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CKinect.h
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1 /* +---------------------------------------------------------------------------+
2  | Mobile Robot Programming Toolkit (MRPT) |
3  | http://www.mrpt.org/ |
4  | |
5  | Copyright (c) 2005-2017, Individual contributors, see AUTHORS file |
6  | See: http://www.mrpt.org/Authors - All rights reserved. |
7  | Released under BSD License. See details in http://www.mrpt.org/License |
8  +---------------------------------------------------------------------------+ */
9 #ifndef mrpt_CKinect_H
10 #define mrpt_CKinect_H
11 
15 #include <mrpt/utils/TEnumType.h>
17 
19 
20 // MRPT implements a common interface to Kinect disregarding the
21 // actual underlying library. These macros defined in "mrpt/config.h"
22 // let us know which library is actually used:
23 // - [DEPRECATED AS OF MRPT 1.3.0] MRPT_HAS_KINECT_CL_NUI = 0 or 1
24 // - MRPT_HAS_KINECT_FREENECT = 0 or 1
25 
26 // Depth of Kinect ranges:
27 #if MRPT_HAS_KINECT_FREENECT
28 # define MRPT_KINECT_DEPTH_10BIT
29 # define KINECT_RANGES_TABLE_LEN 1024
30 # define KINECT_RANGES_TABLE_MASK 0x03FF
31 #else // MRPT_HAS_KINECT_CL_NUI or none:
32 # define MRPT_KINECT_DEPTH_11BIT
33 # define KINECT_RANGES_TABLE_LEN 2048
34 # define KINECT_RANGES_TABLE_MASK 0x07FF
35 #endif
36 
37 
38 namespace mrpt
39 {
40  namespace hwdrivers
41  {
42  /** A class for grabing "range images", intensity images (either RGB or IR) and other information from an Xbox Kinect sensor.
43  * To use Kinect for Windows or ASUS/Primesense RGBD cameras, use the class COpenNI2.
44  *
45  * <h2>Configuration and usage:</h2> <hr>
46  * Data is returned as observations of type mrpt::obs::CObservation3DRangeScan (and mrpt::obs::CObservationIMU for accelerometers data).
47  * See those classes for documentation on their fields.
48  *
49  * As with any other CGenericSensor class, the normal sequence of methods to be called is:
50  * - CGenericSensor::loadConfig() - Or calls to the individual setXXX() to configure the sensor parameters.
51  * - CKinect::initialize() - to start the communication with the sensor.
52  * - call CKinect::getNextObservation() for getting the data.
53  *
54  * <h2>Calibration parameters</h2><hr>
55  * For an accurate transformation of depth images to 3D points, you'll have to calibrate your Kinect, and supply
56  * the following <b>threee pieces of information</b> (default calibration data will be used otherwise, but they'll be not optimal for all sensors!):
57  * - Camera parameters for the RGB camera. See CKinect::setCameraParamsIntensity()
58  * - Camera parameters for the depth camera. See CKinect::setCameraParamsDepth()
59  * - The 3D relative pose of the two cameras. See CKinect::setRelativePoseIntensityWrtDepth()
60  *
61  * See http://www.mrpt.org/Kinect_calibration for a procedure to calibrate Kinect sensors with an interactive GUI program.
62  *
63  * <h2>Coordinates convention</h2><hr>
64  * The origin of coordinates is the focal point of the depth camera, with the axes oriented as in the
65  * diagram shown in mrpt::obs::CObservation3DRangeScan. Notice in that picture that the RGB camera is
66  * assumed to have axes as usual in computer vision, which differ from those for the depth camera.
67  *
68  * The X,Y,Z axes used to report the data from accelerometers coincide with those of the depth camera
69  * (e.g. the camera standing on a table would have an ACC_Z=-9.8m/s2).
