Refactored Camera classes and Preferences->Source menu

corelib/include/rtabmap/core/Camera.h

@@ -50,118 +50,40 @@ class RTABMAP_EXP Camera
 {
 public:
 	virtual ~Camera();
-	cv::Mat takeImage();
-	virtual bool init() = 0;
+	SensorData takeImage();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "") = 0;
+	virtual bool isCalibrated() const = 0;
+	virtual std::string getSerial() const = 0;
+	int getNextSeqID() {return ++_seq;}
 
 	//getters
-	void getImageSize(unsigned int & width, unsigned int & height);
 	float getImageRate() const {return _imageRate;}
-	bool isMirroringEnabled() const {return _mirroring;}
+	const Transform & getLocalTransform() const {return _localTransform;}
 
 	//setters
 	void setImageRate(float imageRate) {_imageRate = imageRate;}
-	void setImageSize(unsigned int width, unsigned int height);
-	void setMirroringEnabled(bool enabled) {_mirroring = enabled;}
-
-	void setCalibration(const std::string & fileName);
-	void setCalibration(const cv::Mat & cameraMatrix, const cv::Mat & distorsionCoefficients);
-	void resetCalibration();
+	void setLocalTransform(const Transform & localTransform) {_localTransform= localTransform;}
 
 protected:
 	/**
 	 * Constructor
 	 *
-	 * @param imageRate : image/second , 0 for fast as the camera can
+	 * @param imageRate : image/second , 0 for fast as the camera can
 	 */
-	Camera(float imageRate = 0,
-			unsigned int imageWidth = 0,
-			unsigned int imageHeight = 0);
+	Camera(float imageRate = 0, const Transform & localTransform = Transform::getIdentity());
 
-	virtual cv::Mat captureImage() = 0;
+	/**
+	 * returned rgb and depth images should be already rectified if calibration was loaded
+	 */
+	virtual SensorData captureImage() = 0;
 
 private:
 	float _imageRate;
-	unsigned int _imageWidth;
-	unsigned int _imageHeight;
-	bool _mirroring;
+	Transform _localTransform;
+	cv::Size _targetImageSize;
 	UTimer * _frameRateTimer;
-	cv::Mat _k; // camera_matrix
-	cv::Mat _d; // distorsion_coefficients
-};
-
-
-/////////////////////////
-// CameraImages
-/////////////////////////
-class RTABMAP_EXP CameraImages :
-	public Camera
-{
-public:
-	CameraImages(const std::string & path,
-			int startAt = 1,
-			bool refreshDir = false,
-			float imageRate = 0,
-			unsigned int imageWidth = 0,
-			unsigned int imageHeight = 0);
-	virtual ~CameraImages();
-
-	virtual bool init();
-	std::string getPath() const {return _path;}
-	unsigned int imagesCount() const;
-
-protected:
-	virtual cv::Mat captureImage();
-
-private:
-	std::string _path;
-	int _startAt;
-	// If the list of files in the directory is refreshed
-	// on each call of takeImage()
-	bool _refreshDir;
-	int _count;
-	UDirectory * _dir;
-	std::string _lastFileName;
-};
-
-
-
-
-/////////////////////////
-// CameraVideo
-/////////////////////////
-class RTABMAP_EXP CameraVideo :
-	public Camera
-{
-public:
-	enum Source{kVideoFile, kUsbDevice};
-
-public:
-	CameraVideo(int usbDevice = 0,
-			float imageRate = 0,
-			unsigned int imageWidth = 0,
-			unsigned int imageHeight = 0);
-	CameraVideo(const std::string & filePath,
-			float imageRate = 0,
-			unsigned int imageWidth = 0,
-			unsigned int imageHeight = 0);
-	virtual ~CameraVideo();
-
-	virtual bool init();
-	int getUsbDevice() const {return _usbDevice;}
-	const std::string & getFilePath() const {return _filePath;}
-
-protected:
-	virtual cv::Mat captureImage();
-
-private:
-	// File type
-	std::string _filePath;
-
-	cv::VideoCapture _capture;
-	Source _src;
-
-	// Usb camera
-	int _usbDevice;
+	int _seq;
 };
 
