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<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> </ul>
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<div class="fragment"><div class="line"><a id="l00001" name="l00001"></a><span class="lineno"> 1</span><span class="comment">/*</span></div>
<div class="line"><a id="l00002" name="l00002"></a><span class="lineno"> 2</span><span class="comment">Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke</span></div>
<div class="line"><a id="l00003" name="l00003"></a><span class="lineno"> 3</span><span class="comment">All rights reserved.</span></div>
<div class="line"><a id="l00004" name="l00004"></a><span class="lineno"> 4</span><span class="comment"></span> </div>
<div class="line"><a id="l00005" name="l00005"></a><span class="lineno"> 5</span><span class="comment">Redistribution and use in source and binary forms, with or without</span></div>
<div class="line"><a id="l00006" name="l00006"></a><span class="lineno"> 6</span><span class="comment">modification, are permitted provided that the following conditions are met:</span></div>
<div class="line"><a id="l00007" name="l00007"></a><span class="lineno"> 7</span><span class="comment"> * Redistributions of source code must retain the above copyright</span></div>
<div class="line"><a id="l00008" name="l00008"></a><span class="lineno"> 8</span><span class="comment"> notice, this list of conditions and the following disclaimer.</span></div>
<div class="line"><a id="l00009" name="l00009"></a><span class="lineno"> 9</span><span class="comment"> * Redistributions in binary form must reproduce the above copyright</span></div>
<div class="line"><a id="l00010" name="l00010"></a><span class="lineno"> 10</span><span class="comment"> notice, this list of conditions and the following disclaimer in the</span></div>
<div class="line"><a id="l00011" name="l00011"></a><span class="lineno"> 11</span><span class="comment"> documentation and/or other materials provided with the distribution.</span></div>
<div class="line"><a id="l00012" name="l00012"></a><span class="lineno"> 12</span><span class="comment"> * Neither the name of the Universite de Sherbrooke nor the</span></div>
<div class="line"><a id="l00013" name="l00013"></a><span class="lineno"> 13</span><span class="comment"> names of its contributors may be used to endorse or promote products</span></div>
<div class="line"><a id="l00014" name="l00014"></a><span class="lineno"> 14</span><span class="comment"> derived from this software without specific prior written permission.</span></div>
<div class="line"><a id="l00015" name="l00015"></a><span class="lineno"> 15</span><span class="comment"></span> </div>
<div class="line"><a id="l00016" name="l00016"></a><span class="lineno"> 16</span><span class="comment">THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS &quot;AS IS&quot; AND</span></div>
<div class="line"><a id="l00017" name="l00017"></a><span class="lineno"> 17</span><span class="comment">ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED</span></div>
<div class="line"><a id="l00018" name="l00018"></a><span class="lineno"> 18</span><span class="comment">WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE</span></div>
<div class="line"><a id="l00019" name="l00019"></a><span class="lineno"> 19</span><span class="comment">DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY</span></div>
<div class="line"><a id="l00020" name="l00020"></a><span class="lineno"> 20</span><span class="comment">DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES</span></div>
<div class="line"><a id="l00021" name="l00021"></a><span class="lineno"> 21</span><span class="comment">(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;</span></div>
<div class="line"><a id="l00022" name="l00022"></a><span class="lineno"> 22</span><span class="comment">LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND</span></div>
<div class="line"><a id="l00023" name="l00023"></a><span class="lineno"> 23</span><span class="comment">ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT</span></div>
<div class="line"><a id="l00024" name="l00024"></a><span class="lineno"> 24</span><span class="comment">(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS</span></div>
<div class="line"><a id="l00025" name="l00025"></a><span class="lineno"> 25</span><span class="comment">SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.</span></div>
<div class="line"><a id="l00026" name="l00026"></a><span class="lineno"> 26</span><span class="comment">*/</span></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"> 28</span><span class="preprocessor">#pragma once</span></div>
<div class="line"><a id="l00029" name="l00029"></a><span class="lineno"> 29</span> </div>
