Detailed Description

A class for grabing "range images", intensity images (either RGB or IR) and other information from an OpenNI2 sensor.

This class permits to access several sensors simultaneously. The same options (resolution, fps, etc.) are used for every sensor.

Configuration and usage:

Data is returned as observations of type mrpt::obs::CObservation3DRangeScan. 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.
COpenNI2Sensor::initialize() - to start the communication with the sensor.
call COpenNI2Sensor::getNextObservation() for getting the data.

Calibration parameters

In this class we employ the OpenNI2 method to return depth images refered to the RGB camera. Otherwise we could specify an accurate transformation of depth images to 3D points, you'll have to calibrate your RGBD sensor for that, 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 COpenNI2Sensor::setCameraParamsIntensity()
Camera parameters for the depth camera. See COpenNI2Sensor::setCameraParamsDepth()
The 3D relative pose of the two cameras. See COpenNI2Sensor::setRelativePoseIntensityWrtDepth()

See https://www.mrpt.org/Kinect_calibration for a procedure to calibrate RGBD sensors with an interactive GUI program.

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::obs::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).

Notice however that, for consistency with stereo cameras, when loading the calibration parameters from a configuration file, the left-to-right pose increment is expected as if both RGB & IR cameras had their +Z axes pointing forward, +X to the right, +Y downwards (just like it's the standard in stereo cameras and in computer vision literature). In other words: the pose stored in this class uses a different axes convention for the depth camera than in a stereo camera, so when a pose L2R is loaded from a calibration file it's actually converted like:

L2R(this class convention) = CPose3D(0,0,0,-90deg,0deg,-90deg) (+) L2R(in the config file)

Some general comments

Depth is grabbed in millimeters
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::obs::CObservation3DRangeScan  obs3D;
mrpt::maps::CColouredPointsMap       pntsMap;
pntsMap.colorScheme.scheme = CColouredPointsMap::cmFromIntensityImage;
pntsMap.loadFromRangeScan(obs3D);

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

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

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     = OPENNI2       // 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.
 
     video_channel   = VIDEO_CHANNEL_RGB // Optional. Can be:
*VIDEO_CHANNEL_RGB (default) or VIDEO_CHANNEL_IR
 
     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
 
 
     // Kinect sensor calibration:
     // See https://www.mrpt.org/Kinect_and_MRPT
 
     // Left/Depth camera
     [supplied_section_name_LEFT]
     rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this
*section (it is not a separate device!)
 
     resolution = [640 488]
     cx         = 314.649173
     cy         = 240.160459
     fx         = 572.882768
     fy         = 542.739980
     dist       = [-4.747169e-03 -4.357976e-03 0.000000e+00 0.000000e+00
 0.000000e+00]    // The order is: [K1 K2 T1 T2 K3]
 
     // Right/RGB camera
     [supplied_section_name_RIGHT]
     rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this
*section (it is not a separate device!)
 
     resolution = [640 480]
     cx         = 322.515987
     cy         = 259.055966
     fx         = 521.179233
     fy         = 493.033034
     dist       = [5.858325e-02 3.856792e-02 0.000000e+00 0.000000e+00
 0.000000e+00]    // The order is: [K1 K2 T1 T2 K3]
 
     // Relative pose of the right camera wrt to the left camera:
     // This assumes that both camera frames are such that +Z points
     // forwards, and +X and +Y to the right and downwards.
     // For the actual coordinates employed in 3D observations, see figure in
*mrpt::obs::CObservation3DRangeScan
     [supplied_section_name_LEFT2RIGHT_POSE]
     rawlog-grabber-ignore = true // Instructs rawlog-grabber to ignore this
*section (it is not a separate device!)
 
     pose_quaternion      = [0.025575 -0.000609 -0.001462 0.999987 0.002038
 0.004335 -0.001693]

Member Typedef Documentation

◆ Ptr

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

inherited

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

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

inherited

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

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

inherited

Definition at line 79 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

enum mrpt::hwdrivers::CGenericSensor::TSensorState

inherited

The current state of the sensor.

See also: CGenericSensor::getState

Enumerator
ssInitializing
ssWorking
ssError
ssUninitialized

Definition at line 84 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ COpenNI2Sensor()

COpenNI2Sensor::COpenNI2Sensor ( )

Default ctor.

Definition at line 39 of file COpenNI2Sensor.cpp.

◆ ~COpenNI2Sensor()

COpenNI2Sensor::~COpenNI2Sensor ( )

override

Default ctor.

Definition at line 75 of file COpenNI2Sensor.cpp.

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 180 of file CGenericSensor.h.

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

Referenced by mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CSkeletonTracker::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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◆ close()

void COpenNI2Generic::close ( unsigned sensor_id = 0 )

inherited

Close the connection to the sensor (no need to call it manually unless desired for some reason, since it's called at destructor.

