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276 bool& hardware_error);
348 const std::string& section)
override;
bool isGrabRGBEnabled() const
size_t cols() const
Get the col count in the camera images, loaded automatically upon camera open().
bool m_grab_image
The data that the RGBD sensors can return.
mrpt::gui::CDisplayWindow::Ptr m_win_range
COpenNI2Sensor()
Default ctor.
size_t m_preview_decim_counter_range
mrpt::img::TCamera m_cameraParamsDepth
Params for the Depth camera.
bool isGrab3DPointsEnabled() const
void setCameraParamsIntensity(const mrpt::img::TCamera &p)
uint32_t ncols
Camera resolution.
mrpt::img::TCamera m_cameraParamsRGB
Params for the RGB camera.
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().
Contains classes for various device interfaces.
An abstract class for accessing OpenNI2 compatible sensors.
void setSerialToOpen(const unsigned serial)
Set the serial number of the device to open.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
const mrpt::poses::CPose3D & getRelativePoseIntensityWrtDepth() const
bool isGrabDepthEnabled() const
void enableGrabRGB(bool enable=true)
Enable/disable the grabbing of the RGB channel.
std::shared_ptr< CDisplayWindow > Ptr
size_t m_preview_decim_counter_rgb
mrpt::poses::CPose3D m_sensorPoseOnRobot
double getMaxRange() const
Get the maximum range (meters) that can be read in the observation field "rangeImage".
A range or depth 3D scan measurement, as from a time-of-flight range camera or a structured-light dep...
int m_serial_number
Serial number of device to open.
void setCameraParamsDepth(const mrpt::img::TCamera &p)
void setSensorIDToOpen(const unsigned sensor_id)
Set the sensor_id of the device to open.
This class allows loading and storing values and vectors of different types from a configuration text...
double m_maxRange
Sensor max range (meters)
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
mrpt::poses::CPose3D m_relativePoseIntensityWRTDepth
See mrpt::obs::CObservation3DRangeScan for a diagram of this pose.
void enableGrab3DPoints(bool enable=true)
Enable/disable the grabbing of the 3D point clouds.
const mrpt::img::TCamera & getCameraParamsDepth() const
Get a const reference to the depth camera calibration parameters.
Parameters for the Brown-Conrady camera lens distortion model.
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
int m_user_device_number
Number of device to open (0:first,...)
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).
void doProcess() override
To be called at a high rate (>XX Hz), this method populates the internal buffer of received observati...
void setRelativePoseIntensityWrtDepth(const mrpt::poses::CPose3D &p)
Set the pose of the intensity camera wrt the depth camera.
size_t rows() const
Get the row count in the camera images, loaded automatically upon camera open().
size_t m_preview_window_decimation
If preview is enabled, only show 1 out of N images.
bool m_preview_window
Show preview window while grabbing.
void initialize() override
Initializes the 3D camera - should be invoked after calling loadConfig() or setting the different par...
void enableGrabDepth(bool enable=true)
Enable/disable the grabbing of the depth channel.
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string §ion) override
Loads specific configuration for the device from a given source of configuration parameters,...
mrpt::gui::CDisplayWindow::Ptr m_win_int
A class for grabing "range images", intensity images (either RGB or IR) and other information from an...
~COpenNI2Sensor() override
Default ctor.
const mrpt::img::TCamera & getCameraParamsIntensity() const
Get a const reference to the depth camera calibration parameters.
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