Detailed Description

A class for grabing "range images", intensity images (either RGB or IR) and other information from an Xbox Kinect sensor.

Configuration and usage:

Data is returned as observations of type mrpt::slam::CObservation3DRangeScan (and mrpt::slam::CObservationIMU for accelerometers data). See those classes for documentation on their fields.

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

CGenericSensor::loadConfig() - Or calls to the individual setXXX() to configure the sensor parameters.
CKinect::initialize() - to start the communication with the sensor.
call CKinect::getNextObservation() for getting the data.

Calibration parameters

For an accurate transformation of depth images to 3D points, you'll have to calibrate your Kinect, and supply the following threee pieces of information (default calibration data will be used otherwise, but they'll be not optimal for all sensors!):

Camera parameters for the RGB camera. See CKinect::setCameraParamsIntensity()
Camera parameters for the depth camera. See CKinect::setCameraParamsDepth()
The 3D relative pose of the two cameras. See CKinect::setRelativePoseIntensityWrtDepth()

Coordinates convention

The origin of coordinates is the focal point of the depth camera, with the axes oriented as in the diagram shown in mrpt::slam::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).

Some general comments

Depth is grabbed in 10bit depth, and a range N it's converted to meters as: range(m) = 0.1236 * tan(N/2842.5 + 1.1863)
This sensor can be also used from within rawlog-grabber to grab datasets within a robot with more sensors.
There is no built-in threading support, so if you use this class manually (not with-in rawlog-grabber), the ideal would be to create a thread and continuously request data from that thread (see mrpt::system::createThread ).
The intensity channel default to the RGB images, but it can be changed with setVideoChannel() to read the IR camera images (useful for calibrating).
There is a built-in support for an optional preview of the data on a window, so you don't need to even worry on creating a window to show them.
This class relies on an embedded version of libfreenect (you do NOT need to install it in your system). Thanks guys for the great job!

Converting to 3D point cloud

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

 mrpt::slam::CObservation3DRangeScan  obs3D;
 mrpt::slam::CColouredPointsMap       pntsMap;
 pntsMap.colorScheme.scheme = CColouredPointsMap::cmFromIntensityImage;
 pntsMap.loadFromRangeScan(obs3D);

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

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

Raw depth to range conversion

At construction, this class builds an internal array for converting raw 10 or 11bit depths into ranges in meters. Users can read that array or modify it (if you have a better calibration, for example) by calling CKinect::getRawDepth2RangeConversion(). If you replace it, remember to set the first and last entries (index 0 and KINECT_RANGES_TABLE_LEN-1) to zero, to indicate that those are invalid ranges.

R(d) = k3 * tan(d/k2 + k1);
k1 = 1.1863, k2 = 2842.5, k3 = 0.1236

Platform-specific comments

For more details, refer to libfreenect documentation:

Linux: You'll need root privileges to access Kinect. Or, install MRPT/scripts/51-kinect.rules in /etc/udev/rules.d/ to allow access to all users.
Windows:
- Since MRPT 0.9.4 you'll only need to install libusb-win32: download and extract the latest libusb-win32-bin-x.x.x.x.zip
- To install the drivers, read this: http://openkinect.org/wiki/Getting_Started#Windows
MacOS: (write me!)

Format of parameters for loading from a .ini file

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
    sensorLabel     = KINECT       // 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.
    grab_IMU        = true        // Grab the accelerometers? (Default=true)

    video_channel   = VIDEO_CHANNEL_RGB // Optional. Can be: VIDEO_CHANNEL_RGB (default) or VIDEO_CHANNEL_IR

    // Calibration matrix of the RGB camera:
    rgb_cx        = 328.9427     // (cx,cy): Optical center, pixels
    rgb_cy        = 267.4807
    rgb_fx        = 529.2151     // (fx,fy): Focal distance, pixels
    rgb_fy        = 525.5639

    // Calibration matrix of the Depth camera:
    d_cx          = 339.3078     // (cx,cy): Optical center, pixels
    d_cy          = 242.7391
    d_fx          = 594.2143     // (fx,fy): Focal distance, pixels
    d_fy          = 591.0405

    // The relative pose of the RGB camera wrt the depth camera.
    //  (See mrpt::slam::CObservation3DRangeScan for a 3D diagram of this pose)
    relativePoseIntensityWRTDepth  =  [0 -0.02 0 -90 0 -90]   //  [x(m) y(m) z(m) yaw(deg) pitch(deg) roll(deg)]

    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

Public Types

enum TVideoChannel { VIDEO_CHANNEL_RGB = 0, VIDEO_CHANNEL_IR }

RGB or IR video channel identifiers. More...

typedef float TDepth2RangeArray [KINECT_RANGES_TABLE_LEN]

A typedef for an array that converts raw depth to ranges in meters.

