#include <CameraTango.h>

Inheritance diagram for rtabmap::CameraTango:

Public Member Functions
	CameraTango (int decimation, bool autoExposure)
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="")
virtual bool	isCalibrated () const
void	poseReceived (const Transform &pose)
void	rgbReceived (const cv::Mat &tangoImage, int type, double timestamp)
void	setAutoExposure (bool enabled)
void	setDecimation (int value)
void	tangoEventReceived (int type, const char key, const char value)
rtabmap::Transform	tangoPoseToTransform (const TangoPoseData *tangoPose, bool inOpenGLFrame) const
virtual	~CameraTango ()
Protected Member Functions
virtual SensorData	captureImage (CameraInfo *info=0)
Private Member Functions
rtabmap::Transform	getPoseAtTimestamp (double timestamp, bool inOpenGLFrame)
virtual void	mainLoop ()
virtual void	mainLoopBegin ()
Private Attributes
bool	autoExposure_
cv::Mat	cloud_
double	cloudStamp_
boost::mutex	dataMutex_
USemaphore	dataReady_
int	decimation_
rtabmap::Transform	deviceTDepth_
bool	firstFrame_
rtabmap::Transform	imuTDepthCamera_
rtabmap::Transform	imuTDevice_
CameraModel	model_
void *	tango_config_
cv::Mat	tangoColor_
double	tangoColorStamp_
int	tangoColorType_

Detailed Description

Definition at line 70 of file CameraTango.h.

Constructor & Destructor Documentation

rtabmap::CameraTango::CameraTango	(	int	decimation,
		bool	autoExposure
	)

Definition at line 99 of file CameraTango.cpp.

rtabmap::CameraTango::~CameraTango ( ) [virtual]

Definition at line 112 of file CameraTango.cpp.

Member Function Documentation

SensorData rtabmap::CameraTango::captureImage ( CameraInfo * info = 0 ) [protected, virtual]

returned rgb and depth images should be already rectified if calibration was loaded

Implements rtabmap::Camera.

Definition at line 467 of file CameraTango.cpp.

void rtabmap::CameraTango::close ( )

Definition at line 323 of file CameraTango.cpp.

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

Definition at line 334 of file CameraTango.cpp.

rtabmap::Transform rtabmap::CameraTango::getPoseAtTimestamp	(	double	timestamp,
		bool	inOpenGLFrame
	)		`[private]`

Definition at line 432 of file CameraTango.cpp.

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

Implements rtabmap::Camera.

Definition at line 396 of file CameraTango.cpp.

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

Implements rtabmap::Camera.

Definition at line 117 of file CameraTango.cpp.

bool rtabmap::CameraTango::isCalibrated ( ) const [virtual]

Implements rtabmap::Camera.

Definition at line 391 of file CameraTango.cpp.

void rtabmap::CameraTango::mainLoop ( ) [private, virtual]

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 627 of file CameraTango.cpp.

void rtabmap::CameraTango::mainLoopBegin ( ) [private, virtual]

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 622 of file CameraTango.cpp.

void rtabmap::CameraTango::poseReceived ( const Transform & pose )

Definition at line 378 of file CameraTango.cpp.