Definition at line 390 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), THROW_EXCEPTION, vDevices, and vDevices_mx.

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◆ cols()

size_t mrpt::hwdrivers::COpenNI2Sensor::cols ( ) const

inline

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

Definition at line 299 of file COpenNI2Sensor.h.

References m_cameraParamsRGB, and mrpt::img::TCamera::ncols.

◆ 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 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 210 of file CGenericSensor.h.

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

Referenced by mrpt::apps::RawlogGrabberApp::SensorThread().

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◆ doProcess()

void COpenNI2Sensor::doProcess ( )

overridevirtual

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

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

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

Exceptions

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

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 149 of file COpenNI2Sensor.cpp.

References THROW_EXCEPTION.

◆ enableGrab3DPoints()

void mrpt::hwdrivers::COpenNI2Sensor::enableGrab3DPoints ( bool enable = true )

inline

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

Definition at line 338 of file COpenNI2Sensor.h.

References mrpt::hwdrivers::COpenNI2Generic::m_grab_3D_points.

◆ enableGrabDepth()

void mrpt::hwdrivers::COpenNI2Sensor::enableGrabDepth ( bool enable = true )

inline

Enable/disable the grabbing of the depth channel.

Definition at line 335 of file COpenNI2Sensor.h.

References mrpt::hwdrivers::COpenNI2Generic::m_grab_depth.

◆ enableGrabRGB()

void mrpt::hwdrivers::COpenNI2Sensor::enableGrabRGB ( bool enable = true )

inline

Enable/disable the grabbing of the RGB channel.

Definition at line 332 of file COpenNI2Sensor.h.

References mrpt::hwdrivers::COpenNI2Generic::m_grab_image.

◆ 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 106 of file CGenericSensor.h.

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

◆ getCameraParamsDepth()

const mrpt::img::TCamera& mrpt::hwdrivers::COpenNI2Sensor::getCameraParamsDepth ( ) const

inline

Get a const reference to the depth camera calibration parameters.

Definition at line 311 of file COpenNI2Sensor.h.

References m_cameraParamsDepth.

◆ getCameraParamsIntensity()

const mrpt::img::TCamera& mrpt::hwdrivers::COpenNI2Sensor::getCameraParamsIntensity ( ) const

inline

Get a const reference to the depth camera calibration parameters.

Definition at line 301 of file COpenNI2Sensor.h.

References m_cameraParamsRGB.

◆ getColorSensorParam()

bool COpenNI2Generic::getColorSensorParam	(	mrpt::img::TCamera &	param,
		unsigned	sensor_id = `0`
	)		const

inherited

Definition at line 513 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::CDevice::COLOR_STREAM, mrpt::hwdrivers::COpenNI2Generic::isOpen(), THROW_EXCEPTION, vDevices, and vDevices_mx.

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◆ getConnectedDevices()

int COpenNI2Generic::getConnectedDevices ( )

inherited

Get a list of the connected OpenNI2 sensors.

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions

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

Definition at line 166 of file COpenNI2Generic.cpp.

References mrpt::format(), mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), mrpt::hwdrivers::COpenNI2Generic::m_depth_format, mrpt::hwdrivers::COpenNI2Generic::m_rgb_format, mrpt::hwdrivers::COpenNI2Generic::m_verbose, mrpt::hwdrivers::COpenNI2Generic::showLog(), THROW_EXCEPTION, vDevices, and vDevices_mx.

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◆ getDepthSensorParam()

bool COpenNI2Generic::getDepthSensorParam	(	mrpt::img::TCamera &	param,
		unsigned	sensor_id = `0`
	)		const

inherited

Definition at line 529 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::CDevice::DEPTH_STREAM, mrpt::hwdrivers::COpenNI2Generic::isOpen(), THROW_EXCEPTION, vDevices, and vDevices_mx.

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◆ getDeviceIDFromSerialNum()

bool COpenNI2Generic::getDeviceIDFromSerialNum	(	const unsigned int	SerialRequired,
		int &	sensor_id
	)		const

inherited

Get the ID of the device corresponding to 'SerialRequired'.

Definition at line 365 of file COpenNI2Generic.cpp.

References THROW_EXCEPTION, vDevices, and vDevices_mx.

◆ getExternalImageJPEGQuality()

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

inlineinherited

Definition at line 279 of file CGenericSensor.h.

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

◆ getMaxRange()

double mrpt::hwdrivers::COpenNI2Sensor::getMaxRange ( ) const

inline

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

Definition at line 293 of file COpenNI2Sensor.h.

References m_maxRange.

