#include <CameraTango.h>

Inheritance diagram for rtabmap::CameraTango:

[legend]

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

virtual 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="")

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

void	setDecimation (int value)

void	setRawScanPublished (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::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)

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

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
bool	colorCamera_

int	decimation_

cv::Mat	fisheyeRectifyMapX_

cv::Mat	fisheyeRectifyMapY_

bool	rawScanPublished_

void *	tango_config_

cv::Mat	tangoColor_

double	tangoColorStamp_

int	tangoColorType_

SensorData	tangoData_

boost::mutex	tangoDataMutex_

USemaphore	tangoDataReady_

Additional Inherited Members
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)

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 46 of file CameraTango.h.

Constructor & Destructor Documentation

◆ CameraTango()

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

Definition at line 117 of file CameraTango.cpp.

◆ ~CameraTango()

rtabmap::CameraTango::~CameraTango ( )

virtual

Definition at line 129 of file CameraTango.cpp.

Member Function Documentation

◆ close()

void rtabmap::CameraTango::close ( )

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 424 of file CameraTango.cpp.

◆ cloudReceived()

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

Definition at line 440 of file CameraTango.cpp.

◆ getPoseAtTimestamp()

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

private

Definition at line 747 of file CameraTango.cpp.

◆ getSerial()

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

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 725 of file CameraTango.cpp.

◆ init()

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

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 193 of file CameraTango.cpp.

◆ rgbReceived()

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

Definition at line 706 of file CameraTango.cpp.

◆ setDecimation()

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

inline

Definition at line 55 of file CameraTango.h.

◆ setRawScanPublished()

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

inline

Definition at line 56 of file CameraTango.h.

◆ tangoEventReceived()

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

Definition at line 720 of file CameraTango.cpp.

◆ tangoPoseToTransform()

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

Definition at line 730 of file CameraTango.cpp.

◆ updateDataOnRender()

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

protectedvirtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 778 of file CameraTango.cpp.

Member Data Documentation

◆ colorCamera_

bool rtabmap::CameraTango::colorCamera_

private

Definition at line 70 of file CameraTango.h.

◆ decimation_

int rtabmap::CameraTango::decimation_

private

Definition at line 71 of file CameraTango.h.

◆ fisheyeRectifyMapX_

cv::Mat rtabmap::CameraTango::fisheyeRectifyMapX_

private

Definition at line 79 of file CameraTango.h.

◆ fisheyeRectifyMapY_

cv::Mat rtabmap::CameraTango::fisheyeRectifyMapY_

private

Definition at line 80 of file CameraTango.h.

◆ rawScanPublished_

bool rtabmap::CameraTango::rawScanPublished_

private

Definition at line 72 of file CameraTango.h.

◆ tango_config_

void* rtabmap::CameraTango::tango_config_

private

Definition at line 69 of file CameraTango.h.

◆ tangoColor_

cv::Mat rtabmap::CameraTango::tangoColor_

private

Definition at line 74 of file CameraTango.h.

◆ tangoColorStamp_

double rtabmap::CameraTango::tangoColorStamp_

private

Definition at line 76 of file CameraTango.h.

◆ tangoColorType_

int rtabmap::CameraTango::tangoColorType_

private

Definition at line 75 of file CameraTango.h.

◆ tangoData_

SensorData rtabmap::CameraTango::tangoData_

private

Definition at line 73 of file CameraTango.h.

◆ tangoDataMutex_

boost::mutex rtabmap::CameraTango::tangoDataMutex_

private

Definition at line 77 of file CameraTango.h.

◆ tangoDataReady_

USemaphore rtabmap::CameraTango::tangoDataReady_

private

Definition at line 78 of file CameraTango.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

◆ CameraTango()

◆ ~CameraTango()

Member Function Documentation

◆ close()

◆ cloudReceived()

◆ getPoseAtTimestamp()

◆ getSerial()

◆ init()

◆ rgbReceived()

◆ setDecimation()

◆ setRawScanPublished()

◆ tangoEventReceived()

◆ tangoPoseToTransform()

◆ updateDataOnRender()

Member Data Documentation

◆ colorCamera_

◆ decimation_

◆ fisheyeRectifyMapX_

◆ fisheyeRectifyMapY_

◆ rawScanPublished_

◆ tango_config_

◆ tangoColor_

◆ tangoColorStamp_

◆ tangoColorType_

◆ tangoData_

◆ tangoDataMutex_

◆ tangoDataReady_