#include <CameraAREngine.h>

Inheritance diagram for rtabmap::CameraAREngine:

[legend]

Public Member Functions
	CameraAREngine (void env, void context, void *activity, bool smoothing=false)

virtual void	close ()

virtual std::string	getSerial () const

virtual bool	init (const std::string &calibrationFolder=".", const std::string &cameraName="")

virtual	~CameraAREngine ()

Public Member Functions inherited from rtabmap::CameraMobile
void	addEnvSensor (int type, float value)

	CameraMobile (bool smoothing=false)

const CameraModel &	getCameraModel () const

const Transform &	getDeviceTColorCamera () const

const cv::Mat &	getOcclusionImage (CameraModel *model=0) const

const Transform &	getOriginOffset () const

ScreenRotation	getScreenRotation () const

GLuint	getTextureId ()

void	getVPMatrices (glm::mat4 &view, glm::mat4 &projection) const

virtual bool	isCalibrated () const

void	poseReceived (const Transform &pose)

void	resetOrigin ()

void	setData (const SensorData &data, const Transform &pose, const glm::mat4 &viewMatrix, const glm::mat4 &projectionMatrix, const float *texCoord)

void	setGPS (const GPS &gps)

void	setOcclusionImage (const cv::Mat &image, const CameraModel &model)

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

void	setSmoothing (bool enabled)

void	spinOnce ()

bool	uvsInitialized () const

const float *	uvsTransformed () const

virtual	~CameraMobile ()

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

const Transform &	getLocalTransform () const

virtual bool	getPose (double stamp, Transform &pose, cv::Mat &covariance)

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 ()

Protected Member Functions
virtual SensorData	captureImage (CameraInfo *info=0)

virtual void	capturePoseOnly ()

Protected Member Functions inherited from rtabmap::CameraMobile
virtual void	mainLoop ()

virtual void	mainLoopBegin ()

Protected Member Functions inherited from rtabmap::Camera
	Camera (float imageRate=0, const Transform &localTransform=Transform::getIdentity())

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

Private Member Functions
rtabmap::Transform	getPoseAtTimestamp (double timestamp)

Private Attributes
void *	activity_

HwArCameraIntrinsics *	arCameraIntrinsics_ = nullptr

HwArConfig *	arConfig_ = nullptr

HwArFrame *	arFrame_ = nullptr

bool	arInstallRequested_

HwArPose *	arPose_ = nullptr

HwArSession *	arSession_ = nullptr

UMutex	arSessionMutex_

void *	context_

void *	env_

GLuint	textureId_

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 rtabmap::CameraMobile
static LaserScan	scanFromPointCloudData (const cv::Mat &pointCloudData, int points, const Transform &pose, const CameraModel &model, const cv::Mat &rgb, std::vector< cv::KeyPoint > kpts=0, std::vector< cv::Point3f > kpts3D=0, int kptsSize=3)

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 Public Attributes inherited from rtabmap::CameraMobile
static const float	bilateralFilteringSigmaR = 0.075f

static const float	bilateralFilteringSigmaS = 2.0f

static const rtabmap::Transform	opticalRotation

static const rtabmap::Transform	opticalRotationInv

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 ()

Protected Attributes inherited from rtabmap::CameraMobile
Transform	deviceTColorCamera_

CameraModel	model_

glm::mat4	projectionMatrix_

UTimer	spinOnceFrameRateTimer_

double	spinOncePreviousStamp_

GLuint	textureId_

float	transformed_uvs_ [8]

bool	uvs_initialized_ = false

glm::mat4	viewMatrix_

Detailed Description

Definition at line 46 of file CameraAREngine.h.

Constructor & Destructor Documentation

◆ CameraAREngine()

rtabmap::CameraAREngine::CameraAREngine	(	void *	env,
		void *	context,
		void *	activity,
		bool	smoothing = `false`
	)

Definition at line 43 of file CameraAREngine.cpp.

◆ ~CameraAREngine()

rtabmap::CameraAREngine::~CameraAREngine ( )

virtual

Definition at line 53 of file CameraAREngine.cpp.

Member Function Documentation

◆ captureImage()

SensorData rtabmap::CameraAREngine::captureImage ( CameraInfo * info = 0 )

protectedvirtual

returned rgb and depth images should be already rectified if calibration was loaded

Reimplemented from rtabmap::CameraMobile.

Definition at line 172 of file CameraAREngine.cpp.

◆ capturePoseOnly()

void rtabmap::CameraAREngine::capturePoseOnly ( )

protectedvirtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 314 of file CameraAREngine.cpp.

◆ close()

void rtabmap::CameraAREngine::close ( )

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 136 of file CameraAREngine.cpp.

◆ getPoseAtTimestamp()

rtabmap::Transform rtabmap::CameraAREngine::getPoseAtTimestamp ( double timestamp )

private

◆ getSerial()

std::string rtabmap::CameraAREngine::getSerial ( ) const

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 60 of file CameraAREngine.cpp.

◆ init()

bool rtabmap::CameraAREngine::init	(	const std::string &	calibrationFolder = `"."`,
		const std::string &	cameraName = `""`
	)

virtual

Sets the behavior of ArSession_update(). See ::ArUpdateMode for available options.

Reimplemented from rtabmap::CameraMobile.

Definition at line 65 of file CameraAREngine.cpp.

Member Data Documentation

◆ activity_

void* rtabmap::CameraAREngine::activity_

private

Definition at line 65 of file CameraAREngine.h.

◆ arCameraIntrinsics_

HwArCameraIntrinsics* rtabmap::CameraAREngine::arCameraIntrinsics_ = nullptr

private

Definition at line 69 of file CameraAREngine.h.

◆ arConfig_

HwArConfig* rtabmap::CameraAREngine::arConfig_ = nullptr

private

Definition at line 67 of file CameraAREngine.h.

◆ arFrame_

HwArFrame* rtabmap::CameraAREngine::arFrame_ = nullptr

private

Definition at line 68 of file CameraAREngine.h.

◆ arInstallRequested_

bool rtabmap::CameraAREngine::arInstallRequested_

private

Definition at line 71 of file CameraAREngine.h.

◆ arPose_

HwArPose* rtabmap::CameraAREngine::arPose_ = nullptr

private

Definition at line 70 of file CameraAREngine.h.

◆ arSession_

HwArSession* rtabmap::CameraAREngine::arSession_ = nullptr

private

Definition at line 66 of file CameraAREngine.h.

◆ arSessionMutex_

UMutex rtabmap::CameraAREngine::arSessionMutex_

private

Definition at line 73 of file CameraAREngine.h.

◆ context_

void* rtabmap::CameraAREngine::context_

private

Definition at line 64 of file CameraAREngine.h.

◆ env_

void* rtabmap::CameraAREngine::env_

private

Definition at line 63 of file CameraAREngine.h.

◆ textureId_

GLuint rtabmap::CameraAREngine::textureId_

private

Definition at line 72 of file CameraAREngine.h.

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

Public Member Functions

Protected Member Functions

Private Member Functions

Private Attributes

Additional Inherited Members

Detailed Description

Constructor & Destructor Documentation

◆ CameraAREngine()

◆ ~CameraAREngine()

Member Function Documentation

◆ captureImage()

◆ capturePoseOnly()

◆ close()

◆ getPoseAtTimestamp()

◆ getSerial()

◆ init()

Member Data Documentation

◆ activity_

◆ arCameraIntrinsics_

◆ arConfig_

◆ arFrame_

◆ arInstallRequested_

◆ arPose_

◆ arSession_

◆ arSessionMutex_

◆ context_

◆ env_

◆ textureId_