CameraThread.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #pragma once
29 
30 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
31 
35 
36 namespace clams
37 {
39 }
40 
41 namespace rtabmap
42 {
43 
44 class Camera;
45 class CameraInfo;
46 class SensorData;
47 class StereoDense;
48 class IMUFilter;
49 
55  public UThread,
56  public UEventsSender
57 {
58 public:
59  // ownership transferred
60  CameraThread(Camera * camera, const ParametersMap & parameters = ParametersMap());
61  virtual ~CameraThread();
62 
63  void setMirroringEnabled(bool enabled) {_mirroring = enabled;}
64  void setStereoExposureCompensation(bool enabled) {_stereoExposureCompensation = enabled;}
65  void setColorOnly(bool colorOnly) {_colorOnly = colorOnly;}
66  void setImageDecimation(int decimation) {_imageDecimation = decimation;}
67  void setStereoToDepth(bool enabled) {_stereoToDepth = enabled;}
68  void setImageRate(float imageRate);
69  void setDistortionModel(const std::string & path);
70  void enableBilateralFiltering(float sigmaS, float sigmaR);
71  void disableBilateralFiltering() {_bilateralFiltering = false;}
72  void enableIMUFiltering(int filteringStrategy=1, const ParametersMap & parameters = ParametersMap());
73  void disableIMUFiltering();
74 
75  RTABMAP_DEPRECATED(void setScanParameters(
76  bool fromDepth,
77  int downsampleStep, // decimation of the depth image in case the scan is from depth image
78  float rangeMin,
79  float rangeMax,
80  float voxelSize,
81  int normalsK,
82  int normalsRadius,
83  bool forceGroundNormalsUp) , "Use new version of this function with groundNormalsUp=0.8 for forceGroundNormalsUp=True and groundNormalsUp=0.0 for forceGroundNormalsUp=False.");
84  void setScanParameters(
85  bool fromDepth,
86  int downsampleStep=1, // decimation of the depth image in case the scan is from depth image
87  float rangeMin=0.0f,
88  float rangeMax=0.0f,
89  float voxelSize = 0.0f,
90  int normalsK = 0,
91  int normalsRadius = 0.0f,
92  float groundNormalsUp = 0.0f);
93 
94  void postUpdate(SensorData * data, CameraInfo * info = 0) const;
95 
96  //getters
97  bool isPaused() const {return !this->isRunning();}
98  bool isCapturing() const {return this->isRunning();}
99 
100  Camera * camera() {return _camera;} // return null if not set, valid until CameraThread is deleted
101 
102 private:
103  virtual void mainLoopBegin();
104  virtual void mainLoop();
105  virtual void mainLoopKill();
106 
107 private:
128 };
129 
130 } // namespace rtabmap
void setStereoExposureCompensation(bool enabled)
Definition: CameraThread.h:64
f
void disableBilateralFiltering()
Definition: CameraThread.h:71
std::map< std::string, std::string > ParametersMap
Definition: Parameters.h:43
bool isCapturing() const
Definition: CameraThread.h:98
#define RTABMAP_DEPRECATED(func, msg)
Definition: RtabmapExp.h:47
IMUFilter * _imuFilter
Definition: CameraThread.h:127
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
void setColorOnly(bool colorOnly)
Definition: CameraThread.h:65
clams::DiscreteDepthDistortionModel * _distortionModel
Definition: CameraThread.h:123
StereoDense * _stereoDense
Definition: CameraThread.h:122
void setMirroringEnabled(bool enabled)
Definition: CameraThread.h:63
void setImageDecimation(int decimation)
Definition: CameraThread.h:66
void setStereoToDepth(bool enabled)
Definition: CameraThread.h:67
bool isPaused() const
Definition: CameraThread.h:97


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:34:58