Detailed Description

A class for grabbing mrpt::obs::CObservationSkeleton from a PrimeSense camera.

It connects to a PrimeSense camera and tries to detect users while recording the positions of their skeletons' joints along time.

See also the application "rawlog-grabber" for a ready-to-use application to gather data from this sensor.

 PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
-------------------------------------------------------
  [supplied_section_name]
      driver           = CSkeletonTracker
      sensorLabel      = <label>           ; Label of the sensor
      grab_decimation  = 1                 ; [int] Grab skeletons in 1 out of 'grab_decimation' frames.
   show_preview        = 1                 ; [bool] {0,1} Opens a display window to show the recorded skeleton.
   pose_x          = 0                 ; [double] Sensor 3D position relative to the robot (meters)
   pose_y          = 0
   pose_z          = 0
   pose_yaw            = 0                 ; [double] Angles in degrees
   pose_pitch      = 0
   pose_roll       = 0

Definition at line 47 of file CSkeletonTracker.h.

#include <mrpt/hwdrivers/CSkeletonTracker.h>

Inheritance diagram for mrpt::hwdrivers::CSkeletonTracker:

Public Types
enum	TSensorState { ssInitializing = 0, ssWorking, ssError }
	The current state of the sensor. More...

using	Ptr = std::shared_ptr< CGenericSensor >

using	TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

using	TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr >

Public Member Functions
	CSkeletonTracker ()
	Constructor. More...

	~CSkeletonTracker () override
	Destructor. More...

void	doProcess () override
	This method will be invoked at a minimum rate of "process_rate" (Hz) More...

void	initialize () override
	Connects to the PrimeSense camera and prepares it to get skeleton data. More...

void	setPreview (const bool setPreview=true)
	Set/unset preview. More...

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

TSensorState	getState () const
	The current state of the sensor. More...

double	getProcessRate () const

std::string	getSensorLabel () const

void	setSensorLabel (const std::string &sensorLabel)

void	enableVerbose (bool enabled=true)
	Enable or disable extra debug info dumped to std::cout during sensor operation. More...

bool	isVerboseEnabled () const

void	loadConfig (const mrpt::config::CConfigFileBase &configSource, const std::string &section)
	Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific". More...

void	getObservations (TListObservations &lstObjects)
	Returns a list of enqueued objects, emptying it (thread-safe). More...

virtual void	setPathForExternalImages (const std::string &directory)
	Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable). More...

void	setExternalImageFormat (const std::string &ext)
	Set the extension ("jpg","gif","png",...) that determines the format of images saved externally The default is "jpg". More...

void	setExternalImageJPEGQuality (const unsigned int quality)
	The quality of JPEG compression, when external images is enabled and the format is "jpg". More...

unsigned int	getExternalImageJPEGQuality () const

Static Public Member Functions
static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents. More...

static CGenericSensor *	createSensor (const std::string &className)
	Creates a sensor by a name of the class. More...

static CGenericSensor::Ptr	createSensorPtr (const std::string &className)
	Just like createSensor, but returning a smart pointer to the newly created sensor object. More...

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &iniSection) override
	See the class documentation at the top for expected parameters. More...

void	processPreview (const mrpt::obs::CObservationSkeleton::Ptr &obs)
	Displays real-time info for the captured skeleton. More...

void	processPreviewNone ()

void	appendObservations (const std::vector< mrpt::serialization::CSerializable::Ptr > &obj)
	This method must be called by derived classes to enqueue a new observation in the list to be returned by getObservations. More...

void	appendObservation (const mrpt::serialization::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

Protected Attributes
void *	m_skeletons_ptr {nullptr}
	Opaque pointers to specific NITE data. More...

void *	m_userTracker_ptr {nullptr}

uint32_t	m_timeStartUI {}
	Timestamp management. More...

mrpt::system::TTimeStamp	m_timeStartTT

mrpt::poses::CPose3D	m_sensorPose
	Sensor pose. More...

int	m_nUsers {0}
	Number of detected users. More...

bool	m_showPreview {false}
	Preview window management. More...

mrpt::gui::CDisplayWindow3D::Ptr	m_win

std::vector< std::pair< JOINT, JOINT > >	m_linesToPlot
	Lines between joints. More...

std::vector< double >	m_joint_theta
	Joint angles when no skeleton has been detected. More...

unsigned int	m_toutCounter {0}
	Timeout counter (for internal use only) More...

size_t	m_grab_decimation_counter {0}
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state {ssInitializing}

bool	m_verbose {false}

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

std::string	m_external_images_format
	The extension ("jpg","gif","png",...) that determines the format of images saved externally. More...

unsigned int	m_external_images_jpeg_quality {95}
	For JPEG images, the quality (default=95%). More...

