Detailed Description

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

To use Kinect for Windows or ASUS/Primesense RGBD cameras, use the class COpenNI2.

Configuration and usage:

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

Calibration parameters

For an accurate transformation of depth images to 3D points, you'll have to calibrate your Kinect, 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 CKinect::setCameraParamsIntensity()
Camera parameters for the depth camera. See CKinect::setCameraParamsDepth()
The 3D relative pose of the two cameras. See CKinect::setRelativePoseIntensityWrtDepth()

See http://www.mrpt.org/Kinect_calibration for a procedure to calibrate Kinect 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 10bit depth, and a range N it's converted to meters as: range(m) = 0.1236 * tan(N/2842.5 + 1.1863)
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::make_aligned_shared<mrpt::opengl::CPointCloudColoured>();
     gl_points->loadFromPointsMap(&pntsMap);

Raw depth to range conversion

At construction, this class builds an internal array for converting raw 10 or 11bit depths into ranges in meters. Users can read that array or modify it (if you have a better calibration, for example) by calling CKinect::getRawDepth2RangeConversion(). If you replace it, remember to set the first and last entries (index 0 and KINECT_RANGES_TABLE_LEN-1) to zero, to indicate that those are invalid ranges.

R(d) = k3 * tan(d/k2 + k1);
k1 = 1.1863, k2 = 2842.5, k3 = 0.1236

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     = KINECT       // 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.
     grab_IMU        = true        // Grab the accelerometers? (Default=true)
 
     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
 
     // Optional: Set the initial tilt angle of Kinect: upon initialization,
*the motor is sent a command to
     //            rotate to this angle (in degrees). Note: You must be aware
*of the tilt when interpreting the sensor readings.
     //           If not present or set to "360", no motor command will be
*sent at start up.
     initial_tilt_angle = 0
 
     // Kinect sensor calibration:
     // See http://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.

◆ registered_sensor_classes_t

using mrpt::hwdrivers::CGenericSensor::registered_sensor_classes_t = std::map<std::string, const TSensorClassId*>

privateinherited

Used in registerClass.

Definition at line 124 of file CGenericSensor.h.

◆ TDepth2RangeArray

using mrpt::hwdrivers::CKinect::TDepth2RangeArray = float[KINECT_RANGES_TABLE_LEN]

A type for an array that converts raw depth to ranges in meters.

Definition at line 274 of file CKinect.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

Definition at line 84 of file CGenericSensor.h.

◆ TVideoChannel

enum mrpt::hwdrivers::CKinect::TVideoChannel

RGB or IR video channel identifiers.

See also: setVideoChannel

Enumerator
VIDEO_CHANNEL_RGB
VIDEO_CHANNEL_IR

Definition at line 277 of file CKinect.h.

Constructor & Destructor Documentation

◆ CKinect()

CKinect::CKinect ( )

Default ctor.

Definition at line 80 of file CKinect.cpp.

References calculate_range2meters(), mrpt::img::TCamera::cx(), mrpt::img::TCamera::cy(), mrpt::img::TCamera::dist, mrpt::img::TCamera::fx(), mrpt::img::TCamera::fy(), KINECT_RANGES_TABLE_LEN, m_cameraParamsDepth, m_cameraParamsRGB, m_maxRange, m_range2meters, mrpt::hwdrivers::CGenericSensor::m_sensorLabel, mrpt::img::TCamera::ncols, mrpt::img::TCamera::nrows, and THROW_EXCEPTION.

◆ ~CKinect()

CKinect::~CKinect ( )

Default ctor.

Definition at line 144 of file CKinect.cpp.

References close().

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 179 of file CGenericSensor.h.

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

◆ 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 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 doProcess().

◆ calculate_range2meters()

void CKinect::calculate_range2meters ( )

private

Compute m_range2meters at construction.

Definition at line 57 of file CKinect.cpp.

References KINECT_RANGES_TABLE_LEN.

Referenced by CKinect().

◆ close()

void CKinect::close ( )

Close the Connection to the sensor (not need to call it manually unless desired for some reason, since it's called at destructor)

Definition at line 480 of file CKinect.cpp.

