rtabmap::CameraARCore Class Reference

#include <CameraARCore.h>

Inheritance diagram for rtabmap::CameraARCore:

Public Member Functions
	CameraARCore (void *env, void *context, void *activity, bool depthFromMotion=false, bool smoothing=false)
virtual void	close ()
const cv::Mat &	getOcclusionImage (CameraModel *model=0) const
virtual std::string	getSerial () const
GLuint	getTextureId () const
void	getVPMatrices (glm::mat4 &view, glm::mat4 &projection) const
void	imageCallback (AImageReader *reader)
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")
virtual void	setScreenRotationAndSize (ScreenRotation colorCameraToDisplayRotation, int width, int height)
void	setupGL ()
void	updateOcclusionImage (bool enabled)
bool	uvsInitialized () const
const float *	uvsTransformed () const
virtual	~CameraARCore ()
Public Member Functions inherited from rtabmap::CameraMobile
void	addEnvSensor (int type, float value)
	CameraMobile (bool smoothing=false)
const CameraModel &	getCameraModel () const
const Transform &	getDeviceTColorCamera () const
const Transform &	getOriginOffset () const
virtual bool	isCalibrated () const
void	poseReceived (const Transform &pose)
void	resetOrigin ()
void	setData (const SensorData &data, const Transform &pose)
void	setGPS (const GPS &gps)
void	setSmoothing (bool enabled)
void	spinOnce ()
virtual	~CameraMobile ()
Public Member Functions inherited from rtabmap::Camera
float	getImageRate () const
const Transform &	getLocalTransform () const
bool	initFromFile (const std::string &calibrationPath)
virtual bool	odomProvided () const
void	resetTimer ()
void	setImageRate (float imageRate)
void	setLocalTransform (const Transform &localTransform)
SensorData	takeImage (CameraInfo *info=0)
virtual	~Camera ()
Public Member Functions inherited from UThread
Handle	getThreadHandle () const
unsigned long	getThreadId () const
bool	isCreating () const
bool	isIdle () const
bool	isKilled () const
bool	isRunning () const
void	join (bool killFirst=false)
void	kill ()
void	setAffinity (int cpu=0)
void	setPriority (Priority priority)
void	start ()
	UThread (Priority priority=kPNormal)
virtual	~UThread ()
Public Member Functions inherited from UThreadC< void >
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
int	Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
int	Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
virtual	~UThreadC ()
virtual	~UThreadC ()
Public Member Functions inherited from UEventsSender
	UEventsSender ()
virtual	~UEventsSender ()

Static Public Member Functions
static LaserScan	scanFromPointCloudData (const float *pointCloudData, int points, const Transform &pose, const CameraModel &model, const cv::Mat &rgb, std::vector< cv::KeyPoint > *kpts=0, std::vector< cv::Point3f > *kpts3D=0)
Static Public Member Functions inherited from UThread
static unsigned long	currentThreadId ()
Static Public Member Functions inherited from UThreadC< void >
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
static int	Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
static int	Detach (Handle H)
static int	Detach (const Handle &H)
static int	Join (const Handle &H)
static int	Join (Handle H)
static int	Kill (Handle H)
static int	Kill (const Handle &H)

Protected Member Functions
virtual SensorData	captureImage (CameraInfo *info=0)
virtual void	capturePoseOnly ()
Protected Member Functions inherited from rtabmap::CameraMobile
virtual void	mainLoop ()
virtual void	mainLoopBegin ()
Protected Member Functions inherited from rtabmap::Camera
	Camera (float imageRate=0, const Transform &localTransform=CameraModel::opticalRotation())
int	getNextSeqID ()
Protected Member Functions inherited from UThreadC< void >
	UThreadC ()
	UThreadC ()
Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const

Private Member Functions
rtabmap::Transform	getPoseAtTimestamp (double timestamp)

Private Attributes
void *	activity_
ArCameraIntrinsics *	arCameraIntrinsics_ = nullptr
ArConfig *	arConfig_ = nullptr
ArFrame *	arFrame_ = nullptr
bool	arInstallRequested_
ArPose *	arPose_ = nullptr
ArSession *	arSession_ = nullptr
UMutex	arSessionMutex_
void *	context_
bool	depthFromMotion_
void *	env_
cv::Mat	occlusionImage_
CameraModel	occlusionModel_
glm::mat4	projectionMatrix_
GLuint	textureId_
float	transformed_uvs_ [BackgroundRenderer::kNumVertices *2]
bool	updateOcclusionImage_
bool	uvs_initialized_ = false
glm::mat4	viewMatrix_

Additional Inherited Members
Public Types inherited from UThread
enum	Priority {   kPLow, kPBelowNormal, kPNormal, kPAboveNormal,   kPRealTime }
Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE	Handle
typedef THREAD_HANDLE	Handle
typedef void(*	Handler) ()
typedef void(*	Handler) ()
Static Public Attributes inherited from rtabmap::CameraMobile
static const float	bilateralFilteringSigmaR = 0.075f
static const float	bilateralFilteringSigmaS = 2.0f
static const rtabmap::Transform	opticalRotation
static const rtabmap::Transform	opticalRotationInv
Static Protected Member Functions inherited from UThreadC< void >
static void	Exit ()
static void	Exit ()
static Handle	Self ()
static int	Self ()
static void	TestCancel ()
static void	TestCancel ()
Protected Attributes inherited from rtabmap::CameraMobile
Transform	deviceTColorCamera_
CameraModel	model_
UTimer	spinOnceFrameRateTimer_
double	spinOncePreviousStamp_

Detailed Description

Definition at line 51 of file CameraARCore.h.

