Detailed Description

The central class for camera grabbers in MRPT, implementing the "generic sensor" interface.

This class provides the user with a uniform interface to a variety of other classes which manage only one specific camera "driver" (opencv, ffmpeg, PGR FlyCapture,...)

Following the "generic sensor" interface, all the parameters must be passed int the form of a configuration file, which may be also formed on the fly (without being a real config file) as in this example:

CCameraSensor myCam;
const string str =
   "[CONFIG]\n"
   "grabber_type=opencv\n";
CConfigFileMemory     cfg(str);
myCam.loadConfig(cfg,"CONFIG");
myCam.initialize();
CObservationPtr obs = myCam.getNextFrame();

Images can be retrieved through the normal "doProcess()" interface, or the specific method "getNextFrame()".

Some notes:

"grabber_type" determines the class to use internally for image capturing (see below).
For the meaning of cv_camera_type and other parameters, refer to mrpt::hwdrivers::CImageGrabber_OpenCV
For the parameters of dc1394 parameters, refer to generic IEEE1394 documentation, and to mrpt::hwdrivers::TCaptureOptions_dc1394.
If the high number of existing parameters annoy you, try the function prepareVideoSourceFromUserSelection(), which displays a GUI dialog to the user so he/she can choose the desired camera & its parameters.

Images can be saved in the "external storage" mode. Detached threads are created for this task. See setPathForExternalImages() and setExternalImageFormat(). These methods are called automatically from the app rawlog-grabber.

These is the list of all accepted parameters:

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
   # Select one of the grabber implementations -----------------------
   grabber_type       = opencv | dc1394 | bumblebee_dc1394 | ffmpeg | rawlog | swissranger | svs | kinect | flycap | flycap_stereo | image_dir | duo3d
   #  Options for any grabber_type ------------------------------------
   preview_decimation = 0     // N<=0 (or not present): No preview; N>0, display 1 out of N captured frames.
   preview_reduction  = 0     // 0 or 1 (or not present): The preview shows the actual image. For 2,3,..., reduces the size of the image by that factor, only for the preview window.
   capture_grayscale  = 0     // 1:capture in grayscale, whenever the driver allows it. Default=0
   #  For externaly stored images, the format of image files (default=jpg)
   #external_images_format  = jpg
   #  For externaly stored images: whether to spawn independent threads to save the image files.
   #external_images_own_thread  = 1   // 0 or 1
   # If external_images_own_thread=1, this changes the number of threads to launch
   #  to save image files. The default is determined from mrpt::system::getNumberOfProcessors()
   #  and should be OK unless you want to save processor time for other things.
   #external_images_own_thread_count = 2    // >=1
   # (Only when external_images_format=jpg): Optional parameter to set the JPEG compression quality:
   #external_images_jpeg_quality = 95    // [1-100]. Default: 95
   # Pose of the sensor on the robot:
   pose_x=0             ; (meters)
   pose_y=0
   pose_z=0
   pose_yaw=0   ; (Angles in degrees)
   pose_pitch=0
   pose_roll=0
   # Options for grabber_type= opencv  ------------------------------------
   cv_camera_index  = 0       // [opencv] Number of camera to open
   cv_camera_type   = CAMERA_CV_AUTODETECT
   cv_frame_width   = 640     // [opencv] Capture width (not present or set to 0 for default)
   cv_frame_height  = 480     // [opencv] Capture height (not present or set to 0 for default)
   cv_fps           = 15      // [opencv] IEEE1394 cams only: Capture FPS (not present or 0 for default)
   cv_gain          = 0       // [opencv] Camera gain, if available (nor present or set to 0 for default).
   # Options for grabber_type= dc1394 -------------------------------------
   dc1394_camera_guid   = 0 | 0x11223344    // 0 (or not present): the first camera; A hexadecimal number: The GUID of the camera to open
   dc1394_camera_unit   = 0                             // 0 (or not present): the first camera; 0,1,2,...: The unit number (within the given GUID) of the camera to open (Stereo cameras: 0 or 1)
   dc1394_frame_width   = 640
   dc1394_frame_height  = 480
   dc1394_framerate             = 15                                    // eg: 7.5, 15, 30, 60, etc... For posibilities see mrpt::hwdrivers::TCaptureOptions_dc1394
   dc1394_mode7         = -1                    // -1: Ignore, i>=0, set to MODE7_i
   dc1394_color_coding  = COLOR_CODING_YUV422   // For posibilities see mrpt::hwdrivers::TCaptureOptions_dc1394
   # Options for setting feature values: dc1394_<feature> = <n>
   # with <feature> = brightness | exposure | sharpness | white_balance | gamma | shutter | gain
   #      <n> a value, or -1 (or not present) for not to change this feature value in the camera, possible values are shown in execution
   dc1394_shutter       = -1
   # Options for setting feature modes: dc1394_<feature>_mode = <n>
   # with <feature> = brightness | exposure | sharpness | white_balance | gamma | shutter | gain
   #      <n> = -1 (or not present) [not to change] | 0 [manual] | 1 [auto] | 2 [one_push_auto]
   dc1394_shutter_mode  = -1
   # Options for setting trigger options:
   dc1394_trigger_power = -1    // -1 (or not present) for not to change | 0 [OFF] | 1 [ON]
   dc1394_trigger_mode  = -1    // -1 (or not present) for not to change | 0..7 corresponding to possible modes 0,1,2,3,4,5,14,15
   dc1394_trigger_source= -1    // -1 (or not present) for not to change | 0..4 corresponding to possible sources 0,1,2,3,SOFTWARE
   dc1394_trigger_polarity = -1 // -1 (or not present) for not to change | 0 [ACTIVE_LOW] | 1 [ACTIVE_HIGH]
   dc1394_ring_buffer_size = 15  // Length of frames ring buffer (internal to libdc1394)
   # Options for grabber_type= bumblebee_dc1394 ----------------------------------
   bumblebee_dc1394_camera_guid   = 0 | 0x11223344  // 0 (or not present): the first camera; A hexadecimal number: The GUID of the camera to open
   bumblebee_dc1394_camera_unit   = 0                           // 0 (or not present): the first camera; 0,1,2,...: The unit number (within the given GUID) of the camera to open (Stereo cameras: 0 or 1)
   bumblebee_dc1394_framerate     = 15                          // eg: 7.5, 15, 30, 60, etc... For posibilities see mrpt::hwdrivers::TCaptureOptions_dc1394
   # Options for grabber_type= ffmpeg -------------------------------------
   ffmpeg_url             = rtsp://127.0.0.1      // [ffmpeg] The video file or IP camera to open
   # Options for grabber_type= rawlog -------------------------------------
   rawlog_file            = mylog.rawlog          // [rawlog] This can be used to simulate the capture of images already grabbed in the past in the form of a MRPT rawlog.
   rawlog_camera_sensor_label  = CAMERA1          // [rawlog] If this field is not present, all images found in the rawlog will be retrieved. Otherwise, only those observations with a matching sensor label.
   # Options for grabber_type= svs -------------------------------------
   svs_camera_index = 0
   svs_frame_width = 800
   svs_frame_height = 600
   svs_framerate = 25.0
   svs_NDisp = ...
   svs_Corrsize = ...
   svs_LR = ...
   svs_Thresh = ...
   svs_Unique = ...
   svs_Horopter = ...
   svs_SpeckleSize = ...
   svs_procesOnChip = false
   svs_calDisparity = true
   # Options for grabber_type= swissranger -------------------------------------
   sr_use_usb         = true            // True: use USB, false: use ethernet
   sr_IP              = 192.168.2.14    // If sr_use_usb=false, the camera IP
   sr_grab_grayscale  = true            // whether to save the intensity channel
   sr_grab_3d         = true            // whether to save the 3D points
   sr_grab_range      = true            // whether to save the range image
   sr_grab_confidence = true            // whether to save the confidence image
   # Options for grabber_type= XBox kinect -------------------------------------
   kinect_grab_intensity  = true            // whether to save the intensity (RGB) channel
   kinect_grab_3d         = true            // whether to save the 3D points
   kinect_grab_range      = true            // whether to save the depth image
   #kinect_video_rgb       = true            // Optional. If set to "false", the IR intensity channel will be grabbed instead of the color RGB channel.
   # Options for grabber_type= flycap (Point Grey Research's FlyCapture 2 for Monocular and Stereo cameras, e.g. Bumblebee2) --------
   flycap_camera_index           = 0
   #... (all the parameters enumerated in mrpt::hwdrivers::TCaptureOptions_FlyCapture2 with the prefix "flycap_")
   # Options for grabber_type= flycap_stereo (Point Grey Research's FlyCapture 2, two cameras setup as a stereo pair) ------
   # fcs_start_synch_capture   = false  // *Important*: Only set to true if using Firewire cameras: the "startSyncCapture()" command is unsupported in USB3 and GigaE cameras.
   fcs_LEFT_camera_index           = 0
   #... (all the parameters enumerated in mrpt::hwdrivers::TCaptureOptions_FlyCapture2 with the prefix "fcs_LEFT_")
   fcs_RIGHT_camera_index          = 0
   #... (all the parameters enumerated in mrpt::hwdrivers::TCaptureOptions_FlyCapture2 with the prefix "fcs_RIGHT_")
   # Options for grabber_type= image_dir
   image_dir_url                                        =                               // [string] URL of the directory
   left_filename_format                         = imL_%05d.jpg  // [string] Format including prefix, number of trailing zeros, digits and image format (extension)
   right_filename_format                        = imR_%05d.jpg  // [string] Format including prefix, number of trailing zeros, digits and image format (extension). Leave blank if only images from one camera will be used.
   start_index                                          = 0                             // [int]        Starting index for images
   end_index                                            = 100                   // [int]        End index for the images
   # Options for grabber_type= duo3d
   Create a section like this:
   [DUO3DOptions]
   rawlog-grabber-ignore        = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
   image_width                          = 640                   // [int]        x Resolution
   image_height                         = 480                   // [int]        y Resolution
   fps                                          = 30                    // [int]        Frames per second (<= 30)
   exposure                             = 50                    // [int]        Exposure value (1..100)
   led                                          = 0                             // [int]        Led intensity (only for some device models) (1..100).
   gain                                 = 50                    // [int]        Camera gain (1..100)
   capture_rectified            = false                 // [bool]       Rectify captured images
   capture_imu                  = true                  // [bool]       Capture IMU data from DUO3D device (if available)
   calibration_from_file        = true                  // [bool]       Use YML calibration files provided by calibration application supplied with DUO3D device
   intrinsic_filename           = ""                    // [string]     Intrinsic parameters file. This filename should contain a substring _RWWWxHHH_ with WWW being the image width and HHH the image height, as provided by the calibration application.
   extrinsic_filename           = ""                    // [string]     Extrinsic parameters file. This filename should contain a substring _RWWWxHHH_ with WWW being the image width and HHH the image height, as provided by the calibration application.
   rectify_map_filename = ""                    // [string]     Rectification map file. This filename should contain a substring _RWWWxHHH_ with WWW being the image width and HHH the image height, as provided by the calibration application.
   // if 'calibration_from_file' = false, three more sections containing the calibration must be provided:
   [DUO3D_LEFT]
   rawlog-grabber-ignore        = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
   resolution           = [640 480]
   cx                           = 320
   cy                           = 240
   fx                           = 700
   fy                           = 700
   dist                         = [0 0 0 0 0]
   [DUO3D_RIGHT]
   rawlog-grabber-ignore        = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
   resolution           = [640 480]
   cx                           = 320
   cy                           = 240
   fx                           = 700
   fy                           = 700
   dist                         = [0 0 0 0 0]
   [DUO3D_LEFT2RIGHT_POSE]
   rawlog-grabber-ignore        = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
   pose_quaternion = [0.12 0 0 1 0 0 0]

Note: The execution rate, in rawlog-grabber or the user code calling doProcess(), should be greater than the required capture FPS.; In Linux you may need to execute "chmod 666 /dev/video1394/ * " and "chmod 666 /dev/raw1394" for allowing any user R/W access to firewire cameras.; [New in MRPT 1.4.0] The bumblebee driver has been deleted, use the flycap driver in stereo mode.

See also: mrpt::hwdrivers::CImageGrabber_OpenCV, mrpt::hwdrivers::CImageGrabber_dc1394, CGenericSensor, prepareVideoSourceFromUserSelection()

Definition at line 243 of file CCameraSensor.h.

#include <mrpt/hwdrivers/CCameraSensor.h>

Inheritance diagram for mrpt::hwdrivers::CCameraSensor:

Public Types
typedef void(*	TPreSaveUserHook) (const mrpt::obs::CObservationPtr &obs, void *user_ptr)
	Functor type. More...

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 std::shared_ptr< const CGenericSensor >	ConstPtr

Public Member Functions
	CCameraSensor ()
	Constructor. More...

virtual	~CCameraSensor ()
	Destructor. More...

void	doProcess ()
	This method will be invoked at a minimum rate of "process_rate" (Hz) More...

mrpt::obs::CObservationPtr	getNextFrame ()
	Retrieves the next frame from the video source, raising an exception on any error. More...

void	getNextFrame (std::vector< mrpt::utils::CSerializablePtr > &out_obs)

virtual void	initialize ()
	Tries to open the camera, after setting all the parameters with a call to loadConfig. More...

void	close ()
	Close the camera (if open). More...

void	setSoftwareTriggerLevel (bool level)
	Set Software trigger level value (ON or OFF) for cameras with this function available. More...

virtual void	setPathForExternalImages (const std::string &directory)
	Set the path where to save off-rawlog image files (this class DOES take into account this path). More...

void	enableLaunchOwnThreadForSavingImages (bool enable=true)
	This must be called before initialize() More...

void	addPreSaveHook (TPreSaveUserHook user_function, void *user_ptr)
	Provides a "hook" for user-code to be run BEFORE an image is going to be saved to disk if external storage is enabled (e.g. 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". More...

void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe). 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 CGenericSensor *	createSensor (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	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)
	See the class documentation at the top for expected parameters. 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...

Protected Attributes
poses::CPose3D	m_sensorPose

std::string	m_grabber_type
	Can be "opencv",... More...

bool	m_capture_grayscale

int	m_cv_camera_index

std::string	m_cv_camera_type

TCaptureCVOptions	m_cv_options

uint64_t	m_dc1394_camera_guid

int	m_dc1394_camera_unit

TCaptureOptions_dc1394	m_dc1394_options

int	m_preview_decimation

int	m_preview_reduction

uint64_t	m_bumblebee_dc1394_camera_guid

int	m_bumblebee_dc1394_camera_unit

double	m_bumblebee_dc1394_framerate

int	m_svs_camera_index

TCaptureOptions_SVS	m_svs_options

std::string	m_ffmpeg_url

std::string	m_rawlog_file

std::string	m_rawlog_camera_sensor_label

std::string	m_rawlog_detected_images_dir

bool	m_sr_open_from_usb
	true: USB, false: ETH More...

std::string	m_sr_ip_address

bool	m_sr_save_3d
	Save the 3D point cloud (default: true) More...

bool	m_sr_save_range_img
	Save the 2D range image (default: true) More...

bool	m_sr_save_intensity_img
	Save the 2D intensity image (default: true) More...

bool	m_sr_save_confidence
	Save the estimated confidence 2D image (default: false) More...

bool	m_kinect_save_3d
	Save the 3D point cloud (default: true) More...

bool	m_kinect_save_range_img
	Save the 2D range image (default: true) More...

bool	m_kinect_save_intensity_img
	Save the 2D intensity image (default: true) More...

bool	m_kinect_video_rgb
	Save RGB or IR channels (default:true) More...

TCaptureOptions_FlyCapture2	m_flycap_options

bool	m_fcs_start_synch_capture

TCaptureOptions_FlyCapture2	m_flycap_stereo_options [2]

std::string	m_img_dir_url

std::string	m_img_dir_left_format

std::string	m_img_dir_right_format

int	m_img_dir_start_index

int	m_img_dir_end_index

bool	m_img_dir_is_stereo

int	m_img_dir_counter

TCaptureOptions_DUO3D	m_duo3d_options

bool	m_external_images_own_thread
	Whether to launch independent thread. 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
CImageGrabber_OpenCV *	m_cap_cv
	The OpenCV capture object. More...

CImageGrabber_dc1394 *	m_cap_dc1394
	The dc1394 capture object. More...

CImageGrabber_FlyCapture2 *	m_cap_flycap
	The FlyCapture2 object. More...

CImageGrabber_FlyCapture2 *	m_cap_flycap_stereo_l

CImageGrabber_FlyCapture2 *	m_cap_flycap_stereo_r
	The FlyCapture2 object for stereo pairs. More...

CStereoGrabber_Bumblebee_libdc1394 *	m_cap_bumblebee_dc1394

CStereoGrabber_SVS *	m_cap_svs
	The svs capture object. More...

CFFMPEG_InputStream *	m_cap_ffmpeg
	The FFMPEG capture object. More...

mrpt::utils::CFileGZInputStream *	m_cap_rawlog
	The input file for rawlogs. More...

CSwissRanger3DCamera *	m_cap_swissranger
	SR 3D camera object. More...

CKinect *	m_cap_kinect
	Kinect camera object. More...

COpenNI2Sensor *	m_cap_openni2
	OpenNI2 object. More...

std::string *	m_cap_image_dir
	Read images from directory. More...

CDUO3DCamera *	m_cap_duo3d
	The DUO3D capture object. More...

int	m_camera_grab_decimator

int	m_camera_grab_decimator_counter

int	m_preview_counter

mrpt::gui::CDisplayWindowPtr	m_preview_win1

mrpt::gui::CDisplayWindowPtr	m_preview_win2
	Normally we'll use only one window, but for stereo images we'll use two of them. More...

Stuff related to working threads to save images to disk
unsigned int	m_external_image_saver_count
	Number of working threads. Default:1, set to 2 in quad cores. More...

std::vector< mrpt::system::TThreadHandle >	m_threadImagesSaver

bool	m_threadImagesSaverShouldEnd

mrpt::synch::CCriticalSection	m_csToSaveList
	The critical section for m_toSaveList. More...

std::vector< TListObservations >	m_toSaveList
	The queues of objects to be returned by getObservations, one for each working thread. More...

TPreSaveUserHook	m_hook_pre_save

void *	m_hook_pre_save_param

void	thread_save_images (unsigned int my_working_thread_index)
	Thread to save images to files. More...

Member Typedef Documentation

◆ ConstPtr

typedef std::shared_ptr<const CGenericSensor> mrpt::hwdrivers::CGenericSensor::ConstPtr

inherited

Definition at line 124 of file CGenericSensor.h.

◆ Ptr

typedef CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::Ptr

inherited

Definition at line 123 of file CGenericSensor.h.

◆ TListObservations

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

inherited

Definition at line 89 of file CGenericSensor.h.

◆ TListObsPair

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

inherited

Definition at line 90 of file CGenericSensor.h.

◆ TPreSaveUserHook

typedef void(* mrpt::hwdrivers::CCameraSensor::TPreSaveUserHook) (const mrpt::obs::CObservationPtr &obs, void *user_ptr)

Functor type.

Definition at line 290 of file CCameraSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError

Definition at line 95 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CCameraSensor()

CCameraSensor::CCameraSensor ( )

Constructor.

The camera is not open until "initialize" is called.

Definition at line 39 of file CCameraSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::ssInitializing.

◆ ~CCameraSensor()

CCameraSensor::~CCameraSensor ( )

virtual

Destructor.

Definition at line 574 of file CCameraSensor.cpp.

Member Function Documentation

◆ addPreSaveHook()

void mrpt::hwdrivers::CCameraSensor::addPreSaveHook	(	TPreSaveUserHook	user_function,
		void *	user_ptr
	)

inline

Provides a "hook" for user-code to be run BEFORE an image is going to be saved to disk if external storage is enabled (e.g.

to rectify images, preprocess them, etc.) Notice that this code may be called from detached threads, so it must be thread safe. If used, call this before initialize()

Definition at line 295 of file CCameraSensor.h.

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 168 of file CGenericSensor.h.

◆ appendObservations()

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
appendObservation(o);

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().

◆ close()

void CCameraSensor::close ( )

Close the camera (if open).

This method is called automatically on destruction.

Definition at line 360 of file CCameraSensor.cpp.

References mrpt::utils::delete_safe(), mrpt::system::joinThread(), and mrpt::hwdrivers::CGenericSensor::ssInitializing.

◆ createSensor()

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:

CGenericSensorPtr sensor = CGenericSensorPtr( CGenericSensor::createSensor("XXX") );

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().

◆ createSensorPtr()

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 201 of file CGenericSensor.h.

◆ doProcess()

void CCameraSensor::doProcess ( )

virtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 1129 of file CCameraSensor.cpp.

◆ enableLaunchOwnThreadForSavingImages()

void mrpt::hwdrivers::CCameraSensor::enableLaunchOwnThreadForSavingImages ( bool enable = true )

inline

This must be called before initialize()

Definition at line 287 of file CCameraSensor.h.

◆ enableVerbose()

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 113 of file CGenericSensor.h.

◆ getExternalImageJPEGQuality()

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 255 of file CGenericSensor.h.

◆ getNextFrame() [1/2]

CObservationPtr CCameraSensor::getNextFrame ( )

Retrieves the next frame from the video source, raising an exception on any error.

Note: The returned observations can be of one of these classes (you can use IS_CLASS(obs,CObservationXXX) to determine it):

mrpt::obs::CObservationImage (For normal cameras or video sources)
mrpt::obs::CObservationStereoImages (For stereo cameras)
mrpt::obs::CObservation3DRangeScan (For 3D cameras)

Definition at line 584 of file CCameraSensor.cpp.

◆ getNextFrame() [2/2]

void mrpt::hwdrivers::CCameraSensor::getNextFrame ( std::vector< mrpt::utils::CSerializablePtr > & out_obs )

◆ getObservations()

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.

◆ getProcessRate()

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

inlineinherited

Definition at line 105 of file CGenericSensor.h.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 107 of file CGenericSensor.h.

◆ getState()

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

inlineinherited

The current state of the sensor.

Definition at line 103 of file CGenericSensor.h.

◆ initialize()

void CCameraSensor::initialize ( void )

virtual

Tries to open the camera, after setting all the parameters with a call to loadConfig.

Exceptions

This	method must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 112 of file CCameraSensor.cpp.

References mrpt::utils::CTypeSelector::checkTypeIndex(), mrpt::system::createThreadFromObjectMethod(), mrpt::format(), mrpt::system::lowerCase(), mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, mrpt::hwdrivers::CImageGrabber_FlyCapture2::startSyncCapture(), thread_save_images(), THROW_EXCEPTION, THROW_EXCEPTION_FMT, mrpt::system::trim(), mrpt::system::upperCase(), mrpt::hwdrivers::CKinect::VIDEO_CHANNEL_IR, and mrpt::hwdrivers::CKinect::VIDEO_CHANNEL_RGB.

Referenced by mrpt::hwdrivers::prepareVideoSourceFromPanel(), and mrpt::hwdrivers::prepareVideoSourceFromUserSelection().

◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const

inlineinherited

Definition at line 114 of file CGenericSensor.h.

◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::utils::CConfigFileBase &	cfg,
		const std::string &	sect
	)

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Definition at line 131 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

Referenced by mrpt::hwdrivers::prepareVideoSourceFromPanel(), and mrpt::hwdrivers::prepareVideoSourceFromUserSelection().

◆ loadConfig_sensorSpecific()

void CCameraSensor::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

protectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 390 of file CCameraSensor.cpp.

References ADD_COLOR_MAP, mrpt::hwdrivers::COLOR_CODING_MONO16, mrpt::hwdrivers::COLOR_CODING_MONO8, mrpt::hwdrivers::COLOR_CODING_RGB8, mrpt::hwdrivers::COLOR_CODING_YUV411, mrpt::hwdrivers::COLOR_CODING_YUV422, mrpt::hwdrivers::COLOR_CODING_YUV444, DEG2RAD, mrpt::hwdrivers::FRAMERATE_120, mrpt::hwdrivers::FRAMERATE_15, mrpt::hwdrivers::FRAMERATE_1_875, mrpt::hwdrivers::FRAMERATE_240, mrpt::hwdrivers::FRAMERATE_30, mrpt::hwdrivers::FRAMERATE_3_75, mrpt::hwdrivers::FRAMERATE_60, mrpt::hwdrivers::FRAMERATE_7_5, MRPT_LOAD_HERE_CONFIG_VAR, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_string(), mrpt::utils::CConfigFileBase::read_string_first_word(), THROW_EXCEPTION_FMT, mrpt::system::trim(), and mrpt::system::upperCase().

◆ registerClass()

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().

◆ setExternalImageFormat()

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 247 of file CGenericSensor.h.

◆ setExternalImageJPEGQuality()

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 252 of file CGenericSensor.h.

References quality.

◆ setPathForExternalImages()

void CCameraSensor::setPathForExternalImages ( const std::string & directory )

virtual

Set the path where to save off-rawlog image files (this class DOES take into account this path).

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

Exceptions

std::exception If the directory doesn't exists and cannot be created.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 1158 of file CCameraSensor.cpp.

References mrpt::system::createDirectory(), and THROW_EXCEPTION_FMT.

◆ setSensorLabel()

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

inlineinherited

Definition at line 108 of file CGenericSensor.h.

◆ setSoftwareTriggerLevel()

void CCameraSensor::setSoftwareTriggerLevel ( bool level )

Set Software trigger level value (ON or OFF) for cameras with this function available.

Definition at line 1139 of file CCameraSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::ssError, and THROW_EXCEPTION.

◆ thread_save_images()

void CCameraSensor::thread_save_images ( unsigned int my_working_thread_index )

private

Thread to save images to files.

Definition at line 1318 of file CCameraSensor.cpp.

References mrpt::system::fileNameStripInvalidChars(), mrpt::format(), IS_CLASS, IS_DERIVED, mrpt::system::sleep(), mrpt::system::timestampTotime_t(), and mrpt::system::trim().

Referenced by initialize().

Member Data Documentation

◆ m_bumblebee_dc1394_camera_guid

uint64_t mrpt::hwdrivers::CCameraSensor::m_bumblebee_dc1394_camera_guid

protected

Definition at line 317 of file CCameraSensor.h.