 

corelib/include/rtabmap/core/CameraEvent.h

@@ -38,14 +38,13 @@ class CameraEvent :
 {
 public:
 	enum Code {
-		kCodeImage,
-		kCodeImageDepth,
+		kCodeData,
 		kCodeNoMoreImages
 	};
 
 public:
 	CameraEvent(const cv::Mat & image, int seq=0, double stamp = 0.0, const std::string & cameraName = "") :
-		UEvent(kCodeImage),
+		UEvent(kCodeData),
 		data_(image, seq, stamp),
 		cameraName_(cameraName)
 	{
@@ -57,7 +56,7 @@ public:
 	}
 
 	CameraEvent(const SensorData & data, const std::string & cameraName = "") :
-		UEvent(kCodeImageDepth),
+		UEvent(kCodeData),
 		data_(data),
 		cameraName_(cameraName)
 	{

corelib/include/rtabmap/core/CameraRGB.h

@@ -0,0 +1,124 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#pragma once
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include <opencv2/highgui/highgui.hpp>
+#include "rtabmap/core/Camera.h"
+#include <set>
+#include <stack>
+#include <list>
+#include <vector>
+
+class UDirectory;
+class UTimer;
+
+namespace rtabmap
+{
+
+/////////////////////////
+// CameraImages
+/////////////////////////
+class RTABMAP_EXP CameraImages :
+	public Camera
+{
+public:
+	CameraImages(const std::string & path,
+			int startAt = 1,
+			bool refreshDir = false,
+			float imageRate = 0,
+			const Transform & localTransform = Transform::getIdentity());
+	virtual ~CameraImages();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+	std::string getPath() const {return _path;}
+	unsigned int imagesCount() const;
+
+protected:
+	virtual SensorData captureImage();
+
+private:
+	std::string _path;
+	int _startAt;
+	// If the list of files in the directory is refreshed
+	// on each call of takeImage()
+	bool _refreshDir;
+	int _count;
+	UDirectory * _dir;
+	std::string _lastFileName;
+};
+
+
+
+
+/////////////////////////
+// CameraVideo
+/////////////////////////
+class RTABMAP_EXP CameraVideo :
+	public Camera
+{
+public:
+	enum Source{kVideoFile, kUsbDevice};
+
+public:
+	CameraVideo(int usbDevice = 0,
+			float imageRate = 0,
+			const Transform & localTransform = Transform::getIdentity());
+	CameraVideo(const std::string & filePath,
+			float imageRate = 0,
+			const Transform & localTransform = Transform::getIdentity());
+	virtual ~CameraVideo();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+	int getUsbDevice() const {return _usbDevice;}
+	const std::string & getFilePath() const {return _filePath;}
+
+protected:
+	virtual SensorData captureImage();
+
+private:
+	// File type
+	std::string _filePath;
+
+	cv::VideoCapture _capture;
+	Source _src;
+
+	// Usb camera
+	int _usbDevice;
+	std::string _guid;
+
+	CameraModel _model;
+};
+
+
+} // namespace rtabmap

corelib/include/rtabmap/core/CameraRGBD.h

@@ -29,24 +29,16 @@ SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
 
 #include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
 
-#include <opencv2/highgui/highgui.hpp>
-#include "rtabmap/core/SensorData.h"
 #include "rtabmap/utilite/UMutex.h"
 #include "rtabmap/utilite/USemaphore.h"
 #include "rtabmap/core/CameraModel.h"
-#include <set>
-#include <stack>
-#include <list>
-#include <vector>
+#include "rtabmap/core/Camera.h"
 
 #include <pcl/io/openni_camera/openni_depth_image.h>
 #include <pcl/io/openni_camera/openni_image.h>
 
 #include <boost/signals2/connection.hpp>
 
-class UDirectory;
-class UTimer;
-
 namespace openni
 {
 class Device;
@@ -67,70 +59,17 @@ class Registration;
 class PacketPipeline;
 }
 