70  *
71  * Notice however that, for consistency with stereo cameras, when loading the calibration parameters from
72  * a configuration file, the left-to-right pose increment is expected as if both RGB & IR cameras had
73  * their +Z axes pointing forward, +X to the right, +Y downwards (just like it's the standard in stereo cameras
74  * and in computer vision literature). In other words: the pose stored in this class uses a different
75  * axes convention for the depth camera than in a stereo camera, so when a pose L2R is loaded from a calibration file
76  * it's actually converted like:
77  *
78  * L2R(this class convention) = CPose3D(0,0,0,-90deg,0deg,-90deg) (+) L2R(in the config file)
79  *
80  *
81  * <h2>Some general comments</h2><hr>
82  * - Depth is grabbed in 10bit depth, and a range N it's converted to meters as: range(m) = 0.1236 * tan(N/2842.5 + 1.1863)
83  * - This sensor can be also used from within rawlog-grabber to grab datasets within a robot with more sensors.
84  * - There is no built-in threading support, so if you use this class manually (not with-in rawlog-grabber),
85  * the ideal would be to create a thread and continuously request data from that thread (see mrpt::system::createThread ).
86  * - The intensity channel default to the RGB images, but it can be changed with setVideoChannel() to read the IR camera images (useful for calibrating).
87  * - There is a built-in support for an optional preview of the data on a window, so you don't need to even worry on creating a window to show them.
88  * - This class relies on an embedded version of libfreenect (you do NOT need to install it in your system). Thanks guys for the great job!
89  *
90  * <h2>Converting to 3D point cloud </h2><hr>
91  * You can convert the 3D observation into a 3D point cloud with this piece of code:
92  *
93  * \code
94  * mrpt::obs::CObservation3DRangeScan obs3D;
95  * mrpt::maps::CColouredPointsMap pntsMap;
96  * pntsMap.colorScheme.scheme = CColouredPointsMap::cmFromIntensityImage;
97  * pntsMap.loadFromRangeScan(obs3D);
98  * \endcode
99  *
100  * Then the point cloud mrpt::maps::CColouredPointsMap can be converted into an OpenGL object for
101  * rendering with mrpt::maps::CMetricMap::getAs3DObject() or alternatively with:
102  *
103  * \code
104  * mrpt::opengl::CPointCloudColouredPtr gl_points = mrpt::opengl::CPointCloudColoured::Create();
105  * gl_points->loadFromPointsMap(&pntsMap);
106  * \endcode
107  *
108  *
109  * <h2>Raw depth to range conversion</h2><hr>
110  * At construction, this class builds an internal array for converting raw 10 or 11bit depths into ranges in meters.
111  * Users can read that array or modify it (if you have a better calibration, for example) by calling CKinect::getRawDepth2RangeConversion().
112  * If you replace it, remember to set the first and last entries (index 0 and KINECT_RANGES_TABLE_LEN-1) to zero, to indicate that those are invalid ranges.
113  *
114  * <table width="100%" >
115  * <tr>
116  * <td align="center" >
117  * <img src="kinect_depth2range_10bit.png" > <br>
118  * R(d) = k3 * tan(d/k2 + k1); <br>
119  * k1 = 1.1863, k2 = 2842.5, k3 = 0.1236 <br>
120  * </td>
121  * <td align="center" >
122  * </td>
123  * </tr>
124  * </table>
125  *
126  *
127  * <h2>Platform-specific comments</h2><hr>
128  * For more details, refer to <a href="http://openkinect.org/wiki/Main_Page" >libfreenect</a> documentation:
129  * - Linux: You'll need root privileges to access Kinect. Or, install <code> MRPT/scripts/51-kinect.rules </code> in <code>/etc/udev/rules.d/</code> to allow access to all users.
130  * - Windows:
131  * - Since MRPT 0.9.4 you'll only need to install <a href="http://sourceforge.net/projects/libusb-win32/files/libusb-win32-releases/" >libusb-win32</a>: download and extract the latest libusb-win32-bin-x.x.x.x.zip
132  * - To install the drivers, read this: http://openkinect.org/wiki/Getting_Started#Windows
133  * - MacOS: (write me!)
