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

#include <CameraTango.h>

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

Public Member Functions

 CameraTango (bool colorCamera, int decimation, bool publishRawScan, bool smoothing)
 
virtual void close ()
 
void cloudReceived (const cv::Mat &cloud, double timestamp)
 
virtual std::string getSerial () const
 
virtual bool init (const std::string &calibrationFolder=".", const std::string &cameraName="")
 
void rgbReceived (const cv::Mat &tangoImage, int type, double timestamp)
 
void setDecimation (int value)
 
void setRawScanPublished (bool enabled)
 
void tangoEventReceived (int type, const char *key, const char *value)
 
rtabmap::Transform tangoPoseToTransform (const TangoPoseData *tangoPose) const
 
virtual ~CameraTango ()
 
- 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)
 
virtual void setScreenRotationAndSize (ScreenRotation colorCameraToDisplayRotation, int width, int height)
 
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 ()
 

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

bool colorCamera_
 
int decimation_
 
cv::Mat fisheyeRectifyMapX_
 
cv::Mat fisheyeRectifyMapY_
 
bool rawScanPublished_
 
void * tango_config_
 
cv::Mat tangoColor_
 
double tangoColorStamp_
 
int tangoColorType_
 
SensorData tangoData_
 
boost::mutex tangoDataMutex_
 
USemaphore tangoDataReady_
 

Additional Inherited Members

- 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)
 
- 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 46 of file CameraTango.h.

Constructor & Destructor Documentation

◆ CameraTango()

rtabmap::CameraTango::CameraTango ( bool  colorCamera,
int  decimation,
bool  publishRawScan,
bool  smoothing 
)

Definition at line 117 of file CameraTango.cpp.

◆ ~CameraTango()

rtabmap::CameraTango::~CameraTango ( )
virtual

Definition at line 129 of file CameraTango.cpp.

Member Function Documentation

◆ close()

void rtabmap::CameraTango::close ( )
virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 424 of file CameraTango.cpp.

◆ cloudReceived()

void rtabmap::CameraTango::cloudReceived ( const cv::Mat cloud,
double  timestamp 
)

Definition at line 440 of file CameraTango.cpp.

◆ getPoseAtTimestamp()

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

Definition at line 747 of file CameraTango.cpp.

◆ getSerial()

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

Reimplemented from rtabmap::CameraMobile.

Definition at line 725 of file CameraTango.cpp.

◆ init()

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

Reimplemented from rtabmap::CameraMobile.

Definition at line 193 of file CameraTango.cpp.

◆ rgbReceived()

void rtabmap::CameraTango::rgbReceived ( const cv::Mat tangoImage,
int  type,
double  timestamp 
)

Definition at line 706 of file CameraTango.cpp.

◆ setDecimation()

void rtabmap::CameraTango::setDecimation ( int  value)
inline

Definition at line 55 of file CameraTango.h.

◆ setRawScanPublished()

void rtabmap::CameraTango::setRawScanPublished ( bool  enabled)
inline

Definition at line 56 of file CameraTango.h.

◆ tangoEventReceived()

void rtabmap::CameraTango::tangoEventReceived ( int  type,
const char *  key,
const char *  value 
)

Definition at line 720 of file CameraTango.cpp.

◆ tangoPoseToTransform()

rtabmap::Transform rtabmap::CameraTango::tangoPoseToTransform ( const TangoPoseData *  tangoPose) const

Definition at line 730 of file CameraTango.cpp.

◆ updateDataOnRender()

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

Reimplemented from rtabmap::CameraMobile.

Definition at line 778 of file CameraTango.cpp.

Member Data Documentation

◆ colorCamera_

bool rtabmap::CameraTango::colorCamera_
private

Definition at line 70 of file CameraTango.h.

◆ decimation_

int rtabmap::CameraTango::decimation_
private

Definition at line 71 of file CameraTango.h.

◆ fisheyeRectifyMapX_

cv::Mat rtabmap::CameraTango::fisheyeRectifyMapX_
private

Definition at line 79 of file CameraTango.h.

◆ fisheyeRectifyMapY_

cv::Mat rtabmap::CameraTango::fisheyeRectifyMapY_
private

Definition at line 80 of file CameraTango.h.

◆ rawScanPublished_

bool rtabmap::CameraTango::rawScanPublished_
private

Definition at line 72 of file CameraTango.h.

◆ tango_config_

void* rtabmap::CameraTango::tango_config_
private

Definition at line 69 of file CameraTango.h.

◆ tangoColor_

cv::Mat rtabmap::CameraTango::tangoColor_
private

Definition at line 74 of file CameraTango.h.

◆ tangoColorStamp_

double rtabmap::CameraTango::tangoColorStamp_
private

Definition at line 76 of file CameraTango.h.

◆ tangoColorType_

int rtabmap::CameraTango::tangoColorType_
private

Definition at line 75 of file CameraTango.h.

◆ tangoData_

SensorData rtabmap::CameraTango::tangoData_
private

Definition at line 73 of file CameraTango.h.

◆ tangoDataMutex_

boost::mutex rtabmap::CameraTango::tangoDataMutex_
private

Definition at line 77 of file CameraTango.h.

◆ tangoDataReady_

USemaphore rtabmap::CameraTango::tangoDataReady_
private

Definition at line 78 of file CameraTango.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