rtabmap::SensorCaptureThread Class Reference

#include <SensorCaptureThread.h>

Inheritance diagram for rtabmap::SensorCaptureThread:

Public Member Functions
Camera *	camera ()
void	disableBilateralFiltering ()
void	disableFeatureDetection ()
void	disableIMUFiltering ()
void	enableBilateralFiltering (float sigmaS, float sigmaR)
void	enableFeatureDetection (const ParametersMap &parameters=ParametersMap())
void	enableIMUFiltering (int filteringStrategy=1, const ParametersMap &parameters=ParametersMap(), bool baseFrameConversion=false)
bool	isCapturing () const
bool	isPaused () const
Lidar *	lidar ()
bool	odomProvided () const
SensorCapture *	odomSensor ()
void	postUpdate (SensorData *data, SensorCaptureInfo *info=0) const
	SensorCaptureThread (Camera *camera, const ParametersMap &parameters=ParametersMap())
	SensorCaptureThread (Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
	SensorCaptureThread (Lidar *lidar, Camera *camera, const ParametersMap &parameters=ParametersMap())
	SensorCaptureThread (Lidar *lidar, Camera *camera, SensorCapture *odomSensor, const Transform &extrinsics, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
	SensorCaptureThread (Lidar *lidar, const ParametersMap &parameters=ParametersMap())
	SensorCaptureThread (Lidar *lidar, SensorCapture *odomSensor, double poseTimeOffset=0.0, float poseScaleFactor=1.0f, double poseWaitTime=0.1, const ParametersMap &parameters=ParametersMap())
void	setColorOnly (bool colorOnly)
void	setDistortionModel (const std::string &path)
void	setFrameRate (float frameRate)
void	setHistogramMethod (int histogramMethod)
void	setImageDecimation (int decimation)
RTABMAP_DEPRECATED void	setImageRate (float frameRate)
void	setMirroringEnabled (bool enabled)
void	setOdomAsGroundTruth (bool enabled)
RTABMAP_DEPRECATED void	setScanParameters (bool fromDepth, int downsampleStep, float rangeMin, float rangeMax, float voxelSize, int normalsK, float normalsRadius, bool forceGroundNormalsUp, bool deskewing)
void	setScanParameters (bool fromDepth, int downsampleStep=1, float rangeMin=0.0f, float rangeMax=0.0f, float voxelSize=0.0f, int normalsK=0, float normalsRadius=0.0f, float groundNormalsUp=0.0f, bool deskewing=false)
void	setStereoExposureCompensation (bool enabled)
void	setStereoToDepth (bool enabled)
virtual	~SensorCaptureThread ()
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 ()

Private Member Functions
virtual void	mainLoop ()
virtual void	mainLoopBegin ()
virtual void	mainLoopKill ()

Private Attributes
bool	_bilateralFiltering
float	_bilateralSigmaR
float	_bilateralSigmaS
Camera *	_camera
bool	_colorOnly
bool	_depthAsMask
clams::DiscreteDepthDistortionModel *	_distortionModel
Transform	_extrinsicsOdomToCamera
Feature2D *	_featureDetector
int	_histogramMethod
int	_imageDecimation
bool	_imuBaseFrameConversion
IMUFilter *	_imuFilter
Lidar *	_lidar
bool	_mirroring
bool	_odomAsGt
SensorCapture *	_odomSensor
float	_poseScaleFactor
double	_poseTimeOffset
double	_poseWaitTime
bool	_scanDeskewing
int	_scanDownsampleStep
float	_scanForceGroundNormalsUp
bool	_scanFromDepth
int	_scanNormalsK
float	_scanNormalsRadius
float	_scanRangeMax
float	_scanRangeMin
float	_scanVoxelSize
StereoDense *	_stereoDense
bool	_stereoExposureCompensation
bool	_stereoToDepth

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 (const Handle &H)
static int	Detach (Handle H)
static int	Join (const Handle &H)
static int	Join (Handle H)
static int	Kill (const Handle &H)
static int	Kill (Handle H)
Protected Member Functions inherited from UThreadC< void >
	UThreadC ()
	UThreadC ()
Protected Member Functions inherited from UEventsSender
void	post (UEvent *event, bool async=true) const
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

Class CameraThread

Definition at line 58 of file SensorCaptureThread.h.

Constructor & Destructor Documentation

SensorCaptureThread() [1/6]

rtabmap::SensorCaptureThread::SensorCaptureThread	(	Camera *	camera,
		const ParametersMap &	parameters = ParametersMap()
	)

Definition at line 54 of file SensorCaptureThread.cpp.