134  *
135  *
136  * <h2>Format of parameters for loading from a .ini file</h2><hr>
137  *
138  * \code
139  * PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
140  * -------------------------------------------------------
141  * [supplied_section_name]
142  * sensorLabel = KINECT // A text description
143  * preview_window = false // Show a window with a preview of the grabbed data in real-time
144  *
145  * device_number = 0 // Device index to open (0:first Kinect, 1:second Kinect,...)
146  *
147  * grab_image = true // Grab the RGB image channel? (Default=true)
148  * grab_depth = true // Grab the depth channel? (Default=true)
149  * grab_3D_points = true // Grab the 3D point cloud? (Default=true) If disabled, points can be generated later on.
150  * grab_IMU = true // Grab the accelerometers? (Default=true)
151  *
152  * video_channel = VIDEO_CHANNEL_RGB // Optional. Can be: VIDEO_CHANNEL_RGB (default) or VIDEO_CHANNEL_IR
153  *
154  * pose_x=0 // Camera position in the robot (meters)
155  * pose_y=0
156  * pose_z=0
157  * pose_yaw=0 // Angles in degrees
158  * pose_pitch=0
159  * pose_roll=0
160  *
161  * // Optional: Set the initial tilt angle of Kinect: upon initialization, the motor is sent a command to
162  * // rotate to this angle (in degrees). Note: You must be aware of the tilt when interpreting the sensor readings.
163  * // If not present or set to "360", no motor command will be sent at start up.
164  * initial_tilt_angle = 0
165  *
166  * // Kinect sensor calibration:
167  * // See http://www.mrpt.org/Kinect_and_MRPT
168  *
169  * // Left/Depth camera
170  * [supplied_section_name_LEFT]
171  * rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
172  *
173  * resolution = [640 488]
174  * cx = 314.649173
175  * cy = 240.160459
176  * fx = 572.882768
177  * fy = 542.739980
178  * dist = [-4.747169e-03 -4.357976e-03 0.000000e+00 0.000000e+00 0.000000e+00] // The order is: [K1 K2 T1 T2 K3]
179  *
180  * // Right/RGB camera
181  * [supplied_section_name_RIGHT]
182  * rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
183  *
184  * resolution = [640 480]
185  * cx = 322.515987
186  * cy = 259.055966
187  * fx = 521.179233
188  * fy = 493.033034
189  * dist = [5.858325e-02 3.856792e-02 0.000000e+00 0.000000e+00 0.000000e+00] // The order is: [K1 K2 T1 T2 K3]
190  *
191  * // Relative pose of the right camera wrt to the left camera:
192  * // This assumes that both camera frames are such that +Z points
193  * // forwards, and +X and +Y to the right and downwards.
194  * // For the actual coordinates employed in 3D observations, see figure in mrpt::obs::CObservation3DRangeScan
195  * [supplied_section_name_LEFT2RIGHT_POSE]
196  * rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
197  *
198  * pose_quaternion = [0.025575 -0.000609 -0.001462 0.999987 0.002038 0.004335 -0.001693]
199  *
200  * \endcode
201  *
202  * More references to read:
203  * - http://openkinect.org/wiki/Imaging_Information
204  * - http://nicolas.burrus.name/index.php/Research/KinectCalibration
205  * \ingroup mrpt_hwdrivers_grp
206  */
208  {
210 
211  public:
212  typedef float TDepth2RangeArray[KINECT_RANGES_TABLE_LEN]; //!< A typedef for an array that converts raw depth to ranges in meters.
213 
214  /** RGB or IR video channel identifiers \sa setVideoChannel */
216  VIDEO_CHANNEL_RGB=0,
217  VIDEO_CHANNEL_IR
218  };
219 
220  CKinect(); //!< Default ctor
221  ~CKinect(); //!< Default ctor
222 
223  /** Initializes the 3D camera - should be invoked after calling loadConfig() or setting the different parameters with the set*() methods.
