CameraEvent.h
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00001 /*
00002 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
00003 All rights reserved.
00004 
00005 Redistribution and use in source and binary forms, with or without
00006 modification, are permitted provided that the following conditions are met:
00007     * Redistributions of source code must retain the above copyright
00008       notice, this list of conditions and the following disclaimer.
00009     * Redistributions in binary form must reproduce the above copyright
00010       notice, this list of conditions and the following disclaimer in the
00011       documentation and/or other materials provided with the distribution.
00012     * Neither the name of the Universite de Sherbrooke nor the
00013       names of its contributors may be used to endorse or promote products
00014       derived from this software without specific prior written permission.
00015 
00016 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
00017 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
00018 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
00019 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
00020 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
00021 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
00022 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
00023 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
00024 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
00025 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
00026 */
00027 
00028 #pragma once
00029 
00030 #include <rtabmap/utilite/UEvent.h>
00031 #include "rtabmap/core/SensorData.h"
00032 #include "rtabmap/core/CameraInfo.h"
00033 
00034 namespace rtabmap
00035 {
00036 
00037 class CameraEvent :
00038         public UEvent
00039 {
00040 public:
00041         enum Code {
00042                 kCodeData,
00043                 kCodeNoMoreImages
00044         };
00045 
00046 public:
00047         CameraEvent(const cv::Mat & image, int seq=0, double stamp = 0.0, const std::string & cameraName = std::string()) :
00048                 UEvent(kCodeData),
00049                 data_(image, seq, stamp)
00050         {
00051                 cameraInfo_.cameraName = cameraName;
00052         }
00053 
00054         CameraEvent() :
00055                 UEvent(kCodeNoMoreImages)
00056         {
00057         }
00058 
00059         CameraEvent(const SensorData & data) :
00060                 UEvent(kCodeData),
00061                 data_(data)
00062         {
00063         }
00064 
00065         CameraEvent(const SensorData & data, const std::string & cameraName) :
00066                 UEvent(kCodeData),
00067                 data_(data)
00068         {
00069                 cameraInfo_.cameraName = cameraName;
00070         }
00071         CameraEvent(const SensorData & data, const CameraInfo & cameraInfo) :
00072                 UEvent(kCodeData),
00073                 data_(data),
00074                 cameraInfo_(cameraInfo)
00075         {
00076         }
00077 
00078         // Image or descriptors
00079         const SensorData & data() const {return data_;}
00080         const std::string & cameraName() const {return cameraInfo_.cameraName;}
00081         const CameraInfo & info() const {return cameraInfo_;}
00082 
00083         virtual ~CameraEvent() {}
00084         virtual std::string getClassName() const {return std::string("CameraEvent");}
00085 
00086 private:
00087         SensorData data_;
00088         CameraInfo cameraInfo_;
00089 };
00090 
00091 } // namespace rtabmap


rtabmap
Author(s): Mathieu Labbe
autogenerated on Thu Jun 6 2019 21:59:18