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

#include <SensorCaptureThread.h>

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

Public Member Functions

Cameracamera ()
 
void disableBilateralFiltering ()
 
void disableFeatureDetection ()
 
void disableIMUFiltering ()
 
void enableBilateralFiltering (float sigmaS, float sigmaR)
 
void enableFeatureDetection (const ParametersMap &parameters=ParametersMap())
 
void enableIMUFiltering (int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
 
bool isCapturing () const
 
bool isPaused () const
 
Lidarlidar ()
 
bool odomProvided () const
 
SensorCaptureodomSensor ()
 
void postUpdate (SensorData *data, SensorCaptureInfo *info=0) const
 
 SensorCaptureThread (Camera *camera, const ParametersMap &parameters=ParametersMap())
 
 SensorCaptureThread (Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
 
 SensorCaptureThread (Lidar *lidar, Camera *camera, const ParametersMap &parameters=ParametersMap())
 
 SensorCaptureThread (Lidar *lidar, Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
 
 SensorCaptureThread (Lidar *lidar, const ParametersMap &parameters=ParametersMap())
 
 SensorCaptureThread (Lidar *lidar, SensorCapture *odomSensor, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
 
void setColorOnly (bool colorOnly)
 
void setDistortionModel (const std::string &path)
 
void setFrameRate (float frameRate)
 
void setHistogramMethod (int histogramMethod)
 
void setImageDecimation (int decimation)
 
RTABMAP_DEPRECATED void setImageRate (float frameRate)
 
void setMirroringEnabled (bool enabled)
 
void setOdomAsGroundTruth (bool enabled)
 
RTABMAP_DEPRECATED void setScanParameters (bool fromDepth, int downsampleStep, float rangeMin, float rangeMax, float voxelSize, int normalsK, float normalsRadius, bool forceGroundNormalsUp, bool deskewing)
 
void setScanParameters (bool fromDepth, int downsampleStep=1, float rangeMin=0.0f, float rangeMax=0.0f, float voxelSize=0.0f, int normalsK=0, float normalsRadius=0.0f, float groundNormalsUp=0.0f, bool deskewing=false)
 
void setStereoExposureCompensation (bool enabled)
 
void setStereoToDepth (bool enabled)
 
virtual ~SensorCaptureThread ()
 
- Public Member Functions inherited from UThread
Handle getThreadHandle () const
 
unsigned long getThreadId () const
 
bool isCreating () const
 
bool isIdle () const
 
bool isKilled () const
 
bool isRunning () const
 
void join (bool killFirst=false)
 
void kill ()
 
void setAffinity (int cpu=0)
 
void setPriority (Priority priority)
 
void start ()
 
 UThread (Priority priority=kPNormal)
 
virtual ~UThread ()
 
- Public Member Functions inherited from UThreadC< void >
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
int Create (unsigned long &ThreadId, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false) const
 
virtual ~UThreadC ()
 
virtual ~UThreadC ()
 
- Public Member Functions inherited from UEventsSender
 UEventsSender ()
 
virtual ~UEventsSender ()
 

Private Member Functions

virtual void mainLoop ()
 
virtual void mainLoopBegin ()
 
virtual void mainLoopKill ()
 

Private Attributes

bool _bilateralFiltering
 
float _bilateralSigmaR
 
float _bilateralSigmaS
 
Camera_camera
 
bool _colorOnly
 
bool _depthAsMask
 
clams::DiscreteDepthDistortionModel_distortionModel
 
Transform _extrinsicsOdomToCamera
 
Feature2D_featureDetector
 
int _histogramMethod
 
int _imageDecimation
 
bool _imuBaseFrameConversion
 
IMUFilter_imuFilter
 
Lidar_lidar
 
bool _mirroring
 
bool _odomAsGt
 
SensorCapture_odomSensor
 
float _poseScaleFactor
 
double _poseTimeOffset
 
double _poseWaitTime
 
bool _scanDeskewing
 
int _scanDownsampleStep
 
float _scanForceGroundNormalsUp
 
bool _scanFromDepth
 
int _scanNormalsK
 
float _scanNormalsRadius
 
float _scanRangeMax
 
float _scanRangeMin
 
float _scanVoxelSize
 
StereoDense_stereoDense
 
bool _stereoExposureCompensation
 
bool _stereoToDepth
 

Additional Inherited Members

- Public Types inherited from UThread
enum  Priority {
  kPLow, kPBelowNormal, kPNormal, kPAboveNormal,
  kPRealTime
}
 
