#include <CameraThread.h>

Inheritance diagram for rtabmap::CameraThread:

Public Member Functions
Camera *	camera ()

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

void	disableBilateralFiltering ()

void	disableIMUFiltering ()

void	enableBilateralFiltering (float sigmaS, float sigmaR)

void	enableIMUFiltering (int filteringStrategy=1, const ParametersMap &parameters=ParametersMap())

bool	isCapturing () const

bool	isPaused () const

void	postUpdate (SensorData data, CameraInfo info=0) const

	RTABMAP_DEPRECATED (void setScanParameters(bool fromDepth, int downsampleStep, float rangeMin, float rangeMax, float voxelSize, int normalsK, int normalsRadius, bool forceGroundNormalsUp),"Use new version of this function with groundNormalsUp=0.8 for forceGroundNormalsUp=True and groundNormalsUp=0.0 for forceGroundNormalsUp=False.")

void	setColorOnly (bool colorOnly)

void	setDistortionModel (const std::string &path)

void	setImageDecimation (int decimation)

void	setImageRate (float imageRate)

void	setMirroringEnabled (bool enabled)

void	setScanParameters (bool fromDepth, int downsampleStep=1, float rangeMin=0.0f, float rangeMax=0.0f, float voxelSize=0.0f, int normalsK=0, int normalsRadius=0.0f, float groundNormalsUp=0.0f)

void	setStereoExposureCompensation (bool enabled)

void	setStereoToDepth (bool enabled)

virtual	~CameraThread ()

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 ()

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

IMUFilter *	_imuFilter

bool	_mirroring

int	_scanDownsampleStep

float	_scanForceGroundNormalsUp

bool	_scanFromDepth

int	_scanNormalsK

float	_scanNormalsRadius

float	_scanRangeMax

float	_scanRangeMin

float	_scanVoxelSize

StereoDense *	_stereoDense

bool	_stereoExposureCompensation

bool	_stereoToDepth

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 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 inherited from UThreadC< void >
	UThreadC ()

	UThreadC ()

Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const

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 ()

Detailed Description

Class CameraThread

Definition at line 54 of file CameraThread.h.

Constructor & Destructor Documentation

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

Definition at line 50 of file CameraThread.cpp.

rtabmap::CameraThread::~CameraThread ( )

virtual

Definition at line 75 of file CameraThread.cpp.

Member Function Documentation

Camera* rtabmap::CameraThread::camera ( )

inline

Definition at line 100 of file CameraThread.h.

void rtabmap::CameraThread::disableBilateralFiltering ( )

inline

Definition at line 71 of file CameraThread.h.

void rtabmap::CameraThread::disableIMUFiltering ( )

Definition at line 126 of file CameraThread.cpp.

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

Definition at line 112 of file CameraThread.cpp.

void rtabmap::CameraThread::enableIMUFiltering	(	int	filteringStrategy = `1`,
		const ParametersMap &	parameters = `ParametersMap()`
	)

Definition at line 120 of file CameraThread.cpp.

bool rtabmap::CameraThread::isCapturing ( ) const

inline

Definition at line 98 of file CameraThread.h.

bool rtabmap::CameraThread::isPaused ( ) const

inline

Definition at line 97 of file CameraThread.h.

void rtabmap::CameraThread::mainLoop ( )

privatevirtual

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 171 of file CameraThread.cpp.

void rtabmap::CameraThread::mainLoopBegin ( )

privatevirtual

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 165 of file CameraThread.cpp.

void rtabmap::CameraThread::mainLoopKill ( )

privatevirtual

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 193 of file CameraThread.cpp.

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

Definition at line 218 of file CameraThread.cpp.

rtabmap::CameraThread::RTABMAP_DEPRECATED ( void setScanParametersbool fromDepth, int downsampleStep, float rangeMin, float rangeMax, float voxelSize, int normalsK, int normalsRadius, bool forceGroundNormalsUp )

void rtabmap::CameraThread::setColorOnly ( bool colorOnly )

inline

Definition at line 65 of file CameraThread.h.

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

Definition at line 92 of file CameraThread.cpp.

void rtabmap::CameraThread::setImageDecimation ( int decimation )

inline

Definition at line 66 of file CameraThread.h.

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

Definition at line 84 of file CameraThread.cpp.

void rtabmap::CameraThread::setMirroringEnabled ( bool enabled )

inline

Definition at line 63 of file CameraThread.h.

void rtabmap::CameraThread::setScanParameters	(	bool	fromDepth,
		int	downsampleStep = `1`,
		float	rangeMin = `0.0f`,
		float	rangeMax = `0.0f`,
		float	voxelSize = `0.0f`,
		int	normalsK = `0`,
		int	normalsRadius = `0.0f`,
		float	groundNormalsUp = `0.0f`
	)

Definition at line 132 of file CameraThread.cpp.

void rtabmap::CameraThread::setStereoExposureCompensation ( bool enabled )

inline

Definition at line 64 of file CameraThread.h.

void rtabmap::CameraThread::setStereoToDepth ( bool enabled )

inline

Definition at line 67 of file CameraThread.h.

Member Data Documentation

bool rtabmap::CameraThread::_bilateralFiltering

private

Definition at line 124 of file CameraThread.h.

float rtabmap::CameraThread::_bilateralSigmaR

private

Definition at line 126 of file CameraThread.h.

float rtabmap::CameraThread::_bilateralSigmaS

private

Definition at line 125 of file CameraThread.h.

Camera* rtabmap::CameraThread::_camera

private

Definition at line 108 of file CameraThread.h.

bool rtabmap::CameraThread::_colorOnly

private

Definition at line 111 of file CameraThread.h.

clams::DiscreteDepthDistortionModel* rtabmap::CameraThread::_distortionModel

private

Definition at line 123 of file CameraThread.h.

int rtabmap::CameraThread::_imageDecimation

private

Definition at line 112 of file CameraThread.h.

IMUFilter* rtabmap::CameraThread::_imuFilter

private

Definition at line 127 of file CameraThread.h.

bool rtabmap::CameraThread::_mirroring

private

Definition at line 109 of file CameraThread.h.

int rtabmap::CameraThread::_scanDownsampleStep

private

Definition at line 115 of file CameraThread.h.

float rtabmap::CameraThread::_scanForceGroundNormalsUp

private

Definition at line 121 of file CameraThread.h.

bool rtabmap::CameraThread::_scanFromDepth

private

Definition at line 114 of file CameraThread.h.

int rtabmap::CameraThread::_scanNormalsK

private

Definition at line 119 of file CameraThread.h.

float rtabmap::CameraThread::_scanNormalsRadius

private

Definition at line 120 of file CameraThread.h.

float rtabmap::CameraThread::_scanRangeMax

private

Definition at line 117 of file CameraThread.h.

float rtabmap::CameraThread::_scanRangeMin

private

Definition at line 116 of file CameraThread.h.

float rtabmap::CameraThread::_scanVoxelSize

private

Definition at line 118 of file CameraThread.h.

StereoDense* rtabmap::CameraThread::_stereoDense

private

Definition at line 122 of file CameraThread.h.

bool rtabmap::CameraThread::_stereoExposureCompensation

private

Definition at line 110 of file CameraThread.h.

bool rtabmap::CameraThread::_stereoToDepth

private

Definition at line 113 of file CameraThread.h.

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

Public Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation