
void setRawScanPublished(bool enabled)
cv::Mat fisheyeRectifyMapX_
virtual std::string getSerial() const
CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing)
void tangoEventReceived(int type, const char *key, const char *value)
void setColorCamera(bool enabled)
void setDecimation(int value)
void rgbReceived(const cv::Mat &tangoImage, int type, double timestamp)
rtabmap::Transform getPoseAtTimestamp(double timestamp)
rtabmap::Transform tangoPoseToTransform(const TangoPoseData *tangoPose) const