Public Member Functions | Static Public Member Functions | Protected Member Functions | Private Member Functions | Private Attributes | List of all members
rtabmap::CameraARCore Class Reference

#include <CameraARCore.h>

Inheritance diagram for rtabmap::CameraARCore:
Inheritance graph
[legend]

Public Member Functions

 CameraARCore (void *env, void *context, void *activity, bool depthFromMotion=false, bool smoothing=false)
 
virtual void close ()
 
virtual std::string getSerial () const
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 
virtual void setScreenRotationAndSize (ScreenRotation colorCameraToDisplayRotation, int width, int height)
 
virtual ~CameraARCore ()
 
- Public Member Functions inherited from rtabmap::CameraMobile
void addEnvSensor (int type, float value)
 
 CameraMobile (bool smoothing=false)
 
const CameraModelgetCameraModel () const
 
const TransformgetDeviceTColorCamera () const
 
const cv::MatgetOcclusionImage (CameraModel *model=0) const
 
const TransformgetOriginOffset () const
 
virtual bool getPose (double epochStamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
 
ScreenRotation getScreenRotation () const
 
double getStampEpochOffset () const
 
GLuint getTextureId ()
 
void getVPMatrices (glm::mat4 &view, glm::mat4 &projection) const
 
virtual bool isCalibrated () const
 
virtual bool odomProvided () const
 
void poseReceived (const Transform &pose, double deviceStamp)
 
void resetOrigin ()
 
void setGPS (const GPS &gps)
 
void setOcclusionImage (const cv::Mat &image, const CameraModel &model)
 
void setSmoothing (bool enabled)
 
void update (const SensorData &data, const Transform &pose, const glm::mat4 &viewMatrix, const glm::mat4 &projectionMatrix, const float *texCoord)
 
void updateOnRender ()
 
bool uvsInitialized () const
 
const floatuvsTransformed () const
 
virtual ~CameraMobile ()
 
- Public Member Functions inherited from rtabmap::Camera
float getImageRate () const
 
bool initFromFile (const std::string &calibrationPath)
 
bool isInterIMUPublishing () const
 
void setImageRate (float imageRate)
 
void setInterIMUPublishing (bool enabled, IMUFilter *filter=0)
 
SensorData takeImage (SensorCaptureInfo *info=0)
 
virtual ~Camera ()
 
- Public Member Functions inherited from rtabmap::SensorCapture
float getFrameRate () const
 
const TransformgetLocalTransform () const
 
void resetTimer ()
 
void setFrameRate (float frameRate)
 
void setLocalTransform (const Transform &localTransform)
 
SensorData takeData (SensorCaptureInfo *info=0)
 
virtual ~SensorCapture ()
 
- Public Member Functions inherited from UEventsSender
 UEventsSender ()
 
virtual ~UEventsSender ()
 

Static Public Member Functions

static LaserScan scanFromPointCloudData (const float *pointCloudData, int points, const Transform &pose, const CameraModel &model, const cv::Mat &rgb, std::vector< cv::KeyPoint > *kpts=0, std::vector< cv::Point3f > *kpts3D=0)
 
- Static Public Member Functions inherited from rtabmap::CameraMobile
static LaserScan scanFromPointCloudData (const cv::Mat &pointCloudData, int points, const Transform &pose, const CameraModel &model, const cv::Mat &rgb, std::vector< cv::KeyPoint > *kpts=0, std::vector< cv::Point3f > *kpts3D=0, int kptsSize=3)
 

Protected Member Functions

virtual SensorData updateDataOnRender (Transform &pose)
 
- Protected Member Functions inherited from rtabmap::Camera
 Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
 
void postInterIMU (const IMU &imu, double stamp)
 
- Protected Member Functions inherited from rtabmap::SensorCapture
int getNextSeqID ()
 
 SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
 
- Protected Member Functions inherited from UEventsSender
void post (UEvent *event, bool async=true) const
 

Private Member Functions

rtabmap::Transform getPoseAtTimestamp (double timestamp)
 

Private Attributes

void * activity_
 
ArCameraIntrinsics * arCameraIntrinsics_ = nullptr
 
ArConfig * arConfig_ = nullptr
 
ArFrame * arFrame_ = nullptr
 
bool arInstallRequested_
 
ArPose * arPose_ = nullptr
 
ArSession * arSession_ = nullptr
 
UMutex arSessionMutex_
 
void * context_
 
bool depthFromMotion_
 
void * env_
 

Additional Inherited Members

- Static Public Attributes inherited from rtabmap::CameraMobile
static const float bilateralFilteringSigmaR = 0.075f
 
static const float bilateralFilteringSigmaS = 2.0f
 
static const rtabmap::Transform opticalRotation
 
static const rtabmap::Transform opticalRotationInv
 
- Protected Attributes inherited from rtabmap::CameraMobile
Transform deviceTColorCamera_
 