◆ m_bumblebee_dc1394_camera_unit

int mrpt::hwdrivers::CCameraSensor::m_bumblebee_dc1394_camera_unit

protected

Definition at line 318 of file CCameraSensor.h.

◆ m_bumblebee_dc1394_framerate

double mrpt::hwdrivers::CCameraSensor::m_bumblebee_dc1394_framerate

protected

Definition at line 319 of file CCameraSensor.h.

◆ m_camera_grab_decimator

int mrpt::hwdrivers::CCameraSensor::m_camera_grab_decimator

private

Definition at line 392 of file CCameraSensor.h.

◆ m_camera_grab_decimator_counter

int mrpt::hwdrivers::CCameraSensor::m_camera_grab_decimator_counter

private

Definition at line 393 of file CCameraSensor.h.

◆ m_cap_bumblebee_dc1394

CStereoGrabber_Bumblebee_libdc1394* mrpt::hwdrivers::CCameraSensor::m_cap_bumblebee_dc1394

private

Definition at line 381 of file CCameraSensor.h.

◆ m_cap_cv

CImageGrabber_OpenCV* mrpt::hwdrivers::CCameraSensor::m_cap_cv

private

The OpenCV capture object.

Definition at line 377 of file CCameraSensor.h.

◆ m_cap_dc1394

CImageGrabber_dc1394* mrpt::hwdrivers::CCameraSensor::m_cap_dc1394

private

The dc1394 capture object.

Definition at line 378 of file CCameraSensor.h.

◆ m_cap_duo3d

CDUO3DCamera* mrpt::hwdrivers::CCameraSensor::m_cap_duo3d

private

The DUO3D capture object.

Definition at line 389 of file CCameraSensor.h.

◆ m_cap_ffmpeg

CFFMPEG_InputStream* mrpt::hwdrivers::CCameraSensor::m_cap_ffmpeg

private

The FFMPEG capture object.

Definition at line 383 of file CCameraSensor.h.

◆ m_cap_flycap

CImageGrabber_FlyCapture2* mrpt::hwdrivers::CCameraSensor::m_cap_flycap

private

The FlyCapture2 object.

Definition at line 379 of file CCameraSensor.h.

◆ m_cap_flycap_stereo_l

CImageGrabber_FlyCapture2* mrpt::hwdrivers::CCameraSensor::m_cap_flycap_stereo_l

private

Definition at line 380 of file CCameraSensor.h.

◆ m_cap_flycap_stereo_r

CImageGrabber_FlyCapture2 * mrpt::hwdrivers::CCameraSensor::m_cap_flycap_stereo_r

private

The FlyCapture2 object for stereo pairs.

Definition at line 380 of file CCameraSensor.h.

◆ m_cap_image_dir

std::string* mrpt::hwdrivers::CCameraSensor::m_cap_image_dir

private

Read images from directory.

Definition at line 388 of file CCameraSensor.h.

◆ m_cap_kinect

CKinect* mrpt::hwdrivers::CCameraSensor::m_cap_kinect

private

Kinect camera object.

Definition at line 386 of file CCameraSensor.h.

◆ m_cap_openni2

COpenNI2Sensor* mrpt::hwdrivers::CCameraSensor::m_cap_openni2

private

OpenNI2 object.

Definition at line 387 of file CCameraSensor.h.

◆ m_cap_rawlog

mrpt::utils::CFileGZInputStream* mrpt::hwdrivers::CCameraSensor::m_cap_rawlog

private

The input file for rawlogs.

Definition at line 384 of file CCameraSensor.h.

◆ m_cap_svs

CStereoGrabber_SVS* mrpt::hwdrivers::CCameraSensor::m_cap_svs

private

The svs capture object.

Definition at line 382 of file CCameraSensor.h.

◆ m_cap_swissranger

CSwissRanger3DCamera* mrpt::hwdrivers::CCameraSensor::m_cap_swissranger

private

SR 3D camera object.

Definition at line 385 of file CCameraSensor.h.

◆ m_capture_grayscale

bool mrpt::hwdrivers::CCameraSensor::m_capture_grayscale

protected

Definition at line 302 of file CCameraSensor.h.

◆ m_csToSaveList

mrpt::synch::CCriticalSection mrpt::hwdrivers::CCameraSensor::m_csToSaveList

private

The critical section for m_toSaveList.

Definition at line 404 of file CCameraSensor.h.

◆ m_cv_camera_index

int mrpt::hwdrivers::CCameraSensor::m_cv_camera_index

protected

Definition at line 305 of file CCameraSensor.h.

◆ m_cv_camera_type

std::string mrpt::hwdrivers::CCameraSensor::m_cv_camera_type

protected

Definition at line 306 of file CCameraSensor.h.

◆ m_cv_options

TCaptureCVOptions mrpt::hwdrivers::CCameraSensor::m_cv_options

protected

Definition at line 307 of file CCameraSensor.h.

◆ m_dc1394_camera_guid

uint64_t mrpt::hwdrivers::CCameraSensor::m_dc1394_camera_guid

protected

Definition at line 310 of file CCameraSensor.h.

◆ m_dc1394_camera_unit

int mrpt::hwdrivers::CCameraSensor::m_dc1394_camera_unit

protected

Definition at line 311 of file CCameraSensor.h.

◆ m_dc1394_options

TCaptureOptions_dc1394 mrpt::hwdrivers::CCameraSensor::m_dc1394_options

protected

Definition at line 312 of file CCameraSensor.h.

◆ m_duo3d_options

TCaptureOptions_DUO3D mrpt::hwdrivers::CCameraSensor::m_duo3d_options

protected

Definition at line 365 of file CCameraSensor.h.

◆ m_external_image_saver_count

unsigned int mrpt::hwdrivers::CCameraSensor::m_external_image_saver_count

private

Number of working threads. Default:1, set to 2 in quad cores.

Definition at line 400 of file CCameraSensor.h.

◆ m_external_images_format

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 152 of file CGenericSensor.h.

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

◆ m_external_images_jpeg_quality

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

protectedinherited

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

Definition at line 153 of file CGenericSensor.h.

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

◆ m_external_images_own_thread

bool mrpt::hwdrivers::CCameraSensor::m_external_images_own_thread

protected

Whether to launch independent thread.

Definition at line 368 of file CCameraSensor.h.

◆ m_fcs_start_synch_capture

bool mrpt::hwdrivers::CCameraSensor::m_fcs_start_synch_capture

protected

Definition at line 351 of file CCameraSensor.h.

◆ m_ffmpeg_url

std::string mrpt::hwdrivers::CCameraSensor::m_ffmpeg_url

protected

Definition at line 326 of file CCameraSensor.h.

◆ m_flycap_options

TCaptureOptions_FlyCapture2 mrpt::hwdrivers::CCameraSensor::m_flycap_options

protected

Definition at line 348 of file CCameraSensor.h.

◆ m_flycap_stereo_options

TCaptureOptions_FlyCapture2 mrpt::hwdrivers::CCameraSensor::m_flycap_stereo_options[2]

protected

Definition at line 352 of file CCameraSensor.h.

◆ m_grab_decimation

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 139 of file CGenericSensor.h.

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

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 144 of file CGenericSensor.h.

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

◆ m_grabber_type

std::string mrpt::hwdrivers::CCameraSensor::m_grabber_type

protected

Can be "opencv",...

Definition at line 301 of file CCameraSensor.h.

◆ m_hook_pre_save

TPreSaveUserHook mrpt::hwdrivers::CCameraSensor::m_hook_pre_save

private

Definition at line 408 of file CCameraSensor.h.

◆ m_hook_pre_save_param

void* mrpt::hwdrivers::CCameraSensor::m_hook_pre_save_param

private

Definition at line 409 of file CCameraSensor.h.

◆ m_img_dir_counter

int mrpt::hwdrivers::CCameraSensor::m_img_dir_counter

protected

Definition at line 362 of file CCameraSensor.h.

◆ m_img_dir_end_index

int mrpt::hwdrivers::CCameraSensor::m_img_dir_end_index

protected

Definition at line 359 of file CCameraSensor.h.

◆ m_img_dir_is_stereo

bool mrpt::hwdrivers::CCameraSensor::m_img_dir_is_stereo

protected

Definition at line 361 of file CCameraSensor.h.

◆ m_img_dir_left_format

std::string mrpt::hwdrivers::CCameraSensor::m_img_dir_left_format

protected

Definition at line 356 of file CCameraSensor.h.

◆ m_img_dir_right_format

std::string mrpt::hwdrivers::CCameraSensor::m_img_dir_right_format

protected

Definition at line 357 of file CCameraSensor.h.

◆ m_img_dir_start_index

int mrpt::hwdrivers::CCameraSensor::m_img_dir_start_index

protected

Definition at line 358 of file CCameraSensor.h.

◆ m_img_dir_url

std::string mrpt::hwdrivers::CCameraSensor::m_img_dir_url

protected

Definition at line 355 of file CCameraSensor.h.

◆ m_kinect_save_3d

bool mrpt::hwdrivers::CCameraSensor::m_kinect_save_3d

protected

Save the 3D point cloud (default: true)

Definition at line 342 of file CCameraSensor.h.

◆ m_kinect_save_intensity_img

bool mrpt::hwdrivers::CCameraSensor::m_kinect_save_intensity_img

protected

Save the 2D intensity image (default: true)

Definition at line 344 of file CCameraSensor.h.

◆ m_kinect_save_range_img

bool mrpt::hwdrivers::CCameraSensor::m_kinect_save_range_img

protected

Save the 2D range image (default: true)

Definition at line 343 of file CCameraSensor.h.

◆ m_kinect_video_rgb

bool mrpt::hwdrivers::CCameraSensor::m_kinect_video_rgb

protected

Save RGB or IR channels (default:true)

Definition at line 345 of file CCameraSensor.h.

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 138 of file CGenericSensor.h.

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

◆ m_path_for_external_images

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 151 of file CGenericSensor.h.

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

◆ m_preview_counter

int mrpt::hwdrivers::CCameraSensor::m_preview_counter

private

Definition at line 395 of file CCameraSensor.h.

◆ m_preview_decimation

int mrpt::hwdrivers::CCameraSensor::m_preview_decimation

protected

Definition at line 313 of file CCameraSensor.h.

◆ m_preview_reduction

int mrpt::hwdrivers::CCameraSensor::m_preview_reduction

protected

Definition at line 314 of file CCameraSensor.h.

◆ m_preview_win1

mrpt::gui::CDisplayWindowPtr mrpt::hwdrivers::CCameraSensor::m_preview_win1

private

Definition at line 396 of file CCameraSensor.h.

