#include <CameraTango.h>

Inheritance diagram for rtabmap::CameraTango:

[legend]

Public Member Functions
	CameraTango (bool colorCamera, int decimation, bool publishRawScan, bool smoothing)

void	close ()

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

const CameraModel &	getCameraModel () const

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	resetOrigin ()

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

void	setColorCamera (bool enabled)

void	setDecimation (int value)

void	setGPS (const GPS &gps)

void	setRawScanPublished (bool enabled)

void	setScreenRotation (TangoSupportRotation colorCameraToDisplayRotation)

void	setSmoothing (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::Camera
float	getImageRate () const

const Transform &	getLocalTransform () const

virtual bool	odomProvided () const

void	resetTimer ()

void	setImageRate (float imageRate)

void	setLocalTransform (const Transform &localTransform)

SensorData	takeImage (CameraInfo *info=0)

virtual	~Camera ()

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 ()

Static Public Attributes
static const float	bilateralFilteringSigmaR = 0.075f

static const float	bilateralFilteringSigmaS = 2.0f

Protected Member Functions
virtual SensorData	captureImage (CameraInfo *info=0)

Protected Member Functions inherited from rtabmap::Camera
	Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())

int	getNextSeqID ()

Protected Member Functions inherited from UThreadC< void >
	UThreadC ()

	UThreadC ()

Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const

Private Member Functions
rtabmap::Transform	getPoseAtTimestamp (double timestamp)

virtual void	mainLoop ()

virtual void	mainLoopBegin ()

Private Attributes
UTimer	cameraStartedTime_

cv::Mat	cloud_

double	cloudStamp_

bool	colorCamera_

TangoSupportRotation	colorCameraToDisplayRotation_

boost::mutex	dataMutex_

USemaphore	dataReady_

int	decimation_

Transform	deviceTColorCamera_

cv::Mat	fisheyeRectifyMapX_

cv::Mat	fisheyeRectifyMapY_

GPS	lastKnownGPS_

CameraModel	model_

Transform	originOffset_

bool	originUpdate_

Transform	previousPose_

double	previousStamp_

bool	rawScanPublished_

bool	smoothing_

double	stampEpochOffset_

void *	tango_config_

cv::Mat	tangoColor_

double	tangoColorStamp_

int	tangoColorType_

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 (Handle H)

static int	Detach (const Handle &H)

static int	Join (const Handle &H)

static int	Join (Handle H)

static int	Kill (Handle H)

static int	Kill (const Handle &H)

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

Definition at line 73 of file CameraTango.h.

Constructor & Destructor Documentation

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

Definition at line 110 of file CameraTango.cpp.

rtabmap::CameraTango::~CameraTango ( )

virtual

Definition at line 128 of file CameraTango.cpp.

Member Function Documentation

SensorData rtabmap::CameraTango::captureImage ( CameraInfo * info = 0 )

protectedvirtual

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

Implements rtabmap::Camera.

Definition at line 597 of file CameraTango.cpp.

void rtabmap::CameraTango::close ( )

Definition at line 426 of file CameraTango.cpp.

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

Definition at line 450 of file CameraTango.cpp.

const CameraModel& rtabmap::CameraTango::getCameraModel ( ) const

inline

Definition at line 87 of file CameraTango.h.

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

private

Definition at line 565 of file CameraTango.cpp.

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

virtual

Implements rtabmap::Camera.

Definition at line 538 of file CameraTango.cpp.

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

virtual

Implements rtabmap::Camera.

Definition at line 192 of file CameraTango.cpp.

bool rtabmap::CameraTango::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 533 of file CameraTango.cpp.

void rtabmap::CameraTango::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 929 of file CameraTango.cpp.

void rtabmap::CameraTango::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 920 of file CameraTango.cpp.

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

Definition at line 506 of file CameraTango.cpp.

void rtabmap::CameraTango::resetOrigin ( )

Definition at line 445 of file CameraTango.cpp.

