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mrpt::hwdrivers::C2DRangeFinderAbstract Class Referenceabstract

Detailed Description

This is the base, abstract class for "software drivers" interfaces to 2D scanners (laser range finders).

Physical devices may be interfaced through a serial port, a USB connection,etc. but this class abstract those details throught the "binding" of the specific scanner driver to a given I/O channel, which must be set by calling "hwdrivers::C2DRangeFinderAbstract::bindIO". See also the derived classes.

There is support for "exclusion polygons", areas where points, if detected, should be marked as invalid. Those areas are useful in cases where the scanner always detects part of the vehicle itself, and those points want to be ignored (see C2DRangeFinderAbstract::loadExclusionAreas).

See Also
hwdrivers::CSerialPort

Definition at line 38 of file C2DRangeFinderAbstract.h.

#include <mrpt/hwdrivers/C2DRangeFinderAbstract.h>

Inheritance diagram for mrpt::hwdrivers::C2DRangeFinderAbstract:
Inheritance graph

Public Types

enum  TSensorState { ssInitializing = 0, ssWorking, ssError }
 The current state of the sensor. More...
 
typedef std::multimap
< mrpt::system::TTimeStamp,
mrpt::utils::CSerializablePtr > 
TListObservations
 
typedef std::pair
< mrpt::system::TTimeStamp,
mrpt::utils::CSerializablePtr > 
TListObsPair
 
typedef CGenericSensorPtr Ptr
 
typedef stlplus::smart_ptr
< const CGenericSensor
ConstPtr
 

Public Member Functions

 C2DRangeFinderAbstract ()
 Default constructor. More...
 
virtual ~C2DRangeFinderAbstract ()
 Destructor. More...
 
void showPreview (bool enable=true)
 Enables GUI visualization in real-time. More...
 
void bindIO (mrpt::utils::CStream *streamIO)
 Binds the object to a given I/O channel. More...
 
void getObservation (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)
 Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations). More...
 
void doProcess ()
 Main method for a CGenericSensor. More...
 
virtual void doProcessSimple (bool &outThereIsObservation, mrpt::obs::CObservation2DRangeScan &outObservation, bool &hardwareError)=0
 Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it. More...
 
virtual bool turnOn ()=0
 Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated. More...
 
virtual bool turnOff ()=0
 Disables the scanning mode (this can be used to turn the device in low energy mode, if available) More...
 
virtual const
mrpt::hwdrivers::TSensorClassId
GetRuntimeClass () const =0
 
TSensorState getState () const
 The current state of the sensor. More...
 
double getProcessRate () const
 
std::string getSensorLabel () const
 
void setSensorLabel (const std::string &sensorLabel)
 
void enableVerbose (bool enabled=true)
 Enable or disable extra debug info dumped to std::cout during sensor operation. More...
 
bool isVerboseEnabled () const
 
void loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.
More...
 
virtual void initialize ()
 This method can or cannot be implemented in the derived class, depending on the need for it. More...
 
void getObservations (TListObservations &lstObjects)
 Returns a list of enqueued objects, emptying it (thread-safe). More...
 
virtual void setPathForExternalImages (const std::string &directory)
 Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...
 
void setExternalImageFormat (const std::string &ext)
 Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...
 
void setExternalImageJPEGQuality (const unsigned int quality)
 The quality of JPEG compression, when external images is enabled and the format is "jpg". More...
 
unsigned int getExternalImageJPEGQuality () const
 

Static Public Member Functions

static void registerClass (const TSensorClassId *pNewClass)
 Register a class into the internal list of "CGenericSensor" descendents. More...
 
static CGenericSensorcreateSensor (const std::string &className)
 Creates a sensor by a name of the class. More...
 
static CGenericSensorPtr createSensorPtr (const std::string &className)
 Just like createSensor, but returning a smart pointer to the newly created sensor object. More...
 

Protected Member Functions

void loadCommonParams (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
 Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles). More...
 
void filterByExclusionAreas (mrpt::obs::CObservation2DRangeScan &obs) const
 Mark as invalid those points which (x,y) coordinates fall within the exclusion polygons. More...
 
void filterByExclusionAngles (mrpt::obs::CObservation2DRangeScan &obs) const
 Mark as invalid those ranges in a set of forbiden angle ranges. More...
 
void processPreview (const mrpt::obs::CObservation2DRangeScan &obs)
 Must be called inside the capture method to allow optional GUI preview of scans. More...
 
void appendObservations (const std::vector< mrpt::utils::CSerializablePtr > &obj)
 This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...
 
void appendObservation (const mrpt::utils::CSerializablePtr &obj)
 Like appendObservations() but for just one observation. More...
 
virtual void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)=0
 Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)

Exceptions
Thismethod must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.
More...
 

Protected Attributes

utils::CStreamm_stream
 The I/O channel (will be NULL if not bound). More...
 
size_t m_grab_decimation_counter
 Used when "m_grab_decimation" is enabled. More...
 
TSensorState m_state
 
bool m_verbose
 
std::string m_path_for_external_images
 The path where to save off-rawlog images: empty means save images embedded in the rawlog. More...
 
std::string m_external_images_format
 The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...
 
unsigned int m_external_images_jpeg_quality
 For JPEG images, the quality (default=95%). More...
 
Common settings to any sensor, loaded in "loadConfig"
double m_process_rate
 See CGenericSensor. More...
 
size_t m_max_queue_len
 See CGenericSensor. More...
 
size_t m_grab_decimation
 If set to N>=2, only 1 out of N observations will be saved to m_objList. More...
 
std::string m_sensorLabel
 See CGenericSensor. More...
 

Private Attributes

mrpt::obs::CObservation2DRangeScan m_lastObservation
 
bool m_lastObservationIsNew
 
bool m_hardwareError
 
synch::CCriticalSection m_csChangeStream
 For being thread-safe. More...
 
synch::CCriticalSection m_csLastObservation
 
mrpt::obs::CObservation2DRangeScanPtr m_nextObservation
 A dynamic object used as buffer in doProcess. More...
 
mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges m_lstExclusionPolys
 A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose". More...
 
std::vector< std::pair< double,
double > > 
m_lstExclusionAngles
 A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid. More...
 
bool m_showPreview
 If true, shows a 3D window with a preview of the grabber data. More...
 
mrpt::gui::CDisplayWindow3DPtr m_win
 

Member Typedef Documentation

typedef stlplus::smart_ptr<const CGenericSensor> mrpt::hwdrivers::CGenericSensor::ConstPtr
inherited

Definition at line 103 of file CGenericSensor.h.

Definition at line 102 of file CGenericSensor.h.

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObservations
inherited

Definition at line 68 of file CGenericSensor.h.

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializablePtr > mrpt::hwdrivers::CGenericSensor::TListObsPair
inherited

Definition at line 69 of file CGenericSensor.h.

Member Enumeration Documentation

The current state of the sensor.

See Also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 74 of file CGenericSensor.h.

Constructor & Destructor Documentation

C2DRangeFinderAbstract::C2DRangeFinderAbstract ( )

Default constructor.

Definition at line 25 of file C2DRangeFinderAbstract.cpp.

C2DRangeFinderAbstract::~C2DRangeFinderAbstract ( )
virtual

Destructor.

Definition at line 39 of file C2DRangeFinderAbstract.cpp.

Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr &  obj)
inlineprotectedinherited
void CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > &  obj)
protectedinherited

This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations.

Passed objects must be created in dynamic memory and a smart pointer passed. Example of creation:

mrpt::obs::CObservationGPSPtr o = CObservationGPSPtr( new CObservationGPS() );
o-> .... // Set data

If several observations are passed at once in the vector, they'll be considered as a block regarding the grabbing decimation factor.

Definition at line 53 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

void C2DRangeFinderAbstract::bindIO ( mrpt::utils::CStream streamIO)

Binds the object to a given I/O channel.

The stream object must not be deleted before the destruction of this class.

See Also
hwdrivers::CSerialPort

Definition at line 46 of file C2DRangeFinderAbstract.cpp.

References mrpt::synch::CCriticalSection::enter(), mrpt::synch::CCriticalSection::leave(), m_csChangeStream, and m_stream.

Referenced by mrpt::hwdrivers::CHokuyoURG::ensureStreamIsOpen().

CGenericSensor * CGenericSensor::createSensor ( const std::string className)
staticinherited

Creates a sensor by a name of the class.

Typically the user may want to create a smart pointer around the returned pointer, whis is made with:

Returns
A pointer to a new class, or NULL if class name is unknown.

Definition at line 103 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

static CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string className)
inlinestaticinherited

Just like createSensor, but returning a smart pointer to the newly created sensor object.

Definition at line 180 of file CGenericSensor.h.

void C2DRangeFinderAbstract::doProcess ( )
virtual
virtual void mrpt::hwdrivers::C2DRangeFinderAbstract::doProcessSimple ( bool &  outThereIsObservation,
mrpt::obs::CObservation2DRangeScan outObservation,
bool &  hardwareError 
)
pure virtual

Specific laser scanner "software drivers" must process here new data from the I/O stream, and, if a whole scan has arrived, return it.