CameraModel model_
 
glm::mat4 projectionMatrix_
 
GLuint textureId_
 
float transformed_uvs_ [8]
 
bool uvs_initialized_ = false
 
glm::mat4 viewMatrix_
 

Detailed Description

Definition at line 51 of file CameraARCore.h.

Constructor & Destructor Documentation

◆ CameraARCore()

rtabmap::CameraARCore::CameraARCore ( void *  env,
void *  context,
void *  activity,
bool  depthFromMotion = false,
bool  smoothing = false 
)

Definition at line 40 of file CameraARCore.cpp.

◆ ~CameraARCore()

rtabmap::CameraARCore::~CameraARCore ( )
virtual

Definition at line 50 of file CameraARCore.cpp.

Member Function Documentation

◆ close()

void rtabmap::CameraARCore::close ( )
virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 239 of file CameraARCore.cpp.

◆ getPoseAtTimestamp()

rtabmap::Transform rtabmap::CameraARCore::getPoseAtTimestamp ( double  timestamp)
private

◆ getSerial()

std::string rtabmap::CameraARCore::getSerial ( ) const
virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 119 of file CameraARCore.cpp.

◆ init()

bool rtabmap::CameraARCore::init ( const std::string calibrationFolder = ".",
const std::string cameraName = "" 
)
virtual

Sets the behavior of ArSession_update(). See ::ArUpdateMode for available options.

Reimplemented from rtabmap::CameraMobile.

Definition at line 124 of file CameraARCore.cpp.

◆ scanFromPointCloudData()

LaserScan rtabmap::CameraARCore::scanFromPointCloudData ( const float pointCloudData,
int  points,
const Transform pose,
const CameraModel model,
const cv::Mat rgb,
std::vector< cv::KeyPoint > *  kpts = 0,
std::vector< cv::Point3f > *  kpts3D = 0 
)
static

Definition at line 275 of file CameraARCore.cpp.

◆ setScreenRotationAndSize()

void rtabmap::CameraARCore::setScreenRotationAndSize ( ScreenRotation  colorCameraToDisplayRotation,
int  width,
int  height 
)
virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 323 of file CameraARCore.cpp.

◆ updateDataOnRender()

SensorData rtabmap::CameraARCore::updateDataOnRender ( Transform pose)
protectedvirtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 337 of file CameraARCore.cpp.

Member Data Documentation

◆ activity_

void* rtabmap::CameraARCore::activity_
private

Definition at line 81 of file CameraARCore.h.

◆ arCameraIntrinsics_

ArCameraIntrinsics* rtabmap::CameraARCore::arCameraIntrinsics_ = nullptr
private

Definition at line 85 of file CameraARCore.h.

◆ arConfig_

ArConfig* rtabmap::CameraARCore::arConfig_ = nullptr
private

Definition at line 83 of file CameraARCore.h.

◆ arFrame_

ArFrame* rtabmap::CameraARCore::arFrame_ = nullptr
private

Definition at line 84 of file CameraARCore.h.

◆ arInstallRequested_

bool rtabmap::CameraARCore::arInstallRequested_
private

Definition at line 87 of file CameraARCore.h.

◆ arPose_

ArPose* rtabmap::CameraARCore::arPose_ = nullptr
private

Definition at line 86 of file CameraARCore.h.

◆ arSession_

ArSession* rtabmap::CameraARCore::arSession_ = nullptr
private

Definition at line 82 of file CameraARCore.h.

◆ arSessionMutex_

UMutex rtabmap::CameraARCore::arSessionMutex_
private

Definition at line 88 of file CameraARCore.h.

◆ context_

void* rtabmap::CameraARCore::context_
private

Definition at line 80 of file CameraARCore.h.

◆ depthFromMotion_

bool rtabmap::CameraARCore::depthFromMotion_
private

Definition at line 90 of file CameraARCore.h.

◆ env_

void* rtabmap::CameraARCore::env_
private

Definition at line 79 of file CameraARCore.h.


The documentation for this class was generated from the following files:


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:27