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mrpt::hwdrivers::CSwissRanger3DCamera Class Referenceabstract
[mrpt-hwdrivers]

Detailed Description

A class for grabing "range images" from a MESA imaging SwissRanger 3D cameras (SR-2, SR-3000, SR-4k).

NOTES:

As with any other CGenericSensor class, the normal sequence of methods to be called is:

This sensor can be also used from within rawlog-grabber.

PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
sensorLabel = CAM3D // A text description
preview_window = true // Show a window with a preview of the grabbed data in real-time
open_USB = true // false means ethernet (default: true)
USB_serial = 0x4000002f // only for open_USB=true. If not set, the first camera will be open. Serial is the last part of S/N (e.g. for the camera SN: 00-00-40-00-00-2F).
IP_address = 192.168.2.14 // only for open_USB=false. The IP of the camera.
// Options for the data to save in each CObservation3DRangeScan
save_3d = true // Save the 3D point cloud (default: true)
save_range_img = true // Save the 2D range image (default: true)
save_intensity_img = true // Save the 2D intensity image (default: true)
save_confidence = true // Save the estimated confidence 2D image (default: false)
enable_img_hist_equal = false // Enable intensity image histogram equalization (default: false)
enable_median_filter = true // Enable median filter in range data (default: true)
enable_mediancross_filter = false // Enable median cross-filter (default: false)
enable_conv_gray = false // Enable intensity image scale with range (default: false)
enable_denoise_anf = true // Enable this noise filter (default: true)
// Camera calibration parameters: See mrpt::utils::TCamera
// If not provided, a set of default parameters for a SR4000 camera will be loaded.
resolution = [176 144]
cx = 87.99958
cy = 68.99957
fx = 262.9201
fy = 262.9218
dist = [-8.258543e-01 6.561022e-01 2.699818e-06 -3.263559e-05 0]
// For externaly stored images, the format of image files (default=jpg)
//external_images_format = jpg
// (Only when external_images_format=jpg): Optional parameter to set the JPEG compression quality:
//external_images_jpeg_quality = 95 // [1-100]. Default: 95
pose_x=0.21 // Camera position in the robot (meters)
pose_y=0
pose_z=0.34
pose_yaw=0 // Angles in degrees
pose_pitch=0
pose_roll=0

Definition at line 84 of file CSwissRanger3DCamera.h.

#include <mrpt/hwdrivers/CSwissRanger3DCamera.h>

Inheritance diagram for mrpt::hwdrivers::CSwissRanger3DCamera:
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 std::shared_ptr< const CGenericSensor > ConstPtr
 

Public Member Functions

 CSwissRanger3DCamera ()
 Default ctor. More...
 
 ~CSwissRanger3DCamera ()
 Default ctor. More...
 
virtual void initialize ()
 Initializes the 3D camera - should be invoked after calling loadConfig() More...
 
virtual void doProcess ()
 To be called at a high rate (>XX Hz), this method populates the internal buffer of received observations. More...
 
void getNextObservation (mrpt::obs::CObservation3DRangeScan &out_obs, bool &there_is_obs, bool &hardware_error)
 The main data retrieving function, to be called after calling loadConfig() and initialize(). More...
 
bool open ()
 return false on error - Called automatically from initialize(), no need normally for the user to call this. More...
 
void close ()
 
bool isOpen () const
 whether the camera is open and comms work ok. To be called after initialize() More...
 
size_t getRowCount () const
 Get the row count in the camera images, loaded automatically upon camera open(). More...
 
size_t getColCount () const
 Get the col count in the camera images, loaded automatically upon camera open(). More...
 
unsigned int getCameraSerialNumber () const
 Get the camera serial number, loaded automatically upon camera open(). More...
 
double getMaxRange () const
 Returns the maximum camera range, as deduced from its operating frequency. 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...
 
bool getMesaLibVersion (std::string &out_version) const
 Get the version of the MESA library. 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
 
Capture configuration methods (apart from loadConfig)
void setOpenFromUSB (bool USB)
 true: open from USB, false: open from ethernet. More...
 
bool getOpenFromUSBMode () const
 
void setOpenIPAddress (const std::string &IP)
 
std::string getOpenIPAddress () const
 
void setSave3D (bool save)
 
void setSaveRangeImage (bool save)
 
void setSaveIntensityImage (bool save)
 
void setSaveConfidenceImage (bool save)
 
void enableImageHistEqualization (bool enable)
 
bool isEnabledImageHistEqualization () const
 
void enableMedianFilter (bool enable)
 
bool isEnabledMedianFilter () const
 
void enableMedianCrossFilter (bool enable)
 
bool isEnabledMedianCrossFilter () const
 
void enableConvGray (bool enable)
 
bool isEnabledConvGray () const
 
void enableDenoiseANF (bool enable)
 
bool isEnabledDenoiseANF () const
 
void enablePreviewWindow (bool enable=true)
 
bool isEnabledPreviewWindow () 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

virtual void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
 See the class documentation at the top for expected parameters. More...
 
void internal_resendParamsToCamera () const
 
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

mrpt::poses::CPose3D m_sensorPoseOnRobot
 
bool m_save_3d
 Save the 3D point cloud (default: true) More...
 
bool m_save_range_img
 Save the 2D range image (default: true) More...
 
bool m_save_intensity_img
 Save the 2D intensity image (default: true) More...
 
bool m_save_confidence
 Save the estimated confidence 2D image (default: false) More...
 
bool m_enable_img_hist_equal
 
bool m_enable_median_filter
 
bool m_enable_mediancross_filter
 
bool m_enable_conv_gray
 
bool m_enable_denoise_anf
 
bool m_open_from_usb
 true: USB, false: ETH More...
 
size_t m_usb_serial
 
std::string m_ip_address
 
size_t m_rows
 
size_t m_cols
 Size of camera images, set on open() More...
 
unsigned int m_cam_serial_num
 Serial number of the camera, set on open() More...
 
double m_maxRange
 Max range, as deducted from the camera frequency. More...
 
bool m_preview_window
 Show preview window while grabbing. More...
 
mrpt::gui::CDisplayWindowPtr m_win_range
 
mrpt::gui::CDisplayWindowPtr m_win_int
 
void * m_cam
 opaque handler to SRCAM. NULL means it's not open yet. More...
 
mrpt::utils::TCamera m_cameraParams
 
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...
 

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

◆ 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

◆ CSwissRanger3DCamera()

CSwissRanger3DCamera::CSwissRanger3DCamera ( )

Default ctor.

Definition at line 48 of file CSwissRanger3DCamera.cpp.

References mrpt::utils::TCamera::dist, mrpt::utils::TCamera::intrinsicParams, m_cameraParams, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, mrpt::utils::TCamera::ncols, mrpt::utils::TCamera::nrows, and THROW_EXCEPTION.

◆ ~CSwissRanger3DCamera()

CSwissRanger3DCamera::~CSwissRanger3DCamera ( )

Default ctor.

Definition at line 93 of file CSwissRanger3DCamera.cpp.

References close().

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(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), 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().

◆ close()

void CSwissRanger3DCamera::close ( )

Definition at line 309 of file CSwissRanger3DCamera.cpp.

References m_cam.

Referenced by open(), and ~CSwissRanger3DCamera().

◆ 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 CSwissRanger3DCamera::doProcess ( )
virtual

To be called at a high rate (>XX Hz), this method populates the internal buffer of received observations.

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

This method is mainly intended for usage within rawlog-grabber or similar programs. For an alternative, see getNextObservation()

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.
See also
getNextObservation
Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 160 of file CSwissRanger3DCamera.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), getNextObservation(), mrpt::hwdrivers::CGenericSensor::m_state, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, and THROW_EXCEPTION.

◆ enableConvGray()

void mrpt::hwdrivers::CSwissRanger3DCamera::enableConvGray ( bool  enable)
inline

Definition at line 161 of file CSwissRanger3DCamera.h.

◆ enableDenoiseANF()

void mrpt::hwdrivers::CSwissRanger3DCamera::enableDenoiseANF ( bool  enable)
inline

Definition at line 164 of file CSwissRanger3DCamera.h.

◆ enableImageHistEqualization()

void mrpt::hwdrivers::CSwissRanger3DCamera::enableImageHistEqualization ( bool  enable)
inline

Definition at line 152 of file CSwissRanger3DCamera.h.

◆ enableMedianCrossFilter()

void mrpt::hwdrivers::CSwissRanger3DCamera::enableMedianCrossFilter ( bool  enable)
inline

Definition at line 158 of file CSwissRanger3DCamera.h.

◆ enableMedianFilter()

void mrpt::hwdrivers::CSwissRanger3DCamera::enableMedianFilter ( bool  enable)
inline

Definition at line 155 of file CSwissRanger3DCamera.h.

◆ enablePreviewWindow()

void mrpt::hwdrivers::CSwissRanger3DCamera::enablePreviewWindow ( bool  enable = true)
inline

Definition at line 167 of file CSwissRanger3DCamera.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.

◆ getCameraSerialNumber()

unsigned int mrpt::hwdrivers::CSwissRanger3DCamera::getCameraSerialNumber ( ) const
inline

Get the camera serial number, loaded automatically upon camera open().

Definition at line 126 of file CSwissRanger3DCamera.h.

◆ getColCount()

size_t mrpt::hwdrivers::CSwissRanger3DCamera::getColCount ( ) const
inline

Get the col count in the camera images, loaded automatically upon camera open().

Definition at line 123 of file CSwissRanger3DCamera.h.

◆ getExternalImageJPEGQuality()

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

Definition at line 255 of file CGenericSensor.h.

◆ getMaxRange()

double mrpt::hwdrivers::CSwissRanger3DCamera::getMaxRange ( ) const
inline

Returns the maximum camera range, as deduced from its operating frequency.

Definition at line 129 of file CSwissRanger3DCamera.h.

◆ getMesaLibVersion()

bool CSwissRanger3DCamera::getMesaLibVersion ( std::string &  out_version) const

Get the version of the MESA library.

Returns
false on error

Definition at line 234 of file CSwissRanger3DCamera.cpp.

References mrpt::format(), MRPT_UNUSED_PARAM, and version.

◆ getNextObservation()

void CSwissRanger3DCamera::getNextObservation ( mrpt::obs::CObservation3DRangeScan &  _out_obs,
bool &  there_is_obs,
bool &  hardware_error 
)

The main data retrieving function, to be called after calling loadConfig() and initialize().

Parameters
out_obsThe output retrieved observation (only if there_is_obs=true).
there_is_obsIf set to false, there was no new observation.
hardware_errorTrue on hardware/comms error.
See also
doProcess

Definition at line 342 of file CSwissRanger3DCamera.cpp.

References ASSERT_, mrpt::obs::CObservation3DRangeScan::cameraParams, mrpt::obs::CObservation3DRangeScan::confidenceImage, mrpt::gui::CDisplayWindow::Create(), do_init_table_16u_to_8u(), mrpt::utils::CImage::equalizeHistInPlace(), mrpt::system::fileNameStripInvalidChars(), mrpt::format(), mrpt::utils::CImage::get_unsafe(), mrpt::obs::CObservation3DRangeScan::hasConfidenceImage, mrpt::obs::CObservation3DRangeScan::hasIntensityImage, mrpt::obs::CObservation3DRangeScan::hasPoints3D, mrpt::obs::CObservation3DRangeScan::hasRangeImage, mrpt::obs::CObservation3DRangeScan::intensityImage, m_cam, m_cameraParams, m_enable_img_hist_equal, mrpt::hwdrivers::CGenericSensor::m_external_images_format, mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality, m_maxRange, mrpt::hwdrivers::CGenericSensor::m_path_for_external_images, m_preview_window, m_save_3d, m_save_confidence, m_save_intensity_img, m_save_range_img, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_sensorPoseOnRobot, m_win_int, m_win_range, mrpt::obs::CObservation3DRangeScan::maxRange, MRPT_UNUSED_PARAM, mrpt::obs::CObservation3DRangeScan::points3D_x, mrpt::obs::CObservation3DRangeScan::points3D_y, mrpt::obs::CObservation3DRangeScan::points3D_z, mrpt::obs::CObservation3DRangeScan::range_is_depth, mrpt::obs::CObservation3DRangeScan::rangeImage, mrpt::utils::CImage::resize(), mrpt::utils::CImage::saveToFile(), mrpt::utils::TCamera::scaleToResolution(), mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservation3DRangeScan::sensorPose, mrpt::utils::CImage::setExternalStorage(), mrpt::obs::CObservation3DRangeScan::stdError, mrpt::obs::CObservation3DRangeScan::swap(), table_16u_to_8u, table_16u_to_8u_init, mrpt::obs::CObservation::timestamp, mrpt::system::timestampTotime_t(), and mrpt::system::trim().

Referenced by doProcess().

◆ 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.

◆ getOpenFromUSBMode()

bool mrpt::hwdrivers::CSwissRanger3DCamera::getOpenFromUSBMode ( ) const
inline

Definition at line 142 of file CSwissRanger3DCamera.h.

◆ getOpenIPAddress()

std::string mrpt::hwdrivers::CSwissRanger3DCamera::getOpenIPAddress ( ) const
inline

Definition at line 145 of file CSwissRanger3DCamera.h.

◆ getProcessRate()

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

Definition at line 105 of file CGenericSensor.h.

◆ getRowCount()

size_t mrpt::hwdrivers::CSwissRanger3DCamera::getRowCount ( ) const
inline

Get the row count in the camera images, loaded automatically upon camera open().

Definition at line 121 of file CSwissRanger3DCamera.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 CSwissRanger3DCamera::initialize ( void  )
virtual

Initializes the 3D camera - should be invoked after calling loadConfig()

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions
Thismethod must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 151 of file CSwissRanger3DCamera.cpp.

References open(), and THROW_EXCEPTION.

◆ internal_resendParamsToCamera()

void CSwissRanger3DCamera::internal_resendParamsToCamera ( ) const
protected

Definition at line 318 of file CSwissRanger3DCamera.cpp.

References isOpen(), m_cam, m_enable_conv_gray, m_enable_denoise_anf, m_enable_median_filter, m_enable_mediancross_filter, and m_save_confidence.

Referenced by open().

◆ isEnabledConvGray()

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledConvGray ( ) const
inline

Definition at line 162 of file CSwissRanger3DCamera.h.

◆ isEnabledDenoiseANF()

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledDenoiseANF ( ) const
inline

Definition at line 165 of file CSwissRanger3DCamera.h.

◆ isEnabledImageHistEqualization()

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledImageHistEqualization ( ) const
inline

Definition at line 153 of file CSwissRanger3DCamera.h.

◆ isEnabledMedianCrossFilter()

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledMedianCrossFilter ( ) const
inline

Definition at line 159 of file CSwissRanger3DCamera.h.

◆ isEnabledMedianFilter()

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledMedianFilter ( ) const
inline

Definition at line 156 of file CSwissRanger3DCamera.h.

◆ isEnabledPreviewWindow()

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledPreviewWindow ( ) const
inline

Definition at line 168 of file CSwissRanger3DCamera.h.

◆ isOpen()

bool CSwissRanger3DCamera::isOpen ( ) const

whether the camera is open and comms work ok. To be called after initialize()

Definition at line 249 of file CSwissRanger3DCamera.cpp.

References m_cam.

Referenced by internal_resendParamsToCamera(), and open().

◆ 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
Thismethod 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 CSwissRanger3DCamera::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase &  configSource,
const std::string &  iniSection 
)
protectedvirtual

See the class documentation at the top for expected parameters.

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.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 187 of file CSwissRanger3DCamera.cpp.

References mrpt::mrpt::utils::DEG2RAD(), DEG2RAD, mrpt::utils::TCamera::loadFromConfigFile(), m_cameraParams, m_enable_conv_gray, m_enable_denoise_anf, m_enable_img_hist_equal, m_enable_median_filter, m_enable_mediancross_filter, mrpt::hwdrivers::CGenericSensor::m_external_images_format, mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality, m_ip_address, m_open_from_usb, m_preview_window, m_save_3d, m_save_confidence, m_save_intensity_img, m_save_range_img, m_sensorPoseOnRobot, m_usb_serial, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_string(), mrpt::utils::CConfigFileBase::read_uint64_t(), mrpt::poses::CPose3D::setFromValues(), and mrpt::system::trim().

◆ open()

bool CSwissRanger3DCamera::open ( )

return false on error - Called automatically from initialize(), no need normally for the user to call this.

