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147 bool& hardware_error);
249 const std::string& section)
override;
bool isEnabledImageHistEqualization() const
mrpt::gui::CDisplayWindow::Ptr m_win_int
void * m_cam
opaque handler to SRCAM.
void setPathForExternalImages(const std::string &directory) override
Set the path where to save off-rawlog image files (this class DOES take into account this path).
bool isEnabledMedianCrossFilter() const
size_t m_rows
Size of camera images, set on open()
void setSave3D(bool save)
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string §ion) override
See the class documentation at the top for expected parameters.
bool isEnabledMedianFilter() const
bool m_enable_mediancross_filter
void enableConvGray(bool enable)
void enableMedianCrossFilter(bool enable)
mrpt::gui::CDisplayWindow::Ptr m_win_range
bool getMesaLibVersion(std::string &out_version) const
Get the version of the MESA library.
Contains classes for various device interfaces.
double getMaxRange() const
Returns the maximum camera range, as deduced from its operating frequency.
void setOpenFromUSB(bool USB)
true: open from USB, false: open from ethernet.
mrpt::poses::CPose3D m_sensorPoseOnRobot
mrpt::img::TCamera m_cameraParams
void doProcess() override
To be called at a high rate (>XX Hz), this method populates the internal buffer of received observati...
size_t rows() const
Get the row count in the camera images, loaded automatically upon camera open().
bool m_save_intensity_img
Save the 2D intensity image (default: true)
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
bool m_save_confidence
Save the estimated confidence 2D image (default: false)
void setSaveIntensityImage(bool save)
std::shared_ptr< CDisplayWindow > Ptr
bool m_enable_img_hist_equal
~CSwissRanger3DCamera() override
Default ctor.
bool m_save_3d
Save the 3D point cloud (default: true)
bool m_enable_median_filter
void enablePreviewWindow(bool enable=true)
A range or depth 3D scan measurement, as from a time-of-flight range camera or a structured-light dep...
void initialize() override
Initializes the 3D camera - should be invoked after calling loadConfig()
void enableDenoiseANF(bool enable)
This class allows loading and storing values and vectors of different types from a configuration text...
bool m_preview_window
Show preview window while grabbing.
bool isOpen() const
whether the camera is open and comms work ok.
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
bool m_open_from_usb
true: USB, false: ETH
void enableMedianFilter(bool enable)
bool m_save_range_img
Save the 2D range image (default: true)
void setSaveConfidenceImage(bool save)
double m_maxRange
Max range, as deducted from the camera frequency.
Parameters for the Brown-Conrady camera lens distortion model.
bool isEnabledConvGray() const
bool getOpenFromUSBMode() const
bool isEnabledPreviewWindow() const
CSwissRanger3DCamera()
Default ctor.
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
bool isEnabledDenoiseANF() const
void setOpenIPAddress(const std::string &IP)
unsigned int getCameraSerialNumber() const
Get the camera serial number, loaded automatically upon camera open().
void enableImageHistEqualization(bool enable)
void setSaveRangeImage(bool save)
size_t cols() const
Get the col count in the camera images, loaded automatically upon camera open().
A class for grabing "range images" from a MESA imaging SwissRanger 3D cameras (SR-2,...
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().
bool open()
return false on error - Called automatically from initialize(), no need normally for the user to call...
unsigned int m_cam_serial_num
Serial number of the camera, set on open()
void internal_resendParamsToCamera() const
bool m_enable_denoise_anf
std::string getOpenIPAddress() const
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