◆ getNextFrameD()

void COpenNI2Generic::getNextFrameD	(	mrpt::math::CMatrix_u16 &	depth_img_mm,
		mrpt::system::TTimeStamp &	timestamp,
		bool &	there_is_obs,
		bool &	hardware_error,
		unsigned	sensor_id = `0`
	)

inherited

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

Parameters

depth_img	The output retrieved depth image (only if there_is_obs=true).
timestamp	The timestamp of the capture (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.
sensor_id	The index of the sensor accessed.

Definition at line 448 of file COpenNI2Generic.cpp.

References mrpt::format(), mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), mrpt::hwdrivers::COpenNI2Generic::showLog(), THROW_EXCEPTION, and vDevices.

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◆ getNextFrameRGB()

void COpenNI2Generic::getNextFrameRGB	(	mrpt::img::CImage &	rgb_img,
		mrpt::system::TTimeStamp &	timestamp,
		bool &	there_is_obs,
		bool &	hardware_error,
		unsigned	sensor_id = `0`
	)

inherited

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

Parameters

out_img	The output retrieved RGB image (only if there_is_obs=true).
timestamp	The timestamp of the capture (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.
sensor_id	The index of the sensor accessed.
out_obs	The output retrieved observation (only if there_is_obs=true).
timestamp	The timestamp of the capture (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.
sensor_id	The index of the sensor accessed.

Definition at line 419 of file COpenNI2Generic.cpp.

References mrpt::format(), mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), mrpt::hwdrivers::COpenNI2Generic::showLog(), THROW_EXCEPTION, and vDevices.

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◆ getNextFrameRGBD()

void COpenNI2Generic::getNextFrameRGBD	(	mrpt::obs::CObservation3DRangeScan &	out_obs,
		bool &	there_is_obs,
		bool &	hardware_error,
		unsigned	sensor_id = `0`
	)

inherited

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.
sensor_id	The index of the sensor accessed.

See also: doProcess

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.
sensor_id	The index of the sensor accessed.

Definition at line 485 of file COpenNI2Generic.cpp.

References mrpt::format(), mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), mrpt::hwdrivers::COpenNI2Generic::showLog(), THROW_EXCEPTION, and vDevices.

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◆ getNextObservation()

void COpenNI2Sensor::getNextObservation	(	mrpt::obs::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

Definition at line 277 of file COpenNI2Sensor.cpp.

References mrpt::gui::CDisplayWindow::Create(), and THROW_EXCEPTION.

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◆ getNumDevices()

int COpenNI2Generic::getNumDevices ( ) const

inherited

The number of available devices at initialization.

Definition at line 146 of file COpenNI2Generic.cpp.

References vDevices, and vDevices_mx.

Referenced by mrpt::hwdrivers::COpenNI2Generic::close(), mrpt::hwdrivers::COpenNI2Generic::getConnectedDevices(), mrpt::hwdrivers::COpenNI2Generic::getNextFrameD(), mrpt::hwdrivers::COpenNI2Generic::getNextFrameRGB(), mrpt::hwdrivers::COpenNI2Generic::getNextFrameRGBD(), mrpt::hwdrivers::COpenNI2Generic::isOpen(), and mrpt::hwdrivers::COpenNI2Generic::open().

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◆ getNumInstances()

int COpenNI2Generic::getNumInstances ( )

staticinherited

Get the number of OpenNI2 cameras currently open via COpenNI2Generic.

Definition at line 55 of file COpenNI2Generic.cpp.

References numInstances().

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◆ 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 94 of file CGenericSensor.h.

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

◆ getRelativePoseIntensityWrtDepth()

const mrpt::poses::CPose3D& mrpt::hwdrivers::COpenNI2Sensor::getRelativePoseIntensityWrtDepth ( ) const

inline

Definition at line 326 of file COpenNI2Sensor.h.

References m_relativePoseIntensityWRTDepth.

◆ 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 95 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 93 of file CGenericSensor.h.

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

◆ initialize()

void COpenNI2Sensor::initialize ( )

overridevirtual

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

This method can or cannot be implemented in the derived class, depending on the need for it.

Exceptions

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

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 87 of file COpenNI2Sensor.cpp.

References mrpt::format(), isValidParameter(), and THROW_EXCEPTION.

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◆ isGrab3DPointsEnabled()

bool mrpt::hwdrivers::COpenNI2Sensor::isGrab3DPointsEnabled ( ) const

inline

Definition at line 342 of file COpenNI2Sensor.h.

References mrpt::hwdrivers::COpenNI2Generic::m_grab_3D_points.

◆ isGrabDepthEnabled()

bool mrpt::hwdrivers::COpenNI2Sensor::isGrabDepthEnabled ( ) const

inline

Definition at line 336 of file COpenNI2Sensor.h.

References mrpt::hwdrivers::COpenNI2Generic::m_grab_depth.

◆ isGrabRGBEnabled()

bool mrpt::hwdrivers::COpenNI2Sensor::isGrabRGBEnabled ( ) const

inline

Definition at line 333 of file COpenNI2Sensor.h.

