rtabmap::CameraARCore Class Reference

#include <CameraARCore.h>

Inheritance diagram for rtabmap::CameraARCore:

Public Member Functions
	CameraARCore (void *env, void *context, void *activity, bool depthFromMotion=false, bool smoothing=false)
virtual void	close ()
virtual std::string	getSerial () const
virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")
virtual void	setScreenRotationAndSize (ScreenRotation colorCameraToDisplayRotation, int width, int height)
virtual	~CameraARCore ()
Public Member Functions inherited from rtabmap::CameraMobile
void	addEnvSensor (int type, float value)
	CameraMobile (bool smoothing=false)
const CameraModel &	getCameraModel () const
const Transform &	getDeviceTColorCamera () const
const cv::Mat &	getOcclusionImage (CameraModel *model=0) const
const Transform &	getOriginOffset () const
virtual bool	getPose (double epochStamp, Transform &pose, cv::Mat &covariance, double maxWaitTime=0.06)
ScreenRotation	getScreenRotation () const
double	getStampEpochOffset () const
GLuint	getTextureId ()
void	getVPMatrices (glm::mat4 &view, glm::mat4 &projection) const
virtual bool	isCalibrated () const
virtual bool	odomProvided () const
void	poseReceived (const Transform &pose, double deviceStamp)
void	resetOrigin ()
void	setGPS (const GPS &gps)
void	setOcclusionImage (const cv::Mat &image, const CameraModel &model)
void	setSmoothing (bool enabled)
void	update (const SensorData &data, const Transform &pose, const glm::mat4 &viewMatrix, const glm::mat4 &projectionMatrix, const float *texCoord)
void	updateOnRender ()
bool	uvsInitialized () const
const float *	uvsTransformed () const
virtual	~CameraMobile ()
Public Member Functions inherited from rtabmap::Camera
float	getImageRate () const
bool	initFromFile (const std::string &calibrationPath)
bool	isInterIMUPublishing () const
void	setImageRate (float imageRate)
void	setInterIMUPublishing (bool enabled, IMUFilter *filter=0)
SensorData	takeImage (SensorCaptureInfo *info=0)
virtual	~Camera ()
Public Member Functions inherited from rtabmap::SensorCapture
float	getFrameRate () const
const Transform &	getLocalTransform () const
void	resetTimer ()
void	setFrameRate (float frameRate)
void	setLocalTransform (const Transform &localTransform)
SensorData	takeData (SensorCaptureInfo *info=0)
virtual	~SensorCapture ()
Public Member Functions inherited from UEventsSender
	UEventsSender ()
virtual	~UEventsSender ()

Static Public Member Functions
static LaserScan	scanFromPointCloudData (const float *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)
Static Public Member Functions inherited from rtabmap::CameraMobile
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)

Protected Member Functions
virtual SensorData	updateDataOnRender (Transform &pose)
Protected Member Functions inherited from rtabmap::Camera
	Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())
void	postInterIMU (const IMU &imu, double stamp)
Protected Member Functions inherited from rtabmap::SensorCapture
int	getNextSeqID ()
	SensorCapture (float frameRate=0, const Transform &localTransform=Transform::getIdentity())
Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const

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

Private Attributes
void *	activity_
ArCameraIntrinsics *	arCameraIntrinsics_ = nullptr
ArConfig *	arConfig_ = nullptr
ArFrame *	arFrame_ = nullptr
bool	arInstallRequested_
ArPose *	arPose_ = nullptr
ArSession *	arSession_ = nullptr
UMutex	arSessionMutex_
void *	context_
bool	depthFromMotion_
void *	env_

Additional Inherited Members
Static Public Attributes inherited from rtabmap::CameraMobile
static const float	bilateralFilteringSigmaR = 0.075f
static const float	bilateralFilteringSigmaS = 2.0f
static const rtabmap::Transform	opticalRotation
static const rtabmap::Transform	opticalRotationInv
Protected Attributes inherited from rtabmap::CameraMobile
Transform	deviceTColorCamera_
CameraModel	model_
glm::mat4	projectionMatrix_
GLuint	textureId_
float	transformed_uvs_ [8]
bool	uvs_initialized_ = false
glm::mat4	viewMatrix_

Detailed Description

Definition at line 51 of file CameraARCore.h.

Constructor & Destructor Documentation

CameraARCore()

rtabmap::CameraARCore::CameraARCore	(	void *	env,
		void *	context,
		void *	activity,
		bool	depthFromMotion = false,
		bool	smoothing = false
	)

Definition at line 40 of file CameraARCore.cpp.

~CameraARCore()

rtabmap::CameraARCore::~CameraARCore ( )

virtual

Definition at line 50 of file CameraARCore.cpp.

Member Function Documentation

close()

void rtabmap::CameraARCore::close ( )

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 239 of file CameraARCore.cpp.

getPoseAtTimestamp()

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

private

getSerial()

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

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 119 of file CameraARCore.cpp.

init()

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

virtual

Sets the behavior of ArSession_update(). See ::ArUpdateMode for available options.

Reimplemented from rtabmap::CameraMobile.

Definition at line 124 of file CameraARCore.cpp.

scanFromPointCloudData()

LaserScan rtabmap::CameraARCore::scanFromPointCloudData ( const float *  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  )

static

Definition at line 275 of file CameraARCore.cpp.

setScreenRotationAndSize()

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

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 323 of file CameraARCore.cpp.

updateDataOnRender()

SensorData rtabmap::CameraARCore::updateDataOnRender ( Transform &  pose )

protectedvirtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 337 of file CameraARCore.cpp.

Member Data Documentation

activity_

void* rtabmap::CameraARCore::activity_

private

Definition at line 81 of file CameraARCore.h.

arCameraIntrinsics_

ArCameraIntrinsics* rtabmap::CameraARCore::arCameraIntrinsics_ = nullptr

private

Definition at line 85 of file CameraARCore.h.

arConfig_

ArConfig* rtabmap::CameraARCore::arConfig_ = nullptr

private

Definition at line 83 of file CameraARCore.h.

arFrame_

ArFrame* rtabmap::CameraARCore::arFrame_ = nullptr

private

Definition at line 84 of file CameraARCore.h.

arInstallRequested_

bool rtabmap::CameraARCore::arInstallRequested_

private

Definition at line 87 of file CameraARCore.h.

arPose_

ArPose* rtabmap::CameraARCore::arPose_ = nullptr

private

Definition at line 86 of file CameraARCore.h.

arSession_

ArSession* rtabmap::CameraARCore::arSession_ = nullptr

private

Definition at line 82 of file CameraARCore.h.

arSessionMutex_

UMutex rtabmap::CameraARCore::arSessionMutex_

private

Definition at line 88 of file CameraARCore.h.

context_

void* rtabmap::CameraARCore::context_

private

Definition at line 80 of file CameraARCore.h.

depthFromMotion_

bool rtabmap::CameraARCore::depthFromMotion_

private

Definition at line 90 of file CameraARCore.h.

env_

void* rtabmap::CameraARCore::env_

private

Definition at line 79 of file CameraARCore.h.

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

• CameraARCore.h
• CameraARCore.cpp