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

◆ cols()

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

inline

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

Definition at line 400 of file CKinect.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 103 of file CGenericSensor.cpp.

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

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

◆ 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 219 of file CGenericSensor.h.

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

◆ disablePreviewRGB()

void mrpt::hwdrivers::CKinect::disablePreviewRGB ( )

inline

Definition at line 379 of file CKinect.h.

References m_preview_window.

◆ doProcess()

void CKinect::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 155 of file CKinect.cpp.

References mrpt::hwdrivers::CGenericSensor::appendObservations(), getNextObservation(), m_grab_3D_points, m_grab_depth, m_grab_image, m_grab_IMU, mrpt::hwdrivers::CGenericSensor::m_state, mrpt::hwdrivers::CGenericSensor::ssError, mrpt::hwdrivers::CGenericSensor::ssWorking, and THROW_EXCEPTION.

◆ enableGrab3DPoints()

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

inline

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

Definition at line 460 of file CKinect.h.

References m_grab_3D_points.

◆ enableGrabAccelerometers()

void mrpt::hwdrivers::CKinect::enableGrabAccelerometers ( bool enable = true )

inline

Enable/disable the grabbing of the inertial data.

Definition at line 454 of file CKinect.h.

References m_grab_IMU.

◆ enableGrabDepth()

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

inline

Enable/disable the grabbing of the depth channel.

Definition at line 451 of file CKinect.h.

References m_grab_depth.

◆ enableGrabRGB()

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

inline

Enable/disable the grabbing of the RGB channel.

Definition at line 448 of file CKinect.h.

References m_grab_image.

◆ enablePreviewRGB()

void mrpt::hwdrivers::CKinect::enablePreviewRGB ( bool enable = true )

inline

Default: disabled.

Definition at line 375 of file CKinect.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 105 of file CGenericSensor.h.

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

◆ get_registered_sensor_classes()

CGenericSensor::registered_sensor_classes_t & CGenericSensor::get_registered_sensor_classes ( )

staticprivateinherited

Access to singleton.

Definition at line 112 of file CGenericSensor.cpp.

Referenced by mrpt::hwdrivers::CGenericSensor::createSensor(), and mrpt::hwdrivers::CGenericSensor::registerClass().

◆ getCameraParamsDepth()

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

inline

Get a const reference to the depth camera calibration parameters.

Definition at line 412 of file CKinect.h.

References m_cameraParamsDepth.

◆ getCameraParamsIntensity()

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

inline

Get a const reference to the depth camera calibration parameters.

Definition at line 402 of file CKinect.h.

References m_cameraParamsRGB.

◆ getDeviceIndexToOpen()

int mrpt::hwdrivers::CKinect::getDeviceIndexToOpen ( ) const

inline

Definition at line 369 of file CKinect.h.

References m_user_device_number.

◆ getExternalImageJPEGQuality()

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

inlineinherited

Definition at line 289 of file CGenericSensor.h.

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

◆ getMaxRange()

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

inline

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

Definition at line 394 of file CKinect.h.

References m_maxRange.

◆ getNextObservation() [1/2]

void CKinect::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 539 of file CKinect.cpp.

Referenced by doProcess(), and getNextObservation().

◆ getNextObservation() [2/2]

void CKinect::getNextObservation	(	mrpt::obs::CObservation3DRangeScan &	out_obs,
		mrpt::obs::CObservationIMU &	out_obs_imu,
		bool &	there_is_obs,
		bool &	hardware_error
	)

This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts.

Note: This method also grabs data from the accelerometers, returning them in out_obs_imu

Definition at line 689 of file CKinect.cpp.

References mrpt::obs::CObservationIMU::dataIsPresent, getNextObservation(), mrpt::obs::IMU_X_ACC, mrpt::obs::IMU_Y_ACC, mrpt::obs::IMU_Z_ACC, m_grab_IMU, mrpt::obs::CObservationIMU::rawMeasurements, mrpt::obs::CObservation::sensorLabel, mrpt::obs::CObservationIMU::sensorPose, mrpt::obs::CObservation3DRangeScan::sensorPose, and mrpt::obs::CObservation::timestamp.

◆ 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.

