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https://github.com/introlab/rtabmap.git
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595f200a89
* Added Data Recording Mode. Added option to filter ARKit localization jumps. * Implemented max acc relocalization filtering (working on iOS) * Fixed android build, added re-localization max acceleration parameter * ARCore Java: Fixed pose of depth not available at stamp requested * Android log fix * Added libLAS support * ios: added LAS support * updated dep install script to skip libraries already installed * CameraMobile: Fixed origin not updated if updateOnRender() is used * Default max opt error increased to 2x to reduce number of loop closures rejected. OptimizerGTSAM: updated gravity noise model to use same sigma for both parameters. * Updated license * bump 0.21.7 * updated license date
80 lines
3.0 KiB
C++
80 lines
3.0 KiB
C++
/*
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Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
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All rights reserved.
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Redistribution and use in source and binary forms, with or without
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modification, are permitted provided that the following conditions are met:
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* Redistributions of source code must retain the above copyright
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notice, this list of conditions and the following disclaimer.
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* Redistributions in binary form must reproduce the above copyright
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notice, this list of conditions and the following disclaimer in the
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documentation and/or other materials provided with the distribution.
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* Neither the name of the Universite de Sherbrooke nor the
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names of its contributors may be used to endorse or promote products
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derived from this software without specific prior written permission.
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THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
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ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
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WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
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DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
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DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
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(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
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LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
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ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
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(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
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SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
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*/
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#ifndef CAMERAARENGINE_H_
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#define CAMERAARENGINE_H_
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#include "CameraMobile.h"
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#include <rtabmap/core/Camera.h>
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#include <rtabmap/core/GeodeticCoords.h>
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#include <rtabmap/utilite/UMutex.h>
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#include <rtabmap/utilite/USemaphore.h>
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#include <rtabmap/utilite/UEventsSender.h>
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#include <rtabmap/utilite/UThread.h>
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#include <rtabmap/utilite/UEvent.h>
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#include <rtabmap/utilite/UTimer.h>
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#include <boost/thread/mutex.hpp>
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#include <background_renderer.h>
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#include <huawei_arengine_interface.h>
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namespace rtabmap {
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class CameraAREngine : public CameraMobile {
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public:
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CameraAREngine(void* env, void* context, void* activity, bool smoothing = false, float upstreamRelocalizationAccThr = 0.0f);
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virtual ~CameraAREngine();
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virtual void setScreenRotationAndSize(ScreenRotation colorCameraToDisplayRotation, int width, int height);
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual void close(); // close AREngine connection
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virtual std::string getSerial() const;
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protected:
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virtual SensorData updateDataOnRender(Transform & pose);
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private:
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rtabmap::Transform getPoseAtTimestamp(double timestamp);
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private:
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void * env_;
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void * context_;
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void * activity_;
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HwArSession* arSession_ = nullptr;
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HwArConfig* arConfig_ = nullptr;
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HwArFrame* arFrame_ = nullptr;
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HwArCameraIntrinsics *arCameraIntrinsics_ = nullptr;
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HwArPose * arPose_ = nullptr;
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bool arInstallRequested_;
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UMutex arSessionMutex_;
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};
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} /* namespace rtabmap */
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#endif /* CAMERAARENGINE_H_ */
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