Common settings to any sensor, loaded in "loadConfig"
double	m_process_rate {0}
	See CGenericSensor. More...

size_t	m_max_queue_len {200}
	See CGenericSensor. More...

size_t	m_grab_decimation {0}
	If set to N>=2, only 1 out of N observations will be saved to m_objList. More...

std::string	m_sensorLabel
	See CGenericSensor. More...

Private Types
enum	JOINT { HEAD = 0, NECK, TORSO, LEFT_SHOULDER, LEFT_ELBOW, LEFT_HAND, LEFT_HIP, LEFT_KNEE, LEFT_FOOT, RIGHT_SHOULDER, RIGHT_ELBOW, RIGHT_HAND, RIGHT_HIP, RIGHT_KNEE, RIGHT_FOOT, NONE }

Member Typedef Documentation

◆ Ptr

using mrpt::hwdrivers::CGenericSensor::Ptr = std::shared_ptr<CGenericSensor>

inherited

Definition at line 72 of file CGenericSensor.h.

◆ TListObservations

using mrpt::hwdrivers::CGenericSensor::TListObservations = std::multimap< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 76 of file CGenericSensor.h.

◆ TListObsPair

using mrpt::hwdrivers::CGenericSensor::TListObsPair = std::pair< mrpt::system::TTimeStamp, mrpt::serialization::CSerializable::Ptr>

inherited

Definition at line 78 of file CGenericSensor.h.

Member Enumeration Documentation

◆ JOINT

enum mrpt::hwdrivers::CSkeletonTracker::JOINT

private

Enumerator
HEAD
NECK
TORSO
LEFT_SHOULDER
LEFT_ELBOW
LEFT_HAND
LEFT_HIP
LEFT_KNEE
LEFT_FOOT
RIGHT_SHOULDER
RIGHT_ELBOW
RIGHT_HAND
RIGHT_HIP
RIGHT_KNEE
RIGHT_FOOT
NONE

Definition at line 49 of file CSkeletonTracker.h.

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError

Definition at line 83 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CSkeletonTracker()

CSkeletonTracker::CSkeletonTracker ( )

Constructor.

Definition at line 56 of file CSkeletonTracker.cpp.

References M_2PI, m_joint_theta, m_linesToPlot, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_skeletons_ptr, m_userTracker_ptr, MAX_USERS, NUM_JOINTS, NUM_LINES, skl_states, and THROW_EXCEPTION.

◆ ~CSkeletonTracker()

CSkeletonTracker::~CSkeletonTracker ( )

override

Destructor.

Definition at line 80 of file CSkeletonTracker.cpp.

References m_skeletons_ptr, m_userTracker_ptr, m_win, skl_states, and user_tracker.

Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::serialization::CSerializable::Ptr & obj )

inlineprotectedinherited

Like appendObservations() but for just one observation.

Definition at line 178 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::appendObservations().

Referenced by mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), doProcess(), mrpt::hwdrivers::CSwissRanger3DCamera::doProcess(), mrpt::hwdrivers::C2DRangeFinderAbstract::doProcess(), mrpt::hwdrivers::CCANBusReader::doProcess(), mrpt::hwdrivers::CVelodyneScanner::doProcess(), and mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow().

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◆ appendObservations()

void CGenericSensor::appendObservations ( const std::vector< mrpt::serialization::CSerializable::Ptr > & 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:

  mrpt::obs::CObservationGPS::Ptr  o = CObservationGPS::Ptr( 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.

Definition at line 48 of file CGenericSensor.cpp.

