Detailed Description

The central class for camera grabbers in MRPT, implementing the "generic sensor" interface.

This class provides the user with a uniform interface to a variety of other classes which manage only one specific camera "driver" (opencv, ffmpeg, bumblebee,...)

Following the "generic sensor" interface, all the parameters must be passed int the form of a configuration file, which may be also formed on the fly (without being a real config file) as in this example:

   CCameraSensor myCam;
   const string str =
      "[CONFIG]\n"
      "grabber_type=opencv\n";

   CConfigFileMemory    cfg(str);
   myCam.loadConfig(cfg,"CONFIG");
   myCam.initialize();
   CObservationPtr obs = myCam.getNextFrame();

Images can be retrieved through the normal "doProcess()" interface, or the specific method "getNextFrame()".

Some notes:

"grabber_type" determines the class to use internally for image capturing (see below).
For the meaning of cv_camera_type and other parameters, refer to mrpt::hwdrivers::CImageGrabber_OpenCV
For the parameters of dc1394 parameters, refer to generic IEEE1394 documentation, and to mrpt::hwdrivers::TCaptureOptions_dc1394.
If all the existing parameter annoy you, try the function prepareVideoSourceFromUserSelection(), which displays a GUI dialog to the user so he/she can choose the desired camera & its parameters.

Images can be saved in the "external storage" mode. See setPathForExternalImages and setExternalImageFormat. These methods are called automatically from rawlog-grabber.

These is the list of all accepted parameters:

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
    // Select one of the grabber implementations -----------------------
    grabber_type       = opencv | dc1394 | bumblebee | ffmpeg | rawlog | swissranger | kinect

    // Options for any grabber_type ------------------------------------
    preview_decimation = 0     // N<=0 (or not present): No preview; N>0, display 1 out of N captured frames.
    preview_reduction  = 0     // 0 or 1 (or not present): The preview shows the actual image. For 2,3,..., reduces the size of the image by that factor, only for the preview window.
    capture_grayscale  = 0     // 1:capture in grayscale, whenever the driver allows it. Default=0
    // For externaly stored images, the format of image files (default=jpg)
    //external_images_format  = jpg

    // For externaly stored images: whether to spawn independent threads to save the image files.
    //external_images_own_thread  = 1   // 0 or 1

    // If external_images_own_thread=1, this changes the number of threads to launch
    //  to save image files. The default is determined from mrpt::system::getNumberOfProcessors()
    //  and should be OK unless you want to save processor time for other things.
    //external_images_own_thread_count = 2    // >=1

    // (Only when external_images_format=jpg): Optional parameter to set the JPEG compression quality:
    //external_images_jpeg_quality = 95    // [1-100]. Default: 95

    // Pose of the sensor on the robot:
    pose_x=0            ; (meters)
    pose_y=0
    pose_z=0
    pose_yaw=0  ; (Angles in degrees)
    pose_pitch=0
    pose_roll=0

    // Options for grabber_type= opencv  ------------------------------------
    cv_camera_index  = 0       // [opencv] Number of camera to open
    cv_camera_type   = CAMERA_CV_AUTODETECT
    cv_frame_width   = 640     // [opencv] Capture width (not present or set to 0 for default)
    cv_frame_height  = 480     // [opencv] Capture height (not present or set to 0 for default)
    cv_fps           = 15      // [opencv] IEEE1394 cams only: Capture FPS (not present or 0 for default)
    cv_gain          = 0       // [opencv] Camera gain, if available (nor present or set to 0 for default).

    // Options for grabber_type= dc1394 -------------------------------------
    dc1394_camera_guid   = 0 | 0x11223344    // 0 (or not present): the first camera; A hexadecimal number: The GUID of the camera to open
    dc1394_camera_unit   = 0                            // 0 (or not present): the first camera; 0,1,2,...: The unit number (within the given GUID) of the camera to open (Stereo cameras: 0 or 1)
    dc1394_frame_width  = 640
    dc1394_frame_height = 480
    dc1394_framerate            = 15                                    // eg: 7.5, 15, 30, 60, etc... For posibilities see mrpt::hwdrivers::TCaptureOptions_dc1394
    dc1394_mode7         = -1                    // -1: Ignore, i>=0, set to MODE7_i
    dc1394_color_coding = COLOR_CODING_YUV422   // For posibilities see mrpt::hwdrivers::TCaptureOptions_dc1394
    dc1394_shutter              = -1    // A value, or -1 (or not present) for not to change this parameter in the camera
    dc1394_gain                 = -1    // A value, or -1 (or not present) for not to change this parameter in the camera
    dc1394_gamma                        = -1    // A value, or -1 (or not present) for not to change this parameter in the camera
    dc1394_brightness   = -1    // A value, or -1 (or not present) for not to change this parameter in the camera
    dc1394_exposure             = -1    // A value, or -1 (or not present) for not to change this parameter in the camera
    dc1394_sharpness            = -1    // A value, or -1 (or not present) for not to change this parameter in the camera
    dc1394_white_balance        = -1    // A value, or -1 (or not present) for not to change this parameter in the camera