-namespace FlyCapture2
-{
-class Camera;
-}
-
 typedef struct _freenect_context freenect_context;
 typedef struct _freenect_device freenect_device;
 
 namespace rtabmap
 {
 
-/**
- * Class CameraRGBD
- *
- */
-class RTABMAP_EXP CameraRGBD
-{
-public:
-	virtual ~CameraRGBD();
-	void takeImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
-
-	virtual bool init(const std::string & calibrationFolder = ".") = 0;
-	virtual bool isCalibrated() const = 0;
-	virtual std::string getSerial() const = 0;
-
-	//getters
-	float getImageRate() const {return _imageRate;}
-	const Transform & getLocalTransform() const {return _localTransform;}
-	bool isMirroringEnabled() const {return _mirroring;}
-	bool isColorOnly() const {return _colorOnly;}
-
-	//setters
-	void setImageRate(float imageRate) {_imageRate = imageRate;}
-	void setLocalTransform(const Transform & localTransform) {_localTransform= localTransform;}
-	void setMirroringEnabled(bool mirroring) {_mirroring = mirroring;}
-	void setColorOnly(bool colorOnly) {_colorOnly = colorOnly;}
-
-protected:
-	/**
-	 * Constructor
-	 *
-	 * @param imageRate : image/second , 0 for fast as the camera can
-	 */
-	CameraRGBD(float imageRate = 0,
-				const Transform & localTransform = Transform::getIdentity());
-
-	/**
-	 * returned rgb and depth images should be already rectified
-	 */
-	virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp) = 0;
-
-private:
-	float _imageRate;
-	Transform _localTransform;
-	bool _mirroring;
-	bool _colorOnly;
-	UTimer * _frameRateTimer;
-};
-
 /////////////////////////
 // CameraOpenNIPCL
 /////////////////////////
 class RTABMAP_EXP CameraOpenni :
-	public CameraRGBD
+	public Camera
 {
 public:
 	static bool available() {return true;}
@@ -147,12 +86,12 @@ public:
 			const boost::shared_ptr<openni_wrapper::DepthImage>& depth,
 			float constant);
 
-    virtual bool init(const std::string & calibrationFolder = ".");
+    virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
     virtual bool isCalibrated() const;
     virtual std::string getSerial() const;
 
 protected:
-	virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
+	virtual SensorData captureImage();
 
 private:
     pcl::Grabber* interface_;
@@ -169,7 +108,7 @@ private:
 // CameraOpenNICV
 /////////////////////////
 class RTABMAP_EXP CameraOpenNICV :
-	public CameraRGBD
+	public Camera
 {
 
 public:
@@ -181,12 +120,12 @@ public:
 					const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraOpenNICV();
 
-	virtual bool init(const std::string & calibrationFolder = ".");
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const {return "";} // unknown with OpenCV
 
 protected:
-	virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
+	virtual SensorData captureImage();
 
 private:
 	bool _asus;
@@ -198,7 +137,7 @@ private:
 // CameraOpenNI2
 /////////////////////////
 class RTABMAP_EXP CameraOpenNI2 :
-	public CameraRGBD
+	public Camera
 {
 
 public:
@@ -211,7 +150,7 @@ public:
 					const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraOpenNI2();
 
-	virtual bool init(const std::string & calibrationFolder = ".");
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const;
 
@@ -222,7 +161,7 @@ public:
 	bool setMirroring(bool enabled);
 
 protected:
-	virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
+	virtual SensorData captureImage();
 
 private:
 	openni::Device * _device;
@@ -240,7 +179,7 @@ private:
 class FreenectDevice;
 
 class RTABMAP_EXP CameraFreenect :
-	public CameraRGBD
+	public Camera
 {
 public:
 	static bool available();
@@ -252,12 +191,12 @@ public:
 					const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraFreenect();
 