References CLASS_ID, mrpt::hwdrivers::CGenericSensor::m_csObjList, mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_objList, and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservation(), mrpt::hwdrivers::CNationalInstrumentsDAQ::doProcess(), and mrpt::hwdrivers::CKinect::doProcess().

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◆ createSensor()

CGenericSensor * 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:

CGenericSensor::Ptr sensor = CGenericSensor::Ptr(

CGenericSensor::createSensor("XXX") );

Returns: A pointer to a new class, or nullptr if class name is unknown.

Definition at line 97 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::createSensorPtr().

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◆ createSensorPtr()

static CGenericSensor::Ptr 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 218 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::createSensor().

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◆ doProcess()

void CSkeletonTracker::doProcess ( )

overridevirtual

This method will be invoked at a minimum rate of "process_rate" (Hz)

Exceptions

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

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 439 of file CSkeletonTracker.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), FILL_JOINT_DATA, initialize(), m_nUsers, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, mrpt::hwdrivers::CGenericSensor::m_state, m_timeStartTT, m_timeStartUI, m_toutCounter, mrpt::system::now(), processPreview(), processPreviewNone(), skl_states, mrpt::hwdrivers::CGenericSensor::ssError, THROW_EXCEPTION, mrpt::to_string(), and user_tracker.

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◆ enableVerbose()

void mrpt::hwdrivers::CGenericSensor::enableVerbose ( bool enabled = true )

inlineinherited

Enable or disable extra debug info dumped to std::cout during sensor operation.

Default: disabled unless the environment variable "MRPT_HWDRIVERS_VERBOSE" is set to "1" during object creation.

Definition at line 104 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ getExternalImageJPEGQuality()

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

inlineinherited

Definition at line 288 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ getObservations()

void CGenericSensor::getObservations ( TListObservations & lstObjects )

inherited

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

The objects must be freed by the invoker.

Definition at line 85 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::m_csObjList, and mrpt::hwdrivers::CGenericSensor::m_objList.

Referenced by TEST().

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◆ getProcessRate()

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

inlineinherited

Definition at line 92 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_process_rate.

◆ GetRuntimeClass()

virtual const mrpt::hwdrivers::TSensorClassId* mrpt::hwdrivers::CGenericSensor::GetRuntimeClass ( ) const

pure virtualinherited

◆ getSensorLabel()

std::string mrpt::hwdrivers::CGenericSensor::getSensorLabel ( ) const

inlineinherited

Definition at line 93 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

◆ getState()

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

inlineinherited

The current state of the sensor.

Definition at line 91 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_state.

◆ initialize()

void CSkeletonTracker::initialize ( )

overridevirtual

Connects to the PrimeSense camera and prepares it to get skeleton data.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 558 of file CSkeletonTracker.cpp.

References HEAD, LEFT_ELBOW, LEFT_FOOT, LEFT_HAND, LEFT_HIP, LEFT_KNEE, LEFT_SHOULDER, m_linesToPlot, m_showPreview, mrpt::hwdrivers::CGenericSensor::m_state, NECK, RIGHT_ELBOW, RIGHT_FOOT, RIGHT_HAND, RIGHT_HIP, RIGHT_KNEE, RIGHT_SHOULDER, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssInitializing, THROW_EXCEPTION, TORSO, and user_tracker.

Referenced by doProcess().

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◆ isVerboseEnabled()

bool mrpt::hwdrivers::CGenericSensor::isVerboseEnabled ( ) const

inlineinherited

Definition at line 105 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_verbose.

◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::config::CConfigFileBase &	cfg,
		const std::string &	sect
	)

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.

Definition at line 126 of file CGenericSensor.cpp.

References mrpt::hwdrivers::CGenericSensor::loadConfig_sensorSpecific(), mrpt::hwdrivers::CGenericSensor::m_grab_decimation, mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter, mrpt::hwdrivers::CGenericSensor::m_max_queue_len, mrpt::hwdrivers::CGenericSensor::m_process_rate, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, MRPT_END, MRPT_START, mrpt::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), and mrpt::config::CConfigFileBase::read_string().