Definition at line 254 of file CSwissRanger3DCamera.cpp.

References close(), internal_resendParamsToCamera(), isOpen(), m_cam, m_cam_serial_num, m_cols, m_ip_address, m_maxRange, m_open_from_usb, m_rows, and m_usb_serial.

Referenced by initialize().

◆ 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.

◆ setOpenFromUSB()

void mrpt::hwdrivers::CSwissRanger3DCamera::setOpenFromUSB ( bool  USB)
inline

true: open from USB, false: open from ethernet.

Definition at line 141 of file CSwissRanger3DCamera.h.

◆ setOpenIPAddress()

void mrpt::hwdrivers::CSwissRanger3DCamera::setOpenIPAddress ( const std::string &  IP)
inline

Definition at line 144 of file CSwissRanger3DCamera.h.

◆ setPathForExternalImages()

void CSwissRanger3DCamera::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::exceptionIf the directory doesn't exists and cannot be created.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 560 of file CSwissRanger3DCamera.cpp.

References mrpt::system::createDirectory(), mrpt::hwdrivers::CGenericSensor::m_path_for_external_images, and THROW_EXCEPTION_FMT.

◆ setSave3D()

void mrpt::hwdrivers::CSwissRanger3DCamera::setSave3D ( bool  save)
inline

Definition at line 147 of file CSwissRanger3DCamera.h.

◆ setSaveConfidenceImage()

void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveConfidenceImage ( bool  save)
inline

Definition at line 150 of file CSwissRanger3DCamera.h.

◆ setSaveIntensityImage()

void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveIntensityImage ( bool  save)
inline

Definition at line 149 of file CSwissRanger3DCamera.h.

◆ setSaveRangeImage()

void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveRangeImage ( bool  save)
inline

Definition at line 148 of file CSwissRanger3DCamera.h.

◆ setSensorLabel()

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

Definition at line 108 of file CGenericSensor.h.

Member Data Documentation

◆ m_cam

void* mrpt::hwdrivers::CSwissRanger3DCamera::m_cam
protected

opaque handler to SRCAM. NULL means it's not open yet.

Definition at line 214 of file CSwissRanger3DCamera.h.

Referenced by close(), getNextObservation(), internal_resendParamsToCamera(), isOpen(), and open().

◆ m_cam_serial_num

unsigned int mrpt::hwdrivers::CSwissRanger3DCamera::m_cam_serial_num
protected

Serial number of the camera, set on open()

Definition at line 208 of file CSwissRanger3DCamera.h.

Referenced by open().

◆ m_cameraParams

mrpt::utils::TCamera mrpt::hwdrivers::CSwissRanger3DCamera::m_cameraParams
protected

Definition at line 216 of file CSwissRanger3DCamera.h.

Referenced by CSwissRanger3DCamera(), getNextObservation(), and loadConfig_sensorSpecific().

◆ m_cols

size_t mrpt::hwdrivers::CSwissRanger3DCamera::m_cols
protected

Size of camera images, set on open()

Definition at line 207 of file CSwissRanger3DCamera.h.

Referenced by open().

◆ m_enable_conv_gray

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_conv_gray
protected

Definition at line 199 of file CSwissRanger3DCamera.h.

Referenced by internal_resendParamsToCamera(), and loadConfig_sensorSpecific().

◆ m_enable_denoise_anf

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_denoise_anf
protected

Definition at line 200 of file CSwissRanger3DCamera.h.

Referenced by internal_resendParamsToCamera(), and loadConfig_sensorSpecific().

◆ m_enable_img_hist_equal

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_img_hist_equal
protected

Definition at line 196 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), and loadConfig_sensorSpecific().

◆ m_enable_median_filter

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_median_filter
protected

Definition at line 197 of file CSwissRanger3DCamera.h.

Referenced by internal_resendParamsToCamera(), and loadConfig_sensorSpecific().

◆ m_enable_mediancross_filter

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_mediancross_filter
protected

Definition at line 198 of file CSwissRanger3DCamera.h.

Referenced by internal_resendParamsToCamera(), and loadConfig_sensorSpecific().