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

CKinect ()

Default ctor.

~CKinect ()

Default ctor.

virtual void initialize ()

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

virtual void doProcess ()

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

void getNextObservation (mrpt::slam::CObservation3DRangeScan &out_obs, bool &there_is_obs, bool &hardware_error)

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

void getNextObservation (mrpt::slam::CObservation3DRangeScan &out_obs, mrpt::slam::CObservationIMU &out_obs_imu, bool &there_is_obs, bool &hardware_error)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

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).

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

Sensor parameters (alternative to \a loadConfig ) and manual control

void open ()

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

bool isOpen () const

Whether there is a working connection to the sensor.

void close ()

Close the conection to the sensor (not need to call it manually unless desired for some reason, since it's called at destructor)

void setVideoChannel (const TVideoChannel vch)

Changes the video channel to open (RGB or IR) - you can call this method before start grabbing or in the middle of streaming and the video source will change on the fly.

TVideoChannel getVideoChannel () const

Return the current video channel (RGB or IR)

void setDeviceIndexToOpen (int index)

Set the sensor index to open (if there're several sensors attached to the computer); default=0 -> the first one.

int getDeviceIndexToOpen () const

void setTiltAngleDegrees (double angle)

Change tilt angle.

double getTiltAngleDegrees ()

void enablePreviewRGB (bool enable=true)

Default: disabled.

void disablePreviewRGB ()

bool isPreviewRGBEnabled () const

void setPreviewDecimation (size_t decimation_factor)

If preview is enabled, show only one image out of N (default: 1=show all)

size_t getPreviewDecimation () const

double getMaxRange () const

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

size_t getRowCount () const

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

size_t getColCount () const

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

const mrpt::utils::TCamera & getCameraParamsIntensity () const

Get a const reference to the depth camera calibration parameters.

void setCameraParamsIntensity (const mrpt::utils::TCamera &p)

const mrpt::utils::TCamera & getCameraParamsDepth () const

Get a const reference to the depth camera calibration parameters.

void setCameraParamsDepth (const mrpt::utils::TCamera &p)

void setRelativePoseIntensityWrtDepth (const mrpt::poses::CPose3D &p)

Set the pose of the intensity camera wrt the depth camera.

const mrpt::poses::CPose3D & getRelativePoseIntensityWrtDepth () const

TDepth2RangeArray & getRawDepth2RangeConversion ()

Get a reference to the array that convert raw depth values (10 or 11 bit) into ranges in meters, so it can be read or replaced by the user.

const TDepth2RangeArray & getRawDepth2RangeConversion () const

void enableGrabRGB (bool enable=true)

Enable/disable the grabbing of the RGB channel.

bool isGrabRGBEnabled () const

void enableGrabDepth (bool enable=true)

Enable/disable the grabbing of the depth channel.

bool isGrabDepthEnabled () const

void enableGrabAccelerometers (bool enable=true)

Enable/disable the grabbing of the inertial data.

bool isGrabAccelerometersEnabled () const

void enableGrab3DPoints (bool enable=true)

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

bool isGrab3DPointsEnabled () const

Static Public Member Functions

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

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:

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

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

mrpt::poses::CPose3D

m_sensorPoseOnRobot

bool m_preview_window

Show preview window while grabbing.

size_t m_preview_window_decimation

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

size_t m_preview_decim_counter_range

size_t m_preview_decim_counter_rgb

mrpt::gui::CDisplayWindowPtr

m_win_range

mrpt::gui::CDisplayWindowPtr

m_win_int

mrpt::utils::TCamera

m_cameraParamsRGB

Params for the RGB camera.

mrpt::utils::TCamera

m_cameraParamsDepth

Params for the Depth camera.

mrpt::poses::CPose3D

m_relativePoseIntensityWRTDepth

See mrpt::slam::CObservation3DRangeScan for a diagram of this pose.

double m_maxRange

Sensor max range (meters)

int m_user_device_number

Number of device to open (0:first,...)

bool m_grab_image

bool m_grab_depth

bool m_grab_3D_points

bool m_grab_IMU

Default: all true.

