10 #define mrpt_CKinect_H 25 #if MRPT_HAS_KINECT_FREENECT 26 #define MRPT_KINECT_DEPTH_10BIT 27 #define KINECT_RANGES_TABLE_LEN 1024 28 #define KINECT_RANGES_TABLE_MASK 0x03FF 29 #else // MRPT_HAS_KINECT_CL_NUI or none: 30 #define MRPT_KINECT_DEPTH_11BIT 31 #define KINECT_RANGES_TABLE_LEN 2048 32 #define KINECT_RANGES_TABLE_MASK 0x07FF 317 bool& hardware_error);
326 bool& hardware_error);
467 #if MRPT_HAS_KINECT_FREENECT 475 inline volatile uint32_t& internal_tim_latest_depth()
477 return m_tim_latest_depth;
479 inline volatile uint32_t& internal_tim_latest_rgb()
481 return m_tim_latest_rgb;
483 inline std::mutex& internal_latest_obs_cs() {
return m_latest_obs_cs; }
501 #if MRPT_HAS_KINECT_FREENECT 509 volatile uint32_t m_tim_latest_depth, m_tim_latest_rgb;
510 std::mutex m_latest_obs_cs;
static void fill(bimap< enum_t, std::string > &m_map)
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
void setCameraParamsIntensity(const mrpt::utils::TCamera &p)
size_t getPreviewDecimation() const
void setPreviewDecimation(size_t decimation_factor)
If preview is enabled, show only one image out of N (default: 1=show all)
const mrpt::utils::TCamera & getCameraParamsDepth() const
Get a const reference to the depth camera calibration parameters.
TVideoChannel m_video_channel
The video channel to open: RGB or IR.
virtual void doProcess()
To be called at a high rate (>XX Hz), this method populates the internal buffer of received observati...
double getTiltAngleDegrees()
mrpt::gui::CDisplayWindow::Ptr m_win_int
size_t m_preview_window_decimation
If preview is enabled, only show 1 out of N images.
void setTiltAngleDegrees(double angle)
Change tilt angle.
void setRelativePoseIntensityWrtDepth(const mrpt::poses::CPose3D &p)
Set the pose of the intensity camera wrt the depth camera.
void setDeviceIndexToOpen(int index)
Set the sensor index to open (if there're several sensors attached to the computer); default=0 -> the...
double m_maxRange
Sensor max range (meters)
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
Only specializations of this class are defined for each enum type of interest.
bool isGrab3DPointsEnabled() const
This class stores measurements from an Inertial Measurement Unit (IMU) (attitude estimation, raw gyroscope and accelerometer values), altimeters or magnetometers.
TVideoChannel getVideoChannel() const
Return the current video channel (RGB or IR)
virtual void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string §ion)
See the class documentation at the top for expected parameters.
#define KINECT_RANGES_TABLE_LEN
size_t getRowCount() const
Get the row count in the camera images, loaded automatically upon camera open().
void close()
Close the Connection to the sensor (not need to call it manually unless desired for some reason...
std::vector< uint8_t > m_buf_rgb
This class allows loading and storing values and vectors of different types from a configuration text...
void calculate_range2meters()
Compute m_range2meters at construction.
hwdrivers::CKinect::TVideoChannel enum_t
A class for grabing "range images", intensity images (either RGB or IR) and other information from an...
const TDepth2RangeArray & getRawDepth2RangeConversion() const
void enableGrabDepth(bool enable=true)
Enable/disable the grabbing of the depth channel.
int m_initial_tilt_angle
Set Kinect tilt to an initial deegre (it should be take in account in the sensor pose by the user) ...
void enablePreviewRGB(bool enable=true)
Default: disabled.
void setCameraParamsDepth(const mrpt::utils::TCamera &p)
TDepth2RangeArray m_range2meters
The table raw depth -> range in meters.
A bidirectional version of std::map, declared as bimap<KEY,VALUE> and which actually contains two std...
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)...
uint32_t ncols
Camera resolution.
void enableGrabAccelerometers(bool enable=true)
Enable/disable the grabbing of the inertial data.
const mrpt::utils::TCamera & getCameraParamsIntensity() const
Get a const reference to the depth camera calibration parameters.
float TDepth2RangeArray[KINECT_RANGES_TABLE_LEN]
A typedef for an array that converts raw depth to ranges in meters.
GLsizei const GLchar ** string
void enableGrab3DPoints(bool enable=true)
Enable/disable the grabbing of the 3D point clouds.
bool isPreviewRGBEnabled() const
std::shared_ptr< CDisplayWindow > Ptr
int m_user_device_number
Number of device to open (0:first,...)
void setVideoChannel(const TVideoChannel vch)
Changes the video channel to open (RGB or IR) - you can call this method before start grabbing or in ...
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().
mrpt::utils::TCamera m_cameraParamsRGB
Params for the RGB camera.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
virtual void initialize()
Initializes the 3D camera - should be invoked after calling loadConfig() or setting the different par...
mrpt::utils::TCamera m_cameraParamsDepth
Params for the Depth camera.
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool isGrabDepthEnabled() const
size_t m_preview_decim_counter_range
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
mrpt::poses::CPose3D m_relativePoseIntensityWRTDepth
See mrpt::obs::CObservation3DRangeScan for a diagram of this pose.
TDepth2RangeArray & getRawDepth2RangeConversion()
Get a reference to the array that convert raw depth values (10 or 11 bit) into ranges in meters...
bool isOpen() const
Whether there is a working connection to the sensor.
const mrpt::poses::CPose3D & getRelativePoseIntensityWrtDepth() const
bool m_preview_window
Show preview window while grabbing.
int getDeviceIndexToOpen() const
std::vector< uint8_t > m_buf_depth
Temporary buffers for image grabbing.
void enableGrabRGB(bool enable=true)
Enable/disable the grabbing of the RGB channel.
void insert(const KEY &k, const VALUE &v)
Insert a new pair KEY<->VALUE in the bi-map.
bool isGrabRGBEnabled() const
unsigned __int32 uint32_t
double getMaxRange() const
Get the maximum range (meters) that can be read in the observation field "rangeImage".
mrpt::gui::CDisplayWindow::Ptr m_win_range
bool m_grab_image
Default: all true.
size_t m_preview_decim_counter_rgb
mrpt::poses::CPose3D m_sensorPoseOnRobot
bool isGrabAccelerometersEnabled() const
Structure to hold the parameters of a pinhole camera model.
TVideoChannel
RGB or IR video channel identifiers.
size_t getColCount() const
Get the col count in the camera images, loaded automatically upon camera open().
void open()
Try to open the camera (set all the parameters before calling this) - users may also call initialize(...