Detailed Description

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

NOTES:

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

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

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

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

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

Definition at line 112 of file CSwissRanger3DCamera.h.

#include <mrpt/hwdrivers/CSwissRanger3DCamera.h>

Inheritance diagram for mrpt::hwdrivers::CSwissRanger3DCamera:

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

using	Ptr = std::shared_ptr< CGenericSensor >

typedef std::multimap< mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr >	TListObservations

typedef std::pair< mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr >	TListObsPair

Public Member Functions
	CSwissRanger3DCamera ()
	Default ctor. More...

	~CSwissRanger3DCamera ()
	Default ctor. More...

virtual void	initialize ()
	Initializes the 3D camera - should be invoked after calling loadConfig() More...

virtual void	doProcess ()
	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...

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

void	close ()

bool	isOpen () const
	whether the camera is open and comms work ok. More...

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

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

unsigned int	getCameraSerialNumber () const
	Get the camera serial number, loaded automatically upon camera open(). More...

double	getMaxRange () const
	Returns the maximum camera range, as deduced from its operating frequency. More...

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). More...

bool	getMesaLibVersion (std::string &out_version) const
	Get the version of the MESA library. 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::utils::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...

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

Capture configuration methods (apart from loadConfig)
void	setOpenFromUSB (bool USB)
	true: open from USB, false: open from ethernet. More...

bool	getOpenFromUSBMode () const

void	setOpenIPAddress (const std::string &IP)

std::string	getOpenIPAddress () const

void	setSave3D (bool save)

void	setSaveRangeImage (bool save)

void	setSaveIntensityImage (bool save)

void	setSaveConfidenceImage (bool save)

void	enableImageHistEqualization (bool enable)

bool	isEnabledImageHistEqualization () const

void	enableMedianFilter (bool enable)

bool	isEnabledMedianFilter () const

void	enableMedianCrossFilter (bool enable)

bool	isEnabledMedianCrossFilter () const

void	enableConvGray (bool enable)

bool	isEnabledConvGray () const

void	enableDenoiseANF (bool enable)

bool	isEnabledDenoiseANF () const

void	enablePreviewWindow (bool enable=true)

bool	isEnabledPreviewWindow () const

Static Public Member Functions
static void	registerClass (const TSensorClassId *pNewClass)
	Register a class into the internal list of "CGenericSensor" descendents. 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
virtual void	loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)
	See the class documentation at the top for expected parameters. More...

void	internal_resendParamsToCamera () const

void	appendObservations (const std::vector< mrpt::utils::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::utils::CSerializable::Ptr &obj)
	Like appendObservations() but for just one observation. More...

Protected Attributes
mrpt::poses::CPose3D	m_sensorPoseOnRobot

bool	m_save_3d
	Save the 3D point cloud (default: true) More...

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

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

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

bool	m_enable_img_hist_equal

bool	m_enable_median_filter

bool	m_enable_mediancross_filter

bool	m_enable_conv_gray

bool	m_enable_denoise_anf

bool	m_open_from_usb
	true: USB, false: ETH More...

size_t	m_usb_serial

std::string	m_ip_address

size_t	m_rows
	Size of camera images, set on open() More...

size_t	m_cols

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

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

bool	m_preview_window
	Show preview window while grabbing. More...

mrpt::gui::CDisplayWindow::Ptr	m_win_range

mrpt::gui::CDisplayWindow::Ptr	m_win_int

void *	m_cam
	opaque handler to SRCAM. More...

mrpt::utils::TCamera	m_cameraParams

size_t	m_grab_decimation_counter
	Used when "m_grab_decimation" is enabled. More...

TSensorState	m_state

bool	m_verbose

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

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

size_t	m_max_queue_len
	See CGenericSensor. More...

size_t	m_grab_decimation
	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...

Member Typedef Documentation

◆ Ptr

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

inherited

Definition at line 73 of file CGenericSensor.h.

◆ TListObservations

typedef std::multimap<mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr> mrpt::hwdrivers::CGenericSensor::TListObservations

inherited

Definition at line 78 of file CGenericSensor.h.

◆ TListObsPair

typedef std::pair<mrpt::system::TTimeStamp, mrpt::utils::CSerializable::Ptr> mrpt::hwdrivers::CGenericSensor::TListObsPair

inherited

Definition at line 80 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

Definition at line 85 of file CGenericSensor.h.