This method MUST BE CALLED in a timely fashion by the user to allow the proccessing of incoming data. It can be run in a different thread safely.

Implemented in mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CLMS100Eth, and mrpt::hwdrivers::CRoboPeakLidar.

Referenced by doProcess().

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool  enabled = true)
inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 92 of file CGenericSensor.h.

void C2DRangeFinderAbstract::filterByExclusionAngles ( mrpt::obs::CObservation2DRangeScan obs) const
protected
void C2DRangeFinderAbstract::filterByExclusionAreas ( mrpt::obs::CObservation2DRangeScan obs) const
protected
unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const
inlineinherited

Definition at line 234 of file CGenericSensor.h.

void C2DRangeFinderAbstract::getObservation ( bool &  outThereIsObservation,
mrpt::obs::CObservation2DRangeScan outObservation,
bool &  hardwareError 
)

Get the last observation from the sensor, if available, and unmarks it as being "the last one" (thus a new scan must arrive or subsequent calls will find no new observations).

Definition at line 56 of file C2DRangeFinderAbstract.cpp.

References mrpt::synch::CCriticalSection::enter(), mrpt::synch::CCriticalSection::leave(), m_csLastObservation, m_hardwareError, m_lastObservation, and m_lastObservationIsNew.

void CGenericSensor::getObservations ( TListObservations lstObjects)
inherited

Returns a list of enqueued objects, emptying it (thread-safe).

The objects must be freed by the invoker.

Definition at line 90 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const
inlineinherited

Definition at line 84 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const
pure virtualinherited
std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const
inlineinherited

Definition at line 86 of file CGenericSensor.h.

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const
inlineinherited

The current state of the sensor.

Definition at line 82 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CGenericSensor::initialize ( void  )
inlinevirtualinherited
bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const
inlineinherited

Definition at line 93 of file CGenericSensor.h.

void C2DRangeFinderAbstract::loadCommonParams ( const mrpt::utils::CConfigFileBase configSource,
const std::string iniSection 
)
protected

Should be call by derived classes at "loadConfig" (loads exclusion areas AND exclusion angles).

This loads a sequence of vertices of a polygon given by its (x,y) coordinates relative to the vehicle, that is, taking into account the "sensorPose".

  • exclusionZoneu_x
  • exclusionZoneu_y for u=1,2,3,... All points within the 2D polygon will be ignored, for any Z, unless an optional entry is found:
  • exclusionZoneu_z=[z_min z_max] In that case, only the points within the 2D polygon AND the given range in Z will be ignored.

The number of zones is variable, but they must start at 1 and be consecutive.

This also loads any other common params (e.g. 'preview')

See Also
filterByExclusionAreas

Definition at line 102 of file C2DRangeFinderAbstract.cpp.

References ASSERT_, ASSERTMSG_, DEG2RAD, mrpt::format(), m_lstExclusionAngles, m_lstExclusionPolys, M_PI, m_showPreview, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), and mrpt::utils::CConfigFileBase::read_vector().

Referenced by mrpt::hwdrivers::CSickLaserUSB::loadConfig_sensorSpecific(), mrpt::hwdrivers::CRoboPeakLidar::loadConfig_sensorSpecific(), mrpt::hwdrivers::CSickLaserSerial::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CHokuyoURG::loadConfig_sensorSpecific().

void CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string section 
)
inherited
virtual void mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string section 
)
protectedpure virtualinherited
void C2DRangeFinderAbstract::processPreview ( const mrpt::obs::CObservation2DRangeScan obs)
protected
void CGenericSensor::registerClass ( const TSensorClassId pNewClass)
staticinherited

Register a class into the internal list of "CGenericSensor" descendents.

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

Can be used as "CGenericSensor::registerClass( SENSOR_CLASS_ID(CMySensor) );" if building custom sensors outside mrpt libraries in user code.

Definition at line 120 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string ext)
inlineinherited

Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg".

See Also
setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 226 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int  quality)
inlineinherited

The quality of JPEG compression, when external images is enabled and the format is "jpg".

See Also
setExternalImageFormat

Definition at line 231 of file CGenericSensor.h.

References quality.

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( const std::string directory)
inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions
std::exceptionIf the directory doesn't exists and cannot be created.

Reimplemented in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 217 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string sensorLabel)
inlineinherited

Definition at line 87 of file CGenericSensor.h.

void mrpt::hwdrivers::C2DRangeFinderAbstract::showPreview ( bool  enable = true)
inline

Enables GUI visualization in real-time.