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

Definition at line 488 of file CameraTango.cpp.

void rtabmap::CameraTango::setColorCamera ( bool enabled )

inline

Definition at line 89 of file CameraTango.h.

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

inline

Definition at line 90 of file CameraTango.h.

void rtabmap::CameraTango::setGPS ( const GPS & gps )

Definition at line 543 of file CameraTango.cpp.

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

inline

Definition at line 92 of file CameraTango.h.

void rtabmap::CameraTango::setScreenRotation ( TangoSupportRotation colorCameraToDisplayRotation )

inline

Definition at line 93 of file CameraTango.h.

void rtabmap::CameraTango::setSmoothing ( bool enabled )

inline

Definition at line 91 of file CameraTango.h.

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

Definition at line 528 of file CameraTango.cpp.

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

Definition at line 548 of file CameraTango.cpp.

Member Data Documentation

const float rtabmap::CameraTango::bilateralFilteringSigmaR = 0.075f

static

Definition at line 76 of file CameraTango.h.

const float rtabmap::CameraTango::bilateralFilteringSigmaS = 2.0f

static

Definition at line 75 of file CameraTango.h.

UTimer rtabmap::CameraTango::cameraStartedTime_

private

Definition at line 114 of file CameraTango.h.

cv::Mat rtabmap::CameraTango::cloud_

private

Definition at line 120 of file CameraTango.h.

double rtabmap::CameraTango::cloudStamp_

private

Definition at line 121 of file CameraTango.h.

bool rtabmap::CameraTango::colorCamera_

private

Definition at line 116 of file CameraTango.h.

TangoSupportRotation rtabmap::CameraTango::colorCameraToDisplayRotation_

private

Definition at line 129 of file CameraTango.h.

boost::mutex rtabmap::CameraTango::dataMutex_

private

Definition at line 125 of file CameraTango.h.

USemaphore rtabmap::CameraTango::dataReady_

private

Definition at line 126 of file CameraTango.h.

int rtabmap::CameraTango::decimation_

private

Definition at line 117 of file CameraTango.h.

Transform rtabmap::CameraTango::deviceTColorCamera_

private

Definition at line 128 of file CameraTango.h.

cv::Mat rtabmap::CameraTango::fisheyeRectifyMapX_

private

Definition at line 130 of file CameraTango.h.

cv::Mat rtabmap::CameraTango::fisheyeRectifyMapY_

private

Definition at line 131 of file CameraTango.h.

GPS rtabmap::CameraTango::lastKnownGPS_

private

Definition at line 132 of file CameraTango.h.

CameraModel rtabmap::CameraTango::model_

private

Definition at line 127 of file CameraTango.h.

Transform rtabmap::CameraTango::originOffset_

private

Definition at line 133 of file CameraTango.h.

bool rtabmap::CameraTango::originUpdate_

private

Definition at line 134 of file CameraTango.h.

Transform rtabmap::CameraTango::previousPose_

private

Definition at line 112 of file CameraTango.h.

double rtabmap::CameraTango::previousStamp_

private

Definition at line 113 of file CameraTango.h.

bool rtabmap::CameraTango::rawScanPublished_

private

Definition at line 118 of file CameraTango.h.

bool rtabmap::CameraTango::smoothing_

private

Definition at line 119 of file CameraTango.h.

double rtabmap::CameraTango::stampEpochOffset_

private

Definition at line 115 of file CameraTango.h.

void* rtabmap::CameraTango::tango_config_

private

Definition at line 111 of file CameraTango.h.

cv::Mat rtabmap::CameraTango::tangoColor_

private

Definition at line 122 of file CameraTango.h.

double rtabmap::CameraTango::tangoColorStamp_

private

Definition at line 124 of file CameraTango.h.

int rtabmap::CameraTango::tangoColorType_

private

Definition at line 123 of file CameraTango.h.

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

Public Member Functions

Static Public Attributes

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation