Detailed Description

A class for grabing "range images" from a MESA imaging SwissRanger 3D cameras (SR-2, SR-3000, SR-4k).

NOTES:

This class requires a vendor specific driver installed in the system in order to build MRPT with support for this sensor. Download and install the driver from: http://www.mesa-imaging.ch/drivers.php
The intensity channel (grayscale image) is converted from 16bit to standard 8bit-per-pixel using a logarithmic, modified A-law compression. This allows exploiting the full dynamic range of the sensor and provides quite good results.

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

loadConfig() - Or calls to the individual setXXX() to configure the camera parameters.
initialize() - to init the comms with the camera
call getNextObservation() for getting the frames.

This sensor can be also used from within rawlog-grabber.

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
   sensorLabel  = CAM3D         // A text description
   preview_window  = true       // Show a window with a preview of the grabbed data in real-time
   open_USB     = true          // false means ethernet (default: true)
   USB_serial   = 0x4000002f    // only for open_USB=true. If not set, the first camera will be open. Serial is the last part of S/N (e.g.  for the camera SN: 00-00-40-00-00-2F).
   IP_address   = 192.168.2.14  // only for open_USB=false. The IP of the camera.
   // Options for the data to save in each CObservation3DRangeScan
   save_3d            = true                    // Save the 3D point cloud (default: true)
   save_range_img     = true                    // Save the 2D range image (default: true)
   save_intensity_img = true                    // Save the 2D intensity image (default: true)
   save_confidence    = true                    // Save the estimated confidence 2D image (default: false)
   enable_img_hist_equal = false                // Enable intensity image histogram equalization (default: false)
   enable_median_filter  = true                 // Enable median filter in range data (default: true)
   enable_mediancross_filter = false    // Enable median cross-filter (default: false)
   enable_conv_gray      = false                // Enable intensity image scale with range (default: false)
   enable_denoise_anf    = true                 // Enable this noise filter (default: true)
   // Camera calibration parameters: See mrpt::utils::TCamera
   //  If not provided, a set of default parameters for a SR4000 camera will be loaded.
   resolution = [176 144]
   cx         = 87.99958
   cy         = 68.99957
   fx         = 262.9201
   fy         = 262.9218
   dist       = [-8.258543e-01 6.561022e-01 2.699818e-06 -3.263559e-05 0]
   // For externaly stored images, the format of image files (default=jpg)
   //external_images_format  = jpg
   // (Only when external_images_format=jpg): Optional parameter to set the JPEG compression quality:
   //external_images_jpeg_quality = 95    // [1-100]. Default: 95
   pose_x=0.21  // Camera position in the robot (meters)
   pose_y=0
   pose_z=0.34
   pose_yaw=0   // Angles in degrees
   pose_pitch=0
   pose_roll=0

Definition at line 103 of file CSwissRanger3DCamera.h.

#include <mrpt/hwdrivers/CSwissRanger3DCamera.h>

Inheritance diagram for mrpt::hwdrivers::CSwissRanger3DCamera:

[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

CSwissRanger3DCamera ()

Default ctor.

~CSwissRanger3DCamera ()

Default ctor.

virtual void initialize ()

Initializes the 3D camera - should be invoked after calling loadConfig()

Exceptions

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

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().

bool open ()

return false on error - Called automatically from initialize(), no need normally for the user to call this.

void close ()

bool isOpen () const

whether the camera is open and comms work ok. To be called after initialize()

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().

unsigned int getCameraSerialNumber () const

Get the camera serial number, loaded automatically upon camera open().

double getMaxRange () const

Returns the maximum camera range, as deduced from its operating frequency.

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).

bool getMesaLibVersion (std::string &out_version) const

Get the version of the MESA library.

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

Capture configuration methods (apart from loadConfig)

void setOpenFromUSB (bool USB)

true: open from USB, false: open from ethernet.

bool getOpenFromUSBMode () const

void setOpenIPAddress (const std::string &IP)

std::string getOpenIPAddress () const

void setSave3D (bool save)

void setSaveRangeImage (bool save)

void setSaveIntensityImage (bool save)

void setSaveConfidenceImage (bool save)

void enableImageHistEqualization (bool enable)

bool isEnabledImageHistEqualization () const

void enableMedianFilter (bool enable)

bool isEnabledMedianFilter () const

void enableMedianCrossFilter (bool enable)

bool isEnabledMedianCrossFilter () const

void enableConvGray (bool enable)

bool isEnabledConvGray () const

void enableDenoiseANF (bool enable)

bool isEnabledDenoiseANF () const

void enablePreviewWindow (bool enable=true)

bool isEnabledPreviewWindow () 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 internal_resendParamsToCamera () const

