Detailed Description

A class for grabbing mrpt::obs::CObservationSkeleton from a PrimeSense camera.

It connects to a PrimeSense camera and tries to detect users while recording the positions of their skeletons' joints along time.

See also the application "rawlog-grabber" for a ready-to-use application to gather data from this sensor.

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
       driver                   = CSkeletonTracker
       sensorLabel              = <label>                       ; Label of the sensor
       grab_decimation  = 1                                     ; [int] Grab skeletons in 1 out of 'grab_decimation' frames.
   show_preview         = 1                                     ; [bool] {0,1} Opens a display window to show the recorded skeleton.
   pose_x                       = 0                                     ; [double] Sensor 3D position relative to the robot (meters)
   pose_y                       = 0
   pose_z                       = 0
   pose_yaw                     = 0                                     ; [double] Angles in degrees
   pose_pitch           = 0
   pose_roll            = 0

Definition at line 47 of file CSkeletonTracker.h.

#include <mrpt/hwdrivers/CSkeletonTracker.h>

Inheritance diagram for mrpt::hwdrivers::CSkeletonTracker:

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 std::shared_ptr< const CGenericSensor >	ConstPtr

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

virtual	~CSkeletonTracker ()
	Destructor. More...

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

void	initialize ()
	Connects to the PrimeSense camera and prepares it to get skeleton data. More...

void	setPreview (const bool setPreview=true)
	Set/unset preview. 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...

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 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	processPreview (const mrpt::obs::CObservationSkeletonPtr &obs)
	Displays real-time info for the captured skeleton. More...

void	processPreviewNone ()

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
void *	m_skeletons_ptr
	Opaque pointers to specific NITE data. More...

void *	m_userTracker_ptr

uint32_t	m_timeStartUI
	Timestamp management. More...

mrpt::system::TTimeStamp	m_timeStartTT

mrpt::poses::CPose3D	m_sensorPose
	Sensor pose. More...

int	m_nUsers
	Number of detected users. More...

bool	m_showPreview
	Preview window management. More...

mrpt::gui::CDisplayWindow3DPtr	m_win

std::vector< std::pair< JOINT, JOINT > >	m_linesToPlot
	Lines between joints. More...

std::vector< double >	m_joint_theta
	Joint angles when no skeleton has been detected. More...

unsigned int	m_toutCounter
	Timeout counter (for internal use only) 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 Types
enum	JOINT { HEAD = 0, NECK, TORSO, LEFT_SHOULDER, LEFT_ELBOW, LEFT_HAND, LEFT_HIP, LEFT_KNEE, LEFT_FOOT, RIGHT_SHOULDER, RIGHT_ELBOW, RIGHT_HAND, RIGHT_HIP, RIGHT_KNEE, RIGHT_FOOT, NONE }

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.

Member Enumeration Documentation

◆ JOINT

enum mrpt::hwdrivers::CSkeletonTracker::JOINT

private

Enumerator
HEAD
NECK
TORSO
LEFT_SHOULDER
LEFT_ELBOW
LEFT_HAND
LEFT_HIP
LEFT_KNEE
LEFT_FOOT
RIGHT_SHOULDER
RIGHT_ELBOW
RIGHT_HAND
RIGHT_HIP
RIGHT_KNEE
RIGHT_FOOT
NONE

Definition at line 50 of file CSkeletonTracker.h.

◆ 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

◆ CSkeletonTracker()

CSkeletonTracker::CSkeletonTracker ( )

Constructor.

Definition at line 58 of file CSkeletonTracker.cpp.

References M_2PI, m_joint_theta, m_linesToPlot, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_skeletons_ptr, m_userTracker_ptr, MAX_USERS, NUM_JOINTS, NUM_LINES, skl_states, and THROW_EXCEPTION.

◆ ~CSkeletonTracker()

CSkeletonTracker::~CSkeletonTracker ( )

virtual

Destructor.

Definition at line 89 of file CSkeletonTracker.cpp.

References m_skeletons_ptr, m_userTracker_ptr, m_win, skl_states, and user_tracker.

Member Function Documentation

◆ 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.

Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

◆ 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().

◆ 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 CSkeletonTracker::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 378 of file CSkeletonTracker.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), FILL_JOINT_DATA, initialize(), m_nUsers, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, mrpt::hwdrivers::CGenericSensor::m_state, m_timeStartTT, m_timeStartUI, m_toutCounter, mrpt::system::now(), processPreview(), processPreviewNone(), mrpt::system::secondsToTimestamp(), skl_states, mrpt::system::sleep(), mrpt::hwdrivers::CGenericSensor::ssError, THROW_EXCEPTION, and user_tracker.

◆ 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.

◆ 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 CSkeletonTracker::initialize ( void )

virtual

Connects to the PrimeSense camera and prepares it to get skeleton data.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 490 of file CSkeletonTracker.cpp.

References HEAD, LEFT_ELBOW, LEFT_FOOT, LEFT_HAND, LEFT_HIP, LEFT_KNEE, LEFT_SHOULDER, m_linesToPlot, m_showPreview, mrpt::hwdrivers::CGenericSensor::m_state, NECK, RIGHT_ELBOW, RIGHT_FOOT, RIGHT_HAND, RIGHT_HIP, RIGHT_KNEE, RIGHT_SHOULDER, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssInitializing, THROW_EXCEPTION, TORSO, and user_tracker.

Referenced by doProcess().

◆ 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 CSkeletonTracker::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 535 of file CSkeletonTracker.cpp.

References DEG2RAD, m_sensorPose, m_showPreview, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), and mrpt::poses::CPose3D::setFromValues().

◆ processPreview()

void CSkeletonTracker::processPreview ( const mrpt::obs::CObservationSkeletonPtr & obs )

protected

Displays real-time info for the captured skeleton.

