mirror of
https://github.com/introlab/rtabmap.git
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matlabbe
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
115 lines
3.6 KiB
C++
115 lines
3.6 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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#include "rtabmap/core/SensorCapture.h"
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#include <rtabmap/utilite/UEventsManager.h>
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#include <rtabmap/utilite/UConversion.h>
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#include <rtabmap/utilite/UStl.h>
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#include <rtabmap/utilite/UConversion.h>
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#include <rtabmap/utilite/UFile.h>
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#include <rtabmap/utilite/UDirectory.h>
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#include <rtabmap/utilite/UTimer.h>
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#include <opencv2/imgproc/imgproc.hpp>
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#include <iostream>
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#include <cmath>
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namespace rtabmap
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{
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SensorCapture::SensorCapture(float frameRate, const Transform & localTransform) :
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_frameRate(frameRate),
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_localTransform(localTransform),
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_frameRateTimer(new UTimer()),
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_seq(0)
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{
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}
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SensorCapture::~SensorCapture()
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{
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delete _frameRateTimer;
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}
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void SensorCapture::resetTimer()
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{
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_frameRateTimer->start();
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}
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SensorData SensorCapture::takeData(SensorCaptureInfo * info)
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{
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bool warnFrameRateTooHigh = false;
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float actualFrameRate = 0;
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float frameRate = _frameRate;
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if(frameRate>0)
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{
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int sleepTime = (1000.0f/frameRate - 1000.0f*_frameRateTimer->getElapsedTime());
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if(sleepTime > 2)
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{
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uSleep(sleepTime-2);
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}
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else if(sleepTime < 0)
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{
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warnFrameRateTooHigh = true;
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actualFrameRate = 1.0/(_frameRateTimer->getElapsedTime());
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}
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// Add precision at the cost of a small overhead
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while(_frameRateTimer->getElapsedTime() < 1.0/double(frameRate)-0.000001)
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{
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//
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}
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double slept = _frameRateTimer->getElapsedTime();
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_frameRateTimer->start();
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UDEBUG("slept=%fs vs target=%fs", slept, 1.0/double(frameRate));
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}
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UTimer timer;
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SensorData data = this->captureData(info);
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double captureTime = timer.ticks();
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if(warnFrameRateTooHigh)
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{
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UWARN("Camera: Cannot reach target frame rate %f Hz, current rate is %f Hz and capture time = %f s.",
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frameRate, actualFrameRate, captureTime);
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}
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else
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{
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UDEBUG("Time capturing data = %fs", captureTime);
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}
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if(info)
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{
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info->id = data.id();
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info->stamp = data.stamp();
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info->timeCapture = captureTime;
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}
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return data;
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}
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} // namespace rtabmap
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