References mrpt::hwdrivers::COpenNI2Generic::m_grab_image.

◆ isOpen()

bool COpenNI2Generic::isOpen ( const unsigned sensor_id ) const

inherited

Whether there is a working connection to the sensor.

Definition at line 244 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), vDevices, and vDevices_mx.

Referenced by mrpt::hwdrivers::COpenNI2Generic::getColorSensorParam(), mrpt::hwdrivers::COpenNI2Generic::getDepthSensorParam(), mrpt::hwdrivers::COpenNI2Generic::open(), and mrpt::hwdrivers::COpenNI2Generic::openDevicesBySerialNum().

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◆ isVerbose()

bool COpenNI2Generic::isVerbose ( ) const

inherited

Definition at line 152 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::m_verbose.

Referenced by mrpt::hwdrivers::COpenNI2Generic::showLog().

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◆ isVerboseEnabled()

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

inlineinherited

Definition at line 107 of file CGenericSensor.h.

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

◆ kill()

void COpenNI2Generic::kill ( )

inherited

Kill the OpenNI2 driver.

See also: start()

Definition at line 233 of file COpenNI2Generic.cpp.

References THROW_EXCEPTION, vDevices, and vDevices_mx.

Referenced by mrpt::hwdrivers::COpenNI2Generic::~COpenNI2Generic().

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◆ 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(), mrpt::config::CConfigFileBase::read_string(), and sect.

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◆ loadConfig_sensorSpecific()

void COpenNI2Sensor::loadConfig_sensorSpecific	(	const mrpt::config::CConfigFileBase &	configSource,
		const std::string &	iniSection
	)

overrideprotectedvirtual

Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see config::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.

Definition at line 189 of file COpenNI2Sensor.cpp.

References mrpt::DEG2RAD(), mrpt::img::TStereoCamera::leftCamera, mrpt::img::TStereoCamera::loadFromConfigFile(), mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), mrpt::img::TStereoCamera::rightCamera, mrpt::img::TStereoCamera::rightCameraPose, mrpt::config::CConfigFileBase::sectionExists(), and twist().

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◆ open()

void COpenNI2Generic::open ( unsigned sensor_id = 0 )

inherited

Try to open the camera (all the parameters [resolution,fps,...] must be set 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.

Definition at line 258 of file COpenNI2Generic.cpp.

References mrpt::format(), mrpt::hwdrivers::COpenNI2Generic::getNumDevices(), mrpt::hwdrivers::COpenNI2Generic::isOpen(), mrpt::hwdrivers::COpenNI2Generic::m_fps, mrpt::hwdrivers::COpenNI2Generic::m_height, mrpt::hwdrivers::COpenNI2Generic::m_verbose, mrpt::hwdrivers::COpenNI2Generic::m_width, mrpt::hwdrivers::COpenNI2Generic::showLog(), THROW_EXCEPTION, vDevices, and vDevices_mx.

Referenced by mrpt::hwdrivers::COpenNI2Generic::openDevicesBySerialNum().

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◆ openDeviceBySerial()

unsigned int COpenNI2Generic::openDeviceBySerial ( const unsigned int SerialRequired )

inherited

Open a RGBD device specified by its serial number.

This method is a wrapper for openDevicesBySerialNum(const std::set<unsigned>& vSerialRequired) This method requires to open the sensors which are still closed to read their serial.

Definition at line 357 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::openDevicesBySerialNum().

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◆ openDevicesBySerialNum()

unsigned int COpenNI2Generic::openDevicesBySerialNum ( const std::set< unsigned > & vSerialRequired )

inherited

Open a set of RGBD devices specified by their serial number.

Raises an exception when the demanded serial numbers are not among the connected devices. This function also fills a vector with the serial numbers of the connected OpenNI2 sensors (this requires openning the sensors which are still closed to read their serial)

Definition at line 302 of file COpenNI2Generic.cpp.

References mrpt::format(), mrpt::hwdrivers::COpenNI2Generic::isOpen(), mrpt::hwdrivers::COpenNI2Generic::m_fps, mrpt::hwdrivers::COpenNI2Generic::m_height, mrpt::hwdrivers::COpenNI2Generic::m_verbose, mrpt::hwdrivers::COpenNI2Generic::m_width, mrpt::hwdrivers::COpenNI2Generic::open(), mrpt::hwdrivers::COpenNI2Generic::showLog(), THROW_EXCEPTION, vDevices, and vDevices_mx.

Referenced by mrpt::hwdrivers::COpenNI2Generic::openDeviceBySerial().

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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().

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◆ rows()

size_t mrpt::hwdrivers::COpenNI2Sensor::rows ( ) const

inline

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

Definition at line 296 of file COpenNI2Sensor.h.