<div class="line"><a id="l00030" name="l00030"></a><span class="lineno"> 30</span><span class="preprocessor">#include &quot;rtabmap/core/Camera.h&quot;</span></div>
<div class="line"><a id="l00031" name="l00031"></a><span class="lineno"> 31</span><span class="preprocessor">#include &quot;rtabmap/utilite/UTimer.h&quot;</span></div>
<div class="line"><a id="l00032" name="l00032"></a><span class="lineno"> 32</span><span class="preprocessor">#include &lt;list&gt;</span></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">class </span><a class="code hl_class" href="classUDirectory.html">UDirectory</a>;</div>
<div class="line"><a id="l00035" name="l00035"></a><span class="lineno"> 35</span> </div>
<div class="line"><a id="l00036" name="l00036"></a><span class="lineno"> 36</span><span class="keyword">namespace </span><a class="code hl_namespace" href="namespacertabmap.html">rtabmap</a></div>
<div class="line"><a id="l00037" name="l00037"></a><span class="lineno"> 37</span>{</div>
<div class="line"><a id="l00038" name="l00038"></a><span class="lineno"> 38</span> </div>
<div class="foldopen" id="foldopen00039" data-start="{" data-end="};">
<div class="line"><a id="l00039" name="l00039"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraImages.html"> 39</a></span><span class="keyword">class </span>RTABMAP_CORE_EXPORT <a class="code hl_class" href="classrtabmap_1_1CameraImages.html">CameraImages</a> :</div>
<div class="line"><a id="l00040" name="l00040"></a><span class="lineno"> 40</span> <span class="keyword">public</span> <a class="code hl_class" href="classrtabmap_1_1Camera.html">Camera</a></div>
<div class="line"><a id="l00041" name="l00041"></a><span class="lineno"> 41</span>{</div>
<div class="line"><a id="l00042" name="l00042"></a><span class="lineno"> 42</span><span class="keyword">public</span>:</div>
<div class="line"><a id="l00043" name="l00043"></a><span class="lineno"> 43</span> <a class="code hl_class" href="classrtabmap_1_1CameraImages.html">CameraImages</a>();</div>
<div class="line"><a id="l00044" name="l00044"></a><span class="lineno"> 44</span> <a class="code hl_class" href="classrtabmap_1_1CameraImages.html">CameraImages</a>(</div>
<div class="line"><a id="l00045" name="l00045"></a><span class="lineno"> 45</span> <span class="keyword">const</span> std::string &amp; path,</div>
<div class="line"><a id="l00046" name="l00046"></a><span class="lineno"> 46</span> <span class="keywordtype">float</span> imageRate = 0,</div>
<div class="line"><a id="l00047" name="l00047"></a><span class="lineno"> 47</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="l00048" name="l00048"></a><span class="lineno"> 48</span> <span class="keyword">virtual</span> <a class="code hl_class" href="classrtabmap_1_1CameraImages.html">~CameraImages</a>();</div>
<div class="line"><a id="l00049" name="l00049"></a><span class="lineno"> 49</span> </div>
<div class="line"><a id="l00050" name="l00050"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraImages.html#a8f00b6eb8c78a66d3381877825d70206"> 50</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraImages.html#a8f00b6eb8c78a66d3381877825d70206">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="l00051" name="l00051"></a><span class="lineno"> 51</span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> isCalibrated() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00052" name="l00052"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraImages.html#a217f54d1ead7a4d6af733c2644064a5f"> 52</a></span> <span class="keyword">virtual</span> std::string <a class="code hl_function" href="classrtabmap_1_1CameraImages.html#a217f54d1ead7a4d6af733c2644064a5f">getSerial</a>() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00053" name="l00053"></a><span class="lineno"><a class="line" href="classrtabmap_1_1CameraImages.html#aea0811d6305eec32fda10f46344c825f"> 53</a></span> <span class="keyword">virtual</span> <span class="keywordtype">bool</span> <a class="code hl_function" href="classrtabmap_1_1CameraImages.html#aea0811d6305eec32fda10f46344c825f">odomProvided</a>()<span class="keyword"> const </span>{ <span class="keywordflow">return</span> odometry_.size() &gt; 0; }</div>
<div class="line"><a id="l00054" name="l00054"></a><span class="lineno"> 54</span> std::string getPath()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _path;}</div>
<div class="line"><a id="l00055" name="l00055"></a><span class="lineno"> 55</span> <span class="keywordtype">unsigned</span> <span class="keywordtype">int</span> imagesCount() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00056" name="l00056"></a><span class="lineno"> 56</span> std::vector&lt;std::string&gt; filenames() <span class="keyword">const</span>;</div>
<div class="line"><a id="l00057" name="l00057"></a><span class="lineno"> 57</span> <span class="keywordtype">bool</span> isImagesRectified()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _rectifyImages;}</div>
