9 #ifndef CSwissRanger3DCamera_H 10 #define CSwissRanger3DCamera_H 150 bool& hardware_error);
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
size_t m_rows
Size of camera images, set on open()
void internal_resendParamsToCamera() const
virtual void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string §ion)
See the class documentation at the top for expected parameters.
void setOpenFromUSB(bool USB)
true: open from USB, false: open from ethernet.
bool m_enable_denoise_anf
bool m_enable_mediancross_filter
void enableConvGray(bool enable)
mrpt::utils::TCamera m_cameraParams
~CSwissRanger3DCamera()
Default ctor.
bool isEnabledImageHistEqualization() const
A class for grabing "range images" from a MESA imaging SwissRanger 3D cameras (SR-2, SR-3000, SR-4k).
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.
double getMaxRange() const
Returns the maximum camera range, as deduced from its operating frequency.
bool m_enable_img_hist_equal
bool isEnabledMedianCrossFilter() const
void setSave3D(bool save)
virtual void initialize()
Initializes the 3D camera - should be invoked after calling loadConfig()
bool m_save_3d
Save the 3D point cloud (default: true)
bool m_save_confidence
Save the estimated confidence 2D image (default: false)
This class allows loading and storing values and vectors of different types from a configuration text...
void enableMedianCrossFilter(bool enable)
void enableDenoiseANF(bool enable)
mrpt::poses::CPose3D m_sensorPoseOnRobot
mrpt::gui::CDisplayWindow::Ptr m_win_range
bool m_enable_median_filter
void enablePreviewWindow(bool enable=true)
bool getMesaLibVersion(std::string &out_version) const
Get the version of the MESA library.
bool isEnabledPreviewWindow() const
bool m_save_intensity_img
Save the 2D intensity image (default: true)
bool m_open_from_usb
true: USB, false: ETH
virtual void doProcess()
To be called at a high rate (>XX Hz), this method populates the internal buffer of received observati...
double m_maxRange
Max range, as deducted from the camera frequency.
bool m_save_range_img
Save the 2D range image (default: true)
void setSaveIntensityImage(bool save)
GLsizei const GLchar ** string
std::shared_ptr< CDisplayWindow > Ptr
bool isEnabledDenoiseANF() const
void setOpenIPAddress(const std::string &IP)
bool m_preview_window
Show preview window while grabbing.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool isOpen() const
whether the camera is open and comms work ok.
bool getOpenFromUSBMode() const
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
unsigned int m_cam_serial_num
Serial number of the camera, set on open()
void enableMedianFilter(bool enable)
virtual void setPathForExternalImages(const std::string &directory)
Set the path where to save off-rawlog image files (this class DOES take into account this path)...
void 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().
void setSaveConfidenceImage(bool save)
std::string getOpenIPAddress() const
bool isEnabledConvGray() const
CSwissRanger3DCamera()
Default ctor.
unsigned int getCameraSerialNumber() const
Get the camera serial number, loaded automatically upon camera open().
size_t getColCount() const
Get the col count in the camera images, loaded automatically upon camera open().
void * m_cam
opaque handler to SRCAM.
void enableImageHistEqualization(bool enable)
void setSaveRangeImage(bool save)
Structure to hold the parameters of a pinhole camera model.
size_t getRowCount() const
Get the row count in the camera images, loaded automatically upon camera open().
mrpt::gui::CDisplayWindow::Ptr m_win_int
bool open()
return false on error - Called automatically from initialize(), no need normally for the user to call...
bool isEnabledMedianFilter() const