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_save_3d
	Save the 3D point cloud (default: true)

bool	m_save_range_img
	Save the 2D range image (default: true)

bool	m_save_intensity_img
	Save the 2D intensity image (default: true)

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

bool	m_enable_img_hist_equal

bool	m_enable_median_filter

bool	m_enable_mediancross_filter

bool	m_enable_conv_gray

bool	m_enable_denoise_anf

bool	m_open_from_usb
	true: USB, false: ETH

size_t	m_usb_serial

std::string	m_ip_address

size_t	m_rows

size_t	m_cols
	Size of camera images, set on open()

unsigned int	m_cam_serial_num
	Serial number of the camera, set on open()

double	m_maxRange
	Max range, as deducted from the camera frequency.

bool	m_preview_window
	Show preview window while grabbing.

mrpt::gui::CDisplayWindowPtr	m_win_range

mrpt::gui::CDisplayWindowPtr	m_win_int

void *	m_cam
	opaque handler to SRCAM. NULL means it's not open yet.

mrpt::utils::TCamera	m_cameraParams

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.

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::CSwissRanger3DCamera::CSwissRanger3DCamera ( )

Default ctor.

mrpt::hwdrivers::CSwissRanger3DCamera::~CSwissRanger3DCamera ( )

Default ctor.

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::CSwissRanger3DCamera::close ( )

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.

virtual void mrpt::hwdrivers::CSwissRanger3DCamera::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::CSwissRanger3DCamera::enableConvGray ( bool enable )

inline

Definition at line 180 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::enableDenoiseANF ( bool enable )

inline

Definition at line 183 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::enableImageHistEqualization ( bool enable )

inline

Definition at line 171 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::enableMedianCrossFilter ( bool enable )

inline

Definition at line 177 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::enableMedianFilter ( bool enable )

inline

Definition at line 174 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::enablePreviewWindow ( bool enable = true )

inline

Definition at line 186 of file CSwissRanger3DCamera.h.

unsigned int mrpt::hwdrivers::CSwissRanger3DCamera::getCameraSerialNumber ( ) const

inline

Get the camera serial number, loaded automatically upon camera open().

Definition at line 145 of file CSwissRanger3DCamera.h.

size_t mrpt::hwdrivers::CSwissRanger3DCamera::getColCount ( ) const

inline

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

Definition at line 142 of file CSwissRanger3DCamera.h.

unsigned int mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality ( ) const

inlineinherited

Definition at line 241 of file CGenericSensor.h.

double mrpt::hwdrivers::CSwissRanger3DCamera::getMaxRange ( ) const

inline

Returns the maximum camera range, as deduced from its operating frequency.

Definition at line 148 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::getMesaLibVersion ( std::string & out_version ) const

Get the version of the MESA library.

Returns: false on error

void mrpt::hwdrivers::CSwissRanger3DCamera::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::CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

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

The objects must be freed by the invoker.

bool mrpt::hwdrivers::CSwissRanger3DCamera::getOpenFromUSBMode ( ) const

inline

Definition at line 161 of file CSwissRanger3DCamera.h.

std::string mrpt::hwdrivers::CSwissRanger3DCamera::getOpenIPAddress ( ) const

inline

Definition at line 164 of file CSwissRanger3DCamera.h.

double mrpt::hwdrivers::CGenericSensor::getProcessRate ( ) const

inlineinherited

Definition at line 100 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CSwissRanger3DCamera::getRowCount ( ) const

inline

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

Definition at line 140 of file CSwissRanger3DCamera.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::CSwissRanger3DCamera::initialize ( )

virtual

Initializes the 3D camera - should be invoked after calling 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::CSwissRanger3DCamera::internal_resendParamsToCamera ( ) const

protected

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledConvGray ( ) const

inline

Definition at line 181 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledDenoiseANF ( ) const

inline

Definition at line 184 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledImageHistEqualization ( ) const

inline

Definition at line 172 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledMedianCrossFilter ( ) const

inline

Definition at line 178 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledMedianFilter ( ) const

inline

Definition at line 175 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledPreviewWindow ( ) const

inline

Definition at line 187 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::isOpen ( ) const

whether the camera is open and comms work ok. To be called after initialize()

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::CSwissRanger3DCamera::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)

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)

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.

bool mrpt::hwdrivers::CSwissRanger3DCamera::open ( )

return false on error - Called automatically from initialize(), no need normally for the user to call this.