◆ 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 getNextObservation(), and 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 getNextObservation(), and 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_ip_address

std::string mrpt::hwdrivers::CSwissRanger3DCamera::m_ip_address
protected

Definition at line 205 of file CSwissRanger3DCamera.h.

Referenced by loadConfig_sensorSpecific(), and open().

◆ 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_maxRange

double mrpt::hwdrivers::CSwissRanger3DCamera::m_maxRange
protected

Max range, as deducted from the camera frequency.

Definition at line 209 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), and open().

◆ m_open_from_usb

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_open_from_usb
protected

true: USB, false: ETH

Definition at line 203 of file CSwissRanger3DCamera.h.

Referenced by loadConfig_sensorSpecific(), and open().

◆ 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 getNextObservation(), and setPathForExternalImages().

◆ m_preview_window

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_preview_window
protected

Show preview window while grabbing.

Definition at line 211 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), and loadConfig_sensorSpecific().

◆ 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_rows

size_t mrpt::hwdrivers::CSwissRanger3DCamera::m_rows
protected

Definition at line 207 of file CSwissRanger3DCamera.h.

Referenced by open().

◆ m_save_3d

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_3d
protected

Save the 3D point cloud (default: true)

Definition at line 191 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), and loadConfig_sensorSpecific().

◆ m_save_confidence

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_confidence
protected

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

Definition at line 194 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), internal_resendParamsToCamera(), and loadConfig_sensorSpecific().

◆ m_save_intensity_img

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_intensity_img
protected

Save the 2D intensity image (default: true)

Definition at line 193 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), and loadConfig_sensorSpecific().

◆ m_save_range_img

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_range_img
protected

Save the 2D range image (default: true)

Definition at line 192 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), and loadConfig_sensorSpecific().

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 140 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), 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::CSickLaserUSB::CSickLaserUSB(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::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(), getNextObservation(), mrpt::hwdrivers::CKinect::getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), and mrpt::hwdrivers::CSkeletonTracker::processPreviewNone().

◆ m_sensorPoseOnRobot

mrpt::poses::CPose3D mrpt::hwdrivers::CSwissRanger3DCamera::m_sensorPoseOnRobot
protected

Definition at line 189 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), and loadConfig_sensorSpecific().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited

Definition at line 146 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), mrpt::hwdrivers::CKinect::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CIMUXSens::initialize(), mrpt::hwdrivers::CSkeletonTracker::initialize(), mrpt::hwdrivers::CIMUIntersense::initialize(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), mrpt::hwdrivers::CVelodyneScanner::initialize(), mrpt::hwdrivers::CNationalInstrumentsDAQ::readFromDAQ(), and mrpt::hwdrivers::CIMUXSens::searchPortAndConnect().

◆ m_usb_serial

size_t mrpt::hwdrivers::CSwissRanger3DCamera::m_usb_serial
protected

Definition at line 204 of file CSwissRanger3DCamera.h.

Referenced by loadConfig_sensorSpecific(), and open().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited

Definition at line 147 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::CGenericSensor(), mrpt::hwdrivers::CRoboPeakLidar::checkCOMMs(), mrpt::hwdrivers::CNTRIPEmitter::doProcess(), mrpt::hwdrivers::CGPSInterface::doProcess(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CIMUXSens_MT4::initialize(), mrpt::hwdrivers::CHokuyoURG::initialize(), mrpt::hwdrivers::CVelodyneScanner::internal_read_PCAP_packet(), mrpt::hwdrivers::CGPSInterface::JAVAD_sendMessage(), mrpt::hwdrivers::CGPSInterface::legacy_topcon_setup_commands(), mrpt::hwdrivers::CGPSInterface::OnConnectionEstablished(), mrpt::hwdrivers::CGPSInterface::OnConnectionShutdown(), mrpt::hwdrivers::CNationalInstrumentsDAQ::stop(), and mrpt::hwdrivers::CGPSInterface::tryToOpenTheCOM().

◆ m_win_int

mrpt::gui::CDisplayWindowPtr mrpt::hwdrivers::CSwissRanger3DCamera::m_win_int
protected

Definition at line 212 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation().

◆ m_win_range

mrpt::gui::CDisplayWindowPtr mrpt::hwdrivers::CSwissRanger3DCamera::m_win_range
protected

Definition at line 212 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation().



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