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◆ loadConfig_sensorSpecific()

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

overrideprotectedvirtual

See the class documentation at the top for expected parameters.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 607 of file CSkeletonTracker.cpp.

References mrpt::DEG2RAD(), m_sensorPose, m_showPreview, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_float(), and mrpt::poses::CPose3D::setFromValues().

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◆ processPreview()

void CSkeletonTracker::processPreview ( const mrpt::obs::CObservationSkeleton::Ptr & obs )

protected

Displays real-time info for the captured skeleton.

Definition at line 285 of file CSkeletonTracker.cpp.

References ASSERT_, mrpt::obs::CObservationSkeleton::TSkeletonJoint::conf, mrpt::gui::CDisplayWindow3D::Create(), jointNames, m_linesToPlot, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_showPreview, m_win, min, NUM_JOINTS, NUM_LINES, mrpt::opengl::CRenderizable::setColor(), mrpt::opengl::CRenderizable::setPose(), mrpt::obs::CObservationSkeleton::TSkeletonJoint::x, mrpt::obs::CObservationSkeleton::TSkeletonJoint::y, and mrpt::obs::CObservationSkeleton::TSkeletonJoint::z.

Referenced by doProcess().

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◆ processPreviewNone()

void CSkeletonTracker::processPreviewNone ( )

protected

Definition at line 95 of file CSkeletonTracker.cpp.

References ASSERT_, mrpt::gui::CDisplayWindow3D::Create(), mrpt::DEG2RAD(), mrpt::opengl::FILL, jointNames, M_2PI, m_joint_theta, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, m_showPreview, m_win, and NUM_JOINTS.

Referenced by doProcess().

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◆ registerClass()

void 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.

Definition at line 115 of file CGenericSensor.cpp.

References mrpt::hwdrivers::TSensorClassId::className, and mrpt::hwdrivers::CGenericSensor::get_registered_sensor_classes().

Referenced by mrpt::hwdrivers::CGenericSensor::CLASSINIT_GENERIC_SENSOR::CLASSINIT_GENERIC_SENSOR().

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◆ setExternalImageFormat()

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 277 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_format.

◆ setExternalImageJPEGQuality()

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 284 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality.

◆ setPathForExternalImages()

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( const std::string & directory )

inlinevirtualinherited

Set the path where to save off-rawlog image files (will be ignored in those sensors where this is not applicable).

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 in mrpt::hwdrivers::CCameraSensor, mrpt::hwdrivers::CKinect, mrpt::hwdrivers::COpenNI2Sensor, mrpt::hwdrivers::COpenNI2_RGBD360, and mrpt::hwdrivers::CSwissRanger3DCamera.

Definition at line 266 of file CGenericSensor.h.

References MRPT_UNUSED_PARAM.

◆ setPreview()

void mrpt::hwdrivers::CSkeletonTracker::setPreview ( const bool setPreview = true )

inline

Set/unset preview.

Definition at line 127 of file CSkeletonTracker.h.

References m_showPreview.

◆ setSensorLabel()

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

inlineinherited

Definition at line 94 of file CGenericSensor.h.

References mrpt::hwdrivers::CGenericSensor::m_sensorLabel.

Member Data Documentation

◆ m_external_images_format

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 156 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality {95}

protectedinherited

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

Definition at line 158 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getExternalImageJPEGQuality(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageJPEGQuality().

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation {0}

protectedinherited

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

Definition at line 137 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_grab_decimation_counter

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation_counter {0}

protectedinherited

Used when "m_grab_decimation" is enabled.

Definition at line 144 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::appendObservations(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_joint_theta

std::vector<double> mrpt::hwdrivers::CSkeletonTracker::m_joint_theta

protected

Joint angles when no skeleton has been detected.

Definition at line 93 of file CSkeletonTracker.h.

Referenced by CSkeletonTracker(), and processPreviewNone().

◆ m_linesToPlot

std::vector<std::pair<JOINT, JOINT> > mrpt::hwdrivers::CSkeletonTracker::m_linesToPlot

protected

Lines between joints.

Definition at line 91 of file CSkeletonTracker.h.