- Public Types inherited from UThreadC< void >
typedef THREAD_HANDLE Handle
 
typedef THREAD_HANDLE Handle
 
typedef void(* Handler) ()
 
typedef void(* Handler) ()
 
- Static Public Member Functions inherited from UThread
static unsigned long currentThreadId ()
 
- Static Public Member Functions inherited from UThreadC< void >
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Create (const Handler &Function, Handle *const &H=0, const bool &CreateDetached=false, const unsigned int &StackSize=0, const bool &CancelEnable=false, const bool &CancelAsync=false)
 
static int Detach (const Handle &H)
 
static int Detach (Handle H)
 
static int Join (const Handle &H)
 
static int Join (Handle H)
 
static int Kill (const Handle &H)
 
static int Kill (Handle H)
 
- Protected Member Functions inherited from UThreadC< void >
 UThreadC ()
 
 UThreadC ()
 
- Protected Member Functions inherited from UEventsSender
void post (UEvent *event, bool async=true) const
 
- Static Protected Member Functions inherited from UThreadC< void >
static void Exit ()
 
static void Exit ()
 
static Handle Self ()
 
static int Self ()
 
static void TestCancel ()
 
static void TestCancel ()
 

Detailed Description

Class CameraThread

Definition at line 58 of file SensorCaptureThread.h.

Constructor & Destructor Documentation

◆ SensorCaptureThread() [1/6]

rtabmap::SensorCaptureThread::SensorCaptureThread ( Camera camera,
const ParametersMap parameters = ParametersMap() 
)

Definition at line 54 of file SensorCaptureThread.cpp.

◆ SensorCaptureThread() [2/6]

rtabmap::SensorCaptureThread::SensorCaptureThread ( Camera camera,
SensorCapture odomSensor,
const Transform extrinsics,
double  poseTimeOffset = 0.0,
float  poseScaleFactor = 1.0f,
double  poseWaitTime = 0.1,
const ParametersMap parameters = ParametersMap() 
)
Parameters
camerathe camera to take images from
odomSensoran odometry sensor to get a pose (can be again the camera)
odomAsGtset odometry sensor pose as ground truth instead of odometry
extrinsicsthe static transform between odometry sensor's left lens frame to camera's left lens frame (without optical rotation)

Definition at line 63 of file SensorCaptureThread.cpp.

◆ SensorCaptureThread() [3/6]

rtabmap::SensorCaptureThread::SensorCaptureThread ( Lidar lidar,
const ParametersMap parameters = ParametersMap() 
)
Parameters
lidarthe lidar to take scans from

Definition at line 76 of file SensorCaptureThread.cpp.

◆ SensorCaptureThread() [4/6]

rtabmap::SensorCaptureThread::SensorCaptureThread ( Lidar lidar,
Camera camera,
const ParametersMap parameters = ParametersMap() 
)
Parameters
lidarthe lidar to take scans from
camerathe camera to take images from. If the camera is providing a pose, it can be used for deskewing

Definition at line 84 of file SensorCaptureThread.cpp.

◆ SensorCaptureThread() [5/6]

rtabmap::SensorCaptureThread::SensorCaptureThread ( Lidar lidar,
SensorCapture odomSensor,
double  poseTimeOffset = 0.0,
float  poseScaleFactor = 1.0f,
double  poseWaitTime = 0.1,
const ParametersMap parameters = ParametersMap() 
)
Parameters
lidarthe lidar to take scans from
odomSensoran odometry sensor to get a pose and used for deskewing (can be again the lidar)

Definition at line 93 of file SensorCaptureThread.cpp.