References m_cameraParamsRGB, and mrpt::img::TCamera::nrows.

◆ setCameraParamsDepth()

void mrpt::hwdrivers::COpenNI2Sensor::setCameraParamsDepth ( const mrpt::img::TCamera & p )

inline

Definition at line 315 of file COpenNI2Sensor.h.

References m_cameraParamsDepth.

◆ setCameraParamsIntensity()

void mrpt::hwdrivers::COpenNI2Sensor::setCameraParamsIntensity ( const mrpt::img::TCamera & p )

inline

Definition at line 305 of file COpenNI2Sensor.h.

References m_cameraParamsRGB.

◆ 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 268 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 275 of file CGenericSensor.h.

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

◆ setPathForExternalImages() [1/2]

virtual void mrpt::hwdrivers::CGenericSensor::setPathForExternalImages ( [ [maybe_unused] ] 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.

Definition at line 257 of file CGenericSensor.h.

◆ setPathForExternalImages() [2/2]

void COpenNI2Sensor::setPathForExternalImages ( const std::string & directory )

override

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.

Definition at line 357 of file COpenNI2Sensor.cpp.

◆ setRelativePoseIntensityWrtDepth()

void mrpt::hwdrivers::COpenNI2Sensor::setRelativePoseIntensityWrtDepth ( const mrpt::poses::CPose3D & p )

inline

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

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

Definition at line 322 of file COpenNI2Sensor.h.

References m_relativePoseIntensityWRTDepth.

◆ setSensorIDToOpen()

void mrpt::hwdrivers::COpenNI2Sensor::setSensorIDToOpen ( const unsigned sensor_id )

inline

Set the sensor_id of the device to open.

Exceptions

This	method must throw an exception when such serial number is not found among the connected devices.

Definition at line 242 of file COpenNI2Sensor.h.

References m_user_device_number.

◆ setSensorLabel()

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

inlineinherited

Definition at line 96 of file CGenericSensor.h.

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

◆ setSerialToOpen()

void mrpt::hwdrivers::COpenNI2Sensor::setSerialToOpen ( const unsigned serial )

inline

Set the serial number of the device to open.

Exceptions

This	method must throw an exception when such serial number is not found among the connected devices.

Definition at line 233 of file COpenNI2Sensor.h.

References m_serial_number.

◆ setVerbose()

void COpenNI2Generic::setVerbose ( bool verbose )

inherited

Definition at line 151 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::m_verbose, and verbose.

◆ showLog()

void COpenNI2Generic::showLog ( const std::string & message ) const

protectedinherited

Definition at line 153 of file COpenNI2Generic.cpp.

References mrpt::hwdrivers::COpenNI2Generic::isVerbose().

Referenced by mrpt::hwdrivers::COpenNI2Generic::getConnectedDevices(), mrpt::hwdrivers::COpenNI2Generic::getNextFrameD(), mrpt::hwdrivers::COpenNI2Generic::getNextFrameRGB(), mrpt::hwdrivers::COpenNI2Generic::getNextFrameRGBD(), mrpt::hwdrivers::COpenNI2Generic::open(), and mrpt::hwdrivers::COpenNI2Generic::openDevicesBySerialNum().

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◆ start()

bool COpenNI2Generic::start ( )

inherited

Open all sensor streams (normally called automatically at constructor, no need to call it manually).

Returns: false on error

See also: kill() to close

Definition at line 112 of file COpenNI2Generic.cpp.

References initialize(), numInstances(), and THROW_EXCEPTION.

Referenced by mrpt::hwdrivers::COpenNI2Generic::COpenNI2Generic().

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Member Data Documentation

◆ m_cameraParamsDepth

mrpt::img::TCamera mrpt::hwdrivers::COpenNI2Sensor::m_cameraParamsDepth

protected

Params for the Depth camera.

Definition at line 366 of file COpenNI2Sensor.h.

Referenced by getCameraParamsDepth(), and setCameraParamsDepth().

◆ m_cameraParamsRGB

mrpt::img::TCamera mrpt::hwdrivers::COpenNI2Sensor::m_cameraParamsRGB

protected

Params for the RGB camera.

Definition at line 363 of file COpenNI2Sensor.h.

Referenced by cols(), getCameraParamsIntensity(), rows(), and setCameraParamsIntensity().

◆ m_depth_format

int mrpt::hwdrivers::COpenNI2Generic::m_depth_format

protectedinherited

Definition at line 155 of file COpenNI2Generic.h.

Referenced by mrpt::hwdrivers::COpenNI2Generic::getConnectedDevices().

◆ 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 158 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 160 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_fps

float mrpt::hwdrivers::COpenNI2Generic::m_fps {30.0f}

protectedinherited

Definition at line 154 of file COpenNI2Generic.h.