◆ getPreviewDecimation()

size_t mrpt::hwdrivers::CKinect::getPreviewDecimation ( ) const

inline

Definition at line 387 of file CKinect.h.

References m_preview_window_decimation.

◆ getProcessRate()

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

inlineinherited

Definition at line 93 of file CGenericSensor.h.

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

◆ getRawDepth2RangeConversion() [1/2]

TDepth2RangeArray& mrpt::hwdrivers::CKinect::getRawDepth2RangeConversion ( )

inline

Get a reference to the array that convert raw depth values (10 or 11 bit) into ranges in meters, so it can be read or replaced by the user.

If you replace it, remember to set the first and last entries (index 0 and KINECT_RANGES_TABLE_LEN-1) to zero, to indicate that those are invalid ranges.

Definition at line 438 of file CKinect.h.

References m_range2meters.

◆ getRawDepth2RangeConversion() [2/2]

const TDepth2RangeArray& mrpt::hwdrivers::CKinect::getRawDepth2RangeConversion ( ) const

inline

Definition at line 442 of file CKinect.h.

References m_range2meters.

◆ getRelativePoseIntensityWrtDepth()

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

inline

Definition at line 427 of file CKinect.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 94 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 92 of file CGenericSensor.h.

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

◆ getTiltAngleDegrees()

double CKinect::getTiltAngleDegrees ( )

Definition at line 777 of file CKinect.cpp.

References ASSERTMSG_, and isOpen().

◆ getVideoChannel()

TVideoChannel mrpt::hwdrivers::CKinect::getVideoChannel ( ) const

inline

Return the current video channel (RGB or IR)

See also: setVideoChannel

Definition at line 362 of file CKinect.h.

References m_video_channel.

◆ initialize()

void CKinect::initialize ( )

virtual

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 150 of file CKinect.cpp.

References open().

◆ isGrab3DPointsEnabled()

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

inline

Definition at line 464 of file CKinect.h.

References m_grab_3D_points.

◆ isGrabAccelerometersEnabled()

bool mrpt::hwdrivers::CKinect::isGrabAccelerometersEnabled ( ) const

inline

Definition at line 458 of file CKinect.h.

References m_grab_IMU.

◆ isGrabDepthEnabled()

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

inline

Definition at line 452 of file CKinect.h.

References m_grab_depth.

◆ isGrabRGBEnabled()

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

inline

Definition at line 449 of file CKinect.h.

References m_grab_image.

◆ isOpen()

bool CKinect::isOpen ( ) const

Whether there is a working connection to the sensor.

Definition at line 266 of file CKinect.cpp.

Referenced by getTiltAngleDegrees(), open(), setTiltAngleDegrees(), and setVideoChannel().

◆ isPreviewRGBEnabled()

bool mrpt::hwdrivers::CKinect::isPreviewRGBEnabled ( ) const

inline

Definition at line 380 of file CKinect.h.

References m_preview_window.

◆ isVerboseEnabled()

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

inlineinherited

Definition at line 106 of file CGenericSensor.h.

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

◆ loadConfig()

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

inherited

Loads the generic settings common to any sensor (See CGenericSensor), then call to "loadConfig_sensorSpecific".

Exceptions

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

Definition at line 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::config::CConfigFileBase::read_double(), mrpt::config::CConfigFileBase::read_int(), and mrpt::config::CConfigFileBase::read_string().

◆ loadConfig_sensorSpecific()

void CKinect::loadConfig_sensorSpecific	(	const mrpt::config::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 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 191 of file CKinect.cpp.

References mrpt::poses::CPose3DQuat::asTPose(), mrpt::DEG2RAD(), mrpt::poses::CPose3D::fromString(), mrpt::img::TStereoCamera::leftCamera, mrpt::img::TStereoCamera::loadFromConfigFile(), m_cameraParamsDepth, m_cameraParamsRGB, m_grab_3D_points, m_grab_depth, m_grab_image, m_grab_IMU, m_initial_tilt_angle, m_preview_window, m_relativePoseIntensityWRTDepth, m_sensorPoseOnRobot, m_user_device_number, m_video_channel, mrpt::config::CConfigFileBase::read_bool(), mrpt::config::CConfigFileBase::read_enum(), mrpt::config::CConfigFileBase::read_float(), mrpt::config::CConfigFileBase::read_int(), mrpt::config::CConfigFileBase::read_string(), mrpt::img::TStereoCamera::rightCamera, mrpt::img::TStereoCamera::rightCameraPose, and mrpt::poses::CPose3D::setFromValues().