<div class="line"><a id="l00058" name="l00058"></a><span class="lineno"> 58</span> <span class="keywordtype">int</span> getBayerMode()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _bayerMode;}</div>
<div class="line"><a id="l00059" name="l00059"></a><span class="lineno"> 59</span> <span class="keyword">const</span> CameraModel &amp; cameraModel()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _model;}</div>
<div class="line"><a id="l00060" name="l00060"></a><span class="lineno"> 60</span> </div>
<div class="line"><a id="l00061" name="l00061"></a><span class="lineno"> 61</span> <span class="keywordtype">void</span> setPath(<span class="keyword">const</span> std::string &amp; dir) {_path=dir;}</div>
<div class="line"><a id="l00062" name="l00062"></a><span class="lineno"> 62</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> setStartIndex(<span class="keywordtype">int</span> index) {_startAt = index;} <span class="comment">// negative means last</span></div>
<div class="line"><a id="l00063" name="l00063"></a><span class="lineno"> 63</span> <span class="keyword">virtual</span> <span class="keywordtype">void</span> setMaxFrames(<span class="keywordtype">int</span> value) {_maxFrames = value;}</div>
<div class="line"><a id="l00064" name="l00064"></a><span class="lineno"> 64</span> <span class="keywordtype">void</span> setDirRefreshed(<span class="keywordtype">bool</span> enabled) {_refreshDir = enabled;}</div>
<div class="line"><a id="l00065" name="l00065"></a><span class="lineno"> 65</span> <span class="keywordtype">void</span> setImagesRectified(<span class="keywordtype">bool</span> enabled) {_rectifyImages = enabled;}</div>
<div class="line"><a id="l00066" name="l00066"></a><span class="lineno"> 66</span> <span class="keywordtype">void</span> setBayerMode(<span class="keywordtype">int</span> mode) {_bayerMode = mode;} <span class="comment">// -1=disabled (default) 0=BayerBG, 1=BayerGB, 2=BayerRG, 3=BayerGR</span></div>
<div class="line"><a id="l00067" name="l00067"></a><span class="lineno"> 67</span> </div>
<div class="line"><a id="l00068" name="l00068"></a><span class="lineno"> 68</span> <span class="keywordtype">void</span> setTimestamps(<span class="keywordtype">bool</span> fileNamesAreStamps, <span class="keyword">const</span> std::string &amp; filePath = <span class="stringliteral">&quot;&quot;</span>, <span class="keywordtype">bool</span> syncImageRateWithStamps=<span class="keyword">true</span>)</div>
<div class="line"><a id="l00069" name="l00069"></a><span class="lineno"> 69</span> {</div>
<div class="line"><a id="l00070" name="l00070"></a><span class="lineno"> 70</span> _filenamesAreTimestamps = fileNamesAreStamps;</div>
<div class="line"><a id="l00071" name="l00071"></a><span class="lineno"> 71</span> _timestampsPath=filePath;</div>
<div class="line"><a id="l00072" name="l00072"></a><span class="lineno"> 72</span> _syncImageRateWithStamps = syncImageRateWithStamps;</div>
<div class="line"><a id="l00073" name="l00073"></a><span class="lineno"> 73</span> }</div>
<div class="line"><a id="l00074" name="l00074"></a><span class="lineno"> 74</span> </div>
<div class="line"><a id="l00075" name="l00075"></a><span class="lineno"> 75</span> <span class="keywordtype">void</span> setConfigForEachFrame(<span class="keywordtype">bool</span> value)</div>
<div class="line"><a id="l00076" name="l00076"></a><span class="lineno"> 76</span> {</div>
<div class="line"><a id="l00077" name="l00077"></a><span class="lineno"> 77</span> _hasConfigForEachFrame = value;</div>
<div class="line"><a id="l00078" name="l00078"></a><span class="lineno"> 78</span> }</div>
<div class="line"><a id="l00079" name="l00079"></a><span class="lineno"> 79</span> <span class="keywordtype">bool</span> isConfigForEachFrame()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _hasConfigForEachFrame;}</div>
<div class="line"><a id="l00080" name="l00080"></a><span class="lineno"> 80</span> </div>
<div class="line"><a id="l00081" name="l00081"></a><span class="lineno"> 81</span> <span class="comment">// Enable multi-camera mode. Each image in the folder is expected to be the</span></div>
<div class="line"><a id="l00082" name="l00082"></a><span class="lineno"> 82</span> <span class="comment">// horizontal concatenation of N sub-camera images of a rig, sharing the same</span></div>
<div class="line"><a id="l00083" name="l00083"></a><span class="lineno"> 83</span> <span class="comment">// base name (timestamp or node id), e.g. &quot;1780687370.031791.jpg&quot; or &quot;1.jpg&quot;.</span></div>
<div class="line"><a id="l00084" name="l00084"></a><span class="lineno"> 84</span> <span class="comment">// One calibration file per sub-camera must exist in the calibrationFolder</span></div>