SensorCaptureThread() [2/6]

rtabmap::SensorCaptureThread::SensorCaptureThread	(	Camera *	camera,
		SensorCapture *	odomSensor,
		const Transform &	extrinsics,
		double	poseTimeOffset = 0.0,
		float	poseScaleFactor = 1.0f,
		double	poseWaitTime = 0.1,
		const ParametersMap &	parameters = ParametersMap()
	)

Parameters

camera	the camera to take images from
odomSensor	an odometry sensor to get a pose (can be again the camera)
odomAsGt	set odometry sensor pose as ground truth instead of odometry
extrinsics	the static transform between odometry sensor's left lens frame to camera's left lens frame (without optical rotation)

Definition at line 63 of file SensorCaptureThread.cpp.

SensorCaptureThread() [3/6]

rtabmap::SensorCaptureThread::SensorCaptureThread	(	Lidar *	lidar,
		const ParametersMap &	parameters = ParametersMap()
	)

Parameters

lidar

the lidar to take scans from

Definition at line 76 of file SensorCaptureThread.cpp.

SensorCaptureThread() [4/6]

rtabmap::SensorCaptureThread::SensorCaptureThread	(	Lidar *	lidar,
		Camera *	camera,
		const ParametersMap &	parameters = ParametersMap()
	)

Parameters

lidar	the lidar to take scans from
camera	the camera to take images from. If the camera is providing a pose, it can be used for deskewing

Definition at line 84 of file SensorCaptureThread.cpp.

SensorCaptureThread() [5/6]

rtabmap::SensorCaptureThread::SensorCaptureThread	(	Lidar *	lidar,
		SensorCapture *	odomSensor,
		double	poseTimeOffset = 0.0,
		float	poseScaleFactor = 1.0f,
		double	poseWaitTime = 0.1,
		const ParametersMap &	parameters = ParametersMap()
	)

Parameters

lidar	the lidar to take scans from
odomSensor	an odometry sensor to get a pose and used for deskewing (can be again the lidar)

Definition at line 93 of file SensorCaptureThread.cpp.

SensorCaptureThread() [6/6]

rtabmap::SensorCaptureThread::SensorCaptureThread	(	Lidar *	lidar,
		Camera *	camera,
		SensorCapture *	odomSensor,
		const Transform &	extrinsics,
		double	poseTimeOffset = 0.0,
		float	poseScaleFactor = 1.0f,
		double	poseWaitTime = 0.1,
		const ParametersMap &	parameters = ParametersMap()
	)

Parameters

lidar	the lidar to take scans from
camera	the camera to take images from
odomSensor	an odometry sensor to get a pose and used for deskewing (can be again the camera or lidar)
extrinsics	the static transform between odometry frame to camera frame (without optical rotation)

Definition at line 105 of file SensorCaptureThread.cpp.

~SensorCaptureThread()

rtabmap::SensorCaptureThread::~SensorCaptureThread ( )

virtual

Definition at line 169 of file SensorCaptureThread.cpp.

Member Function Documentation

camera()

Camera* rtabmap::SensorCaptureThread::camera ( )

inline

Definition at line 169 of file SensorCaptureThread.h.

disableBilateralFiltering()

void rtabmap::SensorCaptureThread::disableBilateralFiltering ( )

inline

Definition at line 134 of file SensorCaptureThread.h.

disableFeatureDetection()

void rtabmap::SensorCaptureThread::disableFeatureDetection

(

)

Definition at line 256 of file SensorCaptureThread.cpp.

disableIMUFiltering()

void rtabmap::SensorCaptureThread::disableIMUFiltering

(

)

Definition at line 231 of file SensorCaptureThread.cpp.

enableBilateralFiltering()

void rtabmap::SensorCaptureThread::enableBilateralFiltering	(	float	sigmaS,
		float	sigmaR
	)

Definition at line 216 of file SensorCaptureThread.cpp.

enableFeatureDetection()

void rtabmap::SensorCaptureThread::enableFeatureDetection

(

const ParametersMap &

parameters = ParametersMap()

)

Definition at line 237 of file SensorCaptureThread.cpp.

enableIMUFiltering()

void rtabmap::SensorCaptureThread::enableIMUFiltering	(	int	filteringStrategy = 1,
		const ParametersMap &	parameters = ParametersMap(),
		bool	baseFrameConversion = false
	)

Definition at line 224 of file SensorCaptureThread.cpp.

isCapturing()

bool rtabmap::SensorCaptureThread::isCapturing ( ) const

inline

Definition at line 166 of file SensorCaptureThread.h.

isPaused()

bool rtabmap::SensorCaptureThread::isPaused ( ) const

inline

Definition at line 165 of file SensorCaptureThread.h.