224  * \exception This method must throw an exception with a descriptive message if some critical error is found.
225  */
226  virtual void initialize();
227 
228  /** To be called at a high rate (>XX Hz), this method populates the internal buffer of received observations.
229  * This method is mainly intended for usage within rawlog-grabber or similar programs.
230  * For an alternative, see getNextObservation()
231  * \exception This method must throw an exception with a descriptive message if some critical error is found.
232  * \sa getNextObservation
233  */
234  virtual void doProcess();
235 
236  /** The main data retrieving function, to be called after calling loadConfig() and initialize().
237  * \param out_obs The output retrieved observation (only if there_is_obs=true).
238  * \param there_is_obs If set to false, there was no new observation.
239  * \param hardware_error True on hardware/comms error.
240  *
241  * \sa doProcess
242  */
243  void getNextObservation(
245  bool &there_is_obs,
246  bool &hardware_error );
247 
248  /** \overload
249  * \note This method also grabs data from the accelerometers, returning them in out_obs_imu
250  */
251  void getNextObservation(
253  mrpt::obs::CObservationIMU &out_obs_imu,
254  bool &there_is_obs,
255  bool &hardware_error );
256 
257  /** Set the path where to save off-rawlog image files (this class DOES take into account this path).
258  * An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.
259  * \exception std::exception If the directory doesn't exists and cannot be created.
260  */
261  virtual void setPathForExternalImages( const std::string &directory );
262 
263 
264  /** @name Sensor parameters (alternative to \a loadConfig ) and manual control
265  @{ */
266 
267  /** Try to open the camera (set all the parameters before calling this) - users may also call initialize(), which in turn calls this method.
268  * Raises an exception upon error.
269  * \exception std::exception A textual description of the error.
270  */
271  void open();
272 
273  bool isOpen() const; //!< Whether there is a working connection to the sensor
274 
275  /** Close the Connection to the sensor (not need to call it manually unless desired for some reason,
276  * since it's called at destructor) */
277  void close();
278 
279  /** Changes the video channel to open (RGB or IR) - you can call this method before start grabbing or in the middle of streaming and the video source will change on the fly.
280  Default is RGB channel. */
281  void setVideoChannel(const TVideoChannel vch);
282  /** Return the current video channel (RGB or IR) \sa setVideoChannel */
283  inline TVideoChannel getVideoChannel() const { return m_video_channel; }
284 
285  /** Set the sensor index to open (if there're several sensors attached to the computer); default=0 -> the first one. */
286  inline void setDeviceIndexToOpen(int index) { m_user_device_number=index; }
287  inline int getDeviceIndexToOpen() const { return m_user_device_number; }
288 
289  /** Change tilt angle \note Sensor must be open first. */
290  void setTiltAngleDegrees(double angle);
291  double getTiltAngleDegrees();
292 
293  /** Default: disabled */
294  inline void enablePreviewRGB(bool enable=true) { m_preview_window = enable; }
295  inline void disablePreviewRGB() { m_preview_window = false; }
296  inline bool isPreviewRGBEnabled() const { return m_preview_window; }
297 
298  /** If preview is enabled, show only one image out of N (default: 1=show all) */
299  inline void setPreviewDecimation(size_t decimation_factor ) { m_preview_window_decimation = decimation_factor; }
300  inline size_t getPreviewDecimation() const { return m_preview_window_decimation; }
301 
302  /** Get the maximum range (meters) that can be read in the observation field "rangeImage" */
303  inline double getMaxRange() const { return m_maxRange; }
304 
305  /** Get the row count in the camera images, loaded automatically upon camera open(). */
306  inline size_t getRowCount() const { return m_cameraParamsRGB.nrows; }
307  /** Get the col count in the camera images, loaded automatically upon camera open(). */
308  inline size_t getColCount() const { return m_cameraParamsRGB.ncols; }
309 
310  /** Get a const reference to the depth camera calibration parameters */
311  inline const mrpt::utils::TCamera & getCameraParamsIntensity() const { return m_cameraParamsRGB; }
312  inline void setCameraParamsIntensity(const mrpt::utils::TCamera &p) { m_cameraParamsRGB=p; }
313 
314  /** Get a const reference to the depth camera calibration parameters */
315  inline const mrpt::utils::TCamera & getCameraParamsDepth() const { return m_cameraParamsDepth; }
316  inline void setCameraParamsDepth(const mrpt::utils::TCamera &p) { m_cameraParamsDepth=p; }
317 
318  /** Set the pose of the intensity camera wrt the depth camera \sa See mrpt::obs::CObservation3DRangeScan for a 3D diagram of this pose */
319  inline void setRelativePoseIntensityWrtDepth(const mrpt::poses::CPose3D &p) { m_relativePoseIntensityWRTDepth=p; }
320  inline const mrpt::poses::CPose3D &getRelativePoseIntensityWrtDepth() const { return m_relativePoseIntensityWRTDepth; }
321 
322  /** Get a reference to the array that convert raw depth values (10 or 11 bit) into ranges in meters, so it can be read or replaced by the user.