◆ SensorCaptureThread() [6/6]

rtabmap::SensorCaptureThread::SensorCaptureThread ( Lidar lidar,
Camera camera,
SensorCapture odomSensor,
const Transform extrinsics,
double  poseTimeOffset = 0.0,
float  poseScaleFactor = 1.0f,
double  poseWaitTime = 0.1,
const ParametersMap parameters = ParametersMap() 
)
Parameters
lidarthe lidar to take scans from
camerathe camera to take images from
odomSensoran odometry sensor to get a pose and used for deskewing (can be again the camera or lidar)
extrinsicsthe static transform between odometry frame to camera frame (without optical rotation)

Definition at line 105 of file SensorCaptureThread.cpp.

◆ ~SensorCaptureThread()

rtabmap::SensorCaptureThread::~SensorCaptureThread ( )
virtual

Definition at line 169 of file SensorCaptureThread.cpp.

Member Function Documentation

◆ camera()

Camera* rtabmap::SensorCaptureThread::camera ( )
inline

Definition at line 169 of file SensorCaptureThread.h.

◆ disableBilateralFiltering()

void rtabmap::SensorCaptureThread::disableBilateralFiltering ( )
inline

Definition at line 134 of file SensorCaptureThread.h.

◆ disableFeatureDetection()

void rtabmap::SensorCaptureThread::disableFeatureDetection ( )

Definition at line 256 of file SensorCaptureThread.cpp.

◆ disableIMUFiltering()

void rtabmap::SensorCaptureThread::disableIMUFiltering ( )

Definition at line 231 of file SensorCaptureThread.cpp.

◆ enableBilateralFiltering()

void rtabmap::SensorCaptureThread::enableBilateralFiltering ( float  sigmaS,
float  sigmaR 
)

Definition at line 216 of file SensorCaptureThread.cpp.

◆ enableFeatureDetection()

void rtabmap::SensorCaptureThread::enableFeatureDetection ( const ParametersMap parameters = ParametersMap())

Definition at line 237 of file SensorCaptureThread.cpp.

◆ enableIMUFiltering()

void rtabmap::SensorCaptureThread::enableIMUFiltering ( int  filteringStrategy = 1,
const ParametersMap parameters = ParametersMap(),
bool  baseFrameConversion = false 
)

Definition at line 224 of file SensorCaptureThread.cpp.

◆ isCapturing()

bool rtabmap::SensorCaptureThread::isCapturing ( ) const
inline

Definition at line 166 of file SensorCaptureThread.h.

◆ isPaused()

bool rtabmap::SensorCaptureThread::isPaused ( ) const
inline

Definition at line 165 of file SensorCaptureThread.h.

◆ lidar()

Lidar* rtabmap::SensorCaptureThread::lidar ( )
inline

Definition at line 171 of file SensorCaptureThread.h.

◆ mainLoop()

void rtabmap::SensorCaptureThread::mainLoop ( )
privatevirtual

Pure virtual method mainLoop(). The inner loop of the thread. This method is called repetitively until the thread is killed. Note that if kill() is called in mainLoopBegin(), mainLoop() is not called, terminating immediately the thread.

See also
mainLoop()
kill()

Implements UThread.

Definition at line 325 of file SensorCaptureThread.cpp.

◆ mainLoopBegin()

void rtabmap::SensorCaptureThread::mainLoopBegin ( )
privatevirtual

Virtual method mainLoopBegin(). User can implement this function to add a behavior before the main loop is started. It is called once (before entering mainLoop()).

Reimplemented from UThread.

Definition at line 307 of file SensorCaptureThread.cpp.

◆ mainLoopKill()

void rtabmap::SensorCaptureThread::mainLoopKill ( )
privatevirtual

Virtual method mainLoopKill(). User can implement this function to add a behavior before the thread is killed. When this function is called, the state of the thread is set to kSKilled. It is useful to wake up a sleeping thread to finish his loop and to avoid a deadlock.

Reimplemented from UThread.

Definition at line 548 of file SensorCaptureThread.cpp.

◆ odomProvided()

bool rtabmap::SensorCaptureThread::odomProvided ( ) const

Definition at line 298 of file SensorCaptureThread.cpp.

◆ odomSensor()

SensorCapture* rtabmap::SensorCaptureThread::odomSensor ( )
inline

Definition at line 170 of file SensorCaptureThread.h.

