corelib
include
rtabmap
core
Camera.h
Go to the documentation of this file.
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/*
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Copyright (c) 2010-2022, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#pragma once
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#include "rtabmap/core/rtabmap_core_export.h"
// DLL export/import defines
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#include <
rtabmap/core/SensorCapture.h
>
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#include <
rtabmap/core/IMU.h
>
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namespace
rtabmap
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{
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class
IMUFilter;
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class
RTABMAP_CORE_EXPORT
Camera
:
public
SensorCapture
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{
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public
:
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virtual
~
Camera
();
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SensorData
takeImage
(
SensorCaptureInfo
* info = 0) {
return
takeData(
info
);}
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float
getImageRate
()
const
{
return
getFrameRate();}
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void
setImageRate
(
float
imageRate) {setFrameRate(imageRate);}
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void
setInterIMUPublishing(
bool
enabled,
IMUFilter
* filter = 0);
// Take ownership of filter
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bool
isInterIMUPublishing
()
const
{
return
publishInterIMU_;}
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bool
initFromFile(
const
std::string & calibrationPath);
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virtual
bool
isCalibrated()
const
= 0;
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protected
:
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Camera
(
float
imageRate = 0,
const
Transform
& localTransform =
Transform::getIdentity
());
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virtual
SensorData
captureImage(
SensorCaptureInfo
* info = 0) = 0;
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void
postInterIMU(
const
IMU
& imu,
double
stamp);
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private
:
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virtual
SensorData
captureData
(
SensorCaptureInfo
* info = 0) {
return
captureImage(
info
);}
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private
:
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IMUFilter
*
imuFilter_
;
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bool
publishInterIMU_
;
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};
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}
// 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