◆ open()

void CKinect::open ( )

Try to open the camera (set all the parameters 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 395 of file CKinect.cpp.

References close(), isOpen(), m_buf_depth, m_buf_rgb, m_cameraParamsDepth, m_cameraParamsRGB, m_initial_tilt_angle, m_user_device_number, m_video_channel, mrpt::img::TCamera::ncols, mrpt::img::TCamera::nrows, setTiltAngleDegrees(), THROW_EXCEPTION, THROW_EXCEPTION_FMT, and VIDEO_CHANNEL_IR.

Referenced by initialize().

◆ 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().

◆ rows()

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

inline

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

Definition at line 397 of file CKinect.h.

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

◆ setCameraParamsDepth()

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

inline

Definition at line 416 of file CKinect.h.

References m_cameraParamsDepth.

◆ setCameraParamsIntensity()

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

inline

Definition at line 406 of file CKinect.h.

References m_cameraParamsRGB.

◆ setDeviceIndexToOpen()

void mrpt::hwdrivers::CKinect::setDeviceIndexToOpen ( int index )

inline

Set the sensor index to open (if there're several sensors attached to the computer); default=0 -> the first one.

Definition at line 365 of file CKinect.h.

References m_user_device_number.

◆ 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 278 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 285 of file CGenericSensor.h.

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

◆ setPathForExternalImages()

void CKinect::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 748 of file CKinect.cpp.

References MRPT_UNUSED_PARAM.

◆ setPreviewDecimation()

void mrpt::hwdrivers::CKinect::setPreviewDecimation ( size_t decimation_factor )

inline

If preview is enabled, show only one image out of N (default: 1=show all)

Definition at line 383 of file CKinect.h.

References m_preview_window_decimation.

◆ setRelativePoseIntensityWrtDepth()

void mrpt::hwdrivers::CKinect::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 423 of file CKinect.h.

References m_relativePoseIntensityWRTDepth.

◆ setSensorLabel()

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

inlineinherited

Definition at line 95 of file CGenericSensor.h.

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

◆ setTiltAngleDegrees()

void CKinect::setTiltAngleDegrees ( double angle )

Change tilt angle.

Note: Sensor must be open first.

Definition at line 766 of file CKinect.cpp.

References ASSERTMSG_, isOpen(), and MRPT_UNUSED_PARAM.

Referenced by open().

◆ setVideoChannel()

void CKinect::setVideoChannel ( const TVideoChannel vch )

Changes the video channel to open (RGB or IR) - you can call this method before start grabbing or in the middle of streaming and the video source will change on the fly.

Default is RGB channel.

Definition at line 501 of file CKinect.cpp.

References isOpen(), m_video_channel, MRPT_UNUSED_PARAM, THROW_EXCEPTION, and VIDEO_CHANNEL_IR.

Member Data Documentation

◆ m_buf_depth

std::vector<uint8_t> mrpt::hwdrivers::CKinect::m_buf_depth

private

Temporary buffers for image grabbing.

Definition at line 538 of file CKinect.h.

Referenced by open().

◆ m_buf_rgb

std::vector<uint8_t> mrpt::hwdrivers::CKinect::m_buf_rgb

private

Definition at line 538 of file CKinect.h.

Referenced by open().

◆ m_cameraParamsDepth

mrpt::img::TCamera mrpt::hwdrivers::CKinect::m_cameraParamsDepth

protected

Params for the Depth camera.

Definition at line 516 of file CKinect.h.

Referenced by CKinect(), getCameraParamsDepth(), getNextObservation(), loadConfig_sensorSpecific(), open(), and setCameraParamsDepth().

◆ m_cameraParamsRGB

mrpt::img::TCamera mrpt::hwdrivers::CKinect::m_cameraParamsRGB

protected

Params for the RGB camera.

Definition at line 514 of file CKinect.h.