323  * If you replace it, remember to set the first and last entries (index 0 and KINECT_RANGES_TABLE_LEN-1) to zero, to indicate that those are invalid ranges.
324  */
325  inline TDepth2RangeArray & getRawDepth2RangeConversion() { return m_range2meters; }
326  inline const TDepth2RangeArray & getRawDepth2RangeConversion() const { return m_range2meters; }
327 
328  /** Enable/disable the grabbing of the RGB channel */
329  inline void enableGrabRGB(bool enable=true) { m_grab_image=enable; }
330  inline bool isGrabRGBEnabled() const { return m_grab_image; }
331 
332  /** Enable/disable the grabbing of the depth channel */
333  inline void enableGrabDepth(bool enable=true) { m_grab_depth=enable; }
334  inline bool isGrabDepthEnabled() const { return m_grab_depth; }
335 
336  /** Enable/disable the grabbing of the inertial data */
337  inline void enableGrabAccelerometers(bool enable=true) { m_grab_IMU=enable; }
338  inline bool isGrabAccelerometersEnabled() const { return m_grab_IMU; }
339 
340  /** Enable/disable the grabbing of the 3D point clouds */
341  inline void enableGrab3DPoints(bool enable=true) { m_grab_3D_points=enable; }
342  inline bool isGrab3DPointsEnabled() const { return m_grab_3D_points; }
343 
344  /** @} */
345 
346 
347 #if MRPT_HAS_KINECT_FREENECT
348  // Auxiliary getters/setters (we can't declare the libfreenect callback as friend since we
349  // want to avoid including the API headers here).
350  inline mrpt::obs::CObservation3DRangeScan & internal_latest_obs() { return m_latest_obs; }
351  inline volatile uint32_t & internal_tim_latest_depth() { return m_tim_latest_depth; }
352  inline volatile uint32_t & internal_tim_latest_rgb() { return m_tim_latest_rgb; }
353  inline mrpt::synch::CCriticalSection & internal_latest_obs_cs() { return m_latest_obs_cs; }
354 #endif
355 
356  protected:
357  /** See the class documentation at the top for expected parameters */
358  virtual void loadConfig_sensorSpecific(
359  const mrpt::utils::CConfigFileBase &configSource,
360  const std::string &section );
361 
363 
364  bool m_preview_window; //!< Show preview window while grabbing
365  size_t m_preview_window_decimation; //!< If preview is enabled, only show 1 out of N images.
