#include <CameraARCore.h>

Inheritance diagram for rtabmap::CameraARCore:

[legend]

Public Member Functions
	CameraARCore (void env, void context, void *activity, bool depthFromMotion=false, bool smoothing=false, float upstreamRelocalizationAccThr=0.0f)

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, float upstreamRelocalizationAccThr=0.0f)

const CameraModel &	getCameraModel () const

const Transform &	getDeviceTColorCamera () const

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

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 ()

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 Member Functions inherited from rtabmap::CameraMobile
static LaserScan	scanFromPointCloudData (const cv::Mat &pointCloudData, 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 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`,
		float	upstreamRelocalizationAccThr = `0.0f`
	)

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 241 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.

◆ setScreenRotationAndSize()

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

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 277 of file CameraARCore.cpp.

◆ updateDataOnRender()

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

protectedvirtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 291 of file CameraARCore.cpp.

Member Data Documentation

◆ activity_

void* rtabmap::CameraARCore::activity_

private

Definition at line 71 of file CameraARCore.h.

◆ arCameraIntrinsics_

ArCameraIntrinsics* rtabmap::CameraARCore::arCameraIntrinsics_ = nullptr

private

Definition at line 75 of file CameraARCore.h.

◆ arConfig_

ArConfig* rtabmap::CameraARCore::arConfig_ = nullptr

private

Definition at line 73 of file CameraARCore.h.

◆ arFrame_

ArFrame* rtabmap::CameraARCore::arFrame_ = nullptr

private

Definition at line 74 of file CameraARCore.h.

◆ arInstallRequested_

bool rtabmap::CameraARCore::arInstallRequested_

private

Definition at line 77 of file CameraARCore.h.

◆ arPose_

ArPose* rtabmap::CameraARCore::arPose_ = nullptr

private

Definition at line 76 of file CameraARCore.h.

◆ arSession_

ArSession* rtabmap::CameraARCore::arSession_ = nullptr

private

Definition at line 72 of file CameraARCore.h.

◆ arSessionMutex_

UMutex rtabmap::CameraARCore::arSessionMutex_

private

Definition at line 78 of file CameraARCore.h.

◆ context_

void* rtabmap::CameraARCore::context_

private

Definition at line 70 of file CameraARCore.h.

◆ depthFromMotion_

bool rtabmap::CameraARCore::depthFromMotion_

private

Definition at line 80 of file CameraARCore.h.

◆ env_

void* rtabmap::CameraARCore::env_

private

Definition at line 69 of file CameraARCore.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CameraARCore()

◆ ~CameraARCore()

Member Function Documentation

◆ close()

◆ getPoseAtTimestamp()

◆ getSerial()

◆ init()

◆ setScreenRotationAndSize()

◆ updateDataOnRender()

Member Data Documentation

◆ activity_

◆ arCameraIntrinsics_

◆ arConfig_

◆ arFrame_

◆ arInstallRequested_

◆ arPose_

◆ arSession_

◆ arSessionMutex_

◆ context_

◆ depthFromMotion_

◆ env_