Main MRPT website > C++ reference for MRPT 1.5.5
List of all members | Public Types | Public Member Functions | Static Public Member Functions | Protected Member Functions | Protected Attributes | Static Protected Attributes
mrpt::hwdrivers::COpenNI2_RGBD360 Class Referenceabstract

Detailed Description

A class for grabing RGBD images from several OpenNI2 sensors.

This is used to obtain larger fields of view using a radial configuration of the sensors. The same options (resolution, fps, etc.) are used for every sensor.

Configuration and usage:


Data is returned as observations of type mrpt::obs::CObservationRGBD360. See those classes for documentation on their fields.

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

Calibration parameters


The reference system for both depth and RGB images provided by each individual OpenNI2 sensors are referred to the RGB Camera. The extrinsic parameters of each RGBD sensor are provided from a configuration file. This calibration was obtained using the method reported in [].

Coordinates convention


The origin of coordinates is the focal point of the RGB camera of the first indexed sensor, with the axes oriented as in the diagram shown in mrpt::obs::CObservation3DRangeScan. Notice in that picture that the RGB camera is assumed to have axes as usual in computer vision, which differ from those for the depth camera.

The X,Y,Z axes used to report the data from accelerometers coincide with those of the depth camera (e.g. the camera standing on a table would have an ACC_Z=-9.8m/s2).

Notice however that, for consistency with stereo cameras, when loading the calibration parameters from a configuration file, the left-to-right pose increment is expected as if both RGB & IR cameras had their +Z axes pointing forward, +X to the right, +Y downwards (just like it's the standard in stereo cameras and in computer vision literature). In other words: the pose stored in this class uses a different axes convention for the depth camera than in a stereo camera, so when a pose L2R is loaded from a calibration file it's actually converted like:

L2R(this class convention) = CPose3D(0,0,0,-90deg,0deg,-90deg) (+) L2R(in the config file)

Some general comments


Converting to 3D point cloud


You can convert the 3D observation into a 3D point cloud with this piece of code:

pntsMap.colorScheme.scheme = CColouredPointsMap::cmFromIntensityImage;
pntsMap.loadFromRangeScan(obs3D);

Then the point cloud mrpt::maps::CColouredPointsMap can be converted into an OpenGL object for rendering with mrpt::maps::CMetricMap::getAs3DObject() or alternatively with:

mrpt::opengl::CPointCloudColouredPtr gl_points = mrpt::opengl::CPointCloudColoured::Create();
gl_points->loadFromPointsMap(&pntsMap);

Platform-specific comments


For more details, refer to libfreenect documentation:

Format of parameters for loading from a .ini file


PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
[supplied_section_name]
sensorLabel = RGBD360 // A text description
preview_window = false // Show a window with a preview of the grabbed data in real-time
device_number = 0 // Device index to open (0:first Kinect, 1:second Kinect,...)
grab_image = true // Grab the RGB image channel? (Default=true)
grab_depth = true // Grab the depth channel? (Default=true)
grab_3D_points = true // Grab the 3D point cloud? (Default=true) If disabled, points can be generated later on.
video_channel = VIDEO_CHANNEL_RGB // Optional. Can be: VIDEO_CHANNEL_RGB (default) or VIDEO_CHANNEL_IR
pose_x=0 // Camera position in the robot (meters)
pose_y=0
pose_z=0
pose_yaw=0 // Angles in degrees
pose_pitch=0
pose_roll=0
// Left/Depth camera
[supplied_section_name_LEFT]
rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
resolution = [640 488]
cx = 314.649173
cy = 240.160459
fx = 572.882768
fy = 542.739980
dist = [-4.747169e-03 -4.357976e-03 0.000000e+00 0.000000e+00 0.000000e+00] // The order is: [K1 K2 T1 T2 K3]
// Right/RGB camera
[supplied_section_name_RIGHT]
rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
resolution = [640 480]
cx = 322.515987
cy = 259.055966
fx = 521.179233
fy = 493.033034
dist = [5.858325e-02 3.856792e-02 0.000000e+00 0.000000e+00 0.000000e+00] // The order is: [K1 K2 T1 T2 K3]
// Relative pose of the right camera wrt to the left camera:
// This assumes that both camera frames are such that +Z points
// forwards, and +X and +Y to the right and downwards.
// For the actual coordinates employed in 3D observations, see figure in mrpt::obs::CObservation3DRangeScan
[supplied_section_name_LEFT2RIGHT_POSE]
rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this section (it is not a separate device!)
pose_quaternion = [0.025575 -0.000609 -0.001462 0.999987 0.002038 0.004335 -0.001693]