366  size_t m_preview_decim_counter_range, m_preview_decim_counter_rgb;
367  mrpt::gui::CDisplayWindowPtr m_win_range, m_win_int;
368 
369 #if MRPT_HAS_KINECT_FREENECT
370  void *m_f_ctx; //!< The "freenect_context", or NULL if closed
371  void *m_f_dev; //!< The "freenect_device", or NULL if closed
372 
373  // Data fields for use with the callback function:
375  volatile uint32_t m_tim_latest_depth, m_tim_latest_rgb; // 0 = not updated
376  mrpt::synch::CCriticalSection m_latest_obs_cs;
377 #endif
378 
379  mrpt::utils::TCamera m_cameraParamsRGB; //!< Params for the RGB camera
380  mrpt::utils::TCamera m_cameraParamsDepth; //!< Params for the Depth camera
381  mrpt::poses::CPose3D m_relativePoseIntensityWRTDepth; //!< See mrpt::obs::CObservation3DRangeScan for a diagram of this pose
382 
383  int m_initial_tilt_angle; //!< Set Kinect tilt to an initial deegre (it should be take in account in the sensor pose by the user)
384 
385  double m_maxRange; //!< Sensor max range (meters)
386 
387  int m_user_device_number; //!< Number of device to open (0:first,...)
388 
389  bool m_grab_image, m_grab_depth, m_grab_3D_points, m_grab_IMU ; //!< Default: all true
390 
391  TVideoChannel m_video_channel; //!< The video channel to open: RGB or IR
392 
393  private:
394  std::vector<uint8_t> m_buf_depth, m_buf_rgb; //!< Temporary buffers for image grabbing.
395  TDepth2RangeArray m_range2meters; //!< The table raw depth -> range in meters
396 
397  void calculate_range2meters(); //!< Compute m_range2meters at construction
398 
399  }; // End of class
400  } // End of NS
401 
402  // Specializations MUST occur at the same namespace:
403  namespace utils
404  {
405  template <>
406  struct TEnumTypeFiller<hwdrivers::CKinect::TVideoChannel>
407  {
409  static void fill(bimap<enum_t,std::string> &m_map)
410  {
411  m_map.insert(hwdrivers::CKinect::VIDEO_CHANNEL_RGB, "VIDEO_CHANNEL_RGB");
412  m_map.insert(hwdrivers::CKinect::VIDEO_CHANNEL_IR, "VIDEO_CHANNEL_IR");
413  }
414  };
415  } // End of namespace
416 
417 } // End of NS
418 
419 
420 #endif
static void fill(bimap< enum_t, std::string > &m_map)
Definition: CKinect.h:409
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
void setCameraParamsIntensity(const mrpt::utils::TCamera &p)
Definition: CKinect.h:312
This class provides simple critical sections functionality.
bool isGrabRGBEnabled() const
Definition: CKinect.h:330
void setPreviewDecimation(size_t decimation_factor)
If preview is enabled, show only one image out of N (default: 1=show all)
Definition: CKinect.h:299
TVideoChannel m_video_channel
The video channel to open: RGB or IR.
Definition: CKinect.h:391
double getMaxRange() const
Get the maximum range (meters) that can be read in the observation field "rangeImage".
Definition: CKinect.h:303
size_t m_preview_window_decimation
If preview is enabled, only show 1 out of N images.
Definition: CKinect.h:365
void setRelativePoseIntensityWrtDepth(const mrpt::poses::CPose3D &p)
Set the pose of the intensity camera wrt the depth camera.
Definition: CKinect.h:319
void setDeviceIndexToOpen(int index)
Set the sensor index to open (if there're several sensors attached to the computer); default=0 -> the...
Definition: CKinect.h:286
double m_maxRange
Sensor max range (meters)
Definition: CKinect.h:385
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
TVideoChannel getVideoChannel() const
Return the current video channel (RGB or IR)
Definition: CKinect.h:283
Only specializations of this class are defined for each enum type of interest.
Definition: TEnumType.h:23
This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers.
#define KINECT_RANGES_TABLE_LEN
Definition: CKinect.h:33
std::vector< uint8_t > m_buf_rgb
Temporary buffers for image grabbing.
Definition: CKinect.h:394
size_t getRowCount() const
Get the row count in the camera images, loaded automatically upon camera open().
Definition: CKinect.h:306
This class allows loading and storing values and vectors of different types from a configuration text...