    // Options for grabber_type= bumblebee ----------------------------------
    bumblebee_camera_index  = 0       // [bumblebee] Number of camera within the firewire bus to open (typically = 0)
    bumblebee_frame_width   = 640     // [bumblebee] Capture width (not present or set to 0 for default)
    bumblebee_frame_height  = 480     // [bumblebee] Capture height (not present or set to 0 for default)
    bumblebee_fps           = 15      // [bumblebee] Capture FPS (not present or 0 for default)
    bumblebee_mono          = 0|1     // [bumblebee] OPTIONAL: If this parameter is present, monocular (0:left, 1:right) images will be grabbed instead of stereo pairs.
    bumblebee_get_rectified = 0|1     // [bumblebee] Determines if the camera should grab rectified or raw images (1 is the default)

    // Options for grabber_type= ffmpeg -------------------------------------
    ffmpeg_url             = rtsp://127.0.0.1      // [ffmpeg] The video file or IP camera to open

    // Options for grabber_type= rawlog -------------------------------------
    rawlog_file            = mylog.rawlog          // [rawlog] This can be used to simulate the capture of images already grabbed in the past in the form of a MRPT rawlog.
    rawlog_camera_sensor_label  = CAMERA1          // [rawlog] If this field is not present, all images found in the rawlog will be retrieved. Otherwise, only those observations with a matching sensor label.

    // Options for grabber_type= swissranger -------------------------------------
    sr_use_usb         = true           // True: use USB, false: use ethernet
    sr_IP              = 192.168.2.14    // If sr_use_usb=false, the camera IP
    sr_grab_grayscale  = true            // whether to save the intensity channel
    sr_grab_3d         = true            // whether to save the 3D points
    sr_grab_range      = true            // whether to save the range image
    sr_grab_confidence = true            // whether to save the confidence image

    // Options for grabber_type= kinect -------------------------------------
    kinect_grab_intensity  = true            // whether to save the intensity (RGB) channel
    kinect_grab_3d         = true            // whether to save the 3D points
    kinect_grab_range      = true            // whether to save the depth image

    kinect_video_rgb       = true            // Optional. If set to "false", the IR intensity channel will be grabbed instead of the color RGB channel.

Note:: The execution rate (in rawlog-grabber) should be greater than the required capture FPS.; In Linux you may need to execute "chmod 666 /dev/video1394/ * " and "chmod 666 /dev/raw1394" for allowing any user R/W access to firewire cameras.

See also:: mrpt::hwdrivers::CImageGrabber_OpenCV, mrpt::hwdrivers::CImageGrabber_dc1394, CGenericSensor, prepareVideoSourceFromUserSelection

#include <mrpt/hwdrivers/CCameraSensor.h>

Inheritance diagram for mrpt::hwdrivers::CCameraSensor:

[legend]

List of all members.

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

Public Member Functions

CCameraSensor ()

Constructor The camera is not open until "initialize" is called.

virtual ~CCameraSensor ()

Destructor.

void doProcess ()

This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e.

mrpt::slam::CObservationPtr getNextFrame ()

Retrieves the next frame from the video source, raising an exception on any error.

virtual void initialize ()

Tries to open the camera, after setting all the parameters with a call to loadConfig.

void close ()

Close the camera (if open).

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).

void enableLaunchOwnThreadForSavingImages (bool enable=true)

This must be called before initialize()

virtual const
mrpt::hwdrivers::TSensorClassId * GetRuntimeClass () const =0

TSensorState getState () const

The current state of the sensor.

double getProcessRate () const

std::string getSensorLabel () const

void setSensorLabel (const std::string &sensorLabel)

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:

This	method throws an exception with a descriptive message if some critical parameter is missing or has an invalid value.

void getObservations (TListObservations &lstObjects)

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

void setExternalImageFormat (const std::string &ext)

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

void setExternalImageJPEGQuality (const unsigned int quality)

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

unsigned int getExternalImageJPEGQuality () const

Static Public Member Functions

static void printf_debug (const char *frmt,...)

