rtabmap/preview/pr-1492/api/latest/CameraSeerSense_8h_source.html

<!-- HTML header for doxygen 1.9.8-->
<!DOCTYPE html PUBLIC "-//W3C//DTD XHTML 1.0 Transitional//EN" "https://www.w3.org/TR/xhtml1/DTD/xhtml1-transitional.dtd">
<html xmlns="http://www.w3.org/1999/xhtml" lang="en-US">
<head>
<meta http-equiv="Content-Type" content="text/xhtml;charset=UTF-8"/>
<meta http-equiv="X-UA-Compatible" content="IE=11"/>
<meta name="generator" content="Doxygen 1.9.8"/>
<meta name="viewport" content="width=device-width, initial-scale=1"/>
<title>RTAB-Map: corelib/include/rtabmap/core/camera/CameraSeerSense.h Source File</title>
<link href="tabs.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="jquery.js"></script>
<script type="text/javascript" src="dynsections.js"></script>
<link href="navtree.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="resize.js"></script>
<script type="text/javascript" src="navtreedata.js"></script>
<script type="text/javascript" src="navtree.js"></script>
<link href="search/search.css" rel="stylesheet" type="text/css"/>
<script type="text/javascript" src="search/searchdata.js"></script>
<script type="text/javascript" src="search/search.js"></script>
<link href="doxygen.css" rel="stylesheet" type="text/css" />
<script type="text/javascript">window.RTABMAP_DOC_ROOT="";</script>
<script type="text/javascript" src="../versions.js"></script>
<script type="text/javascript" src="version-switcher.js"></script>
</head>
<body>
<div id="top"><!-- do not remove this div, it is closed by doxygen! -->
<div id="titlearea">
<table cellspacing="0" cellpadding="0">
 <tbody>
 <tr id="projectrow">
  <td id="projectalign">
   <div id="projectname">RTAB-Map<span id="projectnumber">&#160;0.23.10</span>
   </div>
   <div id="projectbrief">Real-Time Appearance-Based Mapping</div>
  </td>
 </tr>
 </tbody>
</table>
</div>
<!-- end header part -->
<!-- Generated by Doxygen 1.9.8 -->
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
var searchBox = new SearchBox("searchBox", "search/",'.html');
/* @license-end */
</script>
<script type="text/javascript" src="menudata.js"></script>
<script type="text/javascript" src="menu.js"></script>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(function() {
  initMenu('',true,false,'search.php','Search');
  $(document).ready(function() { init_search(); });
});
/* @license-end */
</script>
<div id="main-nav"></div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function() { init_codefold(0); });
/* @license-end */
</script>
</div><!-- top -->
<div id="side-nav" class="ui-resizable side-nav-resizable">
  <div id="nav-tree">
    <div id="nav-tree-contents">
      <div id="nav-sync" class="sync"></div>
    </div>
  </div>
  <div id="splitbar" style="-moz-user-select:none;" 
       class="ui-resizable-handle">
  </div>
</div>
<script type="text/javascript">
/* @license magnet:?xt=urn:btih:d3d9a9a6595521f9666a5e94cc830dab83b65699&amp;dn=expat.txt MIT */
$(document).ready(function(){initNavTree('CameraSeerSense_8h_source.html',''); initResizable(); });
/* @license-end */
</script>
<div id="doc-content">
<!-- window showing the filter options -->
<div id="MSearchSelectWindow"
     onmouseover="return searchBox.OnSearchSelectShow()"
     onmouseout="return searchBox.OnSearchSelectHide()"
     onkeydown="return searchBox.OnSearchSelectKey(event)">
</div>

<!-- iframe showing the search results (closed by default) -->
<div id="MSearchResultsWindow">
<div id="MSearchResults">
<div class="SRPage">
<div id="SRIndex">
<div id="SRResults"></div>
<div class="SRStatus" id="Loading">Loading...</div>
<div class="SRStatus" id="Searching">Searching...</div>
<div class="SRStatus" id="NoMatches">No Matches</div>
</div>
</div>
</div>
</div>

<div class="header">
  <div class="headertitle"><div class="title">CameraSeerSense.h</div></div>
</div><!--header-->
<div class="contents">
<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno">    1</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno">    2</span> </div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno">    3</span><span class="preprocessor">#include &quot;rtabmap/core/Camera.h&quot;</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno">    4</span><span class="preprocessor">#include &quot;rtabmap/core/Version.h&quot;</span></div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno">    5</span><span class="preprocessor">#include &quot;rtabmap/utilite/USemaphore.h&quot;</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno">    6</span> </div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno">    7</span><span class="preprocessor">#ifdef RTABMAP_XVSDK</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno">    8</span><span class="preprocessor">#include &lt;xv-sdk.h&gt;</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno">    9</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno">   10</span> </div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno">   11</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno">   12</span>{</div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno">   13</span> </div>
<div class="foldopen" id="foldopen00014" data-start="{" data-end="};">
