CameraSeerSense.h

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#pragma once
 
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
#include "rtabmap/utilite/USemaphore.h"
 
#ifdef RTABMAP_XVSDK
#include <xv-sdk.h>
#endif
 
namespace rtabmap
{
 
class RTABMAP_CORE_EXPORT CameraSeerSense :
        public Camera
{
public:
        static bool available();
 
public:
        CameraSeerSense(
                bool computeOdometry = false,
                float imageRate = 0.0f,
                const Transform & localTransform = Transform::getIdentity()
        );
        virtual ~CameraSeerSense();
 
        virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
        virtual bool isCalibrated() const;
        virtual std::string getSerial() const;
        virtual bool odomProvided() const;
        virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.0);
 
protected:
        virtual SensorData captureImage(SensorCaptureInfo * info = 0);
 
private:
#ifdef RTABMAP_XVSDK
        CameraModel cameraModel_;
        bool computeOdometry_;
        int imuId_;
        int tofId_;
        std::shared_ptr<xv::Device> device_;
        std::map<double, std::pair<cv::Vec3d, cv::Vec3d>> imuBuffer_;
        std::pair<double, std::pair<cv::Mat, cv::Mat>> lastData_;
        UMutex imuMutex_;
        UMutex dataMutex_;
        USemaphore dataReady_;
#endif
};
 
} // namespace rtabmap