More references to read:

Definition at line 161 of file COpenNI2_RGBD360.h.

#include <mrpt/hwdrivers/COpenNI2_RGBD360.h>

Inheritance diagram for mrpt::hwdrivers::COpenNI2_RGBD360:
Inheritance graph

Public Types

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

Public Member Functions

 COpenNI2_RGBD360 ()
 Default ctor. More...
 
 ~COpenNI2_RGBD360 ()
 Default ctor. More...
 
virtual void initialize ()
 Initializes the 3D camera - should be invoked after calling loadConfig() or setting the different parameters with the set*() methods. 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::CObservationRGBD360 &out_obs, bool &there_is_obs, bool &hardware_error)
 The main data retrieving function, to be called after calling loadConfig() and initialize(). 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...
 
virtual const
mrpt::hwdrivers::TSensorClassId
GetRuntimeClass () const =0
 
TSensorState getState () const
 The current state of the sensor. More...
 
double getProcessRate () const
 
std::string getSensorLabel () const
 
void setSensorLabel (const std::string &sensorLabel)
 
void enableVerbose (bool enabled=true)
 Enable or disable extra debug info dumped to std::cout during sensor operation. More...
 
bool isVerboseEnabled () const
 
void loadConfig (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
 Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific"

Exceptions
Thismethod throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.
More...
 
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
 
void getNextFrameRGB (mrpt::utils::CImage &rgb_img, uint64_t &timestamp, bool &there_is_obs, bool &hardware_error, unsigned sensor_id=0)
 The main data retrieving function, to be called after calling loadConfig() and initialize(). More...
 
void getNextFrameD (mrpt::math::CMatrix &depth_img, uint64_t &timestamp, bool &there_is_obs, bool &hardware_error, unsigned sensor_id=0)
 The main data retrieving function, to be called after calling loadConfig() and initialize(). More...
 
void getNextFrameRGBD (mrpt::obs::CObservation3DRangeScan &out_obs, bool &there_is_obs, bool &hardware_error, unsigned sensor_id=0)
 The main data retrieving function, to be called after calling loadConfig() and initialize(). More...
 
void setVerbose (bool verbose)
 
bool isVerbose () const
 
bool getColorSensorParam (mrpt::utils::TCamera &param, unsigned sensor_id=0) const
 
bool getDepthSensorParam (mrpt::utils::TCamera &param, unsigned sensor_id=0) const
 
Sensor parameters (alternative to \a loadConfig ) and manual control
double getMaxRange () const
 Get the maximum range (meters) that can be read in the observation field "rangeImage". More...
 
void enableGrabRGB (bool enable=true)
 Enable/disable the grabbing of the RGB channel. More...
 
bool isGrabRGBEnabled () const
 
void enableGrabDepth (bool enable=true)
 Enable/disable the grabbing of the depth channel. More...
 
bool isGrabDepthEnabled () const
 
void enableGrab3DPoints (bool enable=true)
 Enable/disable the grabbing of the 3D point clouds. More...
 
bool isGrab3DPointsEnabled () const
 
Open/Close device methods
void open (unsigned sensor_id=0)
 Try to open the camera (all the parameters [resolution,fps,...] must be set before calling this) - users may also call initialize(), which in turn calls this method. More...
 
unsigned int openDevicesBySerialNum (const std::set< unsigned > &vSerialRequired)
 Open a set of RGBD devices specified by their serial number. More...
 
unsigned int openDeviceBySerial (const unsigned int SerialRequired)
 Open a RGBD device specified by its serial number. More...
 
bool getDeviceIDFromSerialNum (const unsigned int SerialRequired, int &sensor_id) const
 Get the ID of the device corresponding to 'SerialRequired'. More...
 
bool start ()
 Open all sensor streams (normally called automatically at constructor, no need to call it manually). More...
 
void kill ()
 Kill the OpenNI2 driver. More...
 
bool isOpen (const unsigned sensor_id) const
 Whether there is a working connection to the sensor. More...
 
void close (unsigned sensor_id=0)
 Close the connection to the sensor (no need to call it manually unless desired for some reason, since it's called at destructor. More...
 
int getNumDevices () const
 The number of available devices at initialization. More...
 
int getConnectedDevices ()
 Get a list of the connected OpenNI2 sensors. More...
 

Static Public Member Functions

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

Protected Member Functions

virtual void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
 Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)

Exceptions
Thismethod must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.
More...
 
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...
 
void showLog (const std::string &message) const
 

Protected Attributes

mrpt::poses::CPose3D m_sensorPoseOnRobot
 
bool m_preview_window
 Show preview window while grabbing. More...
 
size_t m_preview_window_decimation
 If preview is enabled, only show 1 out of N images. More...
 
size_t m_preview_decim_counter_range
 
size_t m_preview_decim_counter_rgb
 
mrpt::gui::CDisplayWindowPtr m_win_range [NUM_SENSORS]
 
mrpt::gui::CDisplayWindowPtr m_win_int [NUM_SENSORS]
 
double m_maxRange
 Sensor max range (meters) More...
 
bool m_grab_rgb
 
bool m_grab_depth
 
bool m_grab_3D_points
 Default: all true. 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...
 
class HWDRIVERS_IMPEXP CDevice
 The list of available devices. More...
 
std::vector< intvSerialNums
 A vector with the serial numbers of the available devices. More...
 
int m_width
 The same options (width, height and fps) are set for all the sensors. More...
 
int m_height
 
float m_fps
 
int m_rgb_format
 
int m_depth_format
 
bool m_verbose
 
bool m_grab_image
 The data that the RGBD sensors can return. 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...
 

Static Protected Attributes

static const int NUM_SENSORS = 2
 
static std::vector
< stlplus::smart_ptr< CDevice > > 
vDevices = std::vector<stlplus::smart_ptr<COpenNI2Generic::CDevice> >()
 
static int numInstances = 0
 

Member Typedef Documentation

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

Definition at line 103 of file CGenericSensor.h.

Definition at line 102 of file CGenericSensor.h.

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

Definition at line 68 of file CGenericSensor.h.

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

Definition at line 69 of file CGenericSensor.h.

Member Enumeration Documentation

The current state of the sensor.

See Also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 74 of file CGenericSensor.h.

Constructor & Destructor Documentation

COpenNI2_RGBD360::COpenNI2_RGBD360 ( )

Default ctor.

Definition at line 35 of file COpenNI2_RGBD360.cpp.

COpenNI2_RGBD360::~COpenNI2_RGBD360 ( )

Default ctor.

Definition at line 55 of file COpenNI2_RGBD360.cpp.

Member Function Documentation

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

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

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

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

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

Definition at line 53 of file CGenericSensor.cpp.

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

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

void COpenNI2Generic::close ( unsigned  sensor_id = 0)
inherited

Close the connection to the sensor (no need to call it manually unless desired for some reason, since it's called at destructor.

Definition at line 323 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), MRPT_UNUSED_PARAM, THROW_EXCEPTION, and mrpt::hwdrivers::COpenNI2Generic::vDevices.

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

Creates a sensor by a name of the class.

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

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

Definition at line 103 of file CGenericSensor.cpp.

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

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

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

Definition at line 180 of file CGenericSensor.h.

void COpenNI2_RGBD360::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)

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

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

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 89 of file COpenNI2_RGBD360.cpp.

References THROW_EXCEPTION.

void mrpt::hwdrivers::COpenNI2_RGBD360::enableGrab3DPoints ( bool  enable = true)
inline

Enable/disable the grabbing of the 3D point clouds.

Definition at line 217 of file COpenNI2_RGBD360.h.

void mrpt::hwdrivers::COpenNI2_RGBD360::enableGrabDepth ( bool  enable = true)
inline

Enable/disable the grabbing of the depth channel.

Definition at line 213 of file COpenNI2_RGBD360.h.

void mrpt::hwdrivers::COpenNI2_RGBD360::enableGrabRGB ( bool  enable = true)
inline

Enable/disable the grabbing of the RGB channel.

Definition at line 209 of file COpenNI2_RGBD360.h.

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

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

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

Definition at line 92 of file CGenericSensor.h.

bool COpenNI2Generic::getColorSensorParam ( mrpt::utils::TCamera param,
unsigned  sensor_id = 0 
) const
inherited
int COpenNI2Generic::getConnectedDevices ( )
inherited

Get a list of the connected OpenNI2 sensors.

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.

Definition at line 150 of file COpenNI2Generic.cpp.

References mrpt::mrpt::format(), mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), info, mrpt::hwdrivers::COpenNI2Generic::m_depth_format, mrpt::hwdrivers::COpenNI2Generic::m_rgb_format, mrpt::hwdrivers::COpenNI2Generic::m_verbose, mrpt::hwdrivers::COpenNI2Generic::showLog(), THROW_EXCEPTION, and mrpt::hwdrivers::COpenNI2Generic::vDevices.

bool COpenNI2Generic::getDepthSensorParam ( mrpt::utils::TCamera param,
unsigned  sensor_id = 0 
) const
inherited
bool COpenNI2Generic::getDeviceIDFromSerialNum ( const unsigned int  SerialRequired,
int sensor_id 
) const
inherited

Get the ID of the device corresponding to 'SerialRequired'.

Definition at line 304 of file COpenNI2Generic.cpp.

References int(), MRPT_UNUSED_PARAM, THROW_EXCEPTION, and mrpt::hwdrivers::COpenNI2Generic::vDevices.

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

Definition at line 234 of file CGenericSensor.h.

double mrpt::hwdrivers::COpenNI2_RGBD360::getMaxRange ( ) const
inline

Get the maximum range (meters) that can be read in the observation field "rangeImage".

Definition at line 206 of file COpenNI2_RGBD360.h.

void COpenNI2Generic::getNextFrameD ( mrpt::math::CMatrix depth_img,
uint64_t timestamp,
bool &  there_is_obs,
bool &  hardware_error,
unsigned  sensor_id = 0 
)
inherited

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

Parameters
depth_imgThe output retrieved depth image (only if there_is_obs=true).
timestampThe timestamp of the capture (only if there_is_obs=true).
there_is_obsIf set to false, there was no new observation.
hardware_errorTrue on hardware/comms error.
sensor_idThe index of the sensor accessed.

Definition at line 383 of file COpenNI2Generic.cpp.

References mrpt::mrpt::format(), mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), MRPT_UNUSED_PARAM, mrpt::hwdrivers::COpenNI2Generic::showLog(), THROW_EXCEPTION, and mrpt::hwdrivers::COpenNI2Generic::vDevices.

void COpenNI2Generic::getNextFrameRGB ( mrpt::utils::CImage rgb_img,
uint64_t timestamp,
bool &  there_is_obs,
bool &  hardware_error,
unsigned  sensor_id = 0 
)
inherited

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

Parameters
out_imgThe output retrieved RGB image (only if there_is_obs=true).
timestampThe timestamp of the capture (only if there_is_obs=true).
there_is_obsIf set to false, there was no new observation.
hardware_errorTrue on hardware/comms error.
sensor_idThe index of the sensor accessed.
out_obsThe output retrieved observation (only if there_is_obs=true).
timestampThe timestamp of the capture (only if there_is_obs=true).
there_is_obsIf set to false, there was no new observation.
hardware_errorTrue on hardware/comms error.
sensor_idThe index of the sensor accessed.

Definition at line 348 of file COpenNI2Generic.cpp.

