93 lines
3.1 KiB
C++
Executable File
93 lines
3.1 KiB
C++
Executable File
/*
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Copyright (c) 2010-2014, 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 <opencv2/highgui/highgui.hpp>
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#include "rtabmap/core/SensorData.h"
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#include "rtabmap/core/CameraInfo.h"
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#include <set>
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#include <stack>
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#include <list>
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#include <vector>
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class UDirectory;
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class UTimer;
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namespace rtabmap
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{
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/**
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* Class Camera
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*
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*/
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class RTABMAP_EXP Camera
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{
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public:
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virtual ~Camera();
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SensorData takeImage(CameraInfo * info = 0);
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virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "") = 0;
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virtual bool isCalibrated() const = 0;
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virtual std::string getSerial() const = 0;
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//getters
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float getImageRate() const {return _imageRate;}
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const Transform & getLocalTransform() const {return _localTransform;}
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//setters
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void setImageRate(float imageRate) {_imageRate = imageRate;}
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void setLocalTransform(const Transform & localTransform) {_localTransform= localTransform;}
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protected:
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/**
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* Constructor
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*
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* @param imageRate : image/second , 0 for fast as the camera can
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*/
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Camera(float imageRate = 0, const Transform & localTransform = Transform::getIdentity());
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/**
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* returned rgb and depth images should be already rectified if calibration was loaded
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*/
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virtual SensorData captureImage() = 0;
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int getNextSeqID() {return ++_seq;}
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private:
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float _imageRate;
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Transform _localTransform;
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cv::Size _targetImageSize;
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UTimer * _frameRateTimer;
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int _seq;
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};
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} // namespace rtabmap
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