Referenced by mrpt::hwdrivers::COpenNI2Generic::open(), and mrpt::hwdrivers::COpenNI2Generic::openDevicesBySerialNum().

◆ m_grab_3D_points

bool mrpt::hwdrivers::COpenNI2Generic::m_grab_3D_points {true}

protectedinherited

Definition at line 161 of file COpenNI2Generic.h.

Referenced by enableGrab3DPoints(), and isGrab3DPointsEnabled().

◆ 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 139 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 146 of file CGenericSensor.h.

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

◆ m_grab_depth

bool mrpt::hwdrivers::COpenNI2Generic::m_grab_depth {true}

protectedinherited

Definition at line 161 of file COpenNI2Generic.h.

Referenced by enableGrabDepth(), and isGrabDepthEnabled().

◆ m_grab_image

bool mrpt::hwdrivers::COpenNI2Generic::m_grab_image {true}

protectedinherited

The data that the RGBD sensors can return.

Default: all true

Definition at line 161 of file COpenNI2Generic.h.

Referenced by enableGrabRGB(), and isGrabRGBEnabled().

◆ m_height

int mrpt::hwdrivers::COpenNI2Generic::m_height {480}

protectedinherited

Definition at line 153 of file COpenNI2Generic.h.

Referenced by mrpt::hwdrivers::COpenNI2Generic::open(), and mrpt::hwdrivers::COpenNI2Generic::openDevicesBySerialNum().

◆ m_max_queue_len

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

protectedinherited

See CGenericSensor.

Definition at line 136 of file CGenericSensor.h.

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

◆ m_maxRange

double mrpt::hwdrivers::COpenNI2Sensor::m_maxRange = 5.0

protected

Sensor max range (meters)

Definition at line 373 of file COpenNI2Sensor.h.

Referenced by getMaxRange().

◆ 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 155 of file CGenericSensor.h.

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

◆ m_preview_decim_counter_range

size_t mrpt::hwdrivers::COpenNI2Sensor::m_preview_decim_counter_range {0}

protected

Definition at line 358 of file COpenNI2Sensor.h.

◆ m_preview_decim_counter_rgb

size_t mrpt::hwdrivers::COpenNI2Sensor::m_preview_decim_counter_rgb {0}

protected

Definition at line 358 of file COpenNI2Sensor.h.

◆ m_preview_window

bool mrpt::hwdrivers::COpenNI2Sensor::m_preview_window {false}

protected

Show preview window while grabbing.

Definition at line 354 of file COpenNI2Sensor.h.

◆ m_preview_window_decimation

size_t mrpt::hwdrivers::COpenNI2Sensor::m_preview_window_decimation {1}

protected

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

Definition at line 357 of file COpenNI2Sensor.h.

◆ m_process_rate

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

protectedinherited

See CGenericSensor.

Definition at line 134 of file CGenericSensor.h.

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

◆ m_relativePoseIntensityWRTDepth

mrpt::poses::CPose3D mrpt::hwdrivers::COpenNI2Sensor::m_relativePoseIntensityWRTDepth

protected

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

Definition at line 369 of file COpenNI2Sensor.h.

Referenced by getRelativePoseIntensityWrtDepth(), and setRelativePoseIntensityWrtDepth().

◆ m_rgb_format

int mrpt::hwdrivers::COpenNI2Generic::m_rgb_format

protectedinherited

Definition at line 155 of file COpenNI2Generic.h.

Referenced by mrpt::hwdrivers::COpenNI2Generic::getConnectedDevices().

◆ m_sensorLabel

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

protectedinherited

See CGenericSensor.

Definition at line 141 of file CGenericSensor.h.

◆ m_sensorPoseOnRobot

mrpt::poses::CPose3D mrpt::hwdrivers::COpenNI2Sensor::m_sensorPoseOnRobot

protected

Definition at line 350 of file COpenNI2Sensor.h.

◆ m_serial_number

int mrpt::hwdrivers::COpenNI2Sensor::m_serial_number {0}

protected

Serial number of device to open.

Definition at line 380 of file COpenNI2Sensor.h.

Referenced by setSerialToOpen().

◆ m_state

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

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_user_device_number

int mrpt::hwdrivers::COpenNI2Sensor::m_user_device_number {0}

protected

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

Definition at line 377 of file COpenNI2Sensor.h.

Referenced by setSensorIDToOpen().

◆ m_verbose [1/2]

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

protectedinherited

Definition at line 149 of file CGenericSensor.h.

◆ m_verbose [2/2]

bool mrpt::hwdrivers::COpenNI2Generic::m_verbose {false}

protectedinherited

Definition at line 156 of file COpenNI2Generic.h.