◆ m_preview_win2

mrpt::gui::CDisplayWindowPtr mrpt::hwdrivers::CCameraSensor::m_preview_win2

private

Normally we'll use only one window, but for stereo images we'll use two of them.

Definition at line 396 of file CCameraSensor.h.

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate

protectedinherited

See CGenericSensor.

Definition at line 137 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_rawlog_camera_sensor_label

std::string mrpt::hwdrivers::CCameraSensor::m_rawlog_camera_sensor_label

protected

Definition at line 330 of file CCameraSensor.h.

◆ m_rawlog_detected_images_dir

std::string mrpt::hwdrivers::CCameraSensor::m_rawlog_detected_images_dir

protected

Definition at line 331 of file CCameraSensor.h.

◆ m_rawlog_file

std::string mrpt::hwdrivers::CCameraSensor::m_rawlog_file

protected

Definition at line 329 of file CCameraSensor.h.

◆ m_sensorLabel

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

See CGenericSensor.

Definition at line 140 of file CGenericSensor.h.

◆ m_sensorPose

poses::CPose3D mrpt::hwdrivers::CCameraSensor::m_sensorPose

protected

Definition at line 295 of file CCameraSensor.h.

◆ m_sr_ip_address

std::string mrpt::hwdrivers::CCameraSensor::m_sr_ip_address

protected

Definition at line 335 of file CCameraSensor.h.

◆ m_sr_open_from_usb

bool mrpt::hwdrivers::CCameraSensor::m_sr_open_from_usb

protected

true: USB, false: ETH

Definition at line 334 of file CCameraSensor.h.

◆ m_sr_save_3d

bool mrpt::hwdrivers::CCameraSensor::m_sr_save_3d

protected

Save the 3D point cloud (default: true)

Definition at line 336 of file CCameraSensor.h.

◆ m_sr_save_confidence

bool mrpt::hwdrivers::CCameraSensor::m_sr_save_confidence

protected

Save the estimated confidence 2D image (default: false)

Definition at line 339 of file CCameraSensor.h.

◆ m_sr_save_intensity_img

bool mrpt::hwdrivers::CCameraSensor::m_sr_save_intensity_img

protected

Save the 2D intensity image (default: true)

Definition at line 338 of file CCameraSensor.h.

◆ m_sr_save_range_img

bool mrpt::hwdrivers::CCameraSensor::m_sr_save_range_img

protected

Save the 2D range image (default: true)

Definition at line 337 of file CCameraSensor.h.

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 146 of file CGenericSensor.h.

◆ m_svs_camera_index

int mrpt::hwdrivers::CCameraSensor::m_svs_camera_index

protected

Definition at line 322 of file CCameraSensor.h.

◆ m_svs_options

TCaptureOptions_SVS mrpt::hwdrivers::CCameraSensor::m_svs_options

protected

Definition at line 323 of file CCameraSensor.h.

◆ m_threadImagesSaver

std::vector<mrpt::system::TThreadHandle> mrpt::hwdrivers::CCameraSensor::m_threadImagesSaver

private

Definition at line 401 of file CCameraSensor.h.

◆ m_threadImagesSaverShouldEnd

bool mrpt::hwdrivers::CCameraSensor::m_threadImagesSaverShouldEnd

private

Definition at line 403 of file CCameraSensor.h.

◆ m_toSaveList

std::vector<TListObservations> mrpt::hwdrivers::CCameraSensor::m_toSaveList

private

The queues of objects to be returned by getObservations, one for each working thread.

Definition at line 405 of file CCameraSensor.h.

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose

protectedinherited

Definition at line 147 of file CGenericSensor.h.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Stuff related to working threads to save images to disk

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ TListObservations

◆ TListObsPair

◆ TPreSaveUserHook

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ CCameraSensor()

◆ ~CCameraSensor()

Member Function Documentation

◆ addPreSaveHook()

◆ appendObservation()

◆ appendObservations()

◆ close()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ enableLaunchOwnThreadForSavingImages()

◆ enableVerbose()

◆ getExternalImageJPEGQuality()

◆ getNextFrame() [1/2]

◆ getNextFrame() [2/2]

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ initialize()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ registerClass()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setPathForExternalImages()

◆ setSensorLabel()

◆ setSoftwareTriggerLevel()

◆ thread_save_images()

Member Data Documentation

◆ m_bumblebee_dc1394_camera_guid

◆ m_bumblebee_dc1394_camera_unit

◆ m_bumblebee_dc1394_framerate

◆ m_camera_grab_decimator

◆ m_camera_grab_decimator_counter

◆ m_cap_bumblebee_dc1394

◆ m_cap_cv

◆ m_cap_dc1394

◆ m_cap_duo3d

◆ m_cap_ffmpeg

◆ m_cap_flycap

◆ m_cap_flycap_stereo_l

◆ m_cap_flycap_stereo_r

◆ m_cap_image_dir

◆ m_cap_kinect

◆ m_cap_openni2

◆ m_cap_rawlog

◆ m_cap_svs

◆ m_cap_swissranger

◆ m_capture_grayscale

◆ m_csToSaveList

◆ m_cv_camera_index

◆ m_cv_camera_type

◆ m_cv_options

◆ m_dc1394_camera_guid

◆ m_dc1394_camera_unit

◆ m_dc1394_options

◆ m_duo3d_options

◆ m_external_image_saver_count

◆ m_external_images_format

◆ m_external_images_jpeg_quality