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraSeerSense.html">   14</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1CameraSeerSense.html">CameraSeerSense</a> :</div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno">   15</span>  <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Camera.html">Camera</a></div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno">   16</span>{</div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno">   17</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno">   18</span>  <span class="keyword">static</span> <span class="keywordtype">bool</span> available();</div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno">   19</span> </div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno">   20</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno">   21</span>  <a class="code hl_class" href="classrtabmap_1_1CameraSeerSense.html">CameraSeerSense</a>(</div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno">   22</span>    <span class="keywordtype">bool</span> computeOdometry = <span class="keyword">false</span>,</div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno">   23</span>    <span class="keywordtype">float</span> imageRate = 0.0f,</div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno">   24</span>    <span class="keyword">const</span> <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; localTransform = Transform::getIdentity()</div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno">   25</span>  );</div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno">   26</span>  <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1CameraSeerSense.html">~CameraSeerSense</a>();</div>
<div class="line"><a id="l00027" name="l00027"></a><span class="lineno">   27</span> </div>
<div class="line"><a id="l00028" name="l00028"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraSeerSense.html#a2fb66c8fa789c747b12c4ce85c8fc874">   28</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraSeerSense.html#a2fb66c8fa789c747b12c4ce85c8fc874">init</a>(<span class="keyword">const</span> std::string &amp; calibrationFolder = <span class="stringliteral">&quot;.&quot;</span>, <span class="keyword">const</span> std::string &amp; cameraName = <span class="stringliteral">&quot;&quot;</span>);</div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno">   29</span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isCalibrated() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraSeerSense.html#aa921995e3a4a1cd5480868998bd27b2e">   30</a></span>  <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classrtabmap_1_1CameraSeerSense.html#aa921995e3a4a1cd5480868998bd27b2e">getSerial</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraSeerSense.html#aa3bfa6e619c5845d4994809281c9a4b5">   31</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraSeerSense.html#aa3bfa6e619c5845d4994809281c9a4b5">odomProvided</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraSeerSense.html#a831666d29d4eabc1a00e9eb5c8b47c27">   32</a></span>  <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraSeerSense.html#a831666d29d4eabc1a00e9eb5c8b47c27">getPose</a>(<span class="keywordtype">double</span> stamp, <a class="code hl_class" href="classrtabmap_1_1Transform.html">Transform</a> &amp; pose, cv::Mat &amp; covariance, <span class="keywordtype">double</span> maxWaitTime = 0.0);</div>
<div class="line"><a id="l00033" name="l00033"></a><span class="lineno">   33</span> </div>
<div class="line"><a id="l00034" name="l00034"></a><span class="lineno">   34</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno">   35</span>  <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1SensorData.html">SensorData</a> captureImage(<a class="code hl_class" href="classrtabmap_1_1SensorCaptureInfo.html">SensorCaptureInfo</a> * info = 0);</div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno">   36</span> </div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno">   37</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno">   38</span><span class="preprocessor">#ifdef RTABMAP_XVSDK</span></div>
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno">   39</span>  <a class="code hl_class" href="classrtabmap_1_1CameraModel.html">CameraModel</a> cameraModel_;</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno">   40</span>  <span class="keywordtype">bool</span> computeOdometry_;</div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno">   41</span>  <span class="keywordtype">int</span> imuId_;</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno">   42</span>  <span class="keywordtype">int</span> tofId_;</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno">   43</span>  std::shared_ptr&lt;xv::Device&gt; device_;</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno">   44</span>  std::map&lt;double, std::pair&lt;cv::Vec3d, cv::Vec3d&gt;&gt; imuBuffer_;</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno">   45</span>  std::pair&lt;double, std::pair&lt;cv::Mat, cv::Mat&gt;&gt; lastData_;</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno">   46</span>  <a class="code hl_class" href="classUMutex.html">UMutex</a> imuMutex_;</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno">   47</span>  <a class="code hl_class" href="classUMutex.html">UMutex</a> dataMutex_;</div>
<div class="line"><a id="l00048" name="l00048"></a><span class="lineno">   48</span>  <a class="code hl_class" href="classUSemaphore.html">USemaphore</a> dataReady_;</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno">   49</span><span class="preprocessor">#endif</span></div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno">   50</span>};</div>