TVideoChannel

m_video_channel

The video channel to open: RGB or IR.

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 Member Functions

void calculate_range2meters ()

Compute m_range2meters at construction.

Private Attributes

std::vector< uint8_t > m_buf_depth

std::vector< uint8_t > m_buf_rgb

Temporary buffers for image grabbing.

TDepth2RangeArray

m_range2meters

The table raw depth -> range in meters.

Member Typedef Documentation

typedef float mrpt::hwdrivers::CKinect::TDepth2RangeArray[KINECT_RANGES_TABLE_LEN]

A typedef for an array that converts raw depth to ranges in meters.

Definition at line 195 of file CKinect.h.

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.

enum mrpt::hwdrivers::CKinect::TVideoChannel

RGB or IR video channel identifiers.

See also:: setVideoChannel

Enumerator:

VIDEO_CHANNEL_RGB
VIDEO_CHANNEL_IR

Definition at line 198 of file CKinect.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CKinect::CKinect ( )

Default ctor.

mrpt::hwdrivers::CKinect::~CKinect ( )

Default ctor.

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::CKinect::calculate_range2meters ( ) [private]

Compute m_range2meters at construction.

void mrpt::hwdrivers::CKinect::close ( )

Close the conection to the sensor (not need to call it manually unless desired for some reason, since it's called at destructor)

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::CKinect::disablePreviewRGB ( ) [inline]

Definition at line 278 of file CKinect.h.

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

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

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

Exceptions:

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

See also:: getNextObservation

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CKinect::enableGrab3DPoints ( bool enable = true ) [inline]

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

Definition at line 324 of file CKinect.h.

void mrpt::hwdrivers::CKinect::enableGrabAccelerometers ( bool enable = true ) [inline]

Enable/disable the grabbing of the inertial data.

Definition at line 320 of file CKinect.h.

void mrpt::hwdrivers::CKinect::enableGrabDepth ( bool enable = true ) [inline]

Enable/disable the grabbing of the depth channel.

Definition at line 316 of file CKinect.h.

void mrpt::hwdrivers::CKinect::enableGrabRGB ( bool enable = true ) [inline]

Enable/disable the grabbing of the RGB channel.

Definition at line 312 of file CKinect.h.

void mrpt::hwdrivers::CKinect::enablePreviewRGB ( bool enable = true ) [inline]

Default: disabled.

Definition at line 277 of file CKinect.h.

const mrpt::utils::TCamera& mrpt::hwdrivers::CKinect::getCameraParamsDepth ( ) const [inline]

Get a const reference to the depth camera calibration parameters.

Definition at line 298 of file CKinect.h.

const mrpt::utils::TCamera& mrpt::hwdrivers::CKinect::getCameraParamsIntensity ( ) const [inline]

Get a const reference to the depth camera calibration parameters.

Definition at line 294 of file CKinect.h.

size_t mrpt::hwdrivers::CKinect::getColCount ( ) const [inline]

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

Definition at line 291 of file CKinect.h.

int mrpt::hwdrivers::CKinect::getDeviceIndexToOpen ( ) const [inline]

Definition at line 270 of file CKinect.h.

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

Definition at line 241 of file CGenericSensor.h.

double mrpt::hwdrivers::CKinect::getMaxRange ( ) const [inline]

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

Definition at line 286 of file CKinect.h.

void mrpt::hwdrivers::CKinect::getNextObservation	(	mrpt::slam::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_obs	The output retrieved observation (only if there_is_obs=true).
there_is_obs	If set to false, there was no new observation.
hardware_error	True on hardware/comms error.

See also:: doProcess

void mrpt::hwdrivers::CKinect::getNextObservation	(	mrpt::slam::CObservation3DRangeScan &	out_obs,
		mrpt::slam::CObservationIMU &	out_obs_imu,
		bool &	there_is_obs,
		bool &	hardware_error
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Note:: This method also grabs data from the accelerometers, returning them in out_obs_imu

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.

size_t mrpt::hwdrivers::CKinect::getPreviewDecimation ( ) const [inline]

Definition at line 283 of file CKinect.h.