Referenced by CKinect(), cols(), getCameraParamsIntensity(), getNextObservation(), loadConfig_sensorSpecific(), open(), rows(), and setCameraParamsIntensity().

◆ m_csObjList

std::mutex mrpt::hwdrivers::CGenericSensor::m_csObjList

privateinherited

The critical section for m_objList.

Definition at line 118 of file CGenericSensor.h.

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

◆ 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 157 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

protectedinherited

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

Definition at line 159 of file CGenericSensor.h.

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

◆ m_grab_3D_points

bool mrpt::hwdrivers::CKinect::m_grab_3D_points

protected

Definition at line 531 of file CKinect.h.

Referenced by doProcess(), enableGrab3DPoints(), getNextObservation(), isGrab3DPointsEnabled(), and loadConfig_sensorSpecific().

◆ 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 138 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 145 of file CGenericSensor.h.

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

◆ m_grab_depth

bool mrpt::hwdrivers::CKinect::m_grab_depth

protected

Definition at line 531 of file CKinect.h.

Referenced by doProcess(), enableGrabDepth(), getNextObservation(), isGrabDepthEnabled(), and loadConfig_sensorSpecific().

◆ m_grab_image

bool mrpt::hwdrivers::CKinect::m_grab_image

protected

Default: all true.

Definition at line 531 of file CKinect.h.

Referenced by doProcess(), enableGrabRGB(), getNextObservation(), isGrabRGBEnabled(), and loadConfig_sensorSpecific().

◆ m_grab_IMU

bool mrpt::hwdrivers::CKinect::m_grab_IMU

protected

Definition at line 531 of file CKinect.h.

Referenced by doProcess(), enableGrabAccelerometers(), getNextObservation(), isGrabAccelerometersEnabled(), and loadConfig_sensorSpecific().

◆ m_initial_tilt_angle

int mrpt::hwdrivers::CKinect::m_initial_tilt_angle

protected

Set Kinect tilt to an initial deegre (it should be take in account in the sensor pose by the user)

Definition at line 522 of file CKinect.h.

Referenced by loadConfig_sensorSpecific(), and open().

◆ m_max_queue_len

size_t mrpt::hwdrivers::CGenericSensor::m_max_queue_len

protectedinherited

See CGenericSensor.

Definition at line 135 of file CGenericSensor.h.

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

◆ m_maxRange

double mrpt::hwdrivers::CKinect::m_maxRange

protected

Sensor max range (meters)

Definition at line 525 of file CKinect.h.

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

◆ m_objList

TListObservations mrpt::hwdrivers::CGenericSensor::m_objList

privateinherited

The queue of objects to be returned by getObservations.

Definition at line 120 of file CGenericSensor.h.

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

◆ 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 154 of file CGenericSensor.h.

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

◆ m_preview_decim_counter_range

size_t mrpt::hwdrivers::CKinect::m_preview_decim_counter_range

protected

Definition at line 498 of file CKinect.h.

Referenced by getNextObservation().

◆ m_preview_decim_counter_rgb

size_t mrpt::hwdrivers::CKinect::m_preview_decim_counter_rgb

protected

Definition at line 498 of file CKinect.h.

Referenced by getNextObservation().

◆ m_preview_window

bool mrpt::hwdrivers::CKinect::m_preview_window

protected

Show preview window while grabbing.

Definition at line 495 of file CKinect.h.

Referenced by disablePreviewRGB(), enablePreviewRGB(), getNextObservation(), isPreviewRGBEnabled(), and loadConfig_sensorSpecific().

◆ m_preview_window_decimation

size_t mrpt::hwdrivers::CKinect::m_preview_window_decimation

protected

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

Definition at line 497 of file CKinect.h.

Referenced by getNextObservation(), getPreviewDecimation(), and setPreviewDecimation().

◆ m_process_rate

double mrpt::hwdrivers::CGenericSensor::m_process_rate

protectedinherited

See CGenericSensor.

Definition at line 133 of file CGenericSensor.h.

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

◆ m_range2meters

TDepth2RangeArray mrpt::hwdrivers::CKinect::m_range2meters

private

The table raw depth -> range in meters.

