CameraTango.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
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8  notice, this list of conditions and the following disclaimer.
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10  notice, this list of conditions and the following disclaimer in the
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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
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25 SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
26 */
27 
28 #ifndef CAMERATANGO_H_
29 #define CAMERATANGO_H_
30 
31 #include "CameraMobile.h"
32 #include <rtabmap/core/Camera.h>
34 #include <rtabmap/utilite/UMutex.h>
38 #include <rtabmap/utilite/UEvent.h>
39 #include <rtabmap/utilite/UTimer.h>
40 #include <boost/thread/mutex.hpp>
41 #include <tango_client_api.h>
42 #include <tango_support_api.h>
43 
44 namespace rtabmap {
45 
46 class CameraTango : public CameraMobile {
47 public:
48  CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing);
49  virtual ~CameraTango();
50 
51  virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
52  virtual void close(); // close Tango connection
53  virtual std::string getSerial() const;
54  rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
55  void setColorCamera(bool enabled) {if(!this->isRunning()) colorCamera_ = enabled;}
56  void setDecimation(int value) {decimation_ = value;}
57  void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
58 
59  void cloudReceived(const cv::Mat & cloud, double timestamp);
60  void rgbReceived(const cv::Mat & tangoImage, int type, double timestamp);
61  void tangoEventReceived(int type, const char * key, const char * value);
62 
63 protected:
64  virtual SensorData captureImage(CameraInfo * info = 0);
65 
66 private:
67  rtabmap::Transform getPoseAtTimestamp(double timestamp);
68 
69 private:
70  void * tango_config_;
75  cv::Mat tangoColor_;
78  boost::mutex dataMutex_;
82 };
83 
84 } /* namespace rtabmap */
85 #endif /* CAMERATANGO_H_ */
virtual SensorData captureImage(CameraInfo *info=0)
cv::Mat fisheyeRectifyMapY_
Definition: CameraTango.h:81
void cloudReceived(const cv::Mat &cloud, double timestamp)
virtual bool init(const std::string &calibrationFolder=".", const std::string &cameraName="")
USemaphore dataReady_
Definition: CameraTango.h:79
void setRawScanPublished(bool enabled)
Definition: CameraTango.h:57
cv::Mat fisheyeRectifyMapX_
Definition: CameraTango.h:80
bool isRunning() const
Definition: UThread.cpp:245
boost::mutex dataMutex_
Definition: CameraTango.h:78
CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing)
void tangoEventReceived(int type, const char *key, const char *value)
void setColorCamera(bool enabled)
Definition: CameraTango.h:55
virtual std::string getSerial() const
void setDecimation(int value)
Definition: CameraTango.h:56
virtual void close()
void rgbReceived(const cv::Mat &tangoImage, int type, double timestamp)
rtabmap::Transform tangoPoseToTransform(const TangoPoseData *tangoPose) const
rtabmap::Transform getPoseAtTimestamp(double timestamp)


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