Constructor & Destructor Documentation

◆ CSwissRanger3DCamera()

CSwissRanger3DCamera::CSwissRanger3DCamera ( )

Default ctor.

Definition at line 45 of file CSwissRanger3DCamera.cpp.

References mrpt::utils::TCamera::dist, mrpt::utils::TCamera::intrinsicParams, m_cameraParams, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, mrpt::utils::TCamera::ncols, mrpt::utils::TCamera::nrows, and THROW_EXCEPTION.

◆ ~CSwissRanger3DCamera()

CSwissRanger3DCamera::~CSwissRanger3DCamera ( )

Default ctor.

Definition at line 93 of file CSwissRanger3DCamera.cpp.

References close().

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Member Function Documentation

◆ appendObservation()

void mrpt::hwdrivers::CGenericSensor::appendObservation ( const mrpt::utils::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::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), 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::utils::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 53 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 CSwissRanger3DCamera::close ( )

Definition at line 329 of file CSwissRanger3DCamera.cpp.

References m_cam.

Referenced by open(), and ~CSwissRanger3DCamera().

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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 103 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 220 of file CGenericSensor.h.

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

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◆ doProcess()

void CSwissRanger3DCamera::doProcess ( )

virtual

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 144 of file CSwissRanger3DCamera.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservation(), getNextObservation(), mrpt::hwdrivers::CGenericSensor::m_state, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, and THROW_EXCEPTION.

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◆ enableConvGray()

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

inline

Definition at line 222 of file CSwissRanger3DCamera.h.

References internal_resendParamsToCamera(), and m_enable_conv_gray.

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◆ enableDenoiseANF()

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

inline

Definition at line 228 of file CSwissRanger3DCamera.h.

References internal_resendParamsToCamera(), and m_enable_denoise_anf.

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◆ enableImageHistEqualization()

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

inline

Definition at line 197 of file CSwissRanger3DCamera.h.

References m_enable_img_hist_equal.

◆ enableMedianCrossFilter()

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

inline

Definition at line 212 of file CSwissRanger3DCamera.h.

References internal_resendParamsToCamera(), and m_enable_mediancross_filter.

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◆ enableMedianFilter()

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

inline

Definition at line 206 of file CSwissRanger3DCamera.h.

References internal_resendParamsToCamera(), and m_enable_median_filter.

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◆ enablePreviewWindow()

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

inline

Definition at line 234 of file CSwissRanger3DCamera.h.

References m_preview_window.

◆ 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.

◆ getCameraSerialNumber()

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

inline

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

Definition at line 169 of file CSwissRanger3DCamera.h.

References m_cam_serial_num.

◆ getColCount()

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

inline

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

Definition at line 166 of file CSwissRanger3DCamera.h.

References m_cols.

◆ getExternalImageJPEGQuality()

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

inlineinherited

Definition at line 290 of file CGenericSensor.h.

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

◆ getMaxRange()

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

inline

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

Definition at line 172 of file CSwissRanger3DCamera.h.

References m_maxRange.

◆ getMesaLibVersion()

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

Get the version of the MESA library.

Returns: false on error

Definition at line 235 of file CSwissRanger3DCamera.cpp.

References mrpt::format(), and MRPT_UNUSED_PARAM.

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◆ getNextObservation()

void CSwissRanger3DCamera::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 364 of file CSwissRanger3DCamera.cpp.

Referenced by doProcess().

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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 91 of file CGenericSensor.cpp.

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

◆ getOpenFromUSBMode()

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

inline

Definition at line 187 of file CSwissRanger3DCamera.h.

References m_open_from_usb.

◆ getOpenIPAddress()

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

inline

Definition at line 189 of file CSwissRanger3DCamera.h.

References m_ip_address.

◆ getProcessRate()

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

inlineinherited

Definition at line 94 of file CGenericSensor.h.

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

◆ getRowCount()

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

inline

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

Definition at line 163 of file CSwissRanger3DCamera.h.

References m_rows.

◆ 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 CSwissRanger3DCamera::initialize ( void )

virtual

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

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 135 of file CSwissRanger3DCamera.cpp.

References open(), and THROW_EXCEPTION.

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◆ internal_resendParamsToCamera()

void CSwissRanger3DCamera::internal_resendParamsToCamera ( ) const

protected

Definition at line 337 of file CSwissRanger3DCamera.cpp.