-	virtual bool init(const std::string & calibrationFolder = ".");
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const;
 
 protected:
-	virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
+	virtual SensorData captureImage();
 
 private:
 	int deviceId_;
@@ -270,7 +209,7 @@ private:
 /////////////////////////
 
 class RTABMAP_EXP CameraFreenect2 :
-	public CameraRGBD
+	public Camera
 {
 public:
 	static bool available();
@@ -290,12 +229,12 @@ public:
 					const Transform & localTransform = Transform::getIdentity());
 	virtual ~CameraFreenect2();
 
-	virtual bool init(const std::string & calibrationFolder = ".");
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
 	virtual bool isCalibrated() const;
 	virtual std::string getSerial() const;
 
 protected:
-	virtual void captureImage(cv::Mat & rgb, cv::Mat & depth, float & fx, float & fy, float & cx, float & cy, double & stamp);
+	virtual SensorData captureImage();
 
 private:
 	int deviceId_;
@@ -308,91 +247,4 @@ private:
 	libfreenect2::Registration * reg_;
 };
 
-/////////////////////////
-// CameraStereoDC1394
-/////////////////////////
-class DC1394Device;
-
-class RTABMAP_EXP CameraStereoDC1394 :
-	public CameraRGBD
-{
-public:
-	static bool available();
-
-public:
-	CameraStereoDC1394( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
-	virtual ~CameraStereoDC1394();
-
-	virtual bool init(const std::string & calibrationFolder = ".");
-	virtual bool isCalibrated() const;
-	virtual std::string getSerial() const;
-
-protected:
-	virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy, double & stamp);
-
-private:
-	DC1394Device *device_;
-	StereoCameraModel stereoModel_;
-};
-
-/////////////////////////
-// CameraStereoFlyCapture2
-/////////////////////////
-class RTABMAP_EXP CameraStereoFlyCapture2 :
-	public CameraRGBD
-{
-public:
-	static bool available();
-
-public:
-	CameraStereoFlyCapture2( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
-	virtual ~CameraStereoFlyCapture2();
-
-	virtual bool init(const std::string & calibrationFolder = ".");
-	virtual bool isCalibrated() const;
-	virtual std::string getSerial() const;
-
-protected:
-	virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy, double & stamp);
-
-private:
-	FlyCapture2::Camera * camera_;
-	void * triclopsCtx_; // TriclopsContext
-};
-
-/////////////////////////
-// CameraStereoImages
-/////////////////////////
-class CameraImages;
-class RTABMAP_EXP CameraStereoImages :
-	public CameraRGBD
-{
-public:
-	static bool available();
-
-public:
-	CameraStereoImages(
-			const std::string & path,
-			const std::string & cameraName = "stereo_images", // calibration file name
-			const std::string & timestampsPath = "", // "times.txt"
-			float imageRate=0.0f,
-			const Transform & localTransform = Transform::getIdentity());
-	virtual ~CameraStereoImages();
-
-	virtual bool init(const std::string & calibrationFolder = ".");
-	virtual bool isCalibrated() const;
-	virtual std::string getSerial() const;
-
-protected:
-	virtual void captureImage(cv::Mat & left, cv::Mat & right, float & fx, float & baseline, float & cx, float & cy, double & stamp);
-
-private:
-	CameraImages * camera_;
-	CameraImages * camera2_;
-	std::string cameraName_;
-	std::string timestampsPath_;
-	std::list<double> stamps_;
-	StereoCameraModel stereoModel_;
-};
-
 } // namespace rtabmap