lidar()

Lidar* rtabmap::SensorCaptureThread::lidar ( )

inline

Definition at line 171 of file SensorCaptureThread.h.

mainLoop()

void rtabmap::SensorCaptureThread::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 325 of file SensorCaptureThread.cpp.

mainLoopBegin()

void rtabmap::SensorCaptureThread::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 307 of file SensorCaptureThread.cpp.

mainLoopKill()

void rtabmap::SensorCaptureThread::mainLoopKill ( )

privatevirtual

Virtual method mainLoopKill(). User can implement this function to add a behavior before the thread is killed. When this function is called, the state of the thread is set to kSKilled. It is useful to wake up a sleeping thread to finish his loop and to avoid a deadlock.

Reimplemented from UThread.

Definition at line 548 of file SensorCaptureThread.cpp.

odomProvided()

bool rtabmap::SensorCaptureThread::odomProvided

(

)

const

Definition at line 298 of file SensorCaptureThread.cpp.

odomSensor()

SensorCapture* rtabmap::SensorCaptureThread::odomSensor ( )

inline

Definition at line 170 of file SensorCaptureThread.h.

postUpdate()

void rtabmap::SensorCaptureThread::postUpdate	(	SensorData *	data,
		SensorCaptureInfo *	info = 0
	)		const

Definition at line 573 of file SensorCaptureThread.cpp.

setColorOnly()

void rtabmap::SensorCaptureThread::setColorOnly ( bool  colorOnly )

inline

Definition at line 125 of file SensorCaptureThread.h.

setDistortionModel()

void rtabmap::SensorCaptureThread::setDistortionModel

(

const std::string &

path

)

Definition at line 196 of file SensorCaptureThread.cpp.

setFrameRate()

void rtabmap::SensorCaptureThread::setFrameRate

(

float

frameRate

)

Definition at line 184 of file SensorCaptureThread.cpp.

setHistogramMethod()

void rtabmap::SensorCaptureThread::setHistogramMethod ( int  histogramMethod )

inline

Definition at line 127 of file SensorCaptureThread.h.

setImageDecimation()

void rtabmap::SensorCaptureThread::setImageDecimation ( int  decimation )

inline

Definition at line 126 of file SensorCaptureThread.h.

setImageRate()

RTABMAP_DEPRECATED void rtabmap::SensorCaptureThread::setImageRate ( float  frameRate )

inline

Definition at line 130 of file SensorCaptureThread.h.

setMirroringEnabled()

void rtabmap::SensorCaptureThread::setMirroringEnabled ( bool  enabled )

inline

Definition at line 123 of file SensorCaptureThread.h.

setOdomAsGroundTruth()

void rtabmap::SensorCaptureThread::setOdomAsGroundTruth ( bool  enabled )

inline

Definition at line 132 of file SensorCaptureThread.h.

setScanParameters() [1/2]

void rtabmap::SensorCaptureThread::setScanParameters	(	bool	fromDepth,
		int	downsampleStep,
		float	rangeMin,
		float	rangeMax,
		float	voxelSize,
		int	normalsK,
		float	normalsRadius,
		bool	forceGroundNormalsUp,
		bool	deskewing
	)

Definition at line 262 of file SensorCaptureThread.cpp.

setScanParameters() [2/2]

void rtabmap::SensorCaptureThread::setScanParameters	(	bool	fromDepth,
		int	downsampleStep = 1,
		float	rangeMin = 0.0f,
		float	rangeMax = 0.0f,
		float	voxelSize = 0.0f,
		int	normalsK = 0,
		float	normalsRadius = 0.0f,
		float	groundNormalsUp = 0.0f,
		bool	deskewing = false
	)

Definition at line 276 of file SensorCaptureThread.cpp.

setStereoExposureCompensation()

void rtabmap::SensorCaptureThread::setStereoExposureCompensation ( bool  enabled )

inline

Definition at line 124 of file SensorCaptureThread.h.

setStereoToDepth()

void rtabmap::SensorCaptureThread::setStereoToDepth ( bool  enabled )

inline

Definition at line 128 of file SensorCaptureThread.h.

Member Data Documentation

_bilateralFiltering

bool rtabmap::SensorCaptureThread::_bilateralFiltering

private

Definition at line 204 of file SensorCaptureThread.h.

_bilateralSigmaR

float rtabmap::SensorCaptureThread::_bilateralSigmaR

private

Definition at line 206 of file SensorCaptureThread.h.

_bilateralSigmaS

float rtabmap::SensorCaptureThread::_bilateralSigmaS

private

Definition at line 205 of file SensorCaptureThread.h.

