#include <CameraMobile.h>

Inheritance diagram for rtabmap::CameraMobile:

[legend]

Public Member Functions
void	addEnvSensor (int type, float value)

	CameraMobile (bool smoothing=false)

virtual void	close ()

const CameraModel &	getCameraModel () const

const Transform &	getDeviceTColorCamera () const

const cv::Mat &	getOcclusionImage (CameraModel *model=0) const

const Transform &	getOriginOffset () const

ScreenRotation	getScreenRotation () const

virtual std::string	getSerial () const

GLuint	getTextureId ()

void	getVPMatrices (glm::mat4 &view, glm::mat4 &projection) const

virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")

virtual bool	isCalibrated () const

void	poseReceived (const Transform &pose)

void	resetOrigin ()

void	setData (const SensorData &data, const Transform &pose, const glm::mat4 &viewMatrix, const glm::mat4 &projectionMatrix, const float *texCoord)

void	setGPS (const GPS &gps)

void	setOcclusionImage (const cv::Mat &image, const CameraModel &model)

virtual void	setScreenRotationAndSize (ScreenRotation colorCameraToDisplayRotation, int width, int height)

void	setSmoothing (bool enabled)

void	spinOnce ()

bool	uvsInitialized () const

const float *	uvsTransformed () const

virtual	~CameraMobile ()

Public Member Functions inherited from rtabmap::Camera
float	getImageRate () const

const Transform &	getLocalTransform () const

virtual bool	getPose (double stamp, Transform &pose, cv::Mat &covariance)

bool	initFromFile (const std::string &calibrationPath)

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 Member Functions
static LaserScan	scanFromPointCloudData (const cv::Mat &pointCloudData, int points, const Transform &pose, const CameraModel &model, const cv::Mat &rgb, std::vector< cv::KeyPoint > kpts=0, std::vector< cv::Point3f > kpts3D=0, int kptsSize=3)

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 Public Attributes
static const float	bilateralFilteringSigmaR = 0.075f

static const float	bilateralFilteringSigmaS = 2.0f

static const rtabmap::Transform	opticalRotation

static const rtabmap::Transform	opticalRotationInv

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

virtual void	capturePoseOnly ()

virtual void	mainLoop ()

virtual void	mainLoopBegin ()

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

Protected Attributes
Transform	deviceTColorCamera_

CameraModel	model_

glm::mat4	projectionMatrix_

UTimer	spinOnceFrameRateTimer_

double	spinOncePreviousStamp_

GLuint	textureId_

float	transformed_uvs_ [8]

bool	uvs_initialized_ = false

glm::mat4	viewMatrix_

Private Attributes
UTimer	cameraStartedTime_

ScreenRotation	colorCameraToDisplayRotation_

SensorData	data_

EnvSensors	lastEnvSensors_

GPS	lastKnownGPS_

cv::Mat	occlusionImage_

CameraModel	occlusionModel_

Transform	originOffset_

bool	originUpdate_

Transform	pose_

Transform	previousPose_

double	previousStamp_

bool	smoothing_

double	stampEpochOffset_

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 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 71 of file CameraMobile.h.

Constructor & Destructor Documentation

◆ CameraMobile()

rtabmap::CameraMobile::CameraMobile ( bool smoothing = false )

Definition at line 55 of file CameraMobile.cpp.

◆ ~CameraMobile()

rtabmap::CameraMobile::~CameraMobile ( )

virtual

Definition at line 69 of file CameraMobile.cpp.

Member Function Documentation

◆ addEnvSensor()

void rtabmap::CameraMobile::addEnvSensor	(	int	type,
		float	value
	)

Definition at line 198 of file CameraMobile.cpp.

◆ captureImage()

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

protectedvirtual

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

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraARCore, rtabmap::CameraTango, and rtabmap::CameraAREngine.

Definition at line 396 of file CameraMobile.cpp.

◆ capturePoseOnly()

virtual void rtabmap::CameraMobile::capturePoseOnly ( )

inlineprotectedvirtual

Reimplemented in rtabmap::CameraARCore, and rtabmap::CameraAREngine.

Definition at line 126 of file CameraMobile.h.

◆ close()

void rtabmap::CameraMobile::close ( )

virtual

Reimplemented in rtabmap::CameraARCore, rtabmap::CameraAREngine, and rtabmap::CameraTango.

Definition at line 80 of file CameraMobile.cpp.

◆ getCameraModel()

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

inline

Definition at line 105 of file CameraMobile.h.

◆ getDeviceTColorCamera()

const Transform& rtabmap::CameraMobile::getDeviceTColorCamera ( ) const

inline

Definition at line 106 of file CameraMobile.h.

◆ getOcclusionImage()

const cv::Mat& rtabmap::CameraMobile::getOcclusionImage ( CameraModel * model = 0 ) const

inline

Definition at line 122 of file CameraMobile.h.