Definition at line 540 of file CKinect.h.

Referenced by CKinect(), and getRawDepth2RangeConversion().

◆ m_relativePoseIntensityWRTDepth

mrpt::poses::CPose3D mrpt::hwdrivers::CKinect::m_relativePoseIntensityWRTDepth

protected

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

Definition at line 518 of file CKinect.h.

Referenced by getNextObservation(), getRelativePoseIntensityWrtDepth(), loadConfig_sensorSpecific(), and setRelativePoseIntensityWrtDepth().

◆ m_sensorLabel

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

protectedinherited

See CGenericSensor.

Definition at line 140 of file CGenericSensor.h.

◆ m_sensorPoseOnRobot

mrpt::poses::CPose3D mrpt::hwdrivers::CKinect::m_sensorPoseOnRobot

protected

Definition at line 492 of file CKinect.h.

Referenced by getNextObservation(), and loadConfig_sensorSpecific().

◆ m_state

TSensorState mrpt::hwdrivers::CGenericSensor::m_state

protectedinherited

Definition at line 147 of file CGenericSensor.h.

◆ m_user_device_number

int mrpt::hwdrivers::CKinect::m_user_device_number

protected

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

Definition at line 528 of file CKinect.h.

Referenced by getDeviceIndexToOpen(), loadConfig_sensorSpecific(), open(), and setDeviceIndexToOpen().

◆ m_verbose

bool mrpt::hwdrivers::CGenericSensor::m_verbose

protectedinherited

Definition at line 148 of file CGenericSensor.h.

◆ m_video_channel

TVideoChannel mrpt::hwdrivers::CKinect::m_video_channel

protected

The video channel to open: RGB or IR.

Definition at line 534 of file CKinect.h.

Referenced by getVideoChannel(), loadConfig_sensorSpecific(), open(), and setVideoChannel().

◆ m_win_int

mrpt::gui::CDisplayWindow::Ptr mrpt::hwdrivers::CKinect::m_win_int

protected

Definition at line 499 of file CKinect.h.

Referenced by getNextObservation().

◆ m_win_range

mrpt::gui::CDisplayWindow::Ptr mrpt::hwdrivers::CKinect::m_win_range

protected

Definition at line 499 of file CKinect.h.

Referenced by getNextObservation().

Public Types
enum	TVideoChannel { VIDEO_CHANNEL_RGB = 0, VIDEO_CHANNEL_IR }
	RGB or IR video channel identifiers. More...

using	TDepth2RangeArray = float[KINECT_RANGES_TABLE_LEN]
	A type for an array that converts raw depth to ranges in meters. More...

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

using	Ptr = std::shared_ptr< CGenericSensor >

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

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

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

	~CKinect ()
	Default ctor. More...

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

void	getNextObservation (mrpt::obs::CObservation3DRangeScan &out_obs, mrpt::obs::CObservationIMU &out_obs_imu, bool &there_is_obs, bool &hardware_error)
	This is an overloaded member function, provided for convenience. It differs from the above function only in what argument(s) it accepts. 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...

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...

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

Sensor parameters (alternative to \a loadConfig ) and manual
control
void	open ()
	Try to open the camera (set all the parameters before calling this) - users may also call initialize(), which in turn calls this method. More...

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

void	close ()
	Close the Connection to the sensor (not need to call it manually unless desired for some reason, since it's called at destructor) More...

void	setVideoChannel (const TVideoChannel vch)
	Changes the video channel to open (RGB or IR) - you can call this method before start grabbing or in the middle of streaming and the video source will change on the fly. More...