</div>
<div class="line"><a id="l00051" name="l00051"></a><span class="lineno">   51</span> </div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno">   52</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="ttc" id="aclassUMutex_html"><div class="ttname"><a href="classUMutex.html">UMutex</a></div><div class="ttdef"><b>Definition</b> <a href="UMutex_8h_source.html#l00054">UMutex.h:55</a></div></div>
<div class="ttc" id="aclassUSemaphore_html"><div class="ttname"><a href="classUSemaphore.html">USemaphore</a></div><div class="ttdef"><b>Definition</b> <a href="USemaphore_8h_source.html#l00055">USemaphore.h:56</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1CameraModel_html"><div class="ttname"><a href="classrtabmap_1_1CameraModel.html">rtabmap::CameraModel</a></div><div class="ttdoc">Represents a pinhole camera model containing intrinsic and extrinsic parameters, used for projection,...</div><div class="ttdef"><b>Definition</b> <a href="CameraModel_8h_source.html#l00052">CameraModel.h:53</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1CameraSeerSense_html"><div class="ttname"><a href="classrtabmap_1_1CameraSeerSense.html">rtabmap::CameraSeerSense</a></div><div class="ttdef"><b>Definition</b> <a href="CameraSeerSense_8h_source.html#l00014">CameraSeerSense.h:16</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1CameraSeerSense_html_a2fb66c8fa789c747b12c4ce85c8fc874"><div class="ttname"><a href="classrtabmap_1_1CameraSeerSense.html#a2fb66c8fa789c747b12c4ce85c8fc874">rtabmap::CameraSeerSense::init</a></div><div class="ttdeci">virtual bool init(const std::string &amp;calibrationFolder=&quot;.&quot;, const std::string &amp;cameraName=&quot;&quot;)</div><div class="ttdoc">Initializes the sensor.</div></div>
<div class="ttc" id="aclassrtabmap_1_1CameraSeerSense_html_a831666d29d4eabc1a00e9eb5c8b47c27"><div class="ttname"><a href="classrtabmap_1_1CameraSeerSense.html#a831666d29d4eabc1a00e9eb5c8b47c27">rtabmap::CameraSeerSense::getPose</a></div><div class="ttdeci">virtual bool getPose(double stamp, Transform &amp;pose, cv::Mat &amp;covariance, double maxWaitTime=0.0)</div><div class="ttdoc">Gets the sensor's pose estimate at a specific timestamp.</div></div>
<div class="ttc" id="aclassrtabmap_1_1CameraSeerSense_html_aa3bfa6e619c5845d4994809281c9a4b5"><div class="ttname"><a href="classrtabmap_1_1CameraSeerSense.html#aa3bfa6e619c5845d4994809281c9a4b5">rtabmap::CameraSeerSense::odomProvided</a></div><div class="ttdeci">virtual bool odomProvided() const</div><div class="ttdoc">Checks if the sensor provides odometry poses.</div></div>
<div class="ttc" id="aclassrtabmap_1_1CameraSeerSense_html_aa921995e3a4a1cd5480868998bd27b2e"><div class="ttname"><a href="classrtabmap_1_1CameraSeerSense.html#aa921995e3a4a1cd5480868998bd27b2e">rtabmap::CameraSeerSense::getSerial</a></div><div class="ttdeci">virtual std::string getSerial() const</div><div class="ttdoc">Returns the sensor's serial number or unique identifier.</div></div>
<div class="ttc" id="aclassrtabmap_1_1Camera_html"><div class="ttname"><a href="classrtabmap_1_1Camera.html">rtabmap::Camera</a></div><div class="ttdef"><b>Definition</b> <a href="Camera_8h_source.html#l00043">Camera.h:44</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorCaptureInfo_html"><div class="ttname"><a href="classrtabmap_1_1SensorCaptureInfo.html">rtabmap::SensorCaptureInfo</a></div><div class="ttdoc">Metadata structure for sensor data capture and processing.</div><div class="ttdef"><b>Definition</b> <a href="SensorCaptureInfo_8h_source.html#l00064">SensorCaptureInfo.h:65</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1SensorData_html"><div class="ttname"><a href="classrtabmap_1_1SensorData.html">rtabmap::SensorData</a></div><div class="ttdoc">Container class for all sensor data captured at a specific time.</div><div class="ttdef"><b>Definition</b> <a href="SensorData_8h_source.html#l00096">SensorData.h:97</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1Transform_html"><div class="ttname"><a href="classrtabmap_1_1Transform.html">rtabmap::Transform</a></div><div class="ttdoc">Represents a 3D rigid body transformation (rotation + translation).</div><div class="ttdef"><b>Definition</b> <a href="Transform_8h_source.html#l00052">Transform.h:53</a></div></div>
<div class="ttc" id="anamespacertabmap_html"><div class="ttname"><a href="namespacertabmap.html">rtabmap</a></div><div class="ttdef"><b>Definition</b> <a href="BayesFilter_8h_source.html#l00039">BayesFilter.h:39</a></div></div>
</div><!-- fragment --></div><!-- contents -->
</div><!-- doc-content -->
<!-- start footer part -->
<div id="nav-path" class="navpath"><!-- id is needed for treeview function! -->
  <ul>
    <li class="navelem"><a class="el" href="dir_04d49acea3c42cab2afcd35cb2f2a48f.html">corelib</a></li><li class="navelem"><a class="el" href="dir_e996b11fd4b3a747423759b16a8ba4a6.html">include</a></li><li class="navelem"><a class="el" href="dir_ff01f7bc5399ccf9ff1cc91d1f45726a.html">rtabmap</a></li><li class="navelem"><a class="el" href="dir_884419f21456e80aa47bc1d0c2ab0140.html">core</a></li><li class="navelem"><a class="el" href="dir_249903c078ca6be5fe8a43d73ba57f0e.html">camera</a></li><li class="navelem"><b>CameraSeerSense.h</b></li>
    <li class="footer">Generated by <a href="https://www.doxygen.org/index.html"><img class="footer" src="doxygen.svg" width="104" height="31" alt="doxygen"/></a> 1.9.8 </li>
  </ul>
</div>
</body>
</html>