#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 Transform &	getOriginOffset () const

virtual std::string	getSerial () 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)

void	setGPS (const GPS &gps)

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

void	setSmoothing (bool enabled)

void	spinOnce ()

virtual	~CameraMobile ()

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

const Transform &	getLocalTransform () const

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 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=CameraModel::opticalRotation())

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_

UTimer	spinOnceFrameRateTimer_

double	spinOncePreviousStamp_

Private Attributes
UTimer	cameraStartedTime_

ScreenRotation	colorCameraToDisplayRotation_

SensorData	data_

EnvSensors	lastEnvSensors_

GPS	lastKnownGPS_

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 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 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

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

Definition at line 54 of file CameraMobile.cpp.

rtabmap::CameraMobile::~CameraMobile ( )

virtual

Definition at line 66 of file CameraMobile.cpp.

Member Function Documentation

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

Definition at line 134 of file CameraMobile.cpp.

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 332 of file CameraMobile.cpp.

virtual void rtabmap::CameraMobile::capturePoseOnly ( )

inlineprotectedvirtual

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

Definition at line 106 of file CameraMobile.h.

void rtabmap::CameraMobile::close ( )

virtual

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

Definition at line 77 of file CameraMobile.cpp.

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

inline

Definition at line 94 of file CameraMobile.h.

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

inline

Definition at line 95 of file CameraMobile.h.

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

inline

Definition at line 88 of file CameraMobile.h.

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

inlinevirtual

Implements rtabmap::Camera.

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

Definition at line 86 of file CameraMobile.h.

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 71 of file CameraMobile.cpp.

bool rtabmap::CameraMobile::isCalibrated ( ) const

virtual

Implements rtabmap::Camera.

Definition at line 117 of file CameraMobile.cpp.

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 178 of file CameraMobile.cpp.

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 169 of file CameraMobile.cpp.

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

Definition at line 94 of file CameraMobile.cpp.

void rtabmap::CameraMobile::resetOrigin ( )

Definition at line 89 of file CameraMobile.cpp.

void rtabmap::CameraMobile::setData	(	const SensorData &	data,
		const Transform &	pose
	)

Definition at line 127 of file CameraMobile.cpp.

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

Definition at line 122 of file CameraMobile.cpp.

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

inlinevirtual

Reimplemented in rtabmap::CameraARCore.

Definition at line 97 of file CameraMobile.h.

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

inline

Definition at line 96 of file CameraMobile.h.

void rtabmap::CameraMobile::spinOnce ( )

Definition at line 139 of file CameraMobile.cpp.

Member Data Documentation

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

static

Definition at line 74 of file CameraMobile.h.

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

static

Definition at line 73 of file CameraMobile.h.

UTimer rtabmap::CameraMobile::cameraStartedTime_

private

Definition at line 120 of file CameraMobile.h.

ScreenRotation rtabmap::CameraMobile::colorCameraToDisplayRotation_

private

Definition at line 123 of file CameraMobile.h.

SensorData rtabmap::CameraMobile::data_

private

Definition at line 129 of file CameraMobile.h.

Transform rtabmap::CameraMobile::deviceTColorCamera_

protected

Definition at line 113 of file CameraMobile.h.

EnvSensors rtabmap::CameraMobile::lastEnvSensors_

private

Definition at line 125 of file CameraMobile.h.

GPS rtabmap::CameraMobile::lastKnownGPS_

private

Definition at line 124 of file CameraMobile.h.

CameraModel rtabmap::CameraMobile::model_

protected

Definition at line 112 of file CameraMobile.h.

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.

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.

Transform rtabmap::CameraMobile::originOffset_

private

Definition at line 126 of file CameraMobile.h.

bool rtabmap::CameraMobile::originUpdate_

private

Definition at line 127 of file CameraMobile.h.

Transform rtabmap::CameraMobile::pose_

private

Definition at line 130 of file CameraMobile.h.

Transform rtabmap::CameraMobile::previousPose_

private

Definition at line 118 of file CameraMobile.h.

double rtabmap::CameraMobile::previousStamp_

private

Definition at line 119 of file CameraMobile.h.

bool rtabmap::CameraMobile::smoothing_

private

Definition at line 122 of file CameraMobile.h.

UTimer rtabmap::CameraMobile::spinOnceFrameRateTimer_

protected

Definition at line 114 of file CameraMobile.h.

double rtabmap::CameraMobile::spinOncePreviousStamp_

protected

Definition at line 115 of file CameraMobile.h.

double rtabmap::CameraMobile::stampEpochOffset_

private

Definition at line 121 of file CameraMobile.h.

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

Public Member Functions

Static Public Attributes

Protected Member Functions

Protected Attributes

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation