#include <CameraARCore.h>

Inheritance diagram for rtabmap::CameraARCore:

[legend]

Public Member Functions
	CameraARCore (void env, void context, void *activity, bool depthFromMotion=false, bool smoothing=false)

virtual void	close ()

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 ()

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

const Transform &	getOriginOffset () const

ScreenRotation	getScreenRotation () const

GLuint	getTextureId ()

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

virtual bool	isCalibrated () const

void	poseReceived (const Transform &pose)

void	resetOrigin ()

void	setData (const SensorData &data, const Transform &pose, const glm::mat4 &viewMatrix, const glm::mat4 &projectionMatrix, const float *texCoord)

void	setGPS (const GPS &gps)

void	setOcclusionImage (const cv::Mat &image, const CameraModel &model)

void	setSmoothing (bool enabled)

void	spinOnce ()

bool	uvsInitialized () const

const float *	uvsTransformed () const

virtual	~CameraMobile ()

Public Member Functions inherited from rtabmap::Camera
float	getImageRate () const

const Transform &	getLocalTransform () const

virtual bool	getPose (double stamp, Transform &pose, cv::Mat &covariance)

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 rtabmap::CameraMobile
static LaserScan	scanFromPointCloudData (const cv::Mat &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, int kptsSize=3)

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=Transform::getIdentity())

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_

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_

glm::mat4	projectionMatrix_

UTimer	spinOnceFrameRateTimer_

double	spinOncePreviousStamp_

GLuint	textureId_

float	transformed_uvs_ [8]

bool	uvs_initialized_ = false

glm::mat4	viewMatrix_

Detailed Description

Definition at line 51 of file CameraARCore.h.

Constructor & Destructor Documentation

◆ CameraARCore()

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

Definition at line 40 of file CameraARCore.cpp.

◆ ~CameraARCore()

rtabmap::CameraARCore::~CameraARCore ( )

virtual

Definition at line 50 of file CameraARCore.cpp.

Member Function Documentation

◆ captureImage()

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 337 of file CameraARCore.cpp.

◆ capturePoseOnly()

void rtabmap::CameraARCore::capturePoseOnly ( )

protectedvirtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 577 of file CameraARCore.cpp.

◆ close()

void rtabmap::CameraARCore::close ( )

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 239 of file CameraARCore.cpp.

◆ getPoseAtTimestamp()

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

private

◆ getSerial()

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

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 119 of file CameraARCore.cpp.

◆ getTextureId()

GLuint rtabmap::CameraARCore::getTextureId ( ) const

inline

Definition at line 76 of file CameraARCore.h.

◆ getVPMatrices()

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

inline

Definition at line 68 of file CameraARCore.h.

◆ imageCallback()

void rtabmap::CameraARCore::imageCallback ( AImageReader * reader )

◆ init()

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 124 of file CameraARCore.cpp.

◆ scanFromPointCloudData()

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 275 of file CameraARCore.cpp.

◆ setScreenRotationAndSize()

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

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 323 of file CameraARCore.cpp.

◆ setupGL()

void rtabmap::CameraARCore::setupGL ( )

◆ uvsInitialized()

bool rtabmap::CameraARCore::uvsInitialized ( ) const

inline

Definition at line 66 of file CameraARCore.h.

◆ uvsTransformed()

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

inline

Definition at line 67 of file CameraARCore.h.

Member Data Documentation

◆ activity_

void* rtabmap::CameraARCore::activity_

private

Definition at line 90 of file CameraARCore.h.

◆ arCameraIntrinsics_

ArCameraIntrinsics* rtabmap::CameraARCore::arCameraIntrinsics_ = nullptr

private

Definition at line 94 of file CameraARCore.h.

◆ arConfig_

ArConfig* rtabmap::CameraARCore::arConfig_ = nullptr

private

Definition at line 92 of file CameraARCore.h.

◆ arFrame_

ArFrame* rtabmap::CameraARCore::arFrame_ = nullptr

private

Definition at line 93 of file CameraARCore.h.

◆ arInstallRequested_

bool rtabmap::CameraARCore::arInstallRequested_

private

Definition at line 96 of file CameraARCore.h.

◆ arPose_

ArPose* rtabmap::CameraARCore::arPose_ = nullptr

private

Definition at line 95 of file CameraARCore.h.

◆ arSession_

ArSession* rtabmap::CameraARCore::arSession_ = nullptr

private

Definition at line 91 of file CameraARCore.h.

◆ arSessionMutex_

UMutex rtabmap::CameraARCore::arSessionMutex_

private

Definition at line 97 of file CameraARCore.h.

◆ context_

void* rtabmap::CameraARCore::context_

private

Definition at line 89 of file CameraARCore.h.

◆ depthFromMotion_

bool rtabmap::CameraARCore::depthFromMotion_

private

Definition at line 99 of file CameraARCore.h.

◆ env_

void* rtabmap::CameraARCore::env_

private

Definition at line 88 of file CameraARCore.h.

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

Public Member Functions

Static Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CameraARCore()

◆ ~CameraARCore()

Member Function Documentation

◆ captureImage()

◆ capturePoseOnly()

◆ close()

◆ getPoseAtTimestamp()

◆ getSerial()

◆ getTextureId()

◆ getVPMatrices()

◆ imageCallback()

◆ init()

◆ scanFromPointCloudData()

◆ setScreenRotationAndSize()

◆ setupGL()

◆ uvsInitialized()

◆ uvsTransformed()

Member Data Documentation

◆ activity_

◆ arCameraIntrinsics_

◆ arConfig_

◆ arFrame_

◆ arInstallRequested_

◆ arPose_

◆ arSession_

◆ arSessionMutex_

◆ context_

◆ depthFromMotion_

◆ env_