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

Definition at line 178 of file CCameraSensor.h.

#include <mrpt/hwdrivers/CCameraSensor.h>

Inheritance diagram for mrpt::hwdrivers::CCameraSensor:

[legend]

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
poses::CPose3D	m_sensorPose

std::string	m_grabber_type
	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_svs_options

std::string	m_ffmpeg_url

std::string	m_rawlog_file

std::string	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 )

inlineprotectedinherited

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 )

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:

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 )

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:

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 )

inlinestaticinherited

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

inlineinherited

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

inlineinherited

Definition at line 100 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 102 of file CGenericSensor.h.

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

inlineinherited

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
	)

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) See hwdrivers::CCameraSensor for the possible parameters.

Implements mrpt::hwdrivers::CGenericSensor.

static void mrpt::utils::CDebugOutputCapable::printf_debug	(	const char *	frmt,
			...
	)

staticinherited

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

Referenced by mrpt::math::CLevenbergMarquardtTempl< VECTORTYPE, USERPARAM >::execute().

static void mrpt::hwdrivers::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.

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 233 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 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 )

inlineinherited

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

protectedinherited

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

protectedinherited

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

protectedinherited

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

protectedinherited

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

protectedinherited

See CGenericSensor.

Definition at line 126 of file CGenericSensor.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 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

protectedinherited

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

protectedinherited

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

protectedinherited

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.

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Attributes

Stuff related to working threads to save images to disk

Member Typedef Documentation

Member Enumeration Documentation

Constructor & Destructor Documentation

Member Function Documentation

Member Data Documentation