corelib/include/rtabmap/core/CameraStereo.h

@@ -0,0 +1,130 @@
+/*
+Copyright (c) 2010-2014, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#pragma once
+
+#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
+
+#include "rtabmap/core/CameraModel.h"
+#include "rtabmap/core/Camera.h"
+#include <list>
+
+namespace FlyCapture2
+{
+class Camera;
+}
+
+namespace rtabmap
+{
+
+/////////////////////////
+// CameraStereoDC1394
+/////////////////////////
+class DC1394Device;
+
+class RTABMAP_EXP CameraStereoDC1394 :
+	public Camera
+{
+public:
+	static bool available();
+
+public:
+	CameraStereoDC1394( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
+	virtual ~CameraStereoDC1394();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+
+protected:
+	virtual SensorData captureImage();
+
+private:
+	DC1394Device *device_;
+	StereoCameraModel stereoModel_;
+};
+
+/////////////////////////
+// CameraStereoFlyCapture2
+/////////////////////////
+class RTABMAP_EXP CameraStereoFlyCapture2 :
+	public Camera
+{
+public:
+	static bool available();
+
+public:
+	CameraStereoFlyCapture2( float imageRate=0.0f, const Transform & localTransform = Transform::getIdentity());
+	virtual ~CameraStereoFlyCapture2();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+
+protected:
+	virtual SensorData captureImage();
+
+private:
+	FlyCapture2::Camera * camera_;
+	void * triclopsCtx_; // TriclopsContext
+};
+
+/////////////////////////
+// CameraStereoImages
+/////////////////////////
+class CameraImages;
+class RTABMAP_EXP CameraStereoImages :
+	public Camera
+{
+public:
+	static bool available();
+
+public:
+	CameraStereoImages(
+			const std::string & path,
+			const std::string & timestampsPath = "", // "times.txt"
+			float imageRate=0.0f,
+			const Transform & localTransform = Transform::getIdentity());
+	virtual ~CameraStereoImages();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual bool isCalibrated() const;
+	virtual std::string getSerial() const;
+
+protected:
+	virtual SensorData captureImage();
+
+private:
+	CameraImages * camera_;
+	CameraImages * camera2_;
+	std::string timestampsPath_;
+	std::list<double> stamps_;
+	StereoCameraModel stereoModel_;
+	std::string cameraName_;
+};
+
+} // namespace rtabmap

corelib/include/rtabmap/core/CameraThread.h

@@ -36,7 +36,6 @@ namespace rtabmap
 {
 
 class Camera;
-class CameraRGBD;
 
 /**
  * Class CameraThread
@@ -49,10 +48,10 @@ class RTABMAP_EXP CameraThread :
 public:
 	// ownership transferred
 	CameraThread(Camera * camera);
-	CameraThread(CameraRGBD * camera);
 	virtual ~CameraThread();
 
-	bool init(); // call camera->init()
+	void setMirroringEnabled(bool enabled) {_mirroring = enabled;}
+	void setColorOnly(bool colorOnly) {_colorOnly = colorOnly;}
 
 	//getters
 	bool isPaused() const {return !this->isRunning();}
@@ -60,15 +59,14 @@ public:
 	void setImageRate(float imageRate);
 
 	Camera * camera() {return _camera;} // return null if not set, valid until CameraThread is deleted
-	CameraRGBD * cameraRGBD() {return _cameraRGBD;} // return null if not set, valid until CameraThread is deleted
 
 private:
 	virtual void mainLoop();
 
 private:
 	Camera * _camera;
-	CameraRGBD * _cameraRGBD;
-	int _seq;
+	bool _mirroring;
+	bool _colorOnly;
 };
 
 } // namespace rtabmap

corelib/include/rtabmap/core/SensorData.h

@@ -157,6 +157,9 @@ public:
 	void setImageRaw(const cv::Mat & imageRaw) {_imageRaw = imageRaw;}
 	void setDepthOrRightRaw(const cv::Mat & depthOrImageRaw) {_depthOrRightRaw =depthOrImageRaw;}
 	void setLaserScanRaw(const cv::Mat & laserScanRaw, int laserScanMaxPts) {_laserScanRaw =laserScanRaw;_laserScanMaxPts = laserScanMaxPts;}
+	void setCameraModel(const CameraModel & model) {_cameraModels.clear(); _cameraModels.push_back(model);}
+	void setCameraModels(const std::vector<CameraModel> & models) {_cameraModels = models;}
+	void setStereoCameraModel(const StereoCameraModel & stereoCameraModel) {_stereoCameraModel = stereoCameraModel;}
 
 	//for convenience
 	cv::Mat depthRaw() const {return _depthOrRightRaw.type()!=CV_8UC1?_depthOrRightRaw:cv::Mat();}