A class for grabing "range images", intensity images (either RGB or IR) and other information from an...
Definition: CKinect.h:207
void enableGrabDepth(bool enable=true)
Enable/disable the grabbing of the depth channel.
Definition: CKinect.h:333
bool m_grab_IMU
Default: all true.
Definition: CKinect.h:389
int m_initial_tilt_angle
Set Kinect tilt to an initial deegre (it should be take in account in the sensor pose by the user) ...
Definition: CKinect.h:383
bool isGrabAccelerometersEnabled() const
Definition: CKinect.h:338
void enablePreviewRGB(bool enable=true)
Default: disabled.
Definition: CKinect.h:294
void setCameraParamsDepth(const mrpt::utils::TCamera &p)
Definition: CKinect.h:316
TDepth2RangeArray m_range2meters
The table raw depth -> range in meters.
Definition: CKinect.h:395
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std::...
Definition: bimap.h:28
bool isGrab3DPointsEnabled() const
Definition: CKinect.h:342
bool isGrabDepthEnabled() const
Definition: CKinect.h:334
const TDepth2RangeArray & getRawDepth2RangeConversion() const
Definition: CKinect.h:326
void enableGrabAccelerometers(bool enable=true)
Enable/disable the grabbing of the inertial data.
Definition: CKinect.h:337
size_t getColCount() const
Get the col count in the camera images, loaded automatically upon camera open().
Definition: CKinect.h:308
GLfloat GLfloat p
Definition: glew.h:10113
void enableGrab3DPoints(bool enable=true)
Enable/disable the grabbing of the 3D point clouds.
Definition: CKinect.h:341
int m_user_device_number
Number of device to open (0:first,...)
Definition: CKinect.h:387
mrpt::utils::TCamera m_cameraParamsRGB
Params for the RGB camera.
Definition: CKinect.h:379
const mrpt::utils::TCamera & getCameraParamsDepth() const
Get a const reference to the depth camera calibration parameters.
Definition: CKinect.h:315
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
mrpt::utils::TCamera m_cameraParamsDepth
Params for the Depth camera.
Definition: CKinect.h:380
bool isPreviewRGBEnabled() const
Definition: CKinect.h:296
GLsizei const GLcharARB ** string
Definition: glew.h:3293
GLuint index
Definition: glew.h:1721
mrpt::gui::CDisplayWindowPtr m_win_range
Definition: CKinect.h:367
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
Definition: CPose3D.h:72
mrpt::poses::CPose3D m_relativePoseIntensityWRTDepth
See mrpt::obs::CObservation3DRangeScan for a diagram of this pose.
Definition: CKinect.h:381
TDepth2RangeArray & getRawDepth2RangeConversion()
Get a reference to the array that convert raw depth values (10 or 11 bit) into ranges in meters...
Definition: CKinect.h:325
bool m_preview_window
Show preview window while grabbing.
Definition: CKinect.h:364
GLdouble angle
Definition: glew.h:5105
void enableGrabRGB(bool enable=true)
Enable/disable the grabbing of the RGB channel.
Definition: CKinect.h:329
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
Definition: bimap.h:69
size_t getPreviewDecimation() const
Definition: CKinect.h:300
unsigned __int32 uint32_t
Definition: rptypes.h:49
const mrpt::utils::TCamera & getCameraParamsIntensity() const
Get a const reference to the depth camera calibration parameters.
Definition: CKinect.h:311
size_t m_preview_decim_counter_rgb
Definition: CKinect.h:366
mrpt::poses::CPose3D m_sensorPoseOnRobot
Definition: CKinect.h:362
const mrpt::poses::CPose3D & getRelativePoseIntensityWrtDepth() const
Definition: CKinect.h:320
Structure to hold the parameters of a pinhole camera model.
Definition: TCamera.h:31
TVideoChannel
RGB or IR video channel identifiers.
Definition: CKinect.h:215
int getDeviceIndexToOpen() const
Definition: CKinect.h:287



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