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132 lines
4.4 KiB
C++
132 lines
4.4 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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#pragma once
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#include "rtabmap/core/RtabmapExp.h" // DLL export/import defines
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#include <rtabmap/core/Parameters.h>
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#include <rtabmap/utilite/UThread.h>
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#include <rtabmap/utilite/UEventsSender.h>
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namespace clams
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{
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class DiscreteDepthDistortionModel;
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}
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namespace rtabmap
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{
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class Camera;
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class CameraInfo;
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class SensorData;
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class StereoDense;
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class IMUFilter;
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/**
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* Class CameraThread
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*
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*/
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class RTABMAP_EXP CameraThread :
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public UThread,
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public UEventsSender
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{
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public:
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// ownership transferred
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CameraThread(Camera * camera, const ParametersMap & parameters = ParametersMap());
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virtual ~CameraThread();
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void setMirroringEnabled(bool enabled) {_mirroring = enabled;}
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void setStereoExposureCompensation(bool enabled) {_stereoExposureCompensation = enabled;}
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void setColorOnly(bool colorOnly) {_colorOnly = colorOnly;}
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void setImageDecimation(int decimation) {_imageDecimation = decimation;}
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void setStereoToDepth(bool enabled) {_stereoToDepth = enabled;}
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void setImageRate(float imageRate);
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void setDistortionModel(const std::string & path);
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void enableBilateralFiltering(float sigmaS, float sigmaR);
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void disableBilateralFiltering() {_bilateralFiltering = false;}
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void enableIMUFiltering(int filteringStrategy=1, const ParametersMap & parameters = ParametersMap());
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void disableIMUFiltering();
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void setScanParameters(
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bool fromDepth,
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int downsampleStep=1, // decimation of the depth image in case the scan is from depth image
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float rangeMin=0.0f,
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float rangeMax=0.0f,
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float voxelSize = 0.0f,
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int normalsK = 0,
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int normalsRadius = 0.0f,
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bool forceGroundNormalsUp = false)
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{
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_scanFromDepth = fromDepth;
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_scanDownsampleStep=downsampleStep;
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_scanRangeMin = rangeMin;
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_scanRangeMax = rangeMax;
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_scanVoxelSize = voxelSize;
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_scanNormalsK = normalsK;
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_scanNormalsRadius = normalsRadius;
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_scanForceGroundNormalsUp = forceGroundNormalsUp;
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}
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void postUpdate(SensorData * data, CameraInfo * info = 0) const;
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//getters
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bool isPaused() const {return !this->isRunning();}
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bool isCapturing() const {return this->isRunning();}
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Camera * camera() {return _camera;} // return null if not set, valid until CameraThread is deleted
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private:
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virtual void mainLoopBegin();
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virtual void mainLoop();
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virtual void mainLoopKill();
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private:
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Camera * _camera;
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bool _mirroring;
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bool _stereoExposureCompensation;
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bool _colorOnly;
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int _imageDecimation;
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bool _stereoToDepth;
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bool _scanFromDepth;
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int _scanDownsampleStep;
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float _scanRangeMin;
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float _scanRangeMax;
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float _scanVoxelSize;
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int _scanNormalsK;
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float _scanNormalsRadius;
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bool _scanForceGroundNormalsUp;
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StereoDense * _stereoDense;
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clams::DiscreteDepthDistortionModel * _distortionModel;
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bool _bilateralFiltering;
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float _bilateralSigmaS;
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float _bilateralSigmaR;
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IMUFilter * _imuFilter;
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};
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} // namespace rtabmap
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