<div class="line"><a id="l00085" name="l00085"></a><span class="lineno"> 85</span> <span class="comment">// passed to init(), named &quot;&lt;prefix&gt;_&lt;index&gt;.yaml&quot; with index starting at 0</span></div>
<div class="line"><a id="l00086" name="l00086"></a><span class="lineno"> 86</span> <span class="comment">// (e.g. &quot;1_0.yaml&quot;, &quot;1_1.yaml&quot;, ...). The number of cameras is auto-detected.</span></div>
<div class="line"><a id="l00087" name="l00087"></a><span class="lineno"> 87</span> <span class="comment">// Each sub-image width is taken from the corresponding model&#39;s calibrated image</span></div>
<div class="line"><a id="l00088" name="l00088"></a><span class="lineno"> 88</span> <span class="comment">// size; if a model has no size, a uniform split (stackedWidth / N) is assumed.</span></div>
<div class="line"><a id="l00089" name="l00089"></a><span class="lineno"> 89</span> <span class="comment">// If setConfigForEachFrame() is enabled, one calibration set is loaded per frame</span></div>
<div class="line"><a id="l00090" name="l00090"></a><span class="lineno"> 90</span> <span class="comment">// using each image&#39;s base name as prefix. Otherwise a single calibration set is</span></div>
<div class="line"><a id="l00091" name="l00091"></a><span class="lineno"> 91</span> <span class="comment">// loaded and reused for all frames, using the cameraName passed to init() as</span></div>
<div class="line"><a id="l00092" name="l00092"></a><span class="lineno"> 92</span> <span class="comment">// prefix (it may differ from any image name), falling back to the first image&#39;s</span></div>
<div class="line"><a id="l00093" name="l00093"></a><span class="lineno"> 93</span> <span class="comment">// base name when cameraName is empty.</span></div>
<div class="line"><a id="l00094" name="l00094"></a><span class="lineno"> 94</span> <span class="comment">// Note that it is not recommended to use setConfigForEachFrame() if images have</span></div>
<div class="line"><a id="l00095" name="l00095"></a><span class="lineno"> 95</span> <span class="comment">// to be rectified, a rectification matrix would need to be re-initilaized for</span></div>
<div class="line"><a id="l00096" name="l00096"></a><span class="lineno"> 96</span> <span class="comment">// each frame.</span></div>
<div class="line"><a id="l00097" name="l00097"></a><span class="lineno"> 97</span> <span class="keywordtype">void</span> setMultiCameraCalibration(<span class="keywordtype">bool</span> enabled)</div>
<div class="line"><a id="l00098" name="l00098"></a><span class="lineno"> 98</span> {</div>
<div class="line"><a id="l00099" name="l00099"></a><span class="lineno"> 99</span> _multiCameraCalib = enabled;</div>
<div class="line"><a id="l00100" name="l00100"></a><span class="lineno"> 100</span> }</div>
<div class="line"><a id="l00101" name="l00101"></a><span class="lineno"> 101</span> </div>
<div class="line"><a id="l00102" name="l00102"></a><span class="lineno"> 102</span> <span class="keywordtype">void</span> setScanPath(</div>
<div class="line"><a id="l00103" name="l00103"></a><span class="lineno"> 103</span> <span class="keyword">const</span> std::string &amp; dir,</div>
<div class="line"><a id="l00104" name="l00104"></a><span class="lineno"> 104</span> <span class="keywordtype">int</span> maxScanPts = 0,</div>
<div class="line"><a id="l00105" name="l00105"></a><span class="lineno"> 105</span> <span class="keyword">const</span> Transform &amp; localTransform=Transform::getIdentity())</div>
<div class="line"><a id="l00106" name="l00106"></a><span class="lineno"> 106</span> {</div>
<div class="line"><a id="l00107" name="l00107"></a><span class="lineno"> 107</span> _scanPath = dir;</div>
<div class="line"><a id="l00108" name="l00108"></a><span class="lineno"> 108</span> _scanLocalTransform = localTransform;</div>
<div class="line"><a id="l00109" name="l00109"></a><span class="lineno"> 109</span> _scanMaxPts = maxScanPts;</div>
<div class="line"><a id="l00110" name="l00110"></a><span class="lineno"> 110</span> }</div>
<div class="line"><a id="l00111" name="l00111"></a><span class="lineno"> 111</span> </div>
<div class="line"><a id="l00112" name="l00112"></a><span class="lineno"> 112</span> <span class="keywordtype">void</span> setDepthFromScan(<span class="keywordtype">bool</span> enabled, <span class="keywordtype">int</span> fillHoles = 1, <span class="keywordtype">bool</span> fillHolesFromBorder = <span class="keyword">false</span>)</div>
<div class="line"><a id="l00113" name="l00113"></a><span class="lineno"> 113</span> {</div>
<div class="line"><a id="l00114" name="l00114"></a><span class="lineno"> 114</span> _depthFromScan = enabled;</div>
<div class="line"><a id="l00115" name="l00115"></a><span class="lineno"> 115</span> _depthFromScanFillHoles = fillHoles;</div>
