Camera.h
Go to the documentation of this file.
1 /*
2 Copyright (c) 2010-2022, 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;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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/core/rtabmap_core_export.h" // DLL export/import defines
32 #include <rtabmap/core/IMU.h>
33 
34 namespace rtabmap
35 {
36 
37 class IMUFilter;
38 
43 class RTABMAP_CORE_EXPORT Camera : public SensorCapture
44 {
45 public:
46  virtual ~Camera();
47 
48  SensorData takeImage(SensorCaptureInfo * info = 0) {return takeData(info);}
49  float getImageRate() const {return getFrameRate();}
50  void setImageRate(float imageRate) {setFrameRate(imageRate);}
51  void setInterIMUPublishing(bool enabled, IMUFilter * filter = 0); // Take ownership of filter
52  bool isInterIMUPublishing() const {return publishInterIMU_;}
53 
54  bool initFromFile(const std::string & calibrationPath);
55  virtual bool isCalibrated() const = 0;
56 
57 protected:
64  Camera(float imageRate = 0, const Transform & localTransform = Transform::getIdentity());
65 
66  virtual SensorData captureImage(SensorCaptureInfo * info = 0) = 0;
67 
68  void postInterIMU(const IMU & imu, double stamp);
69 
70 private:
71  virtual SensorData captureData(SensorCaptureInfo * info = 0) {return captureImage(info);}
72 
73 private:
76 };
77 
78 
79 } // namespace rtabmap
rtabmap::SensorData
Definition: SensorData.h:51
rtabmap::Camera::setImageRate
void setImageRate(float imageRate)
Definition: Camera.h:50
rtabmap::Camera::isInterIMUPublishing
bool isInterIMUPublishing() const
Definition: Camera.h:52
rtabmap::Transform::getIdentity
static Transform getIdentity()
Definition: Transform.cpp:411
rtabmap::SensorCaptureInfo
Definition: SensorCaptureInfo.h:36
rtabmap::IMU
Definition: IMU.h:19
rtabmap::IMUFilter
Definition: IMUFilter.h:37
info
else if n * info
rtabmap::Camera
Definition: Camera.h:43
rtabmap::Camera::getImageRate
float getImageRate() const
Definition: Camera.h:49
rtabmap::SensorCapture
Definition: SensorCapture.h:49
SensorCapture.h
rtabmap::Camera::captureData
virtual SensorData captureData(SensorCaptureInfo *info=0)
Definition: Camera.h:71
rtabmap::Transform
Definition: Transform.h:41
rtabmap::Camera::publishInterIMU_
bool publishInterIMU_
Definition: Camera.h:75
IMU.h
rtabmap
Definition: CameraARCore.cpp:35
rtabmap::Camera::takeImage
SensorData takeImage(SensorCaptureInfo *info=0)
Definition: Camera.h:48
rtabmap::Camera::imuFilter_
IMUFilter * imuFilter_
Definition: Camera.h:74


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:06