Referenced by CSkeletonTracker(), initialize(), and processPreview().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len {200}

protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_nUsers

int mrpt::hwdrivers::CSkeletonTracker::m_nUsers {0}

protected

Number of detected users.

Definition at line 85 of file CSkeletonTracker.h.

Referenced by doProcess().

◆ m_path_for_external_images

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 153 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), and mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate {0}

protectedinherited

See CGenericSensor.

Definition at line 132 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CGenericSensor::getProcessRate(), mrpt::hwdrivers::CGyroKVHDSP3000::initialize(), and mrpt::hwdrivers::CGenericSensor::loadConfig().

◆ m_sensorLabel

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

protectedinherited

See CGenericSensor.

Definition at line 139 of file CGenericSensor.h.

◆ m_sensorPose

mrpt::poses::CPose3D mrpt::hwdrivers::CSkeletonTracker::m_sensorPose

protected

Sensor pose.

Definition at line 83 of file CSkeletonTracker.h.

Referenced by loadConfig_sensorSpecific().

◆ m_showPreview

bool mrpt::hwdrivers::CSkeletonTracker::m_showPreview {false}

protected

Preview window management.

Definition at line 88 of file CSkeletonTracker.h.

Referenced by initialize(), loadConfig_sensorSpecific(), processPreview(), processPreviewNone(), and setPreview().

◆ m_skeletons_ptr

void* mrpt::hwdrivers::CSkeletonTracker::m_skeletons_ptr {nullptr}

protected

Opaque pointers to specific NITE data.

Definition at line 75 of file CSkeletonTracker.h.

Referenced by CSkeletonTracker(), and ~CSkeletonTracker().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state {ssInitializing}

protectedinherited

Definition at line 146 of file CGenericSensor.h.

◆ m_timeStartTT

mrpt::system::TTimeStamp mrpt::hwdrivers::CSkeletonTracker::m_timeStartTT

protected

Definition at line 80 of file CSkeletonTracker.h.

Referenced by doProcess().

◆ m_timeStartUI

uint32_t mrpt::hwdrivers::CSkeletonTracker::m_timeStartUI {}

protected

Timestamp management.

Definition at line 79 of file CSkeletonTracker.h.

Referenced by doProcess().

◆ m_toutCounter

unsigned int mrpt::hwdrivers::CSkeletonTracker::m_toutCounter {0}

protected

Timeout counter (for internal use only)

Definition at line 96 of file CSkeletonTracker.h.

Referenced by doProcess().

◆ m_userTracker_ptr

void* mrpt::hwdrivers::CSkeletonTracker::m_userTracker_ptr {nullptr}

protected

Definition at line 76 of file CSkeletonTracker.h.

Referenced by CSkeletonTracker(), and ~CSkeletonTracker().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose {false}

protectedinherited

Definition at line 147 of file CGenericSensor.h.

◆ m_win

mrpt::gui::CDisplayWindow3D::Ptr mrpt::hwdrivers::CSkeletonTracker::m_win

protected

Definition at line 89 of file CSkeletonTracker.h.

Referenced by processPreview(), processPreviewNone(), and ~CSkeletonTracker().

Detailed Description

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Private Types

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ JOINT

◆ TSensorState

Constructor & Destructor Documentation

◆ CSkeletonTracker()

◆ ~CSkeletonTracker()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ enableVerbose()

◆ getExternalImageJPEGQuality()

◆ getObservations()

◆ getProcessRate()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ initialize()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ processPreview()

◆ processPreviewNone()

◆ registerClass()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setPathForExternalImages()

◆ setPreview()

◆ setSensorLabel()

Member Data Documentation

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_grab_decimation

◆ m_grab_decimation_counter

◆ m_joint_theta

◆ m_linesToPlot

◆ m_max_queue_len

◆ m_nUsers

◆ m_path_for_external_images

◆ m_process_rate

◆ m_sensorLabel

◆ m_sensorPose

◆ m_showPreview

◆ m_skeletons_ptr

◆ m_state

◆ m_timeStartTT

◆ m_timeStartUI

◆ m_toutCounter

◆ m_userTracker_ptr

◆ m_verbose

◆ m_win