<div class="line"><a id="l00116" name="l00116"></a><span class="lineno"> 116</span> _depthFromScanFillHolesFromBorder = fillHolesFromBorder;</div>
<div class="line"><a id="l00117" name="l00117"></a><span class="lineno"> 117</span> }</div>
<div class="line"><a id="l00118" name="l00118"></a><span class="lineno"> 118</span> </div>
<div class="line"><a id="l00119" name="l00119"></a><span class="lineno"> 119</span> <span class="comment">// 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV, 12=rgbd_bonn</span></div>
<div class="line"><a id="l00120" name="l00120"></a><span class="lineno"> 120</span> <span class="keywordtype">void</span> setOdometryPath(<span class="keyword">const</span> std::string &amp; filePath, <span class="keywordtype">int</span> format = 0)</div>
<div class="line"><a id="l00121" name="l00121"></a><span class="lineno"> 121</span> {</div>
<div class="line"><a id="l00122" name="l00122"></a><span class="lineno"> 122</span> _odometryPath = filePath;</div>
<div class="line"><a id="l00123" name="l00123"></a><span class="lineno"> 123</span> _odometryFormat = format;</div>
<div class="line"><a id="l00124" name="l00124"></a><span class="lineno"> 124</span> }</div>
<div class="line"><a id="l00125" name="l00125"></a><span class="lineno"> 125</span> </div>
<div class="line"><a id="l00126" name="l00126"></a><span class="lineno"> 126</span> <span class="comment">// 0=Raw, 1=RGBD-SLAM motion capture (10=without change of coordinate frame, 11=10+ID), 2=KITTI, 3=TORO, 4=g2o, 5=NewCollege(t,x,y), 6=Malaga Urban GPS, 7=St Lucia INS, 8=Karlsruhe, 9=EuRoC MAV, 12=rgbd_bonn</span></div>
<div class="line"><a id="l00127" name="l00127"></a><span class="lineno"> 127</span> <span class="keywordtype">void</span> setGroundTruthPath(<span class="keyword">const</span> std::string &amp; filePath, <span class="keywordtype">int</span> format = 0, <span class="keyword">const</span> Transform &amp; localTransform = Transform::getIdentity())</div>
<div class="line"><a id="l00128" name="l00128"></a><span class="lineno"> 128</span> {</div>
<div class="line"><a id="l00129" name="l00129"></a><span class="lineno"> 129</span> _groundTruthPath = filePath;</div>
<div class="line"><a id="l00130" name="l00130"></a><span class="lineno"> 130</span> _groundTruthFormat = format;</div>
<div class="line"><a id="l00131" name="l00131"></a><span class="lineno"> 131</span> _groundTruthLocalTransform = localTransform;</div>
<div class="line"><a id="l00132" name="l00132"></a><span class="lineno"> 132</span> }</div>
<div class="line"><a id="l00133" name="l00133"></a><span class="lineno"> 133</span> </div>
<div class="line"><a id="l00134" name="l00134"></a><span class="lineno"> 134</span> <span class="keywordtype">void</span> setMaxPoseTimeDiff(<span class="keywordtype">double</span> diff) {_maxPoseTimeDiff = diff;}</div>
<div class="line"><a id="l00135" name="l00135"></a><span class="lineno"> 135</span> <span class="keywordtype">double</span> getMaxPoseTimeDiff()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _maxPoseTimeDiff;}</div>
<div class="line"><a id="l00136" name="l00136"></a><span class="lineno"> 136</span> </div>
<div class="line"><a id="l00137" name="l00137"></a><span class="lineno"> 137</span> <span class="keywordtype">void</span> setDepth(<span class="keywordtype">bool</span> isDepth, <span class="keywordtype">float</span> depthScaleFactor = 1.0f)</div>
<div class="line"><a id="l00138" name="l00138"></a><span class="lineno"> 138</span> {</div>
<div class="line"><a id="l00139" name="l00139"></a><span class="lineno"> 139</span> _isDepth = isDepth;</div>
<div class="line"><a id="l00140" name="l00140"></a><span class="lineno"> 140</span> _depthScaleFactor=depthScaleFactor;</div>
<div class="line"><a id="l00141" name="l00141"></a><span class="lineno"> 141</span> }</div>
<div class="line"><a id="l00142" name="l00142"></a><span class="lineno"> 142</span> </div>
<div class="line"><a id="l00143" name="l00143"></a><span class="lineno"> 143</span><span class="keyword">protected</span>:</div>
<div class="line"><a id="l00144" name="l00144"></a><span class="lineno"> 144</span> <span class="keyword">virtual</span> SensorData captureImage(SensorCaptureInfo * info = 0);</div>
<div class="line"><a id="l00145" name="l00145"></a><span class="lineno"> 145</span> </div>
<div class="line"><a id="l00146" name="l00146"></a><span class="lineno"> 146</span> <span class="comment">// File name (with extension, no directory) of the image returned by the last</span></div>
<div class="line"><a id="l00147" name="l00147"></a><span class="lineno"> 147</span> <span class="comment">// captureImage() call. Used by subclasses (e.g. stereo) to key per-frame</span></div>
<div class="line"><a id="l00148" name="l00148"></a><span class="lineno"> 148</span> <span class="comment">// calibration loaded on demand. Empty if no image was read.</span></div>
