#include <CameraThread.h>

Inheritance diagram for rtabmap::CameraThread:

Public Member Functions
Camera *	camera ()

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

	CameraThread (Camera camera, Camera odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, bool odomAsGt=false, const ParametersMap &parameters=ParametersMap())

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

void	disableBilateralFiltering ()

void	disableIMUFiltering ()

void	enableBilateralFiltering (float sigmaS, float sigmaR)

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

bool	isCapturing () const

bool	isPaused () const

bool	odomProvided () const

Camera *	odomSensor ()

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

Transform	_extrinsicsOdomToCamera

int	_imageDecimation

bool	_imuBaseFrameConversion

IMUFilter *	_imuFilter

bool	_mirroring

bool	_odomAsGt

Camera *	_odomSensor

float	_poseScaleFactor

double	_poseTimeOffset

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 55 of file CameraThread.h.

Constructor & Destructor Documentation

◆ CameraThread() [1/3]

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

Definition at line 50 of file CameraThread.cpp.

◆ CameraThread() [2/3]

rtabmap::CameraThread::CameraThread	(	Camera *	camera,
		Camera *	odomSensor,
		const Transform &	extrinsics,
		double	poseTimeOffset = `0.0`,
		float	poseScaleFactor = `1.0f`,
		bool	odomAsGt = `false`,
		const ParametersMap &	parameters = `ParametersMap()`
	)

Parameters

camera	the camera to take images from
odomSensor	an odometry sensor to get a pose
extrinsics	the static transform between odometry sensor's left lens frame to camera's left lens frame

Definition at line 81 of file CameraThread.cpp.

◆ CameraThread() [3/3]

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

Definition at line 124 of file CameraThread.cpp.

◆ ~CameraThread()

rtabmap::CameraThread::~CameraThread ( )

virtual

Definition at line 158 of file CameraThread.cpp.

Member Function Documentation

◆ camera()

Camera* rtabmap::CameraThread::camera ( )

inline

Definition at line 117 of file CameraThread.h.

◆ disableBilateralFiltering()

void rtabmap::CameraThread::disableBilateralFiltering ( )

inline

Definition at line 87 of file CameraThread.h.

◆ disableIMUFiltering()

void rtabmap::CameraThread::disableIMUFiltering ( )

Definition at line 211 of file CameraThread.cpp.

◆ enableBilateralFiltering()

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

Definition at line 196 of file CameraThread.cpp.

◆ enableIMUFiltering()

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

Definition at line 204 of file CameraThread.cpp.

◆ isCapturing()

bool rtabmap::CameraThread::isCapturing ( ) const

inline

Definition at line 114 of file CameraThread.h.

◆ isPaused()

bool rtabmap::CameraThread::isPaused ( ) const

inline

Definition at line 113 of file CameraThread.h.

◆ mainLoop()

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 261 of file CameraThread.cpp.

◆ mainLoopBegin()

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 255 of file CameraThread.cpp.

◆ mainLoopKill()

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 325 of file CameraThread.cpp.

◆ odomProvided()

bool rtabmap::CameraThread::odomProvided ( ) const

Definition at line 250 of file CameraThread.cpp.

◆ odomSensor()

Camera* rtabmap::CameraThread::odomSensor ( )

inline

Definition at line 118 of file CameraThread.h.

◆ postUpdate()

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

Definition at line 350 of file CameraThread.cpp.

◆ RTABMAP_DEPRECATED()

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

◆ setColorOnly()

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

inline

Definition at line 81 of file CameraThread.h.

◆ setDistortionModel()

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

Definition at line 176 of file CameraThread.cpp.

◆ setImageDecimation()

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

inline

Definition at line 82 of file CameraThread.h.

◆ setImageRate()

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

Definition at line 168 of file CameraThread.cpp.

◆ setMirroringEnabled()

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

inline

Definition at line 79 of file CameraThread.h.

◆ setScanParameters()

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 217 of file CameraThread.cpp.

◆ setStereoExposureCompensation()

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

inline

Definition at line 80 of file CameraThread.h.

◆ setStereoToDepth()

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

inline

Definition at line 83 of file CameraThread.h.

Member Data Documentation

◆ _bilateralFiltering

bool rtabmap::CameraThread::_bilateralFiltering

private

Definition at line 147 of file CameraThread.h.

◆ _bilateralSigmaR

float rtabmap::CameraThread::_bilateralSigmaR

private

Definition at line 149 of file CameraThread.h.

◆ _bilateralSigmaS

float rtabmap::CameraThread::_bilateralSigmaS

private

Definition at line 148 of file CameraThread.h.

◆ _camera

Camera* rtabmap::CameraThread::_camera

private

Definition at line 126 of file CameraThread.h.

