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 <string> 00031 00032 namespace rtabmap 00033 { 00034 00035 class CameraInfo 00036 { 00037 00038 public: 00039 CameraInfo() : 00040 cameraName(""), 00041 id(0), 00042 stamp(0.0), 00043 timeCapture(0.0f), 00044 timeDisparity(0.0f), 00045 timeMirroring(0.0f), 00046 timeImageDecimation(0.0f), 00047 timeScanFromDepth(0.0f), 00048 timeUndistortDepth(0.0f), 00049 timeBilateralFiltering(0.0f), 00050 timeTotal(0.0f), 00051 odomCovariance(cv::Mat::eye(6,6,CV_64FC1)) 00052 { 00053 } 00054 virtual ~CameraInfo() {} 00055 00056 std::string cameraName; 00057 int id; 00058 double stamp; 00059 float timeCapture; 00060 float timeDisparity; 00061 float timeMirroring; 00062 float timeStereoExposureCompensation; 00063 float timeImageDecimation; 00064 float timeScanFromDepth; 00065 float timeUndistortDepth; 00066 float timeBilateralFiltering; 00067 float timeTotal; 00068 Transform odomPose; 00069 cv::Mat odomCovariance; 00070 std::vector<float> odomVelocity; 00071 }; 00072 00073 } // namespace rtabmap