<div class="line"><a id="l00149" name="l00149"></a><span class="lineno"> 149</span> <span class="keyword">const</span> std::string &amp; lastImageFileName()<span class="keyword"> const </span>{<span class="keywordflow">return</span> _lastImageFileName;}</div>
<div class="line"><a id="l00150" name="l00150"></a><span class="lineno"> 150</span> </div>
<div class="line"><a id="l00151" name="l00151"></a><span class="lineno"> 151</span> <span class="comment">// Calibration folder passed to init(), kept to load per-frame calibration on</span></div>
<div class="line"><a id="l00152" name="l00152"></a><span class="lineno"> 152</span> <span class="comment">// demand. Shared with subclasses (e.g. stereo) that load calibration themselves.</span></div>
<div class="line"><a id="l00153" name="l00153"></a><span class="lineno"> 153</span> std::string _calibrationFolder;</div>
<div class="line"><a id="l00154" name="l00154"></a><span class="lineno"> 154</span> </div>
<div class="line"><a id="l00155" name="l00155"></a><span class="lineno"> 155</span> <span class="comment">// Multi-camera mode state, shared with subclasses (e.g. stereo) that layer their</span></div>
<div class="line"><a id="l00156" name="l00156"></a><span class="lineno"> 156</span> <span class="comment">// own multi-camera handling over the base reader. Such subclasses temporarily set</span></div>
<div class="line"><a id="l00157" name="l00157"></a><span class="lineno"> 157</span> <span class="comment">// _multiCameraCalib to false while delegating to base init()/captureImage() so the</span></div>
<div class="line"><a id="l00158" name="l00158"></a><span class="lineno"> 158</span> <span class="comment">// base returns the raw stacked image instead of doing its own split, then restore it.</span></div>
<div class="line"><a id="l00159" name="l00159"></a><span class="lineno"> 159</span> <span class="keywordtype">bool</span> _multiCameraCalib;</div>
<div class="line"><a id="l00160" name="l00160"></a><span class="lineno"> 160</span> <span class="keywordtype">int</span> _multiCameraCount; <span class="comment">// number of sub-cameras detected in multi-camera mode</span></div>
<div class="line"><a id="l00161" name="l00161"></a><span class="lineno"> 161</span> </div>
<div class="line"><a id="l00162" name="l00162"></a><span class="lineno"> 162</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00163" name="l00163"></a><span class="lineno"> 163</span> <span class="keywordtype">bool</span> readPoses(</div>
<div class="line"><a id="l00164" name="l00164"></a><span class="lineno"> 164</span> std::list&lt;Transform&gt; &amp; outputPoses,</div>
<div class="line"><a id="l00165" name="l00165"></a><span class="lineno"> 165</span> std::list&lt;double&gt; &amp; stamps,</div>
<div class="line"><a id="l00166" name="l00166"></a><span class="lineno"> 166</span> <span class="keyword">const</span> std::string &amp; filePath,</div>
<div class="line"><a id="l00167" name="l00167"></a><span class="lineno"> 167</span> <span class="keywordtype">int</span> format,</div>
<div class="line"><a id="l00168" name="l00168"></a><span class="lineno"> 168</span> <span class="keywordtype">double</span> maxTimeDiff) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00169" name="l00169"></a><span class="lineno"> 169</span> </div>
<div class="line"><a id="l00170" name="l00170"></a><span class="lineno"> 170</span> <span class="comment">// Load the sub-camera models of a multi-camera rig from calibration files named</span></div>
<div class="line"><a id="l00171" name="l00171"></a><span class="lineno"> 171</span> <span class="comment">// &quot;&lt;baseName&gt;_&lt;index&gt;.yaml&quot; (index 0.._multiCameraCount-1) in _calibrationFolder.</span></div>
<div class="line"><a id="l00172" name="l00172"></a><span class="lineno"> 172</span> <span class="comment">// Returns an empty vector (and logs an error) if any model is missing or invalid.</span></div>
<div class="line"><a id="l00173" name="l00173"></a><span class="lineno"> 173</span> std::vector&lt;CameraModel&gt; loadMultiCameraModels(<span class="keyword">const</span> std::string &amp; baseName) <span class="keyword">const</span>;</div>
<div class="line"><a id="l00174" name="l00174"></a><span class="lineno"> 174</span> </div>
<div class="line"><a id="l00175" name="l00175"></a><span class="lineno"> 175</span> <span class="comment">// Load the single-camera model for one frame from a per-frame config file (RTAB-Map</span></div>
<div class="line"><a id="l00176" name="l00176"></a><span class="lineno"> 176</span> <span class="comment">// calibration or 3DScannerApp format). Returns an invalid model (and logs an error)</span></div>
<div class="line"><a id="l00177" name="l00177"></a><span class="lineno"> 177</span> <span class="comment">// on failure.</span></div>