◆ _colorOnly

bool rtabmap::CameraThread::_colorOnly

private

Definition at line 134 of file CameraThread.h.

◆ _distortionModel

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

private

Definition at line 146 of file CameraThread.h.

◆ _extrinsicsOdomToCamera

Transform rtabmap::CameraThread::_extrinsicsOdomToCamera

private

Definition at line 128 of file CameraThread.h.

◆ _imageDecimation

int rtabmap::CameraThread::_imageDecimation

private

Definition at line 135 of file CameraThread.h.

◆ _imuBaseFrameConversion

bool rtabmap::CameraThread::_imuBaseFrameConversion

private

Definition at line 151 of file CameraThread.h.

◆ _imuFilter

IMUFilter* rtabmap::CameraThread::_imuFilter

private

Definition at line 150 of file CameraThread.h.

◆ _mirroring

bool rtabmap::CameraThread::_mirroring

private

Definition at line 132 of file CameraThread.h.

◆ _odomAsGt

bool rtabmap::CameraThread::_odomAsGt

private

Definition at line 129 of file CameraThread.h.

◆ _odomSensor

Camera* rtabmap::CameraThread::_odomSensor

private

Definition at line 127 of file CameraThread.h.

◆ _poseScaleFactor

float rtabmap::CameraThread::_poseScaleFactor

private

Definition at line 131 of file CameraThread.h.

◆ _poseTimeOffset

double rtabmap::CameraThread::_poseTimeOffset

private

Definition at line 130 of file CameraThread.h.

◆ _scanDownsampleStep

int rtabmap::CameraThread::_scanDownsampleStep

private

Definition at line 138 of file CameraThread.h.

◆ _scanForceGroundNormalsUp

float rtabmap::CameraThread::_scanForceGroundNormalsUp

private

Definition at line 144 of file CameraThread.h.

◆ _scanFromDepth

bool rtabmap::CameraThread::_scanFromDepth

private

Definition at line 137 of file CameraThread.h.

◆ _scanNormalsK

int rtabmap::CameraThread::_scanNormalsK

private

Definition at line 142 of file CameraThread.h.

◆ _scanNormalsRadius

float rtabmap::CameraThread::_scanNormalsRadius

private

Definition at line 143 of file CameraThread.h.

◆ _scanRangeMax

float rtabmap::CameraThread::_scanRangeMax

private

Definition at line 140 of file CameraThread.h.

◆ _scanRangeMin

float rtabmap::CameraThread::_scanRangeMin

private

Definition at line 139 of file CameraThread.h.

◆ _scanVoxelSize

float rtabmap::CameraThread::_scanVoxelSize

private

Definition at line 141 of file CameraThread.h.

◆ _stereoDense

StereoDense* rtabmap::CameraThread::_stereoDense

private

Definition at line 145 of file CameraThread.h.

◆ _stereoExposureCompensation

bool rtabmap::CameraThread::_stereoExposureCompensation

private

Definition at line 133 of file CameraThread.h.

◆ _stereoToDepth

bool rtabmap::CameraThread::_stereoToDepth

private

Definition at line 136 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

◆ CameraThread() [1/3]

◆ CameraThread() [2/3]

◆ CameraThread() [3/3]

◆ ~CameraThread()

Member Function Documentation

◆ camera()

◆ disableBilateralFiltering()

◆ disableIMUFiltering()

◆ enableBilateralFiltering()

◆ enableIMUFiltering()

◆ isCapturing()

◆ isPaused()

◆ mainLoop()

◆ mainLoopBegin()

◆ mainLoopKill()

◆ odomProvided()

◆ odomSensor()

◆ postUpdate()

◆ RTABMAP_DEPRECATED()

◆ setColorOnly()

◆ setDistortionModel()

◆ setImageDecimation()

◆ setImageRate()

◆ setMirroringEnabled()

◆ setScanParameters()

◆ setStereoExposureCompensation()

◆ setStereoToDepth()

Member Data Documentation

◆ _bilateralFiltering

◆ _bilateralSigmaR

◆ _bilateralSigmaS

◆ _camera

◆ _colorOnly

◆ _distortionModel

◆ _extrinsicsOdomToCamera

◆ _imageDecimation

◆ _imuBaseFrameConversion

◆ _imuFilter

◆ _mirroring

◆ _odomAsGt

◆ _odomSensor

◆ _poseScaleFactor

◆ _poseTimeOffset

◆ _scanDownsampleStep

◆ _scanForceGroundNormalsUp

◆ _scanFromDepth

◆ _scanNormalsK

◆ _scanNormalsRadius

◆ _scanRangeMax

◆ _scanRangeMin

◆ _scanVoxelSize

◆ _stereoDense

◆ _stereoExposureCompensation

◆ _stereoToDepth