Public Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::CameraThread Class Reference

#include <CameraThread.h>

Inheritance diagram for rtabmap::CameraThread:
Inheritance graph
[legend]

Public Member Functions

Cameracamera ()
 
 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:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Dec 14 2020 03:37:08