<div class="line"><a id="l00178" name="l00178"></a><span class="lineno"> 178</span> CameraModel loadConfigModel(<span class="keyword">const</span> std::string &amp; filePath);</div>
<div class="line"><a id="l00179" name="l00179"></a><span class="lineno"> 179</span> </div>
<div class="line"><a id="l00180" name="l00180"></a><span class="lineno"> 180</span><span class="keyword">private</span>:</div>
<div class="line"><a id="l00181" name="l00181"></a><span class="lineno"> 181</span> std::string _path;</div>
<div class="line"><a id="l00182" name="l00182"></a><span class="lineno"> 182</span> <span class="keywordtype">int</span> _startAt;</div>
<div class="line"><a id="l00183" name="l00183"></a><span class="lineno"> 183</span> <span class="keywordtype">int</span> _maxFrames;</div>
<div class="line"><a id="l00184" name="l00184"></a><span class="lineno"> 184</span> <span class="comment">// If the list of files in the directory is refreshed</span></div>
<div class="line"><a id="l00185" name="l00185"></a><span class="lineno"> 185</span> <span class="comment">// on each call of takeImage()</span></div>
<div class="line"><a id="l00186" name="l00186"></a><span class="lineno"> 186</span> <span class="keywordtype">bool</span> _refreshDir;</div>
<div class="line"><a id="l00187" name="l00187"></a><span class="lineno"> 187</span> <span class="keywordtype">bool</span> _rectifyImages;</div>
<div class="line"><a id="l00188" name="l00188"></a><span class="lineno"> 188</span> <span class="keywordtype">int</span> _bayerMode;</div>
<div class="line"><a id="l00189" name="l00189"></a><span class="lineno"> 189</span> <span class="keywordtype">bool</span> _isDepth;</div>
<div class="line"><a id="l00190" name="l00190"></a><span class="lineno"> 190</span> <span class="keywordtype">float</span> _depthScaleFactor;</div>
<div class="line"><a id="l00191" name="l00191"></a><span class="lineno"> 191</span> <span class="keywordtype">int</span> _count;</div>
<div class="line"><a id="l00192" name="l00192"></a><span class="lineno"> 192</span> <span class="keywordtype">int</span> _framesPublished;</div>
<div class="line"><a id="l00193" name="l00193"></a><span class="lineno"> 193</span> <a class="code hl_class" href="classUDirectory.html">UDirectory</a> * _dir;</div>
<div class="line"><a id="l00194" name="l00194"></a><span class="lineno"> 194</span> std::string _lastFileName;</div>
<div class="line"><a id="l00195" name="l00195"></a><span class="lineno"> 195</span> std::string _lastImageFileName; <span class="comment">// file name of the image returned by the last captureImage()</span></div>
<div class="line"><a id="l00196" name="l00196"></a><span class="lineno"> 196</span> </div>
<div class="line"><a id="l00197" name="l00197"></a><span class="lineno"> 197</span> <span class="keywordtype">int</span> _countScan;</div>
<div class="line"><a id="l00198" name="l00198"></a><span class="lineno"> 198</span> <a class="code hl_class" href="classUDirectory.html">UDirectory</a> * _scanDir;</div>
<div class="line"><a id="l00199" name="l00199"></a><span class="lineno"> 199</span> std::string _lastScanFileName;</div>
<div class="line"><a id="l00200" name="l00200"></a><span class="lineno"> 200</span> std::string _scanPath;</div>
<div class="line"><a id="l00201" name="l00201"></a><span class="lineno"> 201</span> Transform _scanLocalTransform;</div>
<div class="line"><a id="l00202" name="l00202"></a><span class="lineno"> 202</span> <span class="keywordtype">int</span> _scanMaxPts;</div>
<div class="line"><a id="l00203" name="l00203"></a><span class="lineno"> 203</span> </div>
<div class="line"><a id="l00204" name="l00204"></a><span class="lineno"> 204</span> <span class="keywordtype">bool</span> _depthFromScan;</div>
<div class="line"><a id="l00205" name="l00205"></a><span class="lineno"> 205</span> <span class="keywordtype">int</span> _depthFromScanFillHoles; <span class="comment">// &lt;0:horizontal 0:disabled &gt;0:vertical</span></div>
<div class="line"><a id="l00206" name="l00206"></a><span class="lineno"> 206</span> <span class="keywordtype">bool</span> _depthFromScanFillHolesFromBorder;</div>
<div class="line"><a id="l00207" name="l00207"></a><span class="lineno"> 207</span> </div>
<div class="line"><a id="l00208" name="l00208"></a><span class="lineno"> 208</span> <span class="keywordtype">bool</span> _filenamesAreTimestamps;</div>
<div class="line"><a id="l00209" name="l00209"></a><span class="lineno"> 209</span> <span class="keywordtype">bool</span> _hasConfigForEachFrame;</div>
<div class="line"><a id="l00210" name="l00210"></a><span class="lineno"> 210</span> std::string _timestampsPath;</div>
<div class="line"><a id="l00211" name="l00211"></a><span class="lineno"> 211</span> <span class="keywordtype">bool</span> _syncImageRateWithStamps;</div>
<div class="line"><a id="l00212" name="l00212"></a><span class="lineno"> 212</span> </div>