References mrpt::mrpt::format(), mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), MRPT_UNUSED_PARAM, mrpt::hwdrivers::COpenNI2Generic::showLog(), THROW_EXCEPTION, and mrpt::hwdrivers::COpenNI2Generic::vDevices.

void COpenNI2Generic::getNextFrameRGBD ( mrpt::obs::CObservation3DRangeScan out_obs,
bool &  there_is_obs,
bool &  hardware_error,
unsigned  sensor_id = 0 
)
inherited

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.
sensor_idThe index of the sensor accessed.
See Also
doProcess
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.
sensor_idThe index of the sensor accessed.

Definition at line 417 of file COpenNI2Generic.cpp.

References mrpt::mrpt::format(), mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), MRPT_UNUSED_PARAM, mrpt::hwdrivers::COpenNI2Generic::showLog(), THROW_EXCEPTION, and mrpt::hwdrivers::COpenNI2Generic::vDevices.

void COpenNI2_RGBD360::getNextObservation ( mrpt::obs::CObservationRGBD360 out_obs,
bool &  there_is_obs,
bool &  hardware_error 
)
int COpenNI2Generic::getNumDevices ( ) const
inherited
void CGenericSensor::getObservations ( TListObservations lstObjects)
inherited

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

The objects must be freed by the invoker.

Definition at line 90 of file CGenericSensor.cpp.

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

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

Definition at line 84 of file CGenericSensor.h.

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

Definition at line 86 of file CGenericSensor.h.

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

The current state of the sensor.

Definition at line 82 of file CGenericSensor.h.

void COpenNI2_RGBD360::initialize ( void  )
virtual

Initializes the 3D camera - should be invoked after calling loadConfig() or setting the different parameters with the set*() methods.

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 65 of file COpenNI2_RGBD360.cpp.

References int(), and THROW_EXCEPTION.

bool mrpt::hwdrivers::COpenNI2_RGBD360::isGrab3DPointsEnabled ( ) const
inline

Definition at line 218 of file COpenNI2_RGBD360.h.

bool mrpt::hwdrivers::COpenNI2_RGBD360::isGrabDepthEnabled ( ) const
inline

Definition at line 214 of file COpenNI2_RGBD360.h.

bool mrpt::hwdrivers::COpenNI2_RGBD360::isGrabRGBEnabled ( ) const
inline

Definition at line 210 of file COpenNI2_RGBD360.h.

bool COpenNI2Generic::isOpen ( const unsigned  sensor_id) const
inherited
bool COpenNI2Generic::isVerbose ( ) const
inherited
bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const
inlineinherited

Definition at line 93 of file CGenericSensor.h.

void COpenNI2Generic::kill ( )
inherited

Kill the OpenNI2 driver.

See Also
start()

Definition at line 202 of file COpenNI2Generic.cpp.

References THROW_EXCEPTION, and mrpt::hwdrivers::COpenNI2Generic::vDevices.

Referenced by mrpt::hwdrivers::COpenNI2Generic::~COpenNI2Generic().

void CGenericSensor::loadConfig ( const mrpt::utils::CConfigFileBase configSource,
const std::string section 
)
inherited
void COpenNI2_RGBD360::loadConfig_sensorSpecific ( const mrpt::utils::CConfigFileBase configSource,
const std::string section 
)
protectedvirtual

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 126 of file COpenNI2_RGBD360.cpp.

References DEG2RAD, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), and mrpt::utils::CConfigFileBase::read_int().

void COpenNI2Generic::open ( unsigned  sensor_id = 0)
inherited

Try to open the camera (all the parameters [resolution,fps,...] must be set before calling this) - users may also call initialize(), which in turn calls this method.

Raises an exception upon error.

Exceptions
std::exceptionA textual description of the error.

Definition at line 225 of file COpenNI2Generic.cpp.

References mrpt::mrpt::format(), mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), mrpt::hwdrivers::COpenNI2Generic::isOpen(), mrpt::hwdrivers::COpenNI2Generic::m_fps, mrpt::hwdrivers::COpenNI2Generic::m_height, mrpt::hwdrivers::COpenNI2Generic::m_verbose, mrpt::hwdrivers::COpenNI2Generic::m_width, MRPT_UNUSED_PARAM, mrpt::hwdrivers::COpenNI2Generic::showLog(), mrpt::system::sleep(), THROW_EXCEPTION, and mrpt::hwdrivers::COpenNI2Generic::vDevices.

