CameraOpenni.h
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1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #pragma once
29 
30 #include "rtabmap/utilite/UMutex.h"
32 #include "rtabmap/core/Camera.h"
33 #include "rtabmap/core/Version.h"
34 
35 #include <pcl/pcl_config.h>
36 
37 #ifdef RTABMAP_OPENNI
38 #if __linux__ && __i386__ && __cplusplus >= 201103L
39 #warning "Openni driver is not available on i386 when building with c++11 support"
40 #endif
41 #include <pcl/io/openni_camera/openni_depth_image.h>
42 #include <pcl/io/openni_camera/openni_image.h>
43 #endif
44 
45 #include <boost/signals2/connection.hpp>
46 
47 namespace pcl
48 {
49 class Grabber;
50 }
51 
52 namespace rtabmap
53 {
54 
55 class RTABMAP_CORE_EXPORT CameraOpenni :
56  public Camera
57 {
58 public:
59  static bool available();
60 
61 public:
62  // default local transform z in, x right, y down));
63  CameraOpenni(const std::string & deviceId="",
64  float imageRate = 0,
65  const Transform & localTransform = Transform::getIdentity());
66  virtual ~CameraOpenni();
67 #ifdef RTABMAP_OPENNI
68 #if PCL_VERSION_COMPARE(>=, 1, 10, 0)
69  void image_cb (
70  const std::shared_ptr<openni_wrapper::Image>& rgb,
71  const std::shared_ptr<openni_wrapper::DepthImage>& depth,
72  float constant);
73 #else
74  void image_cb (
77  float constant);
78 #endif
79 #endif
80 
81  virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
82  virtual bool isCalibrated() const;
83  virtual std::string getSerial() const;
84 
85 protected:
86  virtual SensorData captureImage(SensorCaptureInfo * info = 0);
87 
88 private:
89  pcl::Grabber* interface_;
90  std::string deviceId_;
91  boost::signals2::connection connection_;
92  cv::Mat depth_;
93  cv::Mat rgb_;
97 };
98 
99 } // namespace rtabmap
rtabmap::SensorData
Definition: SensorData.h:51
rtabmap::CameraOpenni::interface_
pcl::Grabber * interface_
Definition: CameraOpenni.h:89
pcl
Definition: CameraOpenni.h:47
boost::shared_ptr
rtabmap::CameraOpenni::dataReady_
USemaphore dataReady_
Definition: CameraOpenni.h:96
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:411
rtabmap::SensorCaptureInfo
Definition: SensorCaptureInfo.h:36
UMutex
Definition: UMutex.h:54
UMutex.h
info
else if n * info
rtabmap::CameraOpenni::connection_
boost::signals2::connection connection_
Definition: CameraOpenni.h:91
rtabmap::Camera
Definition: Camera.h:43
rtabmap::CameraOpenni::deviceId_
std::string deviceId_
Definition: CameraOpenni.h:90
rtabmap_netvlad.init
def init(descriptorDim)
Definition: rtabmap_netvlad.py:30
rtabmap::Transform
Definition: Transform.h:41
USemaphore
Definition: USemaphore.h:54
USemaphore.h
Camera.h
rtabmap::CameraOpenni::dataMutex_
UMutex dataMutex_
Definition: CameraOpenni.h:95
rtabmap::CameraOpenni::depthConstant_
float depthConstant_
Definition: CameraOpenni.h:94
rtabmap::CameraOpenni::rgb_
cv::Mat rgb_
Definition: CameraOpenni.h:93
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::CameraOpenni
Definition: CameraOpenni.h:55
rtabmap::CameraOpenni::depth_
cv::Mat depth_
Definition: CameraOpenni.h:92


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:07