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

static void registerClass (const TSensorClassId *pNewClass)

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

static CGenericSensor * createSensor (const std::string &className)

Creates a sensor by a name of the class.

static CGenericSensorPtr createSensorPtr (const std::string &className)

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

Protected Member Functions

void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &iniSection)

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) See hwdrivers::CCameraSensor for the possible parameters.

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.

void appendObservation (const mrpt::utils::CSerializablePtr &obj)

Like appendObservations() but for just one observation.

Protected Attributes

Can be "opencv",...

bool m_capture_grayscale

int m_cv_camera_index

std::string

m_cv_camera_type

mrpt::hwdrivers::TCaptureCVOptions

m_cv_options

uint64_t m_dc1394_camera_guid

int m_dc1394_camera_unit

mrpt::hwdrivers::TCaptureOptions_dc1394

m_dc1394_options

int m_preview_decimation

int m_preview_reduction

int m_bumblebee_camera_index

mrpt::hwdrivers::TCaptureOptions_bumblebee

m_bumblebee_options

int m_bumblebee_monocam

int m_svs_camera_index

mrpt::hwdrivers::TCaptureOptions_SVS

m_rawlog_camera_sensor_label

std::string

m_rawlog_detected_images_dir

bool m_sr_open_from_usb

true: USB, false: ETH

std::string

m_sr_ip_address

bool m_sr_save_3d

Save the 3D point cloud (default: true)

bool m_sr_save_range_img

Save the 2D range image (default: true)

bool m_sr_save_intensity_img

Save the 2D intensity image (default: true)

bool m_sr_save_confidence

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

bool m_kinect_save_3d

Save the 3D point cloud (default: true)

bool m_kinect_save_range_img

Save the 2D range image (default: true)

bool m_kinect_save_intensity_img

Save the 2D intensity image (default: true)

bool m_kinect_video_rgb

Save RGB or IR channels (default:true)

bool m_external_images_own_thread

Whether to launch independent thread.

size_t m_grab_decimation_counter

Used when "m_grab_decimation" is enabled.

TSensorState

m_state

std::string

m_path_for_external_images

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

std::string

m_external_images_format

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

unsigned int m_external_images_jpeg_quality

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

Common settings to any sensor, loaded in "loadConfig"

double m_process_rate

See CGenericSensor.

size_t m_max_queue_len

See CGenericSensor.

size_t m_grab_decimation

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

std::string

m_sensorLabel

See CGenericSensor.

Private Attributes

CImageGrabber_OpenCV * m_cap_cv

The OpenCV capture object.

CImageGrabber_dc1394 * m_cap_dc1394

The dc1394 capture object.

CStereoGrabber_Bumblebee * m_cap_bumblebee

The bumblebee capture object.

mrpt::hwdrivers::CStereoGrabber_SVS * m_cap_svs

The svs capture object.

CFFMPEG_InputStream * m_cap_ffmpeg

The FFMPEG capture object.

mrpt::utils::CFileGZInputStream * m_cap_rawlog

The input file for rawlogs.

CSwissRanger3DCamera * m_cap_swissranger

SR 3D camera object.

CKinect * m_cap_kinect

Kinect camera object.

int m_camera_grab_decimator

int m_camera_grab_decimator_counter

int m_preview_counter

mrpt::gui::CDisplayWindowPtr

m_preview_win1

mrpt::gui::CDisplayWindowPtr

m_preview_win2

Normally we'll use only one window, but for stereo images we'll use two of them.

Stuff related to working threads to save images to disk

unsigned int m_external_image_saver_count

Number of working threads. Default:1, set to 2 in quad cores.

std::vector
< mrpt::system::TThreadHandle > m_threadImagesSaver

bool m_threadImagesSaverShouldEnd

mrpt::synch::CCriticalSection

m_csToSaveList

The critical section for m_toSaveList.

std::vector< TListObservations > m_toSaveList

The queues of objects to be returned by getObservations, one for each working thread.

void thread_save_images (unsigned int my_working_thread_index)

Thread to save images to files.

Member Typedef Documentation

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

Definition at line 84 of file CGenericSensor.h.

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

Definition at line 85 of file CGenericSensor.h.

Member Enumeration Documentation

enum mrpt::hwdrivers::CGenericSensor::TSensorState [inherited]

The current state of the sensor.