_camera

Camera* rtabmap::SensorCaptureThread::_camera

private

Definition at line 179 of file SensorCaptureThread.h.

_colorOnly

bool rtabmap::SensorCaptureThread::_colorOnly

private

Definition at line 189 of file SensorCaptureThread.h.

_depthAsMask

bool rtabmap::SensorCaptureThread::_depthAsMask

private

Definition at line 210 of file SensorCaptureThread.h.

_distortionModel

clams::DiscreteDepthDistortionModel* rtabmap::SensorCaptureThread::_distortionModel

private

Definition at line 203 of file SensorCaptureThread.h.

_extrinsicsOdomToCamera

Transform rtabmap::SensorCaptureThread::_extrinsicsOdomToCamera

private

Definition at line 182 of file SensorCaptureThread.h.

_featureDetector

Feature2D* rtabmap::SensorCaptureThread::_featureDetector

private

Definition at line 209 of file SensorCaptureThread.h.

_histogramMethod

int rtabmap::SensorCaptureThread::_histogramMethod

private

Definition at line 191 of file SensorCaptureThread.h.

_imageDecimation

int rtabmap::SensorCaptureThread::_imageDecimation

private

Definition at line 190 of file SensorCaptureThread.h.

_imuBaseFrameConversion

bool rtabmap::SensorCaptureThread::_imuBaseFrameConversion

private

Definition at line 208 of file SensorCaptureThread.h.

_imuFilter

IMUFilter* rtabmap::SensorCaptureThread::_imuFilter

private

Definition at line 207 of file SensorCaptureThread.h.

_lidar

Lidar* rtabmap::SensorCaptureThread::_lidar

private

Definition at line 181 of file SensorCaptureThread.h.

_mirroring

bool rtabmap::SensorCaptureThread::_mirroring

private

Definition at line 187 of file SensorCaptureThread.h.

_odomAsGt

bool rtabmap::SensorCaptureThread::_odomAsGt

private

Definition at line 183 of file SensorCaptureThread.h.

_odomSensor

SensorCapture* rtabmap::SensorCaptureThread::_odomSensor

private

Definition at line 180 of file SensorCaptureThread.h.

_poseScaleFactor

float rtabmap::SensorCaptureThread::_poseScaleFactor

private

Definition at line 185 of file SensorCaptureThread.h.

_poseTimeOffset

double rtabmap::SensorCaptureThread::_poseTimeOffset

private

Definition at line 184 of file SensorCaptureThread.h.

_poseWaitTime

double rtabmap::SensorCaptureThread::_poseWaitTime

private

Definition at line 186 of file SensorCaptureThread.h.

_scanDeskewing

bool rtabmap::SensorCaptureThread::_scanDeskewing

private

Definition at line 193 of file SensorCaptureThread.h.

_scanDownsampleStep

int rtabmap::SensorCaptureThread::_scanDownsampleStep

private

Definition at line 195 of file SensorCaptureThread.h.

_scanForceGroundNormalsUp

float rtabmap::SensorCaptureThread::_scanForceGroundNormalsUp

private

Definition at line 201 of file SensorCaptureThread.h.

_scanFromDepth

bool rtabmap::SensorCaptureThread::_scanFromDepth

private

Definition at line 194 of file SensorCaptureThread.h.

_scanNormalsK

int rtabmap::SensorCaptureThread::_scanNormalsK

private

Definition at line 199 of file SensorCaptureThread.h.

_scanNormalsRadius

float rtabmap::SensorCaptureThread::_scanNormalsRadius

private

Definition at line 200 of file SensorCaptureThread.h.

_scanRangeMax

float rtabmap::SensorCaptureThread::_scanRangeMax

private

Definition at line 197 of file SensorCaptureThread.h.

_scanRangeMin

float rtabmap::SensorCaptureThread::_scanRangeMin

private

Definition at line 196 of file SensorCaptureThread.h.

_scanVoxelSize

float rtabmap::SensorCaptureThread::_scanVoxelSize

private

Definition at line 198 of file SensorCaptureThread.h.

_stereoDense

StereoDense* rtabmap::SensorCaptureThread::_stereoDense

private

Definition at line 202 of file SensorCaptureThread.h.

_stereoExposureCompensation

bool rtabmap::SensorCaptureThread::_stereoExposureCompensation

private

Definition at line 188 of file SensorCaptureThread.h.

_stereoToDepth

bool rtabmap::SensorCaptureThread::_stereoToDepth

private

Definition at line 192 of file SensorCaptureThread.h.

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

• SensorCaptureThread.h
• SensorCaptureThread.cpp