Constructor & Destructor Documentation

rtabmap::CameraARCore::CameraARCore	(	void *	env,
		void *	context,
		void *	activity,
		bool	depthFromMotion = false,
		bool	smoothing = false
	)

Definition at line 40 of file CameraARCore.cpp.

rtabmap::CameraARCore::~CameraARCore ( )

virtual

Definition at line 53 of file CameraARCore.cpp.

Member Function Documentation

SensorData rtabmap::CameraARCore::captureImage ( CameraInfo *  info = 0 )

protectedvirtual

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

Reimplemented from rtabmap::CameraMobile.

Definition at line 347 of file CameraARCore.cpp.

void rtabmap::CameraARCore::capturePoseOnly ( )

protectedvirtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 572 of file CameraARCore.cpp.

void rtabmap::CameraARCore::close ( )

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 248 of file CameraARCore.cpp.

const cv::Mat& rtabmap::CameraARCore::getOcclusionImage ( CameraModel *  model = 0 ) const

inline

Definition at line 71 of file CameraARCore.h.

rtabmap::Transform rtabmap::CameraARCore::getPoseAtTimestamp ( double  timestamp )

private

std::string rtabmap::CameraARCore::getSerial ( ) const

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 128 of file CameraARCore.cpp.

GLuint rtabmap::CameraARCore::getTextureId ( ) const

inline

Definition at line 79 of file CameraARCore.h.

void rtabmap::CameraARCore::getVPMatrices ( glm::mat4 &  view, glm::mat4 &  projection  ) const

inline

Definition at line 68 of file CameraARCore.h.

void rtabmap::CameraARCore::imageCallback

(

AImageReader *

reader

)

bool rtabmap::CameraARCore::init ( const std::string &  calibrationFolder = ".", const std::string &  cameraName = ""  )

virtual

Sets the behavior of ArSession_update(). See ::ArUpdateMode for available options.

Reimplemented from rtabmap::CameraMobile.

Definition at line 133 of file CameraARCore.cpp.

LaserScan rtabmap::CameraARCore::scanFromPointCloudData ( const float *  pointCloudData, int  points, const Transform &  pose, const CameraModel &  model, const cv::Mat &  rgb, std::vector< cv::KeyPoint > *  kpts = 0, std::vector< cv::Point3f > *  kpts3D = 0  )

static

Definition at line 285 of file CameraARCore.cpp.

void rtabmap::CameraARCore::setScreenRotationAndSize ( ScreenRotation  colorCameraToDisplayRotation, int  width, int  height  )

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 333 of file CameraARCore.cpp.

void rtabmap::CameraARCore::setupGL

(

)

void rtabmap::CameraARCore::updateOcclusionImage ( bool  enabled )

inline

Definition at line 70 of file CameraARCore.h.

bool rtabmap::CameraARCore::uvsInitialized ( ) const

inline

Definition at line 66 of file CameraARCore.h.

const float* rtabmap::CameraARCore::uvsTransformed ( ) const

inline

Definition at line 67 of file CameraARCore.h.

Member Data Documentation

void* rtabmap::CameraARCore::activity_

private

Definition at line 93 of file CameraARCore.h.

ArCameraIntrinsics* rtabmap::CameraARCore::arCameraIntrinsics_ = nullptr

private

Definition at line 97 of file CameraARCore.h.

ArConfig* rtabmap::CameraARCore::arConfig_ = nullptr

private

Definition at line 95 of file CameraARCore.h.

ArFrame* rtabmap::CameraARCore::arFrame_ = nullptr

private

Definition at line 96 of file CameraARCore.h.

bool rtabmap::CameraARCore::arInstallRequested_

private

Definition at line 99 of file CameraARCore.h.

ArPose* rtabmap::CameraARCore::arPose_ = nullptr

private

Definition at line 98 of file CameraARCore.h.

ArSession* rtabmap::CameraARCore::arSession_ = nullptr

private

Definition at line 94 of file CameraARCore.h.

UMutex rtabmap::CameraARCore::arSessionMutex_

private

Definition at line 101 of file CameraARCore.h.

void* rtabmap::CameraARCore::context_

private

Definition at line 92 of file CameraARCore.h.

bool rtabmap::CameraARCore::depthFromMotion_

private

Definition at line 111 of file CameraARCore.h.

void* rtabmap::CameraARCore::env_

private

Definition at line 91 of file CameraARCore.h.

cv::Mat rtabmap::CameraARCore::occlusionImage_

private

Definition at line 109 of file CameraARCore.h.

CameraModel rtabmap::CameraARCore::occlusionModel_

private

Definition at line 110 of file CameraARCore.h.

glm::mat4 rtabmap::CameraARCore::projectionMatrix_

private

Definition at line 106 of file CameraARCore.h.

GLuint rtabmap::CameraARCore::textureId_

private

Definition at line 100 of file CameraARCore.h.

float rtabmap::CameraARCore::transformed_uvs_[BackgroundRenderer::kNumVertices *2]

private

Definition at line 103 of file CameraARCore.h.

bool rtabmap::CameraARCore::updateOcclusionImage_

private

Definition at line 108 of file CameraARCore.h.

bool rtabmap::CameraARCore::uvs_initialized_ = false

private

Definition at line 104 of file CameraARCore.h.

glm::mat4 rtabmap::CameraARCore::viewMatrix_

private

Definition at line 105 of file CameraARCore.h.

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The documentation for this class was generated from the following files:

• CameraARCore.h
• CameraARCore.cpp