◆ postUpdate()

void rtabmap::SensorCaptureThread::postUpdate ( SensorData data,
SensorCaptureInfo info = 0 
) const

Definition at line 573 of file SensorCaptureThread.cpp.

◆ setColorOnly()

void rtabmap::SensorCaptureThread::setColorOnly ( bool  colorOnly)
inline

Definition at line 125 of file SensorCaptureThread.h.

◆ setDistortionModel()

void rtabmap::SensorCaptureThread::setDistortionModel ( const std::string path)

Definition at line 196 of file SensorCaptureThread.cpp.

◆ setFrameRate()

void rtabmap::SensorCaptureThread::setFrameRate ( float  frameRate)

Definition at line 184 of file SensorCaptureThread.cpp.

◆ setHistogramMethod()

void rtabmap::SensorCaptureThread::setHistogramMethod ( int  histogramMethod)
inline

Definition at line 127 of file SensorCaptureThread.h.

◆ setImageDecimation()

void rtabmap::SensorCaptureThread::setImageDecimation ( int  decimation)
inline

Definition at line 126 of file SensorCaptureThread.h.

◆ setImageRate()

RTABMAP_DEPRECATED void rtabmap::SensorCaptureThread::setImageRate ( float  frameRate)
inline

Definition at line 130 of file SensorCaptureThread.h.

◆ setMirroringEnabled()

void rtabmap::SensorCaptureThread::setMirroringEnabled ( bool  enabled)
inline

Definition at line 123 of file SensorCaptureThread.h.

◆ setOdomAsGroundTruth()

void rtabmap::SensorCaptureThread::setOdomAsGroundTruth ( bool  enabled)
inline

Definition at line 132 of file SensorCaptureThread.h.

◆ setScanParameters() [1/2]

void rtabmap::SensorCaptureThread::setScanParameters ( bool  fromDepth,
int  downsampleStep,
float  rangeMin,
float  rangeMax,
float  voxelSize,
int  normalsK,
float  normalsRadius,
bool  forceGroundNormalsUp,
bool  deskewing 
)

Definition at line 262 of file SensorCaptureThread.cpp.

◆ setScanParameters() [2/2]

void rtabmap::SensorCaptureThread::setScanParameters ( bool  fromDepth,
int  downsampleStep = 1,
float  rangeMin = 0.0f,
float  rangeMax = 0.0f,
float  voxelSize = 0.0f,
int  normalsK = 0,
float  normalsRadius = 0.0f,
float  groundNormalsUp = 0.0f,
bool  deskewing = false 
)

Definition at line 276 of file SensorCaptureThread.cpp.

◆ setStereoExposureCompensation()

void rtabmap::SensorCaptureThread::setStereoExposureCompensation ( bool  enabled)
inline

Definition at line 124 of file SensorCaptureThread.h.

◆ setStereoToDepth()

void rtabmap::SensorCaptureThread::setStereoToDepth ( bool  enabled)
inline

Definition at line 128 of file SensorCaptureThread.h.

Member Data Documentation

◆ _bilateralFiltering

bool rtabmap::SensorCaptureThread::_bilateralFiltering
private

Definition at line 204 of file SensorCaptureThread.h.

◆ _bilateralSigmaR

float rtabmap::SensorCaptureThread::_bilateralSigmaR
private

Definition at line 206 of file SensorCaptureThread.h.

◆ _bilateralSigmaS

float rtabmap::SensorCaptureThread::_bilateralSigmaS
private

Definition at line 205 of file SensorCaptureThread.h.

◆ _camera

Camera* rtabmap::SensorCaptureThread::_camera
private

Definition at line 179 of file SensorCaptureThread.h.

◆ _colorOnly

bool rtabmap::SensorCaptureThread::_colorOnly
private

Definition at line 189 of file SensorCaptureThread.h.

◆ _depthAsMask

bool rtabmap::SensorCaptureThread::_depthAsMask
private

Definition at line 210 of file SensorCaptureThread.h.

◆ _distortionModel

clams::DiscreteDepthDistortionModel* rtabmap::SensorCaptureThread::_distortionModel
private

Definition at line 203 of file SensorCaptureThread.h.

