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matlabbe
e612d103bf
* Working IMU_RGBD and IMU_STEREO. Changing Inter IMU base frame is now possible. * Output error msg when vocabulary path is wrong. * Showing full local feature map
81 lines
3.0 KiB
C++
81 lines
3.0 KiB
C++
/*
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Copyright (c) 2010-2022, 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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#pragma once
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#include "rtabmap/core/rtabmap_core_export.h" // DLL export/import defines
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#include <rtabmap/core/SensorCapture.h>
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#include <rtabmap/core/IMU.h>
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namespace rtabmap
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{
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class IMUFilter;
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/**
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* Class Camera
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*
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*/
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class RTABMAP_CORE_EXPORT Camera : public SensorCapture
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{
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public:
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virtual ~Camera();
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SensorData takeImage(SensorCaptureInfo * info = 0) {return takeData(info);}
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float getImageRate() const {return getFrameRate();}
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void setImageRate(float imageRate) {setFrameRate(imageRate);}
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void setInterIMUPublishing(bool enabled, IMUFilter * filter = 0, bool baseFrameConversion = false); // Take ownership of filter
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bool isInterIMUPublishing() const {return publishInterIMU_;}
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bool initFromFile(const std::string & calibrationPath);
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virtual bool isCalibrated() const = 0;
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protected:
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/**
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* Constructor
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*
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* @param imageRate the frame rate (Hz), 0 for fast as the camera can
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* @param localTransform the transform from base frame to camera frame (without optical rotation)
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*/
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Camera(float imageRate = 0, const Transform & localTransform = Transform::getIdentity());
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virtual SensorData captureImage(SensorCaptureInfo * info = 0) = 0;
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void postInterIMU(const IMU & imu, double stamp);
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private:
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virtual SensorData captureData(SensorCaptureInfo * info = 0) {return captureImage(info);}
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private:
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IMUFilter * imuFilter_;
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bool publishInterIMU_;
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bool imuBaseFrameConversion_;
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};
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} // namespace rtabmap
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