CameraOpenni.h
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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 
32 #include "rtabmap/utilite/UMutex.h"
34 #include "rtabmap/core/Camera.h"
35 #include "rtabmap/core/Version.h"
36 
37 #include <pcl/pcl_config.h>
38 
39 #ifdef HAVE_OPENNI
40 #if __linux__ && __i386__ && __cplusplus >= 201103L
41 #warning "Openni driver is not available on i386 when building with c++11 support"
42 #else
43 #define RTABMAP_OPENNI
44 #include <pcl/io/openni_camera/openni_depth_image.h>
45 #include <pcl/io/openni_camera/openni_image.h>
46 #endif
47 #endif
48 
49 #include <boost/signals2/connection.hpp>
50 
51 namespace pcl
52 {
53 class Grabber;
54 }
55 
56 namespace rtabmap
57 {
58 
60  public Camera
61 {
62 public:
63  static bool available();
64 
65 public:
66  // default local transform z in, x right, y down));
67  CameraOpenni(const std::string & deviceId="",
68  float imageRate = 0,
69  const Transform & localTransform = Transform::getIdentity());
70  virtual ~CameraOpenni();
71 #ifdef RTABMAP_OPENNI
72 #if PCL_VERSION_COMPARE(>=, 1, 10, 0)
73  void image_cb (
74  const std::shared_ptr<openni_wrapper::Image>& rgb,
75  const std::shared_ptr<openni_wrapper::DepthImage>& depth,
76  float constant);
77 #else
78  void image_cb (
81  float constant);
82 #endif
83 #endif
84 
85  virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
86  virtual bool isCalibrated() const;
87  virtual std::string getSerial() const;
88 
89 protected:
90  virtual SensorData captureImage(CameraInfo * info = 0);
91 
92 private:
93  pcl::Grabber* interface_;
94  std::string deviceId_;
95  boost::signals2::connection connection_;
96  cv::Mat depth_;
97  cv::Mat rgb_;
101 };
102 
103 } // namespace rtabmap
def init(descriptorDim, matchThreshold, iterations, cuda, model_path)
#define RTABMAP_EXP
Definition: RtabmapExp.h:38
Definition: UMutex.h:54
std::string deviceId_
Definition: CameraOpenni.h:94
boost::signals2::connection connection_
Definition: CameraOpenni.h:95
pcl::Grabber * interface_
Definition: CameraOpenni.h:93


rtabmap
Author(s): Mathieu Labbe
autogenerated on Mon Jan 23 2023 03:37:28