feat(slam): add rtabmap_ros

2025-07-14 11:34:38 +08:00
parent 3b6641c1fb
commit 943ce5b06f
1635 changed files with 603092 additions and 0 deletions
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+/*
+Copyright (c) 2010-2016, Mathieu Labbe - IntRoLab - Universite de Sherbrooke
+All rights reserved.
+
+Redistribution and use in source and binary forms, with or without
+modification, are permitted provided that the following conditions are met:
+    * Redistributions of source code must retain the above copyright
+      notice, this list of conditions and the following disclaimer.
+    * Redistributions in binary form must reproduce the above copyright
+      notice, this list of conditions and the following disclaimer in the
+      documentation and/or other materials provided with the distribution.
+    * Neither the name of the Universite de Sherbrooke nor the
+      names of its contributors may be used to endorse or promote products
+      derived from this software without specific prior written permission.
+
+THIS SOFTWARE IS PROVIDED BY THE COPYRIGHT HOLDERS AND CONTRIBUTORS "AS IS" AND
+ANY EXPRESS OR IMPLIED WARRANTIES, INCLUDING, BUT NOT LIMITED TO, THE IMPLIED
+WARRANTIES OF MERCHANTABILITY AND FITNESS FOR A PARTICULAR PURPOSE ARE
+DISCLAIMED. IN NO EVENT SHALL THE COPYRIGHT HOLDER OR CONTRIBUTORS BE LIABLE FOR ANY
+DIRECT, INDIRECT, INCIDENTAL, SPECIAL, EXEMPLARY, OR CONSEQUENTIAL DAMAGES
+(INCLUDING, BUT NOT LIMITED TO, PROCUREMENT OF SUBSTITUTE GOODS OR SERVICES;
+LOSS OF USE, DATA, OR PROFITS; OR BUSINESS INTERRUPTION) HOWEVER CAUSED AND
+ON ANY THEORY OF LIABILITY, WHETHER IN CONTRACT, STRICT LIABILITY, OR TORT
+(INCLUDING NEGLIGENCE OR OTHERWISE) ARISING IN ANY WAY OUT OF THE USE OF THIS
+SOFTWARE, EVEN IF ADVISED OF THE POSSIBILITY OF SUCH DAMAGE.
+*/
+
+#ifndef CAMERATANGO_H_
+#define CAMERATANGO_H_
+
+#include "CameraMobile.h"
+#include <rtabmap/core/Camera.h>
+#include <rtabmap/core/GeodeticCoords.h>
+#include <rtabmap/utilite/UMutex.h>
+#include <rtabmap/utilite/USemaphore.h>
+#include <rtabmap/utilite/UEventsSender.h>
+#include <rtabmap/utilite/UThread.h>
+#include <rtabmap/utilite/UEvent.h>
+#include <rtabmap/utilite/UTimer.h>
+#include <boost/thread/mutex.hpp>
+#include <tango_client_api.h>
+#include <tango_support_api.h>
+
+namespace rtabmap {
+
+class CameraTango : public CameraMobile {
+public:
+	CameraTango(bool colorCamera, int decimation, bool publishRawScan);
+	virtual ~CameraTango();
+
+	virtual bool init(const std::string & calibrationFolder = ".", const std::string & cameraName = "");
+	virtual void close(); // close Tango connection
+	virtual std::string getSerial() const;
+	rtabmap::Transform tangoPoseToTransform(const TangoPoseData * tangoPose) const;
+	void setDecimation(int value) {decimation_ = value;}
+	void setRawScanPublished(bool enabled) {rawScanPublished_ = enabled;}
+
+	void cloudReceived(const cv::Mat & cloud, double timestamp);
+	void rgbReceived(const cv::Mat & tangoImage, int type, double timestamp);
+	void tangoEventReceived(int type, const char * key, const char * value);
+
+protected:
+	virtual SensorData updateDataOnRender(Transform & pose);
+
+private:
+	rtabmap::Transform getPoseAtTimestamp(double timestamp);
+
+private:
+	void * tango_config_;
+	bool colorCamera_;
+	int decimation_;
+	bool rawScanPublished_;
+	SensorData tangoData_;
+	cv::Mat tangoColor_;
+	int tangoColorType_;
+	double tangoColorStamp_;
+	boost::mutex tangoDataMutex_;
+	USemaphore tangoDataReady_;
+	cv::Mat fisheyeRectifyMapX_;
+	cv::Mat fisheyeRectifyMapY_;
+};
+
+} /* namespace rtabmap */
+#endif /* CAMERATANGO_H_ */