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

Definition at line 100 of file CGenericSensor.h.

TDepth2RangeArray& mrpt::hwdrivers::CKinect::getRawDepth2RangeConversion ( ) [inline]

Get a reference to the array that convert raw depth values (10 or 11 bit) into ranges in meters, so it can be read or replaced by the user.

If you replace it, remember to set the first and last entries (index 0 and KINECT_RANGES_TABLE_LEN-1) to zero, to indicate that those are invalid ranges.

Definition at line 308 of file CKinect.h.

const TDepth2RangeArray& mrpt::hwdrivers::CKinect::getRawDepth2RangeConversion ( ) const [inline]

Definition at line 309 of file CKinect.h.

const mrpt::poses::CPose3D& mrpt::hwdrivers::CKinect::getRelativePoseIntensityWrtDepth ( ) const [inline]

Definition at line 303 of file CKinect.h.

size_t mrpt::hwdrivers::CKinect::getRowCount ( ) const [inline]

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

Definition at line 289 of file CKinect.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.

double mrpt::hwdrivers::CKinect::getTiltAngleDegrees ( )

TVideoChannel mrpt::hwdrivers::CKinect::getVideoChannel ( ) const [inline]

Return the current video channel (RGB or IR)

See also:: setVideoChannel

Definition at line 266 of file CKinect.h.

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

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

Exceptions:

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

Reimplemented from mrpt::hwdrivers::CGenericSensor.

bool mrpt::hwdrivers::CKinect::isGrab3DPointsEnabled ( ) const [inline]

Definition at line 325 of file CKinect.h.

bool mrpt::hwdrivers::CKinect::isGrabAccelerometersEnabled ( ) const [inline]

Definition at line 321 of file CKinect.h.

bool mrpt::hwdrivers::CKinect::isGrabDepthEnabled ( ) const [inline]

Definition at line 317 of file CKinect.h.

bool mrpt::hwdrivers::CKinect::isGrabRGBEnabled ( ) const [inline]

Definition at line 313 of file CKinect.h.

bool mrpt::hwdrivers::CKinect::isOpen ( ) const

Whether there is a working connection to the sensor.

bool mrpt::hwdrivers::CKinect::isPreviewRGBEnabled ( ) const [inline]

Definition at line 279 of file CKinect.h.

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.

virtual void mrpt::hwdrivers::CKinect::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)		`[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)

Exceptions:

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

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CKinect::open ( )

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

Raises an exception upon error.

Exceptions:

std::exception A textual description of the error.

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::CKinect::setCameraParamsDepth ( const mrpt::utils::TCamera & p ) [inline]

Definition at line 299 of file CKinect.h.

void mrpt::hwdrivers::CKinect::setCameraParamsIntensity ( const mrpt::utils::TCamera & p ) [inline]

Definition at line 295 of file CKinect.h.

void mrpt::hwdrivers::CKinect::setDeviceIndexToOpen ( int index ) [inline]

Set the sensor index to open (if there're several sensors attached to the computer); default=0 -> the first one.

Definition at line 269 of file CKinect.h.

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::CKinect::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::CKinect::setPreviewDecimation ( size_t decimation_factor ) [inline]

If preview is enabled, show only one image out of N (default: 1=show all)

Definition at line 282 of file CKinect.h.

void mrpt::hwdrivers::CKinect::setRelativePoseIntensityWrtDepth ( const mrpt::poses::CPose3D & p ) [inline]

Set the pose of the intensity camera wrt the depth camera.

See also:: See mrpt::slam::CObservation3DRangeScan for a 3D diagram of this pose

Definition at line 302 of file CKinect.h.

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

Definition at line 103 of file CGenericSensor.h.

void mrpt::hwdrivers::CKinect::setTiltAngleDegrees ( double angle )

Change tilt angle.

Note:: Sensor must be open first.

void mrpt::hwdrivers::CKinect::setVideoChannel ( const TVideoChannel vch )

Changes the video channel to open (RGB or IR) - you can call this method before start grabbing or in the middle of streaming and the video source will change on the fly.

Default is RGB channel.