References isOpen(), m_cam, m_enable_conv_gray, m_enable_denoise_anf, m_enable_median_filter, m_enable_mediancross_filter, and m_save_confidence.

Referenced by enableConvGray(), enableDenoiseANF(), enableMedianCrossFilter(), enableMedianFilter(), and open().

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◆ isEnabledConvGray()

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

inline

Definition at line 227 of file CSwissRanger3DCamera.h.

References m_enable_conv_gray.

◆ isEnabledDenoiseANF()

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

inline

Definition at line 233 of file CSwissRanger3DCamera.h.

References m_enable_denoise_anf.

◆ isEnabledImageHistEqualization()

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

inline

Definition at line 201 of file CSwissRanger3DCamera.h.

References m_enable_img_hist_equal.

◆ isEnabledMedianCrossFilter()

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

inline

Definition at line 217 of file CSwissRanger3DCamera.h.

References m_enable_mediancross_filter.

◆ isEnabledMedianFilter()

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

inline

Definition at line 211 of file CSwissRanger3DCamera.h.

References m_enable_median_filter.

◆ isEnabledPreviewWindow()

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

inline

Definition at line 238 of file CSwissRanger3DCamera.h.

References m_preview_window.

◆ isOpen()

bool CSwissRanger3DCamera::isOpen ( ) const

whether the camera is open and comms work ok.

To be called after initialize()

Definition at line 250 of file CSwissRanger3DCamera.cpp.

References m_cam.

Referenced by internal_resendParamsToCamera(), and open().

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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.

◆ loadConfig()

void CGenericSensor::loadConfig	(	const mrpt::utils::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 132 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::utils::CConfigFileBase::read_double(), mrpt::utils::CConfigFileBase::read_int(), and mrpt::utils::CConfigFileBase::read_string().

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◆ loadConfig_sensorSpecific()

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

protectedvirtual

See the class documentation at the top for expected parameters.

Loads specific configuration for the device from a given source of configuration parameters, for example, an ".ini" file, loading from the section "[iniSection]" (see utils::CConfigFileBase and derived classes)

Exceptions

This	method must throw an exception with a descriptive message if some critical parameter is missing or has an invalid value.

Implements mrpt::hwdrivers::CGenericSensor.

Definition at line 175 of file CSwissRanger3DCamera.cpp.

References mrpt::mrpt::utils::DEG2RAD(), DEG2RAD, mrpt::utils::TCamera::loadFromConfigFile(), m_cameraParams, m_enable_conv_gray, m_enable_denoise_anf, m_enable_img_hist_equal, m_enable_median_filter, m_enable_mediancross_filter, mrpt::hwdrivers::CGenericSensor::m_external_images_format, mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality, m_ip_address, m_open_from_usb, m_preview_window, m_save_3d, m_save_confidence, m_save_intensity_img, m_save_range_img, m_sensorPoseOnRobot, m_usb_serial, mrpt::utils::CConfigFileBase::read_bool(), mrpt::utils::CConfigFileBase::read_float(), mrpt::utils::CConfigFileBase::read_int(), mrpt::utils::CConfigFileBase::read_string(), mrpt::utils::CConfigFileBase::read_uint64_t(), mrpt::poses::CPose3D::setFromValues(), and mrpt::system::trim().

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◆ open()

bool CSwissRanger3DCamera::open ( )

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

Definition at line 251 of file CSwissRanger3DCamera.cpp.

References close(), internal_resendParamsToCamera(), isOpen(), m_cam, m_cam_serial_num, m_cols, m_ip_address, m_maxRange, m_open_from_usb, m_rows, and m_usb_serial.

Referenced by initialize().

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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 121 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 279 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 286 of file CGenericSensor.h.

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

◆ setOpenFromUSB()

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

inline

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

Definition at line 186 of file CSwissRanger3DCamera.h.

References m_open_from_usb.

◆ setOpenIPAddress()

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

inline

Definition at line 188 of file CSwissRanger3DCamera.h.

References m_ip_address.

◆ setPathForExternalImages()

void CSwissRanger3DCamera::setPathForExternalImages ( const std::string & directory )

virtual

Set the path where to save off-rawlog image files (this class DOES take into account this path).

An empty string (the default value at construction) means to save images embedded in the rawlog, instead of on separate files.

Exceptions

std::exception If the directory doesn't exists and cannot be created.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

Definition at line 612 of file CSwissRanger3DCamera.cpp.

