CameraFreenect2.h
Go to the documentation of this file.
1 /*
2 Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
3 All rights reserved.
4 
5 Redistribution and use in source and binary forms, with or without
6 modification, are permitted provided that the following conditions are met:
7  * Redistributions of source code must retain the above copyright
8  notice, this list of conditions and the following disclaimer.
9  * Redistributions in binary form must reproduce the above copyright
10  notice, this list of conditions and the following disclaimer in the
11  documentation and/or other materials provided with the distribution.
12  * Neither the name of the Universite de Sherbrooke nor the
13  names of its contributors may be used to endorse or promote products
14  derived from this software without specific prior written permission.
15 
16 THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
17 ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
18 WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
19 DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
20 DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
21 (INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
22 LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
23 ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
24 (INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #pragma once
29 
30 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
31 
33 #include "rtabmap/core/Camera.h"
34 #include "rtabmap/core/Version.h"
35 
36 namespace libfreenect2
37 {
38 class Freenect2;
39 class Freenect2Device;
40 class SyncMultiFrameListener;
41 class Registration;
42 class PacketPipeline;
43 }
44 
45 namespace rtabmap
46 {
47 
49  public Camera
50 {
51 public:
52  static bool available();
53 
54  enum Type{
60  kTypeColorIR
61  };
62 
63 public:
64  // default local transform z in, x right, y down));
65  CameraFreenect2(int deviceId= 0,
66  Type type = kTypeDepth2ColorSD,
67  float imageRate=0.0f,
68  const Transform & localTransform = Transform::getIdentity(),
69  float minDepth = 0.3f,
70  float maxDepth = 12.0f,
71  bool bilateralFiltering = true,
72  bool edgeAwareFiltering = true,
73  bool noiseFiltering = true,
74  const std::string & pipelineName = "");
75  virtual ~CameraFreenect2();
76 
77  virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
78  virtual bool isCalibrated() const;
79  virtual std::string getSerial() const;
80 
81 protected:
82  virtual SensorData captureImage(CameraInfo * info = 0);
83 
84 private:
85 #ifdef RTABMAP_FREENECT2
86  int deviceId_;
87  Type type_;
88  StereoCameraModel stereoModel_;
89  libfreenect2::Freenect2 * freenect2_;
90  libfreenect2::Freenect2Device *dev_;
91  libfreenect2::SyncMultiFrameListener * listener_;
92  libfreenect2::Registration * reg_;
93  float minKinect2Depth_;
94  float maxKinect2Depth_;
95  bool bilateralFiltering_;
96  bool edgeAwareFiltering_;
97  bool noiseFiltering_;
98  std::string pipelineName_;
99 #endif
100 };
101 
102 
103 } // namespace rtabmap
def init(descriptorDim, matchThreshold, iterations, cuda, model_path)
#define RTABMAP_EXP
Definition: RtabmapExp.h:38


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:27