◆ _extrinsicsOdomToCamera

Transform rtabmap::SensorCaptureThread::_extrinsicsOdomToCamera
private

Definition at line 182 of file SensorCaptureThread.h.

◆ _featureDetector

Feature2D* rtabmap::SensorCaptureThread::_featureDetector
private

Definition at line 209 of file SensorCaptureThread.h.

◆ _histogramMethod

int rtabmap::SensorCaptureThread::_histogramMethod
private

Definition at line 191 of file SensorCaptureThread.h.

◆ _imageDecimation

int rtabmap::SensorCaptureThread::_imageDecimation
private

Definition at line 190 of file SensorCaptureThread.h.

◆ _imuBaseFrameConversion

bool rtabmap::SensorCaptureThread::_imuBaseFrameConversion
private

Definition at line 208 of file SensorCaptureThread.h.

◆ _imuFilter

IMUFilter* rtabmap::SensorCaptureThread::_imuFilter
private

Definition at line 207 of file SensorCaptureThread.h.

◆ _lidar

Lidar* rtabmap::SensorCaptureThread::_lidar
private

Definition at line 181 of file SensorCaptureThread.h.

◆ _mirroring

bool rtabmap::SensorCaptureThread::_mirroring
private

Definition at line 187 of file SensorCaptureThread.h.

◆ _odomAsGt

bool rtabmap::SensorCaptureThread::_odomAsGt
private

Definition at line 183 of file SensorCaptureThread.h.

◆ _odomSensor

SensorCapture* rtabmap::SensorCaptureThread::_odomSensor
private

Definition at line 180 of file SensorCaptureThread.h.

◆ _poseScaleFactor

float rtabmap::SensorCaptureThread::_poseScaleFactor
private

Definition at line 185 of file SensorCaptureThread.h.

◆ _poseTimeOffset

double rtabmap::SensorCaptureThread::_poseTimeOffset
private

Definition at line 184 of file SensorCaptureThread.h.

◆ _poseWaitTime

double rtabmap::SensorCaptureThread::_poseWaitTime
private

Definition at line 186 of file SensorCaptureThread.h.

◆ _scanDeskewing

bool rtabmap::SensorCaptureThread::_scanDeskewing
private

Definition at line 193 of file SensorCaptureThread.h.

◆ _scanDownsampleStep

int rtabmap::SensorCaptureThread::_scanDownsampleStep
private

Definition at line 195 of file SensorCaptureThread.h.

◆ _scanForceGroundNormalsUp

float rtabmap::SensorCaptureThread::_scanForceGroundNormalsUp
private

Definition at line 201 of file SensorCaptureThread.h.

◆ _scanFromDepth

bool rtabmap::SensorCaptureThread::_scanFromDepth
private

Definition at line 194 of file SensorCaptureThread.h.

◆ _scanNormalsK

int rtabmap::SensorCaptureThread::_scanNormalsK
private

Definition at line 199 of file SensorCaptureThread.h.

◆ _scanNormalsRadius

float rtabmap::SensorCaptureThread::_scanNormalsRadius
private

Definition at line 200 of file SensorCaptureThread.h.

◆ _scanRangeMax

float rtabmap::SensorCaptureThread::_scanRangeMax
private

Definition at line 197 of file SensorCaptureThread.h.

◆ _scanRangeMin

float rtabmap::SensorCaptureThread::_scanRangeMin
private

Definition at line 196 of file SensorCaptureThread.h.

◆ _scanVoxelSize

float rtabmap::SensorCaptureThread::_scanVoxelSize
private

Definition at line 198 of file SensorCaptureThread.h.

◆ _stereoDense

StereoDense* rtabmap::SensorCaptureThread::_stereoDense
private

Definition at line 202 of file SensorCaptureThread.h.

◆ _stereoExposureCompensation

bool rtabmap::SensorCaptureThread::_stereoExposureCompensation
private

Definition at line 188 of file SensorCaptureThread.h.

◆ _stereoToDepth

bool rtabmap::SensorCaptureThread::_stereoToDepth
private

Definition at line 192 of file SensorCaptureThread.h.


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


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jul 25 2024 02:50:28