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add CameraSeerSense methods

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This commit is contained in:
Borong Yuan
2024-05-29 19:41:14 +08:00
parent fb37b3adba
commit ce0c806d75
2 changed files with 82 additions and 1 deletions
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8
corelib/include/rtabmap/core/camera/CameraSeerSense.h
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@@ -1,8 +1,8 @@
#pragma once
#include "rtabmap/core/CameraModel.h"
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
#include "rtabmap/utilite/USemaphore.h"
#ifdef RTABMAP_XVSDK
#include <xv-sdk.h>
@@ -27,6 +27,11 @@ public:
void setIMU(bool imuPublished, bool publishInterIMU);
virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
virtual bool isCalibrated() const;
virtual std::string getSerial() const;
protected:
virtual SensorData captureImage(SensorCaptureInfo * info = 0);
private:
#ifdef RTABMAP_XVSDK
@@ -38,6 +43,7 @@ private:
std::pair<double, std::pair<cv::Mat, cv::Mat>> lastData_;
UMutex imuMutex_;
UMutex dataMutex_;
USemaphore dataReady_;
#endif
};