See also:: CGenericSensor::getState

Enumerator:

ssInitializing
ssWorking
ssError

Definition at line 90 of file CGenericSensor.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CCameraSensor::CCameraSensor ( )

Constructor The camera is not open until "initialize" is called.

virtual mrpt::hwdrivers::CCameraSensor::~CCameraSensor ( ) [virtual]

Destructor.

Member Function Documentation

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::CSerializablePtr & obj ) [inline, protected, inherited]

Like appendObservations() but for just one observation.

Definition at line 155 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::appendObservations ( const std::vector< mrpt::utils::CSerializablePtr > & obj ) [protected, inherited]

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:

                                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.

void mrpt::hwdrivers::CCameraSensor::close ( )

Close the camera (if open).

This method is called automatically on destruction.

static CGenericSensor* mrpt::hwdrivers::CGenericSensor::createSensor ( const std::string & className ) [static, inherited]

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.

static CGenericSensorPtr mrpt::hwdrivers::CGenericSensor::createSensorPtr ( const std::string & className ) [inline, static, inherited]

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

Definition at line 188 of file CGenericSensor.h.

void mrpt::hwdrivers::CCameraSensor::doProcess ( ) [virtual]

This method should be called periodically (at least at 1Hz to capture ALL the real-time data) It is thread safe, i.e.

you can call this from one thread, then to other methods from other threads.

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CCameraSensor::enableLaunchOwnThreadForSavingImages ( bool enable = true ) [inline]

This must be called before initialize()

Definition at line 222 of file CCameraSensor.h.

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const [inline, inherited]

Definition at line 241 of file CGenericSensor.h.

mrpt::slam::CObservationPtr mrpt::hwdrivers::CCameraSensor::getNextFrame ( )

Retrieves the next frame from the video source, raising an exception on any error.

Note: The returned observations can be of one of these classes (you can use IS_CLASS(obs,CObservationXXX) to determine it):

mrpt::slam::CObservationImage (For normal cameras or video sources)
mrpt::slam::CObservationStereoImages (For stereo cameras)
mrpt::slam::CObservation3DRangeScan (For 3D cameras)

void mrpt::hwdrivers::CGenericSensor::getObservations ( TListObservations & lstObjects ) [inherited]

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

The objects must be freed by the invoker.

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const [inline, inherited]

Definition at line 100 of file CGenericSensor.h.

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const [pure virtual, inherited]

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const [inline, inherited]

Definition at line 102 of file CGenericSensor.h.

TSensorState mrpt::hwdrivers::CGenericSensor::getState ( ) const [inline, inherited]

The current state of the sensor.

Definition at line 98 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CCameraSensor::initialize ( ) [virtual]

Tries to open the camera, after setting all the parameters with a call to loadConfig.

Exceptions:

This	method must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CGenericSensor::loadConfig	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)		`[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.

void mrpt::hwdrivers::CCameraSensor::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)		`[protected, virtual]`

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) See hwdrivers::CCameraSensor for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

static void mrpt::utils::CDebugOutputCapable::printf_debug	(	const char *	frmt,
			...
	)		`[static, inherited]`

Sends a formated text to "debugOut" if not NULL, or to cout otherwise.

Referenced by mrpt::math::CLevenbergMarquardtTempl::execute().

static void mrpt::hwdrivers::CGenericSensor::registerClass ( const TSensorClassId * pNewClass ) [static, inherited]

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.

void mrpt::hwdrivers::CGenericSensor::setExternalImageFormat ( const std::string & ext ) [inline, inherited]

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 233 of file CGenericSensor.h.

void mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality ( const unsigned int quality ) [inline, inherited]

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

See also:: setExternalImageFormat

Definition at line 238 of file CGenericSensor.h.

virtual void mrpt::hwdrivers::CCameraSensor::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::exception If the directory doesn't exists and cannot be created.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel ) [inline, inherited]

Definition at line 103 of file CGenericSensor.h.

void mrpt::hwdrivers::CCameraSensor::thread_save_images ( unsigned int my_working_thread_index ) [private]

Thread to save images to files.

Member Data Documentation

int mrpt::hwdrivers::CCameraSensor::m_bumblebee_camera_index [protected]

Definition at line 239 of file CCameraSensor.h.

int mrpt::hwdrivers::CCameraSensor::m_bumblebee_monocam [protected]

Definition at line 241 of file CCameraSensor.h.

mrpt::hwdrivers::TCaptureOptions_bumblebee mrpt::hwdrivers::CCameraSensor::m_bumblebee_options [protected]

Definition at line 240 of file CCameraSensor.h.

int mrpt::hwdrivers::CCameraSensor::m_camera_grab_decimator [private]

Definition at line 285 of file CCameraSensor.h.

int mrpt::hwdrivers::CCameraSensor::m_camera_grab_decimator_counter [private]

Definition at line 286 of file CCameraSensor.h.