Referenced by mrpt::hwdrivers::COpenNI2Generic::openDevicesBySerialNum().

unsigned int COpenNI2Generic::openDeviceBySerial ( const unsigned int  SerialRequired)
inherited

Open a RGBD device specified by its serial number.

This method is a wrapper for openDevicesBySerialNum(const std::set<unsigned>& vSerialRequired) This method requires to open the sensors which are still closed to read their serial.

Definition at line 298 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::openDevicesBySerialNum().

unsigned int COpenNI2Generic::openDevicesBySerialNum ( const std::set< unsigned > &  vSerialRequired)
inherited

Open a set of RGBD devices specified by their serial number.

Raises an exception when the demanded serial numbers are not among the connected devices. This function also fills a vector with the serial numbers of the connected OpenNI2 sensors (this requires openning the sensors which are still closed to read their serial)

Definition at line 258 of file COpenNI2Generic.cpp.

References mrpt::mrpt::format(), mrpt::hwdrivers::COpenNI2Generic::isOpen(), mrpt::hwdrivers::COpenNI2Generic::m_fps, mrpt::hwdrivers::COpenNI2Generic::m_height, mrpt::hwdrivers::COpenNI2Generic::m_verbose, mrpt::hwdrivers::COpenNI2Generic::m_width, MRPT_UNUSED_PARAM, mrpt::hwdrivers::COpenNI2Generic::open(), mrpt::hwdrivers::COpenNI2Generic::showLog(), THROW_EXCEPTION, and mrpt::hwdrivers::COpenNI2Generic::vDevices.

Referenced by mrpt::hwdrivers::COpenNI2Generic::openDeviceBySerial().

void CGenericSensor::registerClass ( const TSensorClassId pNewClass)
staticinherited

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

Used internally in the macros DEFINE_GENERIC_SENSOR, etc...

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

Definition at line 120 of file CGenericSensor.cpp.

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

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

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

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

See Also
setPathForExternalImages, setExternalImageJPEGQuality

Definition at line 226 of file CGenericSensor.h.

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

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

See Also
setExternalImageFormat

Definition at line 231 of file CGenericSensor.h.

References quality.

void COpenNI2_RGBD360::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 241 of file COpenNI2_RGBD360.cpp.

References MRPT_UNUSED_PARAM.

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

Definition at line 87 of file CGenericSensor.h.

void COpenNI2Generic::setVerbose ( bool  verbose)
inherited

Definition at line 133 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::m_verbose.

void COpenNI2Generic::showLog ( const std::string message) const
protectedinherited
bool COpenNI2Generic::start ( )
inherited

Open all sensor streams (normally called automatically at constructor, no need to call it manually).

Returns
false on error
See Also
kill() to close

Definition at line 101 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::numInstances, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::COpenNI2Generic::COpenNI2Generic().

Member Data Documentation

The list of available devices.

Definition at line 115 of file COpenNI2Generic.h.

int mrpt::hwdrivers::COpenNI2Generic::m_depth_format
protectedinherited
std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format
protectedinherited

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

See Also
setPathForExternalImages

Definition at line 131 of file CGenericSensor.h.

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

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

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

Definition at line 132 of file CGenericSensor.h.

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

float mrpt::hwdrivers::COpenNI2Generic::m_fps
protectedinherited
bool mrpt::hwdrivers::COpenNI2_RGBD360::m_grab_3D_points
protected

Default: all true.

Definition at line 239 of file COpenNI2_RGBD360.h.

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

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

Definition at line 118 of file CGenericSensor.h.

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

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

Used when "m_grab_decimation" is enabled.

Definition at line 123 of file CGenericSensor.h.