◆ getOriginOffset()

const Transform& rtabmap::CameraMobile::getOriginOffset ( ) const

inline

Definition at line 99 of file CameraMobile.h.

◆ getScreenRotation()

ScreenRotation rtabmap::CameraMobile::getScreenRotation ( ) const

inline

Definition at line 119 of file CameraMobile.h.

◆ getSerial()

virtual std::string rtabmap::CameraMobile::getSerial ( ) const

inlinevirtual

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraARCore, rtabmap::CameraAREngine, and rtabmap::CameraTango.

Definition at line 97 of file CameraMobile.h.

◆ getTextureId()

GLuint rtabmap::CameraMobile::getTextureId ( )

inline

Definition at line 115 of file CameraMobile.h.

◆ getVPMatrices()

void rtabmap::CameraMobile::getVPMatrices	(	glm::mat4 &	view,
		glm::mat4 &	projection
	)		const

inline

Definition at line 118 of file CameraMobile.h.

◆ init()

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

virtual

Implements rtabmap::Camera.

Reimplemented in rtabmap::CameraARCore, rtabmap::CameraAREngine, and rtabmap::CameraTango.

Definition at line 74 of file CameraMobile.cpp.

◆ isCalibrated()

bool rtabmap::CameraMobile::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 132 of file CameraMobile.cpp.

◆ mainLoop()

void rtabmap::CameraMobile::mainLoop ( )

protectedvirtual

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 242 of file CameraMobile.cpp.

◆ mainLoopBegin()

void rtabmap::CameraMobile::mainLoopBegin ( )

protectedvirtual

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 233 of file CameraMobile.cpp.

◆ poseReceived()

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

Definition at line 109 of file CameraMobile.cpp.

◆ resetOrigin()

void rtabmap::CameraMobile::resetOrigin ( )

Definition at line 98 of file CameraMobile.cpp.

◆ scanFromPointCloudData()

LaserScan rtabmap::CameraMobile::scanFromPointCloudData	(	const cv::Mat &	pointCloudData,
		int	points,
		const Transform &	pose,
		const CameraModel &	model,
		const cv::Mat &	rgb,
		std::vector< cv::KeyPoint > *	kpts = `0`,
		std::vector< cv::Point3f > *	kpts3D = `0`,
		int	kptsSize = `3`
	)

static

Definition at line 405 of file CameraMobile.cpp.

◆ setData()

void rtabmap::CameraMobile::setData	(	const SensorData &	data,
		const Transform &	pose,
		const glm::mat4 &	viewMatrix,
		const glm::mat4 &	projectionMatrix,
		const float *	texCoord
	)

Definition at line 142 of file CameraMobile.cpp.

◆ setGPS()

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

Definition at line 137 of file CameraMobile.cpp.

◆ setOcclusionImage()

void rtabmap::CameraMobile::setOcclusionImage	(	const cv::Mat &	image,
		const CameraModel &	model
	)

inline

Definition at line 121 of file CameraMobile.h.

◆ setScreenRotationAndSize()

virtual void rtabmap::CameraMobile::setScreenRotationAndSize	(	ScreenRotation	colorCameraToDisplayRotation,
		int	width,
		int	height
	)

inlinevirtual

Reimplemented in rtabmap::CameraARCore.

Definition at line 108 of file CameraMobile.h.

◆ setSmoothing()

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

inline

Definition at line 107 of file CameraMobile.h.

◆ spinOnce()

void rtabmap::CameraMobile::spinOnce ( )

Definition at line 203 of file CameraMobile.cpp.

◆ uvsInitialized()

bool rtabmap::CameraMobile::uvsInitialized ( ) const

inline

Definition at line 116 of file CameraMobile.h.

◆ uvsTransformed()

const float* rtabmap::CameraMobile::uvsTransformed ( ) const

inline

Definition at line 117 of file CameraMobile.h.

Member Data Documentation

◆ bilateralFilteringSigmaR

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

static

Definition at line 74 of file CameraMobile.h.

◆ bilateralFilteringSigmaS

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

static

Definition at line 73 of file CameraMobile.h.

◆ cameraStartedTime_

UTimer rtabmap::CameraMobile::cameraStartedTime_

private

Definition at line 146 of file CameraMobile.h.

◆ colorCameraToDisplayRotation_

ScreenRotation rtabmap::CameraMobile::colorCameraToDisplayRotation_

private

Definition at line 149 of file CameraMobile.h.

◆ data_

SensorData rtabmap::CameraMobile::data_

private

Definition at line 155 of file CameraMobile.h.

◆ deviceTColorCamera_

Transform rtabmap::CameraMobile::deviceTColorCamera_

protected

Definition at line 133 of file CameraMobile.h.

◆ lastEnvSensors_

EnvSensors rtabmap::CameraMobile::lastEnvSensors_

private

Definition at line 151 of file CameraMobile.h.

◆ lastKnownGPS_

GPS rtabmap::CameraMobile::lastKnownGPS_

private

Definition at line 150 of file CameraMobile.h.