Referenced by mrpt::hwdrivers::COpenNI2Generic::COpenNI2Generic(), mrpt::hwdrivers::COpenNI2Generic::getConnectedDevices(), mrpt::hwdrivers::COpenNI2Generic::isVerbose(), mrpt::hwdrivers::COpenNI2Generic::open(), mrpt::hwdrivers::COpenNI2Generic::openDevicesBySerialNum(), and mrpt::hwdrivers::COpenNI2Generic::setVerbose().

◆ m_width

int mrpt::hwdrivers::COpenNI2Generic::m_width {640}

protectedinherited

The same options (width, height and fps) are set for all the sensors.

(This could be changed if necessary)

Definition at line 153 of file COpenNI2Generic.h.

Referenced by mrpt::hwdrivers::COpenNI2Generic::open(), and mrpt::hwdrivers::COpenNI2Generic::openDevicesBySerialNum().

◆ m_win_int

mrpt::gui::CDisplayWindow::Ptr mrpt::hwdrivers::COpenNI2Sensor::m_win_int

protected

Definition at line 359 of file COpenNI2Sensor.h.

◆ m_win_range

mrpt::gui::CDisplayWindow::Ptr mrpt::hwdrivers::COpenNI2Sensor::m_win_range

protected

Definition at line 359 of file COpenNI2Sensor.h.

◆ vSerialNums

std::vector<int> mrpt::hwdrivers::COpenNI2Generic::vSerialNums

protectedinherited

A vector with the serial numbers of the available devices.

Definition at line 145 of file COpenNI2Generic.h.

Public Types
enum	TSensorState { ssInitializing = 0, ssWorking, ssError, ssUninitialized }
	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
	COpenNI2Sensor ()
	Default ctor. More...

	~COpenNI2Sensor () override
	Default ctor. More...

void	setSerialToOpen (const unsigned serial)
	Set the serial number of the device to open. More...

void	setSensorIDToOpen (const unsigned sensor_id)
	Set the sensor_id of the device to open. More...

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

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

void	getNextObservation (mrpt::obs::CObservation3DRangeScan &out_obs, bool &there_is_obs, bool &hardware_error)
	The main data retrieving function, to be called after calling loadConfig() and initialize(). More...

void	setPathForExternalImages (const std::string &directory) override
	Set the path where to save off-rawlog image files (this class DOES take into account this path). 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 ([[maybe_unused]] 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

void	getNextFrameRGB (mrpt::img::CImage &rgb_img, mrpt::system::TTimeStamp &timestamp, bool &there_is_obs, bool &hardware_error, unsigned sensor_id=0)
	The main data retrieving function, to be called after calling loadConfig() and initialize(). More...

void	getNextFrameD (mrpt::math::CMatrix_u16 &depth_img_mm, mrpt::system::TTimeStamp &timestamp, bool &there_is_obs, bool &hardware_error, unsigned sensor_id=0)
	The main data retrieving function, to be called after calling loadConfig() and initialize(). More...

void	getNextFrameRGBD (mrpt::obs::CObservation3DRangeScan &out_obs, bool &there_is_obs, bool &hardware_error, unsigned sensor_id=0)
	The main data retrieving function, to be called after calling loadConfig() and initialize(). More...

void	setVerbose (bool verbose)

bool	isVerbose () const

bool	getColorSensorParam (mrpt::img::TCamera &param, unsigned sensor_id=0) const

bool	getDepthSensorParam (mrpt::img::TCamera &param, unsigned sensor_id=0) const

Sensor parameters (alternative to \a loadConfig ) and manual
control
double	getMaxRange () const
	Get the maximum range (meters) that can be read in the observation field "rangeImage". More...

size_t	rows () const
	Get the row count in the camera images, loaded automatically upon camera open(). More...

size_t	cols () const
	Get the col count in the camera images, loaded automatically upon camera open(). More...

const mrpt::img::TCamera &	getCameraParamsIntensity () const
	Get a const reference to the depth camera calibration parameters. More...

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

const mrpt::img::TCamera &	getCameraParamsDepth () const
	Get a const reference to the depth camera calibration parameters. More...

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

void	setRelativePoseIntensityWrtDepth (const mrpt::poses::CPose3D &p)
	Set the pose of the intensity camera wrt the depth camera. More...