CStereoGrabber_Bumblebee* mrpt::hwdrivers::CCameraSensor::m_cap_bumblebee [private]

The bumblebee capture object.

Definition at line 277 of file CCameraSensor.h.

CImageGrabber_OpenCV* mrpt::hwdrivers::CCameraSensor::m_cap_cv [private]

The OpenCV capture object.

Definition at line 275 of file CCameraSensor.h.

CImageGrabber_dc1394* mrpt::hwdrivers::CCameraSensor::m_cap_dc1394 [private]

The dc1394 capture object.

Definition at line 276 of file CCameraSensor.h.

CFFMPEG_InputStream* mrpt::hwdrivers::CCameraSensor::m_cap_ffmpeg [private]

The FFMPEG capture object.

Definition at line 279 of file CCameraSensor.h.

CKinect* mrpt::hwdrivers::CCameraSensor::m_cap_kinect [private]

Kinect camera object.

Definition at line 282 of file CCameraSensor.h.

mrpt::utils::CFileGZInputStream* mrpt::hwdrivers::CCameraSensor::m_cap_rawlog [private]

The input file for rawlogs.

Definition at line 280 of file CCameraSensor.h.

mrpt::hwdrivers::CStereoGrabber_SVS* mrpt::hwdrivers::CCameraSensor::m_cap_svs [private]

The svs capture object.

Definition at line 278 of file CCameraSensor.h.

CSwissRanger3DCamera* mrpt::hwdrivers::CCameraSensor::m_cap_swissranger [private]

SR 3D camera object.

Definition at line 281 of file CCameraSensor.h.

bool mrpt::hwdrivers::CCameraSensor::m_capture_grayscale [protected]

Definition at line 228 of file CCameraSensor.h.

mrpt::synch::CCriticalSection mrpt::hwdrivers::CCameraSensor::m_csToSaveList [private]

The critical section for m_toSaveList.

Definition at line 297 of file CCameraSensor.h.

int mrpt::hwdrivers::CCameraSensor::m_cv_camera_index [protected]

Definition at line 229 of file CCameraSensor.h.

std::string mrpt::hwdrivers::CCameraSensor::m_cv_camera_type [protected]

Definition at line 230 of file CCameraSensor.h.

mrpt::hwdrivers::TCaptureCVOptions mrpt::hwdrivers::CCameraSensor::m_cv_options [protected]

Definition at line 231 of file CCameraSensor.h.

uint64_t mrpt::hwdrivers::CCameraSensor::m_dc1394_camera_guid [protected]

Definition at line 233 of file CCameraSensor.h.

int mrpt::hwdrivers::CCameraSensor::m_dc1394_camera_unit [protected]

Definition at line 234 of file CCameraSensor.h.

mrpt::hwdrivers::TCaptureOptions_dc1394 mrpt::hwdrivers::CCameraSensor::m_dc1394_options [protected]

Definition at line 235 of file CCameraSensor.h.

unsigned int mrpt::hwdrivers::CCameraSensor::m_external_image_saver_count [private]

Number of working threads. Default:1, set to 2 in quad cores.

Definition at line 293 of file CCameraSensor.h.

std::string mrpt::hwdrivers::CGenericSensor::m_external_images_format [protected, inherited]

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

See also:: setPathForExternalImages

Definition at line 139 of file CGenericSensor.h.

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality [protected, inherited]

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

Definition at line 140 of file CGenericSensor.h.

bool mrpt::hwdrivers::CCameraSensor::m_external_images_own_thread [protected]

Whether to launch independent thread.

Definition at line 264 of file CCameraSensor.h.

std::string mrpt::hwdrivers::CCameraSensor::m_ffmpeg_url [protected]

Definition at line 246 of file CCameraSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation [protected, inherited]

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

Definition at line 127 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter [protected, inherited]

Used when "m_grab_decimation" is enabled.

Definition at line 132 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CCameraSensor::m_grabber_type [protected]

Can be "opencv",...

