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Camera: added some getters and protected image size modification

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git-svn-id: http://rtabmap.googlecode.com/svn/trunk/rtabmap@574 f169173b-cf89-36c8-b27e-44dbe73f0c83
This commit is contained in:
matlabbe
2012-06-26 19:23:43 +00:00
parent fe8e261fc6
commit c2008a448c
2 changed files with 80 additions and 33 deletions
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23
corelib/include/rtabmap/core/Camera.h
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@@ -103,15 +103,23 @@ public:
cv::Mat takeImage();
cv::Mat takeImage(cv::Mat & descriptors, std::vector<cv::KeyPoint> & keypoints);
virtual bool init() = 0;
//getters
bool isPaused() const {return !this->isRunning();}
bool isCapturing() const {return this->isRunning();}
unsigned int getImageWidth() const {return _imageWidth;}
unsigned int getImageHeight() const {return _imageHeight;}
void getImageSize(unsigned int & width, unsigned int & height);
float getImageRate() const {return _imageRate;}
bool isFeaturesExtracted() const {return _featuresExtracted;}
void setFeaturesExtracted(bool featuresExtracted, KeypointDetector::DetectorType detector = KeypointDetector::kDetectorUndef, KeypointDescriptor::DescriptorType descriptor = KeypointDescriptor::kDescriptorUndef);
//setters
void setFeaturesExtracted(bool featuresExtracted,
KeypointDetector::DetectorType detector = KeypointDetector::kDetectorUndef,
KeypointDescriptor::DescriptorType descriptor = KeypointDescriptor::kDescriptorUndef);
void setImageRate(float imageRate) {_imageRate = imageRate;}
void setAutoRestart(bool autoRestart) {_autoRestart = autoRestart;}
void setImageSize(unsigned int width, unsigned int height);
virtual void parseParameters(const ParametersMap & parameters);
int id() const {return _id;}
@@ -140,6 +148,7 @@ private:
unsigned int _imageHeight;
unsigned int _framesDropped;
UTimer _frameRateTimer;
UMutex _imageSizeMutex;
UMutex _stateMutex;
std::stack<State> _state;
@@ -171,6 +180,7 @@ public:
virtual ~CameraImages();
virtual bool init();
std::string getPath() const {return _path;}
protected:
virtual cv::Mat captureImage();
@@ -209,7 +219,7 @@ public:
unsigned int imageHeight = 0,
unsigned int framesDropped = 0,
int id = 0);
CameraVideo(const std::string & fileName,
CameraVideo(const std::string & filePath,
float imageRate = 0,
bool autoRestart = false,
unsigned int imageWidth = 0,
@@ -219,14 +229,15 @@ public:
virtual ~CameraVideo();
virtual bool init();
int getUsbDevice() {return _usbDevice;}
int getUsbDevice() const {return _usbDevice;}
const std::string & getFilePath() const {return _filePath;}
protected:
virtual cv::Mat captureImage();
private:
// File type
std::string _fileName;
std::string _filePath;
cv::VideoCapture _capture;
Source _src;