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115 lines
3.9 KiB
C++
115 lines
3.9 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 <rtabmap/core/Camera.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 <boost/thread/mutex.hpp>
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class TangoPoseData;
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namespace rtabmap {
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class PoseEvent: public UEvent
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{
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public:
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PoseEvent(const Transform & pose) : pose_(pose) {}
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virtual std::string getClassName() const {return "PoseEvent";}
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const Transform & pose() const {return pose_;}
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private:
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Transform pose_;
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};
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class CameraTangoEvent: public UEvent
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{
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public:
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CameraTangoEvent(int type, const std::string & key, const std::string & value) : type_(type), key_(key), value_(value) {}
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virtual std::string getClassName() const {return "CameraTangoEvent";}
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int type() const {return type_;}
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const std::string & key() const {return key_;}
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const std::string & value() const {return value_;}
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private:
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int type_;
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std::string key_;
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std::string value_;
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};
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class CameraTango : public Camera, public UThread, public UEventsSender {
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public:
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CameraTango(int decimation, bool autoExposure);
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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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void close(); // close Tango connection
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virtual bool isCalibrated() const;
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virtual std::string getSerial() const;
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rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose, bool inOpenGLFrame) const;
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void setAutoExposure(bool enabled) {autoExposure_ = 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 poseReceived(const Transform & pose);
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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 captureImage();
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private:
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rtabmap::Transform getPoseAtTimestamp(double timestamp, bool inOpenGLFrame);
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virtual void mainLoopBegin();
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virtual void mainLoop();
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private:
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void * tango_config_;
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int decimation_;
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bool autoExposure_;
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cv::Mat cloud_;
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double cloudStamp_;
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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 dataMutex_;
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USemaphore dataReady_;
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rtabmap::Transform imuTDevice_;
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rtabmap::Transform imuTDepthCamera_;
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rtabmap::Transform deviceTDepth_;
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CameraModel model_;
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};
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} /* namespace rtabmap */
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#endif /* CAMERATANGO_H_ */
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