#include <CameraTango.h>

Inheritance diagram for rtabmap::CameraTango:

[legend]

Public Member Functions
	CameraTango (bool colorCamera, int decimation, bool publishRawScan, bool smoothing)

virtual void	close ()

void	cloudReceived (const cv::Mat &cloud, double timestamp)

virtual std::string	getSerial () const

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

void	rgbReceived (const cv::Mat &tangoImage, int type, double timestamp)

void	setColorCamera (bool enabled)

void	setDecimation (int value)

void	setRawScanPublished (bool enabled)

void	tangoEventReceived (int type, const char key, const char value)

rtabmap::Transform	tangoPoseToTransform (const TangoPoseData *tangoPose) const

virtual	~CameraTango ()

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)

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

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
bool	colorCamera_

SensorData	data_

boost::mutex	dataMutex_

USemaphore	dataReady_

int	decimation_

cv::Mat	fisheyeRectifyMapX_

cv::Mat	fisheyeRectifyMapY_

bool	rawScanPublished_

void *	tango_config_

cv::Mat	tangoColor_

double	tangoColorStamp_

int	tangoColorType_

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 CameraTango.h.

Constructor & Destructor Documentation

◆ CameraTango()

rtabmap::CameraTango::CameraTango	(	bool	colorCamera,
		int	decimation,
		bool	publishRawScan,
		bool	smoothing
	)

Definition at line 117 of file CameraTango.cpp.

◆ ~CameraTango()

rtabmap::CameraTango::~CameraTango ( )

virtual

Definition at line 129 of file CameraTango.cpp.

Member Function Documentation

◆ captureImage()

SensorData rtabmap::CameraTango::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 778 of file CameraTango.cpp.

◆ close()

void rtabmap::CameraTango::close ( )

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 424 of file CameraTango.cpp.

◆ cloudReceived()

void rtabmap::CameraTango::cloudReceived	(	const cv::Mat &	cloud,
		double	timestamp
	)

Definition at line 440 of file CameraTango.cpp.

◆ getPoseAtTimestamp()

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

private

Definition at line 747 of file CameraTango.cpp.

◆ getSerial()

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

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 725 of file CameraTango.cpp.

◆ init()

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

virtual

Reimplemented from rtabmap::CameraMobile.

Definition at line 193 of file CameraTango.cpp.

◆ rgbReceived()

void rtabmap::CameraTango::rgbReceived	(	const cv::Mat &	tangoImage,
		int	type,
		double	timestamp
	)

Definition at line 706 of file CameraTango.cpp.

◆ setColorCamera()

void rtabmap::CameraTango::setColorCamera ( bool enabled )

inline

Definition at line 55 of file CameraTango.h.

◆ setDecimation()

void rtabmap::CameraTango::setDecimation ( int value )

inline

Definition at line 56 of file CameraTango.h.

◆ setRawScanPublished()

void rtabmap::CameraTango::setRawScanPublished ( bool enabled )

inline

Definition at line 57 of file CameraTango.h.

◆ tangoEventReceived()

void rtabmap::CameraTango::tangoEventReceived	(	int	type,
		const char *	key,
		const char *	value
	)

Definition at line 720 of file CameraTango.cpp.

◆ tangoPoseToTransform()

rtabmap::Transform rtabmap::CameraTango::tangoPoseToTransform ( const TangoPoseData * tangoPose ) const

Definition at line 730 of file CameraTango.cpp.

Member Data Documentation

◆ colorCamera_

bool rtabmap::CameraTango::colorCamera_

private

Definition at line 71 of file CameraTango.h.

◆ data_

SensorData rtabmap::CameraTango::data_

private

Definition at line 74 of file CameraTango.h.

◆ dataMutex_

boost::mutex rtabmap::CameraTango::dataMutex_

private

Definition at line 78 of file CameraTango.h.

◆ dataReady_

USemaphore rtabmap::CameraTango::dataReady_

private

Definition at line 79 of file CameraTango.h.

◆ decimation_

int rtabmap::CameraTango::decimation_

private

Definition at line 72 of file CameraTango.h.

◆ fisheyeRectifyMapX_

cv::Mat rtabmap::CameraTango::fisheyeRectifyMapX_

private

Definition at line 80 of file CameraTango.h.

◆ fisheyeRectifyMapY_

cv::Mat rtabmap::CameraTango::fisheyeRectifyMapY_

private

Definition at line 81 of file CameraTango.h.

◆ rawScanPublished_

bool rtabmap::CameraTango::rawScanPublished_

private

Definition at line 73 of file CameraTango.h.

◆ tango_config_

void* rtabmap::CameraTango::tango_config_

private

Definition at line 70 of file CameraTango.h.

◆ tangoColor_

cv::Mat rtabmap::CameraTango::tangoColor_

private

Definition at line 75 of file CameraTango.h.

◆ tangoColorStamp_

double rtabmap::CameraTango::tangoColorStamp_

private

Definition at line 77 of file CameraTango.h.

◆ tangoColorType_

int rtabmap::CameraTango::tangoColorType_

private

Definition at line 76 of file CameraTango.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

◆ CameraTango()

◆ ~CameraTango()

Member Function Documentation

◆ captureImage()

◆ close()

◆ cloudReceived()

◆ getPoseAtTimestamp()

◆ getSerial()

◆ init()

◆ rgbReceived()

◆ setColorCamera()

◆ setDecimation()

◆ setRawScanPublished()

◆ tangoEventReceived()

◆ tangoPoseToTransform()

Member Data Documentation

◆ colorCamera_

◆ data_

◆ dataMutex_

◆ dataReady_

◆ decimation_

◆ fisheyeRectifyMapX_

◆ fisheyeRectifyMapY_

◆ rawScanPublished_

◆ tango_config_

◆ tangoColor_

◆ tangoColorStamp_

◆ tangoColorType_