Definition at line 264 of file CSkeletonTracker.cpp.

References ASSERT_, mrpt::obs::CObservationSkeleton::TSkeletonJoint::conf, mrpt::gui::CDisplayWindow3D::Create(), jointNames, m_linesToPlot, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_showPreview, m_win, min, NUM_JOINTS, NUM_LINES, mrpt::obs::CObservationSkeleton::TSkeletonJoint::x, mrpt::obs::CObservationSkeleton::TSkeletonJoint::y, and mrpt::obs::CObservationSkeleton::TSkeletonJoint::z.

Referenced by doProcess().

◆ processPreviewNone()

void CSkeletonTracker::processPreviewNone ( )

protected

Definition at line 102 of file CSkeletonTracker.cpp.

References ASSERT_, mrpt::gui::CDisplayWindow3D::Create(), DEG2RAD, mrpt::opengl::FILL, jointNames, M_2PI, m_joint_theta, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_showPreview, m_win, NUM_JOINTS, mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::x(), and mrpt::poses::CPoseOrPoint< DERIVEDCLASS >::y().

Referenced by doProcess().

◆ 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()

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::exception If 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 238 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setPreview()

void mrpt::hwdrivers::CSkeletonTracker::setPreview ( const bool setPreview = true )

inline

Set/unset preview.

Definition at line 106 of file CSkeletonTracker.h.

References setPreview().

Referenced by setPreview().

◆ setSensorLabel()

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

inlineinherited

Definition at line 108 of file CGenericSensor.h.

Member Data Documentation

◆ 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_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_joint_theta

std::vector<double> mrpt::hwdrivers::CSkeletonTracker::m_joint_theta

protected

Joint angles when no skeleton has been detected.

Definition at line 75 of file CSkeletonTracker.h.

Referenced by CSkeletonTracker(), and processPreviewNone().

◆ m_linesToPlot

std::vector< std::pair<JOINT,JOINT> > mrpt::hwdrivers::CSkeletonTracker::m_linesToPlot

protected

Lines between joints.

Definition at line 74 of file CSkeletonTracker.h.

Referenced by CSkeletonTracker(), initialize(), and processPreview().

◆ 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_nUsers

int mrpt::hwdrivers::CSkeletonTracker::m_nUsers

protected

Number of detected users.

Definition at line 69 of file CSkeletonTracker.h.

Referenced by doProcess().

◆ 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_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_sensorLabel

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

protectedinherited

See CGenericSensor.

Definition at line 140 of file CGenericSensor.h.

◆ m_sensorPose

mrpt::poses::CPose3D mrpt::hwdrivers::CSkeletonTracker::m_sensorPose

protected

Sensor pose.

Definition at line 68 of file CSkeletonTracker.h.

Referenced by loadConfig_sensorSpecific().

◆ m_showPreview

bool mrpt::hwdrivers::CSkeletonTracker::m_showPreview

protected

Preview window management.

Definition at line 72 of file CSkeletonTracker.h.

Referenced by initialize(), loadConfig_sensorSpecific(), processPreview(), and processPreviewNone().

◆ m_skeletons_ptr

void* mrpt::hwdrivers::CSkeletonTracker::m_skeletons_ptr

protected

Opaque pointers to specific NITE data.

Definition at line 61 of file CSkeletonTracker.h.

Referenced by CSkeletonTracker(), and ~CSkeletonTracker().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 146 of file CGenericSensor.h.

◆ m_timeStartTT

mrpt::system::TTimeStamp mrpt::hwdrivers::CSkeletonTracker::m_timeStartTT

protected

Definition at line 66 of file CSkeletonTracker.h.

Referenced by doProcess().

◆ m_timeStartUI

uint32_t mrpt::hwdrivers::CSkeletonTracker::m_timeStartUI

protected

Timestamp management.

Definition at line 65 of file CSkeletonTracker.h.

Referenced by doProcess().

◆ m_toutCounter

unsigned int mrpt::hwdrivers::CSkeletonTracker::m_toutCounter

protected

Timeout counter (for internal use only)

Definition at line 77 of file CSkeletonTracker.h.

Referenced by doProcess().

◆ m_userTracker_ptr

void* mrpt::hwdrivers::CSkeletonTracker::m_userTracker_ptr

protected

Definition at line 62 of file CSkeletonTracker.h.

Referenced by CSkeletonTracker(), and ~CSkeletonTracker().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose

protectedinherited

Definition at line 147 of file CGenericSensor.h.

◆ m_win

mrpt::gui::CDisplayWindow3DPtr mrpt::hwdrivers::CSkeletonTracker::m_win

protected

Definition at line 73 of file CSkeletonTracker.h.

Referenced by processPreview(), processPreviewNone(), and ~CSkeletonTracker().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ JOINT

◆ TSensorState

Constructor & Destructor Documentation

◆ CSkeletonTracker()

◆ ~CSkeletonTracker()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ enableVerbose()

◆ getExternalImageJPEGQuality()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ initialize()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ processPreview()

◆ processPreviewNone()

◆ registerClass()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setPathForExternalImages()

◆ setPreview()

◆ setSensorLabel()

Member Data Documentation

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_grab_decimation

◆ m_grab_decimation_counter

◆ m_joint_theta

◆ m_linesToPlot

◆ m_max_queue_len

◆ m_nUsers

◆ m_path_for_external_images

◆ m_process_rate

◆ m_sensorLabel

◆ m_sensorPose

◆ m_showPreview

◆ m_skeletons_ptr

◆ m_state

◆ m_timeStartTT

◆ m_timeStartUI

◆ m_toutCounter

◆ m_userTracker_ptr

◆ m_verbose

◆ m_win