CameraSeerSense.h

#pragma once
 
#include "rtabmap/core/Camera.h"
#include "rtabmap/core/Version.h"
#include "rtabmap/utilite/USemaphore.h"
 
#ifdef RTABMAP_XVSDK
#include <xv-sdk.h>
#endif
 
namespace rtabmap
{
 
class RTABMAP_CORE_EXPORT CameraSeerSense :
  public Camera
{
public:
  static bool available();
 
public:
  CameraSeerSense(
    bool computeOdometry = false,
    float imageRate = 0.0f,
    const Transform & localTransform = Transform::getIdentity()
  );
  virtual ~CameraSeerSense();
 
  virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
  virtual bool isCalibrated() const;
  virtual std::string getSerial() const;
  virtual bool odomProvided() const;
  virtual bool getPose(double stamp, Transform & pose, cv::Mat & covariance, double maxWaitTime = 0.0);
 
protected:
  virtual SensorData captureImage(SensorCaptureInfo * info = 0);
 
private:
#ifdef RTABMAP_XVSDK
  CameraModel cameraModel_;
  bool computeOdometry_;
  int imuId_;
  int tofId_;
  std::shared_ptr<xv::Device> device_;
  std::map<double, std::pair<cv::Vec3d, cv::Vec3d>> imuBuffer_;
  std::pair<double, std::pair<cv::Mat, cv::Mat>> lastData_;
  UMutex imuMutex_;
  UMutex dataMutex_;
  USemaphore dataReady_;
#endif
};
 
} // namespace rtabmap