References mrpt::system::createDirectory(), mrpt::hwdrivers::CGenericSensor::m_path_for_external_images, and THROW_EXCEPTION_FMT.

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◆ setSave3D()

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

inline

Definition at line 190 of file CSwissRanger3DCamera.h.

References m_save_3d.

◆ setSaveConfidenceImage()

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

inline

Definition at line 196 of file CSwissRanger3DCamera.h.

References m_save_confidence.

◆ setSaveIntensityImage()

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

inline

Definition at line 192 of file CSwissRanger3DCamera.h.

References m_save_intensity_img.

◆ setSaveRangeImage()

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

inline

Definition at line 191 of file CSwissRanger3DCamera.h.

References m_save_range_img.

◆ 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.

Member Data Documentation

◆ m_cam

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

protected

opaque handler to SRCAM.

nullptr means it's not open yet.

Definition at line 290 of file CSwissRanger3DCamera.h.

Referenced by close(), getNextObservation(), internal_resendParamsToCamera(), isOpen(), and open().

◆ m_cam_serial_num

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

protected

Serial number of the camera, set on open()

Definition at line 281 of file CSwissRanger3DCamera.h.

Referenced by getCameraSerialNumber(), and open().

◆ m_cameraParams

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

protected

Definition at line 292 of file CSwissRanger3DCamera.h.

Referenced by CSwissRanger3DCamera(), getNextObservation(), and loadConfig_sensorSpecific().

◆ m_cols

size_t mrpt::hwdrivers::CSwissRanger3DCamera::m_cols

protected

Definition at line 279 of file CSwissRanger3DCamera.h.

Referenced by getColCount(), and open().

◆ m_enable_conv_gray

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_conv_gray

protected

Definition at line 270 of file CSwissRanger3DCamera.h.

Referenced by enableConvGray(), internal_resendParamsToCamera(), isEnabledConvGray(), and loadConfig_sensorSpecific().

◆ m_enable_denoise_anf

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_denoise_anf

protected

Definition at line 271 of file CSwissRanger3DCamera.h.

Referenced by enableDenoiseANF(), internal_resendParamsToCamera(), isEnabledDenoiseANF(), and loadConfig_sensorSpecific().

◆ m_enable_img_hist_equal

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_img_hist_equal

protected

Definition at line 267 of file CSwissRanger3DCamera.h.

Referenced by enableImageHistEqualization(), getNextObservation(), isEnabledImageHistEqualization(), and loadConfig_sensorSpecific().

◆ m_enable_median_filter

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_median_filter

protected

Definition at line 268 of file CSwissRanger3DCamera.h.

Referenced by enableMedianFilter(), internal_resendParamsToCamera(), isEnabledMedianFilter(), and loadConfig_sensorSpecific().

◆ m_enable_mediancross_filter

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_enable_mediancross_filter

protected

Definition at line 269 of file CSwissRanger3DCamera.h.

Referenced by enableMedianCrossFilter(), internal_resendParamsToCamera(), isEnabledMedianCrossFilter(), and loadConfig_sensorSpecific().

◆ 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 getNextObservation(), loadConfig_sensorSpecific(), and mrpt::hwdrivers::CGenericSensor::setExternalImageFormat().

◆ m_external_images_jpeg_quality

unsigned int mrpt::hwdrivers::CGenericSensor::m_external_images_jpeg_quality

protectedinherited

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

Definition at line 160 of file CGenericSensor.h.

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

◆ m_grab_decimation

size_t mrpt::hwdrivers::CGenericSensor::m_grab_decimation

protectedinherited

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

Definition at line 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

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_ip_address

std::string mrpt::hwdrivers::CSwissRanger3DCamera::m_ip_address

protected

Definition at line 276 of file CSwissRanger3DCamera.h.

Referenced by getOpenIPAddress(), loadConfig_sensorSpecific(), open(), and setOpenIPAddress().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 136 of file CGenericSensor.h.

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

◆ m_maxRange

double mrpt::hwdrivers::CSwissRanger3DCamera::m_maxRange

protected

Max range, as deducted from the camera frequency.

Definition at line 283 of file CSwissRanger3DCamera.h.

Referenced by getMaxRange(), getNextObservation(), and open().

◆ m_open_from_usb

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_open_from_usb

protected

true: USB, false: ETH

Definition at line 274 of file CSwissRanger3DCamera.h.