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

void	enableGrabRGB (bool enable=true)
	Enable/disable the grabbing of the RGB channel. More...

bool	isGrabRGBEnabled () const

void	enableGrabDepth (bool enable=true)
	Enable/disable the grabbing of the depth channel. More...

bool	isGrabDepthEnabled () const

void	enableGrab3DPoints (bool enable=true)
	Enable/disable the grabbing of the 3D point clouds. More...

bool	isGrab3DPointsEnabled () const

Open/Close device methods
void	open (unsigned sensor_id=0)
	Try to open the camera (all the parameters [resolution,fps,...] must be set before calling this) - users may also call initialize(), which in turn calls this method. More...

unsigned int	openDevicesBySerialNum (const std::set< unsigned > &vSerialRequired)
	Open a set of RGBD devices specified by their serial number. More...

unsigned int	openDeviceBySerial (const unsigned int SerialRequired)
	Open a RGBD device specified by its serial number. More...

bool	getDeviceIDFromSerialNum (const unsigned int SerialRequired, int &sensor_id) const
	Get the ID of the device corresponding to 'SerialRequired'. More...

bool	start ()
	Open all sensor streams (normally called automatically at constructor, no need to call it manually). More...

void	kill ()
	Kill the OpenNI2 driver. More...

bool	isOpen (const unsigned sensor_id) const
	Whether there is a working connection to the sensor. More...

void	close (unsigned sensor_id=0)
	Close the connection to the sensor (no need to call it manually unless desired for some reason, since it's called at destructor. More...

int	getNumDevices () const
	The number of available devices at initialization. More...

int	getConnectedDevices ()
	Get a list of the connected OpenNI2 sensors. More...

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

static int	getNumInstances ()
	Get the number of OpenNI2 cameras currently open via COpenNI2Generic. More...

Protected Member Functions
void	loadConfig_sensorSpecific (const mrpt::config::CConfigFileBase &configSource, const std::string &section) override
	Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see config::CConfigFileBase and derived classes) More...

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...

void	showLog (const std::string &message) const

Protected Attributes
mrpt::poses::CPose3D	m_sensorPoseOnRobot

bool	m_preview_window {false}
	Show preview window while grabbing. More...

size_t	m_preview_window_decimation {1}
	If preview is enabled, only show 1 out of N images. More...

size_t	m_preview_decim_counter_range {0}

size_t	m_preview_decim_counter_rgb {0}

mrpt::gui::CDisplayWindow::Ptr	m_win_range

mrpt::gui::CDisplayWindow::Ptr	m_win_int

mrpt::img::TCamera	m_cameraParamsRGB
	Params for the RGB camera. More...

mrpt::img::TCamera	m_cameraParamsDepth
	Params for the Depth camera. More...

mrpt::poses::CPose3D	m_relativePoseIntensityWRTDepth
	See mrpt::obs::CObservation3DRangeScan for a diagram of this pose. More...

double	m_maxRange = 5.0
	Sensor max range (meters) More...

int	m_user_device_number {0}
	Number of device to open (0:first,...) More...

int	m_serial_number {0}
	Serial number of device to open. 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...

std::vector< int >	vSerialNums
	A vector with the serial numbers of the available devices. More...

int	m_width {640}
	The same options (width, height and fps) are set for all the sensors. More...

int	m_height {480}

float	m_fps {30.0f}

int	m_rgb_format

int	m_depth_format

bool	m_verbose {false}

bool	m_grab_image {true}
	The data that the RGBD sensors can return. More...

bool	m_grab_depth {true}

bool	m_grab_3D_points {true}

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...

Detailed Description

Configuration and usage:

Calibration parameters

Coordinates convention

Some general comments

Converting to 3D point cloud

Platform-specific comments

Format of parameters for loading from a .ini file

Public Types

Public Member Functions

Static Public Member Functions

Protected Member Functions

Protected Attributes

Member Typedef Documentation

◆ Ptr

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

Constructor & Destructor Documentation

◆ COpenNI2Sensor()

◆ ~COpenNI2Sensor()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ close()

◆ cols()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ enableGrab3DPoints()

◆ enableGrabDepth()

◆ enableGrabRGB()

◆ enableVerbose()

◆ getCameraParamsDepth()

◆ getCameraParamsIntensity()

◆ getColorSensorParam()

◆ getConnectedDevices()

◆ getDepthSensorParam()

◆ getDeviceIDFromSerialNum()

◆ getExternalImageJPEGQuality()

◆ getMaxRange()

◆ getNextFrameD()

◆ getNextFrameRGB()

◆ getNextFrameRGBD()

◆ getNextObservation()

◆ getNumDevices()

◆ getNumInstances()

◆ getObservations()

◆ getProcessRate()

◆ getRelativePoseIntensityWrtDepth()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ initialize()

◆ isGrab3DPointsEnabled()

◆ isGrabDepthEnabled()

◆ isGrabRGBEnabled()

◆ isOpen()

◆ isVerbose()

◆ isVerboseEnabled()

◆ kill()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ open()

◆ openDeviceBySerial()

◆ openDevicesBySerialNum()

◆ registerClass()

◆ rows()

◆ setCameraParamsDepth()

◆ setCameraParamsIntensity()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setPathForExternalImages() [1/2]

◆ setPathForExternalImages() [2/2]

◆ setRelativePoseIntensityWrtDepth()

◆ setSensorIDToOpen()

◆ setSensorLabel()

◆ setSerialToOpen()

◆ setVerbose()