Definition at line 227 of file CCameraSensor.h.

bool mrpt::hwdrivers::CCameraSensor::m_kinect_save_3d [protected]

Save the 3D point cloud (default: true)

Definition at line 259 of file CCameraSensor.h.

bool mrpt::hwdrivers::CCameraSensor::m_kinect_save_intensity_img [protected]

Save the 2D intensity image (default: true)

Definition at line 261 of file CCameraSensor.h.

bool mrpt::hwdrivers::CCameraSensor::m_kinect_save_range_img [protected]

Save the 2D range image (default: true)

Definition at line 260 of file CCameraSensor.h.

bool mrpt::hwdrivers::CCameraSensor::m_kinect_video_rgb [protected]

Save RGB or IR channels (default:true)

Definition at line 262 of file CCameraSensor.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len [protected, inherited]

See CGenericSensor.

Definition at line 126 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CGenericSensor::m_path_for_external_images [protected, inherited]

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

Definition at line 138 of file CGenericSensor.h.

int mrpt::hwdrivers::CCameraSensor::m_preview_counter [private]

Definition at line 288 of file CCameraSensor.h.

int mrpt::hwdrivers::CCameraSensor::m_preview_decimation [protected]

Definition at line 236 of file CCameraSensor.h.

int mrpt::hwdrivers::CCameraSensor::m_preview_reduction [protected]

Definition at line 237 of file CCameraSensor.h.

mrpt::gui::CDisplayWindowPtr mrpt::hwdrivers::CCameraSensor::m_preview_win1 [private]

Definition at line 289 of file CCameraSensor.h.

mrpt::gui::CDisplayWindowPtr mrpt::hwdrivers::CCameraSensor::m_preview_win2 [private]

Normally we'll use only one window, but for stereo images we'll use two of them.

Definition at line 289 of file CCameraSensor.h.

double mrpt::hwdrivers::CGenericSensor::m_process_rate [protected, inherited]

See CGenericSensor.

Definition at line 125 of file CGenericSensor.h.

std::string mrpt::hwdrivers::CCameraSensor::m_rawlog_camera_sensor_label [protected]

Definition at line 249 of file CCameraSensor.h.

std::string mrpt::hwdrivers::CCameraSensor::m_rawlog_detected_images_dir [protected]

Definition at line 250 of file CCameraSensor.h.

std::string mrpt::hwdrivers::CCameraSensor::m_rawlog_file [protected]

Definition at line 248 of file CCameraSensor.h.

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel [protected, inherited]

See CGenericSensor.

Definition at line 128 of file CGenericSensor.h.

poses::CPose3D mrpt::hwdrivers::CCameraSensor::m_sensorPose [protected]

Definition at line 222 of file CCameraSensor.h.

std::string mrpt::hwdrivers::CCameraSensor::m_sr_ip_address [protected]

Definition at line 253 of file CCameraSensor.h.

bool mrpt::hwdrivers::CCameraSensor::m_sr_open_from_usb [protected]

true: USB, false: ETH

Definition at line 252 of file CCameraSensor.h.

bool mrpt::hwdrivers::CCameraSensor::m_sr_save_3d [protected]

Save the 3D point cloud (default: true)

Definition at line 254 of file CCameraSensor.h.

bool mrpt::hwdrivers::CCameraSensor::m_sr_save_confidence [protected]

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

Definition at line 257 of file CCameraSensor.h.

bool mrpt::hwdrivers::CCameraSensor::m_sr_save_intensity_img [protected]

Save the 2D intensity image (default: true)

Definition at line 256 of file CCameraSensor.h.

bool mrpt::hwdrivers::CCameraSensor::m_sr_save_range_img [protected]

Save the 2D range image (default: true)

Definition at line 255 of file CCameraSensor.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state [protected, inherited]

Definition at line 134 of file CGenericSensor.h.

int mrpt::hwdrivers::CCameraSensor::m_svs_camera_index [protected]

Definition at line 243 of file CCameraSensor.h.

mrpt::hwdrivers::TCaptureOptions_SVS mrpt::hwdrivers::CCameraSensor::m_svs_options [protected]

Definition at line 244 of file CCameraSensor.h.

std::vector<mrpt::system::TThreadHandle> mrpt::hwdrivers::CCameraSensor::m_threadImagesSaver [private]

Definition at line 294 of file CCameraSensor.h.

bool mrpt::hwdrivers::CCameraSensor::m_threadImagesSaverShouldEnd [private]

Definition at line 296 of file CCameraSensor.h.

std::vector<TListObservations> mrpt::hwdrivers::CCameraSensor::m_toSaveList [private]

The queues of objects to be returned by getObservations, one for each working thread.

Definition at line 298 of file CCameraSensor.h.