<div class="line"><a id="l00213" name="l00213"></a><span class="lineno"> 213</span> std::string _odometryPath;</div>
<div class="line"><a id="l00214" name="l00214"></a><span class="lineno"> 214</span> <span class="keywordtype">int</span> _odometryFormat;</div>
<div class="line"><a id="l00215" name="l00215"></a><span class="lineno"> 215</span> std::string _groundTruthPath;</div>
<div class="line"><a id="l00216" name="l00216"></a><span class="lineno"> 216</span> <span class="keywordtype">int</span> _groundTruthFormat;</div>
<div class="line"><a id="l00217" name="l00217"></a><span class="lineno"> 217</span> Transform _groundTruthLocalTransform;</div>
<div class="line"><a id="l00218" name="l00218"></a><span class="lineno"> 218</span> <span class="keywordtype">double</span> _maxPoseTimeDiff;</div>
<div class="line"><a id="l00219" name="l00219"></a><span class="lineno"> 219</span> </div>
<div class="line"><a id="l00220" name="l00220"></a><span class="lineno"> 220</span> std::list&lt;double&gt; _stamps;</div>
<div class="line"><a id="l00221" name="l00221"></a><span class="lineno"> 221</span> std::list&lt;Transform&gt; odometry_;</div>
<div class="line"><a id="l00222" name="l00222"></a><span class="lineno"> 222</span> std::list&lt;cv::Mat&gt; covariances_;</div>
<div class="line"><a id="l00223" name="l00223"></a><span class="lineno"> 223</span> std::list&lt;Transform&gt; groundTruth_;</div>
<div class="line"><a id="l00224" name="l00224"></a><span class="lineno"> 224</span> CameraModel _model;</div>
<div class="line"><a id="l00225" name="l00225"></a><span class="lineno"> 225</span> std::list&lt;std::string&gt; _modelFileNames; <span class="comment">// per-frame single-camera config file paths (config-for-each-frame)</span></div>
<div class="line"><a id="l00226" name="l00226"></a><span class="lineno"> 226</span> <span class="keywordtype">bool</span> _configLocalTransformWarned; <span class="comment">// warn only once when a per-frame config has no local_transform</span></div>
<div class="line"><a id="l00227" name="l00227"></a><span class="lineno"> 227</span> std::vector&lt;CameraModel&gt; _multiModels; <span class="comment">// sub-camera models, shared by all frames (multi-camera mode); empty when loaded per-frame</span></div>
<div class="line"><a id="l00228" name="l00228"></a><span class="lineno"> 228</span> </div>
<div class="line"><a id="l00229" name="l00229"></a><span class="lineno"> 229</span> <a class="code hl_class" href="classUTimer.html">UTimer</a> _captureTimer;</div>
<div class="line"><a id="l00230" name="l00230"></a><span class="lineno"> 230</span> <span class="keywordtype">double</span> _captureDelay;</div>
<div class="line"><a id="l00231" name="l00231"></a><span class="lineno"> 231</span>};</div>
</div>
<div class="line"><a id="l00232" name="l00232"></a><span class="lineno"> 232</span> </div>
<div class="line"><a id="l00233" name="l00233"></a><span class="lineno"> 233</span> </div>
<div class="line"><a id="l00234" name="l00234"></a><span class="lineno"> 234</span>} <span class="comment">// namespace rtabmap</span></div>
<div class="ttc" id="aclassUDirectory_html"><div class="ttname"><a href="classUDirectory.html">UDirectory</a></div><div class="ttdef"><b>Definition</b> <a href="UDirectory_8h_source.html#l00034">UDirectory.h:35</a></div></div>
<div class="ttc" id="aclassUTimer_html"><div class="ttname"><a href="classUTimer.html">UTimer</a></div><div class="ttdef"><b>Definition</b> <a href="UTimer_8h_source.html#l00046">UTimer.h:47</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1CameraImages_html"><div class="ttname"><a href="classrtabmap_1_1CameraImages.html">rtabmap::CameraImages</a></div><div class="ttdef"><b>Definition</b> <a href="CameraImages_8h_source.html#l00039">CameraImages.h:41</a></div></div>
<div class="ttc" id="aclassrtabmap_1_1CameraImages_html_a217f54d1ead7a4d6af733c2644064a5f"><div class="ttname"><a href="classrtabmap_1_1CameraImages.html#a217f54d1ead7a4d6af733c2644064a5f">rtabmap::CameraImages::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_1CameraImages_html_a8f00b6eb8c78a66d3381877825d70206"><div class="ttname"><a href="classrtabmap_1_1CameraImages.html#a8f00b6eb8c78a66d3381877825d70206">rtabmap::CameraImages::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_1CameraImages_html_aea0811d6305eec32fda10f46344c825f"><div class="ttname"><a href="classrtabmap_1_1CameraImages.html#aea0811d6305eec32fda10f46344c825f">rtabmap::CameraImages::odomProvided</a></div><div class="ttdeci">virtual bool odomProvided() const</div><div class="ttdoc">Checks if the sensor provides odometry poses.</div><div class="ttdef"><b>Definition</b> <a href="CameraImages_8h_source.html#l00053">CameraImages.h:53</a></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_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>
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