◆ model_

CameraModel rtabmap::CameraMobile::model_

protected

Definition at line 132 of file CameraMobile.h.

◆ occlusionImage_

cv::Mat rtabmap::CameraMobile::occlusionImage_

private

Definition at line 158 of file CameraMobile.h.

◆ occlusionModel_

CameraModel rtabmap::CameraMobile::occlusionModel_

private

Definition at line 159 of file CameraMobile.h.

◆ opticalRotation

const rtabmap::Transform rtabmap::CameraMobile::opticalRotation

static

Initial value:

= Transform(
                0.0f,  0.0f,  1.0f, 0.0f,
           -1.0f,  0.0f,  0.0f, 0.0f,
                0.0f, -1.0f,  0.0f, 0.0f)

Definition at line 76 of file CameraMobile.h.

◆ opticalRotationInv

const rtabmap::Transform rtabmap::CameraMobile::opticalRotationInv

static

Initial value:

= Transform(
                0.0f, -1.0f,  0.0f, 0.0f,
            0.0f,  0.0f, -1.0f, 0.0f,
                1.0f,  0.0f,  0.0f, 0.0f)

Definition at line 77 of file CameraMobile.h.

◆ originOffset_

Transform rtabmap::CameraMobile::originOffset_

private

Definition at line 152 of file CameraMobile.h.

◆ originUpdate_

bool rtabmap::CameraMobile::originUpdate_

private

Definition at line 153 of file CameraMobile.h.

◆ pose_

Transform rtabmap::CameraMobile::pose_

private

Definition at line 156 of file CameraMobile.h.

◆ previousPose_

Transform rtabmap::CameraMobile::previousPose_

private

Definition at line 144 of file CameraMobile.h.

◆ previousStamp_

double rtabmap::CameraMobile::previousStamp_

private

Definition at line 145 of file CameraMobile.h.

◆ projectionMatrix_

glm::mat4 rtabmap::CameraMobile::projectionMatrix_

protected

Definition at line 139 of file CameraMobile.h.

◆ smoothing_

bool rtabmap::CameraMobile::smoothing_

private

Definition at line 148 of file CameraMobile.h.

◆ spinOnceFrameRateTimer_

UTimer rtabmap::CameraMobile::spinOnceFrameRateTimer_

protected

Definition at line 134 of file CameraMobile.h.

◆ spinOncePreviousStamp_

double rtabmap::CameraMobile::spinOncePreviousStamp_

protected

Definition at line 135 of file CameraMobile.h.

◆ stampEpochOffset_

double rtabmap::CameraMobile::stampEpochOffset_

private

Definition at line 147 of file CameraMobile.h.

◆ textureId_

GLuint rtabmap::CameraMobile::textureId_

protected

Definition at line 137 of file CameraMobile.h.

◆ transformed_uvs_

float rtabmap::CameraMobile::transformed_uvs_[8]

protected

Definition at line 140 of file CameraMobile.h.

◆ uvs_initialized_

bool rtabmap::CameraMobile::uvs_initialized_ = false

protected

Definition at line 141 of file CameraMobile.h.

◆ viewMatrix_

glm::mat4 rtabmap::CameraMobile::viewMatrix_

protected

Definition at line 138 of file CameraMobile.h.

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

Public Member Functions

Static Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CameraMobile()

◆ ~CameraMobile()

Member Function Documentation

◆ addEnvSensor()

◆ captureImage()

◆ capturePoseOnly()

◆ close()

◆ getCameraModel()

◆ getDeviceTColorCamera()

◆ getOcclusionImage()

◆ getOriginOffset()

◆ getScreenRotation()

◆ getSerial()

◆ getTextureId()

◆ getVPMatrices()

◆ init()

◆ isCalibrated()

◆ mainLoop()

◆ mainLoopBegin()

◆ poseReceived()

◆ resetOrigin()

◆ scanFromPointCloudData()

◆ setData()

◆ setGPS()

◆ setOcclusionImage()

◆ setScreenRotationAndSize()

◆ setSmoothing()

◆ spinOnce()

◆ uvsInitialized()

◆ uvsTransformed()

Member Data Documentation

◆ bilateralFilteringSigmaR

◆ bilateralFilteringSigmaS

◆ cameraStartedTime_

◆ colorCameraToDisplayRotation_

◆ data_

◆ deviceTColorCamera_

◆ lastEnvSensors_

◆ lastKnownGPS_

◆ model_

◆ occlusionImage_

◆ occlusionModel_

◆ opticalRotation

◆ opticalRotationInv

◆ originOffset_

◆ originUpdate_

◆ pose_

◆ previousPose_

◆ previousStamp_

◆ projectionMatrix_

◆ smoothing_

◆ spinOnceFrameRateTimer_

◆ spinOncePreviousStamp_

◆ stampEpochOffset_

◆ textureId_

◆ transformed_uvs_

◆ uvs_initialized_

◆ viewMatrix_