Definition at line 95 of file C2DRangeFinderAbstract.h.

virtual bool mrpt::hwdrivers::C2DRangeFinderAbstract::turnOff ( )
pure virtual

Disables the scanning mode (this can be used to turn the device in low energy mode, if available)

Returns
If everything works "true", or "false" if there is any error.

Implemented in mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CLMS100Eth, and mrpt::hwdrivers::CRoboPeakLidar.

virtual bool mrpt::hwdrivers::C2DRangeFinderAbstract::turnOn ( )
pure virtual

Enables the scanning mode (which may depend on the specific laser device); this must be called before asking for observations to assure that the protocol has been initializated.

Returns
If everything works "true", or "false" if there is any error.

Implemented in mrpt::hwdrivers::CHokuyoURG, mrpt::hwdrivers::CSickLaserSerial, mrpt::hwdrivers::CSickLaserUSB, mrpt::hwdrivers::CLMS100Eth, and mrpt::hwdrivers::CRoboPeakLidar.

Member Data Documentation

synch::CCriticalSection mrpt::hwdrivers::C2DRangeFinderAbstract::m_csChangeStream
private

For being thread-safe.

Definition at line 47 of file C2DRangeFinderAbstract.h.

Referenced by bindIO().

synch::CCriticalSection mrpt::hwdrivers::C2DRangeFinderAbstract::m_csLastObservation
private

Definition at line 47 of file C2DRangeFinderAbstract.h.

Referenced by getObservation().

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format
protectedinherited

The extension ("jpg","gif","png",...) that determines the format of images saved externally.

See Also
setPathForExternalImages

Definition at line 131 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality
protectedinherited

For JPEG images, the quality (default=95%).

Definition at line 132 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific().

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation
protectedinherited

If set to N>=2, only 1 out of N observations will be saved to m_objList.

Definition at line 118 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter
protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 123 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_hardwareError
private

Definition at line 43 of file C2DRangeFinderAbstract.h.

Referenced by getObservation().

mrpt::obs::CObservation2DRangeScan mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservation
private

Definition at line 41 of file C2DRangeFinderAbstract.h.

Referenced by getObservation().

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_lastObservationIsNew
private

Definition at line 42 of file C2DRangeFinderAbstract.h.

Referenced by getObservation().

std::vector<std::pair<double,double> > mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionAngles
private

A list of pairs of angles <init,end> such as all sensor ranges falling in those forbiden angles will be marked as invalid.

Definition at line 52 of file C2DRangeFinderAbstract.h.

Referenced by filterByExclusionAngles(), and loadCommonParams().

mrpt::obs::CObservation2DRangeScan::TListExclusionAreasWithRanges mrpt::hwdrivers::C2DRangeFinderAbstract::m_lstExclusionPolys
private

A list of optional exclusion polygons, in coordinates relative to the vehicle, that is, taking into account the "sensorPose".

Definition at line 51 of file C2DRangeFinderAbstract.h.

Referenced by filterByExclusionAreas(), and loadCommonParams().

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len
protectedinherited

See CGenericSensor.

Definition at line 117 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

mrpt::obs::CObservation2DRangeScanPtr mrpt::hwdrivers::C2DRangeFinderAbstract::m_nextObservation
private

A dynamic object used as buffer in doProcess.

Definition at line 49 of file C2DRangeFinderAbstract.h.

Referenced by doProcess().

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images
protectedinherited

The path where to save off-rawlog images: empty means save images embedded in the rawlog.

Definition at line 130 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited
std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel
protectedinherited

See CGenericSensor.

Definition at line 119 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CIMUIntersense::CIMUIntersense(), mrpt::hwdrivers::CIMUXSens::CIMUXSens(), mrpt::hwdrivers::CIMUXSens_MT4::CIMUXSens_MT4(), mrpt::hwdrivers::CKinect::CKinect(), mrpt::hwdrivers::CNationalInstrumentsDAQ::CNationalInstrumentsDAQ(), mrpt::hwdrivers::CRoboPeakLidar::CRoboPeakLidar(), mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), processPreview(), and mrpt::hwdrivers::CSkeletonTracker::processPreviewNone().

bool mrpt::hwdrivers::C2DRangeFinderAbstract::m_showPreview
private

If true, shows a 3D window with a preview of the grabber data.

Definition at line 54 of file C2DRangeFinderAbstract.h.

Referenced by loadCommonParams(), and processPreview().

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited
utils::CStream* mrpt::hwdrivers::C2DRangeFinderAbstract::m_stream
protected
bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited
mrpt::gui::CDisplayWindow3DPtr mrpt::hwdrivers::C2DRangeFinderAbstract::m_win
private

Definition at line 55 of file C2DRangeFinderAbstract.h.

Referenced by processPreview().




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