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https://github.com/introlab/rtabmap.git
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700704bec9
* Working rtabmap_lidar-mapping example (live and pcap) * finalizing merge, added some deprecated * fixed build * Working deskewing for Lidar + Camera/IMU (no camera pose correction yet) and Lidar + Odom Sensor in main UI. * backward compatibility * fixed some not used variable warnings, fixed qt build for lidar mapping example * Refactored CameraMobile, added AREngine background support, fixed LidarVPL16 build error with PCL 1.8 * ARCoreJava: buffer last depth image in case its stamp i higher than pose stamp. CameraMobile: added pose buffer. SensorCaptureThread: to get pose, odomSensor should be explicitly set, but can be same as lidar or camera inputs. * Working external lidar on iOS * util3d::commonFiltering()/adjustNormalsToViewPoint() added organized cloud support. MainWindow: updated odomSensor setup * fixed winsock include order * reverted camera tool * disable imu filtering when odom sensor is used * Updated package version * fixed windows build * fixing more windows build erros
85 lines
3.3 KiB
C++
85 lines
3.3 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 CAMERATANGO_H_
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#define CAMERATANGO_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 <tango_client_api.h>
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#include <tango_support_api.h>
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namespace rtabmap {
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class CameraTango : public CameraMobile {
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public:
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CameraTango(bool colorCamera, int decimation, bool publishRawScan, bool smoothing);
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virtual ~CameraTango();
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
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virtual void close(); // close Tango connection
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virtual std::string getSerial() const;
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rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
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void setDecimation(int value) {decimation_ = value;}
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void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
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void cloudReceived(const cv::Mat & cloud, double timestamp);
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void rgbReceived(const cv::Mat & tangoImage, int type, double timestamp);
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void tangoEventReceived(int type, const char * key, const char * value);
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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 * tango_config_;
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bool colorCamera_;
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int decimation_;
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bool rawScanPublished_;
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SensorData tangoData_;
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cv::Mat tangoColor_;
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int tangoColorType_;
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double tangoColorStamp_;
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boost::mutex tangoDataMutex_;
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USemaphore tangoDataReady_;
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cv::Mat fisheyeRectifyMapX_;
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cv::Mat fisheyeRectifyMapY_;
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};
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} /* namespace rtabmap */
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#endif /* CAMERATANGO_H_ */
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