TVideoChannel	getVideoChannel () const
	Return the current video channel (RGB or IR) More...

void	setDeviceIndexToOpen (int index)
	Set the sensor index to open (if there're several sensors attached to the computer); default=0 -> the first one. More...

int	getDeviceIndexToOpen () const

void	setTiltAngleDegrees (double angle)
	Change tilt angle. More...

double	getTiltAngleDegrees ()

void	enablePreviewRGB (bool enable=true)
	Default: disabled. More...

void	disablePreviewRGB ()

bool	isPreviewRGBEnabled () const

void	setPreviewDecimation (size_t decimation_factor)
	If preview is enabled, show only one image out of N (default: 1=show all) More...

size_t	getPreviewDecimation () const

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

TDepth2RangeArray &	getRawDepth2RangeConversion ()
	Get a reference to the array that convert raw depth values (10 or 11 bit) into ranges in meters, so it can be read or replaced by the user. More...

const TDepth2RangeArray &	getRawDepth2RangeConversion () 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	enableGrabAccelerometers (bool enable=true)
	Enable/disable the grabbing of the inertial data. More...

bool	isGrabAccelerometersEnabled () const

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

bool	isGrab3DPointsEnabled () 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::config::CConfigFileBase &configSource, const std::string &section)
	See the class documentation at the top for expected parameters. 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...

Private Types
using	registered_sensor_classes_t = std::map< std::string, const TSensorClassId * >
	Used in registerClass. More...

Protected Attributes
mrpt::poses::CPose3D	m_sensorPoseOnRobot

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

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

size_t	m_preview_decim_counter_range

size_t	m_preview_decim_counter_rgb

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...

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) More...

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

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

bool	m_grab_image
	Default: all true. More...

bool	m_grab_depth

bool	m_grab_3D_points

bool	m_grab_IMU

TVideoChannel	m_video_channel
	The video channel to open: RGB or IR. More...

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...

Private Member Functions
void	calculate_range2meters ()
	Compute m_range2meters at construction. More...

Static Private Member Functions
static registered_sensor_classes_t &	get_registered_sensor_classes ()
	Access to singleton. More...

Private Attributes
std::vector< uint8_t >	m_buf_depth
	Temporary buffers for image grabbing. More...

std::vector< uint8_t >	m_buf_rgb

TDepth2RangeArray	m_range2meters
	The table raw depth -> range in meters. More...

std::mutex	m_csObjList
	The critical section for m_objList. More...

TListObservations	m_objList
	The queue of objects to be returned by getObservations. More...

Detailed Description

Configuration and usage:

Calibration parameters

Coordinates convention

Some general comments

Converting to 3D point cloud

Raw depth to range conversion

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

Private Types

Private Member Functions

Static Private Member Functions

Private Attributes

Member Typedef Documentation

◆ Ptr

◆ registered_sensor_classes_t

◆ TDepth2RangeArray

◆ TListObservations

◆ TListObsPair

Member Enumeration Documentation

◆ TSensorState

◆ TVideoChannel

Constructor & Destructor Documentation

◆ CKinect()

◆ ~CKinect()

Member Function Documentation

◆ appendObservation()

◆ appendObservations()

◆ calculate_range2meters()

◆ close()

◆ cols()

◆ createSensor()

◆ createSensorPtr()

◆ disablePreviewRGB()

◆ doProcess()

◆ enableGrab3DPoints()

◆ enableGrabAccelerometers()

◆ enableGrabDepth()

◆ enableGrabRGB()

◆ enablePreviewRGB()

◆ enableVerbose()

◆ get_registered_sensor_classes()

◆ getCameraParamsDepth()

◆ getCameraParamsIntensity()

◆ getDeviceIndexToOpen()

◆ getExternalImageJPEGQuality()

◆ getMaxRange()

◆ getNextObservation() [1/2]

◆ getNextObservation() [2/2]

◆ getObservations()

◆ getPreviewDecimation()

◆ getProcessRate()

◆ getRawDepth2RangeConversion() [1/2]

◆ getRawDepth2RangeConversion() [2/2]

◆ getRelativePoseIntensityWrtDepth()

◆ GetRuntimeClass()

◆ getSensorLabel()

◆ getState()

◆ getTiltAngleDegrees()

◆ getVideoChannel()

◆ initialize()

◆ isGrab3DPointsEnabled()

◆ isGrabAccelerometersEnabled()

◆ isGrabDepthEnabled()

◆ isGrabRGBEnabled()

◆ isOpen()

◆ isPreviewRGBEnabled()

◆ isVerboseEnabled()

◆ loadConfig()

◆ loadConfig_sensorSpecific()

◆ open()

◆ registerClass()

◆ rows()

◆ setCameraParamsDepth()

◆ setCameraParamsIntensity()