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.

void mrpt::hwdrivers::CSwissRanger3DCamera::setOpenFromUSB ( bool USB )

inline

true: open from USB, false: open from ethernet.

Definition at line 160 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::setOpenIPAddress ( const std::string & IP )

inline

Definition at line 163 of file CSwissRanger3DCamera.h.

virtual void mrpt::hwdrivers::CSwissRanger3DCamera::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::CSwissRanger3DCamera::setSave3D ( bool save )

inline

Definition at line 166 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveConfidenceImage ( bool save )

inline

Definition at line 169 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveIntensityImage ( bool save )

inline

Definition at line 168 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveRangeImage ( bool save )

inline

Definition at line 167 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CGenericSensor::setSensorLabel ( const std::string & sensorLabel )

inlineinherited

Definition at line 103 of file CGenericSensor.h.

Member Data Documentation

void* mrpt::hwdrivers::CSwissRanger3DCamera::m_cam

protected

opaque handler to SRCAM. NULL means it's not open yet.

Definition at line 235 of file CSwissRanger3DCamera.h.

unsigned int mrpt::hwdrivers::CSwissRanger3DCamera::m_cam_serial_num

protected

Serial number of the camera, set on open()

Definition at line 229 of file CSwissRanger3DCamera.h.

mrpt::utils::TCamera mrpt::hwdrivers::CSwissRanger3DCamera::m_cameraParams

protected

Definition at line 237 of file CSwissRanger3DCamera.h.

size_t mrpt::hwdrivers::CSwissRanger3DCamera::m_cols

protected

Size of camera images, set on open()

Definition at line 228 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_conv_gray

protected

Definition at line 220 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_denoise_anf

protected

Definition at line 221 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_img_hist_equal

protected

Definition at line 217 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_median_filter

protected

Definition at line 218 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_mediancross_filter

protected

Definition at line 219 of file CSwissRanger3DCamera.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.

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::CSwissRanger3DCamera::m_ip_address

protected

Definition at line 226 of file CSwissRanger3DCamera.h.

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 126 of file CGenericSensor.h.

double mrpt::hwdrivers::CSwissRanger3DCamera::m_maxRange

protected

Max range, as deducted from the camera frequency.

Definition at line 230 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_open_from_usb

protected

true: USB, false: ETH

Definition at line 224 of file CSwissRanger3DCamera.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.

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_preview_window

protected

Show preview window while grabbing.

Definition at line 232 of file CSwissRanger3DCamera.h.

double mrpt::hwdrivers::CGenericSensor::m_process_rate

protectedinherited

See CGenericSensor.

Definition at line 125 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CSwissRanger3DCamera::m_rows

protected

Definition at line 228 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_3d

protected

Save the 3D point cloud (default: true)

Definition at line 212 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_confidence

protected

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

Definition at line 215 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_intensity_img

protected

Save the 2D intensity image (default: true)

Definition at line 214 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_range_img

protected

Save the 2D range image (default: true)

Definition at line 213 of file CSwissRanger3DCamera.h.

std::string mrpt::hwdrivers::CGenericSensor::m_sensorLabel

protectedinherited

See CGenericSensor.

Definition at line 128 of file CGenericSensor.h.

mrpt::poses::CPose3D mrpt::hwdrivers::CSwissRanger3DCamera::m_sensorPoseOnRobot

protected

Definition at line 210 of file CSwissRanger3DCamera.h.

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 134 of file CGenericSensor.h.

size_t mrpt::hwdrivers::CSwissRanger3DCamera::m_usb_serial

protected

Definition at line 225 of file CSwissRanger3DCamera.h.

mrpt::gui::CDisplayWindowPtr mrpt::hwdrivers::CSwissRanger3DCamera::m_win_int

protected

Definition at line 233 of file CSwissRanger3DCamera.h.

mrpt::gui::CDisplayWindowPtr mrpt::hwdrivers::CSwissRanger3DCamera::m_win_range

protected

Definition at line 233 of file CSwissRanger3DCamera.h.

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