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mrpt::hwdrivers::CKinect Class Referenceabstract

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:

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!):

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


Converting to 3D point cloud


You can convert the 3D observation into a 3D point cloud with this piece of code:

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::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:

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:
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]

More references to read:

Definition at line 268 of file CKinect.h.

#include <mrpt/hwdrivers/CKinect.h>

Inheritance diagram for mrpt::hwdrivers::CKinect:
Inheritance graph

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::TSensorClassIdGetRuntimeClass () 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::TCameragetCameraParamsIntensity () const
 Get a const reference to the depth camera calibration parameters. More...
 
void setCameraParamsIntensity (const mrpt::img::TCamera &p)
 
const mrpt::img::TCameragetCameraParamsDepth () 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::CPose3DgetRelativePoseIntensityWrtDepth () const
 
TDepth2RangeArraygetRawDepth2RangeConversion ()
 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 TDepth2RangeArraygetRawDepth2RangeConversion () 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 CGenericSensorcreateSensor (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...
 

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...
 
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...
 

Private Member Functions

void calculate_range2meters ()
 Compute m_range2meters at construction. More...
 

Private Attributes

std::vector< uint8_tm_buf_depth
 Temporary buffers for image grabbing. More...
 
std::vector< uint8_tm_buf_rgb
 
TDepth2RangeArray m_range2meters
 The table raw depth -> range in meters. More...
 

Member Typedef Documentation

◆ Ptr

Definition at line 73 of file CGenericSensor.h.

◆ TDepth2RangeArray

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

Definition at line 274 of file CKinect.h.

◆ TListObservations

Definition at line 77 of file CGenericSensor.h.

◆ TListObsPair

Definition at line 79 of file CGenericSensor.h.

Member Enumeration Documentation

◆ TSensorState

The current state of the sensor.

See also
CGenericSensor::getState
Enumerator
ssInitializing 
ssWorking 
ssError 

Definition at line 84 of file CGenericSensor.h.

◆ 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 ( )

◆ ~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

◆ 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

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:

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
Thismethod must throw an exception with a descriptive message if some critical error is found.
See also
getNextObservation
Exceptions
Thismethod 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.

◆ 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

◆ 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 
)

◆ 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 ( void  )
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
Thismethod 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

◆ loadConfig_sensorSpecific()

void CKinect::loadConfig_sensorSpecific ( const mrpt::config::CConfigFileBase configSource,
const std::string iniSection 
)
protectedvirtual

◆ 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::exceptionA 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::exceptionIf 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_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

◆ m_grab_3D_points

bool mrpt::hwdrivers::CKinect::m_grab_3D_points
protected

◆ 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

◆ 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

◆ 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_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

◆ 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

◆ m_sensorLabel

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

See CGenericSensor.

Definition at line 140 of file CGenericSensor.h.

Referenced by mrpt::hwdrivers::CCANBusReader::CCANBusReader(), mrpt::hwdrivers::CGPSInterface::CGPSInterface(), mrpt::hwdrivers::CGyroKVHDSP3000::CGyroKVHDSP3000(), mrpt::hwdrivers::CHokuyoURG::CHokuyoURG(), mrpt::hwdrivers::CIMUIntersense::CIMUIntersense(), mrpt::hwdrivers::CIMUXSens::CIMUXSens(), mrpt::hwdrivers::CIMUXSens_MT4::CIMUXSens_MT4(), CKinect(), mrpt::hwdrivers::CNationalInstrumentsDAQ::CNationalInstrumentsDAQ(), mrpt::hwdrivers::CRoboPeakLidar::CRoboPeakLidar(), mrpt::hwdrivers::CSickLaserSerial::CSickLaserSerial(), mrpt::hwdrivers::CSickLaserUSB::CSickLaserUSB(), mrpt::hwdrivers::CSkeletonTracker::CSkeletonTracker(), mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera(), mrpt::hwdrivers::CVelodyneScanner::CVelodyneScanner(), mrpt::hwdrivers::CIMUXSens_MT4::doProcess(), mrpt::hwdrivers::CIMUXSens::doProcess(), mrpt::hwdrivers::CGyroKVHDSP3000::doProcess(), mrpt::hwdrivers::CIMUIntersense::doProcess(), mrpt::hwdrivers::CSkeletonTracker::doProcess(), mrpt::hwdrivers::CRoboPeakLidar::doProcessSimple(), mrpt::hwdrivers::CSickLaserUSB::doProcessSimple(), mrpt::hwdrivers::CCANBusReader::doProcessSimple(), mrpt::hwdrivers::CSickLaserSerial::doProcessSimple(), mrpt::hwdrivers::CHokuyoURG::doProcessSimple(), mrpt::hwdrivers::CGPSInterface::flushParsedMessagesNow(), mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation(), getNextObservation(), mrpt::hwdrivers::CVelodyneScanner::getNextObservation(), mrpt::hwdrivers::CGenericSensor::getSensorLabel(), mrpt::hwdrivers::CNationalInstrumentsDAQ::grabbing_thread(), mrpt::hwdrivers::CGenericSensor::loadConfig(), mrpt::hwdrivers::CSkeletonTracker::processPreview(), mrpt::hwdrivers::C2DRangeFinderAbstract::processPreview(), mrpt::hwdrivers::CSkeletonTracker::processPreviewNone(), and mrpt::hwdrivers::CGenericSensor::setSensorLabel().

◆ 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

◆ 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

◆ 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().




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