Referenced by getOpenFromUSBMode(), loadConfig_sensorSpecific(), open(), and setOpenFromUSB().

◆ 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 getNextObservation(), and setPathForExternalImages().

◆ m_preview_window

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_preview_window

protected

Show preview window while grabbing.

Definition at line 286 of file CSwissRanger3DCamera.h.

Referenced by enablePreviewWindow(), getNextObservation(), isEnabledPreviewWindow(), and loadConfig_sensorSpecific().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate

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_rows

size_t mrpt::hwdrivers::CSwissRanger3DCamera::m_rows

protected

Size of camera images, set on open()

Definition at line 279 of file CSwissRanger3DCamera.h.

Referenced by getRowCount(), and open().

◆ m_save_3d

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_3d

protected

Save the 3D point cloud (default: true)

Definition at line 259 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), loadConfig_sensorSpecific(), and setSave3D().

◆ m_save_confidence

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_confidence

protected

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

Definition at line 265 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), internal_resendParamsToCamera(), loadConfig_sensorSpecific(), and setSaveConfidenceImage().

◆ m_save_intensity_img

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_intensity_img

protected

Save the 2D intensity image (default: true)

Definition at line 263 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), loadConfig_sensorSpecific(), and setSaveIntensityImage().

◆ m_save_range_img

bool mrpt::hwdrivers::CSwissRanger3DCamera::m_save_range_img

protected

Save the 2D range image (default: true)

Definition at line 261 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), loadConfig_sensorSpecific(), and setSaveRangeImage().

◆ 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::CSwissRanger3DCamera::m_sensorPoseOnRobot

protected

Definition at line 256 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation(), and loadConfig_sensorSpecific().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_usb_serial

size_t mrpt::hwdrivers::CSwissRanger3DCamera::m_usb_serial

protected

Definition at line 275 of file CSwissRanger3DCamera.h.

Referenced by loadConfig_sensorSpecific(), and open().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose

protectedinherited

Definition at line 149 of file CGenericSensor.h.

◆ m_win_int

mrpt::gui::CDisplayWindow::Ptr mrpt::hwdrivers::CSwissRanger3DCamera::m_win_int

protected

Definition at line 287 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation().

◆ m_win_range

mrpt::gui::CDisplayWindow::Ptr mrpt::hwdrivers::CSwissRanger3DCamera::m_win_range

protected

Definition at line 287 of file CSwissRanger3DCamera.h.

Referenced by getNextObservation().

Detailed Description

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

◆ CSwissRanger3DCamera()

◆ ~CSwissRanger3DCamera()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ close()

◆ createSensor()

◆ createSensorPtr()

◆ doProcess()

◆ enableConvGray()

◆ enableDenoiseANF()

◆ enableImageHistEqualization()

◆ enableMedianCrossFilter()

◆ enableMedianFilter()

◆ enablePreviewWindow()

◆ enableVerbose()

◆ getCameraSerialNumber()

◆ getColCount()

◆ getExternalImageJPEGQuality()

◆ getMaxRange()

◆ getMesaLibVersion()

◆ getNextObservation()

◆ getObservations()

◆ getOpenFromUSBMode()

◆ getOpenIPAddress()

◆ getProcessRate()

◆ getRowCount()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ initialize()

◆ internal_resendParamsToCamera()

◆ isEnabledConvGray()

◆ isEnabledDenoiseANF()

◆ isEnabledImageHistEqualization()

◆ isEnabledMedianCrossFilter()

◆ isEnabledMedianFilter()

◆ isEnabledPreviewWindow()

◆ isOpen()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ open()

◆ registerClass()

◆ setExternalImageFormat()

◆ setExternalImageJPEGQuality()

◆ setOpenFromUSB()

◆ setOpenIPAddress()

◆ setPathForExternalImages()

◆ setSave3D()

◆ setSaveConfidenceImage()

◆ setSaveIntensityImage()

◆ setSaveRangeImage()

◆ setSensorLabel()

Member Data Documentation

◆ m_cam

◆ m_cam_serial_num

◆ m_cameraParams

◆ m_cols

◆ m_enable_conv_gray

◆ m_enable_denoise_anf

◆ m_enable_img_hist_equal

◆ m_enable_median_filter

◆ m_enable_mediancross_filter

◆ m_external_images_format

◆ m_external_images_jpeg_quality

◆ m_grab_decimation