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

bool mrpt::hwdrivers::COpenNI2_RGBD360::m_grab_depth
protected

Definition at line 239 of file COpenNI2_RGBD360.h.

bool mrpt::hwdrivers::COpenNI2Generic::m_grab_image
protectedinherited

The data that the RGBD sensors can return.

Definition at line 129 of file COpenNI2Generic.h.

bool mrpt::hwdrivers::COpenNI2_RGBD360::m_grab_rgb
protected

Definition at line 239 of file COpenNI2_RGBD360.h.

int mrpt::hwdrivers::COpenNI2Generic::m_height
protectedinherited
size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len
protectedinherited

See CGenericSensor.

Definition at line 117 of file CGenericSensor.h.

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

double mrpt::hwdrivers::COpenNI2_RGBD360::m_maxRange
protected

Sensor max range (meters)

Definition at line 237 of file COpenNI2_RGBD360.h.

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

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

Definition at line 130 of file CGenericSensor.h.

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

size_t mrpt::hwdrivers::COpenNI2_RGBD360::m_preview_decim_counter_range
protected

Definition at line 234 of file COpenNI2_RGBD360.h.

size_t mrpt::hwdrivers::COpenNI2_RGBD360::m_preview_decim_counter_rgb
protected

Definition at line 234 of file COpenNI2_RGBD360.h.

bool mrpt::hwdrivers::COpenNI2_RGBD360::m_preview_window
protected

Show preview window while grabbing.

Definition at line 232 of file COpenNI2_RGBD360.h.

size_t mrpt::hwdrivers::COpenNI2_RGBD360::m_preview_window_decimation
protected

If preview is enabled, only show 1 out of N images.

Definition at line 233 of file COpenNI2_RGBD360.h.

double mrpt::hwdrivers::CGenericSensor::m_process_rate
protectedinherited
int mrpt::hwdrivers::COpenNI2Generic::m_rgb_format
protectedinherited
std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel
protectedinherited

See CGenericSensor.

Definition at line 119 of file CGenericSensor.h.

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

mrpt::poses::CPose3D mrpt::hwdrivers::COpenNI2_RGBD360::m_sensorPoseOnRobot
protected

Definition at line 228 of file COpenNI2_RGBD360.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state
protectedinherited
bool mrpt::hwdrivers::CGenericSensor::m_verbose
protectedinherited
bool mrpt::hwdrivers::COpenNI2Generic::m_verbose
protectedinherited
int mrpt::hwdrivers::COpenNI2Generic::m_width
protectedinherited

The same options (width, height and fps) are set for all the sensors.

(This could be changed if necessary)

Definition at line 123 of file COpenNI2Generic.h.

Referenced by mrpt::hwdrivers::COpenNI2Generic::open(), and mrpt::hwdrivers::COpenNI2Generic::openDevicesBySerialNum().

mrpt::gui::CDisplayWindowPtr mrpt::hwdrivers::COpenNI2_RGBD360::m_win_int[NUM_SENSORS]
protected

Definition at line 235 of file COpenNI2_RGBD360.h.

mrpt::gui::CDisplayWindowPtr mrpt::hwdrivers::COpenNI2_RGBD360::m_win_range[NUM_SENSORS]
protected

Definition at line 235 of file COpenNI2_RGBD360.h.

const int mrpt::hwdrivers::COpenNI2_RGBD360::NUM_SENSORS = 2
staticprotected

Definition at line 230 of file COpenNI2_RGBD360.h.

int COpenNI2Generic::numInstances = 0
staticprotectedinherited
std::vector< stlplus::smart_ptr< COpenNI2Generic::CDevice > > COpenNI2Generic::vDevices = std::vector<stlplus::smart_ptr<COpenNI2Generic::CDevice> >()
staticprotectedinherited
std::vector<int> mrpt::hwdrivers::COpenNI2Generic::vSerialNums
protectedinherited

A vector with the serial numbers of the available devices.

Definition at line 120 of file COpenNI2Generic.h.




Page generated by Doxygen 1.8.6 for MRPT 1.5.5 Git: e06b63d Fri Dec 1 14:41:11 2017 +0100 at sáb dic 2 13:00:21 CET 2017