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9 #ifndef CSwissRanger3DCamera_H
10 #define CSwissRanger3DCamera_H
155 inline void enableMedianFilter(
bool enable) { m_enable_median_filter = enable; internal_resendParamsToCamera(); }
161 inline void enableConvGray(
bool enable) { m_enable_conv_gray = enable; internal_resendParamsToCamera(); }
164 inline void enableDenoiseANF(
bool enable) { m_enable_denoise_anf = enable; internal_resendParamsToCamera(); }
185 const std::string §ion );
bool isEnabledImageHistEqualization() const
virtual void doProcess()
To be called at a high rate (>XX Hz), this method populates the internal buffer of received observati...
void * m_cam
opaque handler to SRCAM. NULL means it's not open yet.
size_t getColCount() const
Get the col count in the camera images, loaded automatically upon camera open().
bool isEnabledMedianCrossFilter() const
void setSave3D(bool save)
bool getMesaLibVersion(std::string &out_version) const
Get the version of the MESA library.
bool isEnabledMedianFilter() const
bool m_enable_mediancross_filter
void enableConvGray(bool enable)
void internal_resendParamsToCamera() const
void enableMedianCrossFilter(bool enable)
~CSwissRanger3DCamera()
Default ctor.
double getMaxRange() const
Returns the maximum camera range, as deduced from its operating frequency.
void setOpenFromUSB(bool USB)
true: open from USB, false: open from ethernet.
mrpt::poses::CPose3D m_sensorPoseOnRobot
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool m_save_intensity_img
Save the 2D intensity image (default: true)
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
mrpt::gui::CDisplayWindowPtr m_win_range
bool m_save_confidence
Save the estimated confidence 2D image (default: false)
void setSaveIntensityImage(bool save)
bool open()
return false on error - Called automatically from initialize(), no need normally for the user to call...
bool m_enable_img_hist_equal
bool m_save_3d
Save the 3D point cloud (default: true)
bool m_enable_median_filter
void enablePreviewWindow(bool enable=true)
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement,...
void enableDenoiseANF(bool enable)
bool m_preview_window
Show preview window while grabbing.
This class allows loading and storing values and vectors of different types from a configuration text...
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
bool m_open_from_usb
true: USB, false: ETH
void enableMedianFilter(bool enable)
virtual void initialize()
Initializes the 3D camera - should be invoked after calling loadConfig()
bool m_save_range_img
Save the 2D range image (default: true)
void setSaveConfidenceImage(bool save)
double m_maxRange
Max range, as deducted from the camera frequency.
bool isEnabledConvGray() const
bool getOpenFromUSBMode() const
bool isEnabledPreviewWindow() const
bool isOpen() const
whether the camera is open and comms work ok. To be called after initialize()
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
bool isEnabledDenoiseANF() const
void setOpenIPAddress(const std::string &IP)
unsigned int getCameraSerialNumber() const
Get the camera serial number, loaded automatically upon camera open().
void getNextObservation(mrpt::obs::CObservation3DRangeScan &out_obs, bool &there_is_obs, bool &hardware_error)
The main data retrieving function, to be called after calling loadConfig() and initialize().
void enableImageHistEqualization(bool enable)
Structure to hold the parameters of a pinhole camera model.
void setSaveRangeImage(bool save)
A class for grabing "range images" from a MESA imaging SwissRanger 3D cameras (SR-2,...
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).
size_t getRowCount() const
Get the row count in the camera images, loaded automatically upon camera open().
unsigned int m_cam_serial_num
Serial number of the camera, set on open()
virtual void loadConfig_sensorSpecific(const mrpt::utils::CConfigFileBase &configSource, const std::string §ion)
See the class documentation at the top for expected parameters.
bool m_enable_denoise_anf
std::string getOpenIPAddress() const
CSwissRanger3DCamera()
Default ctor.
mrpt::utils::TCamera m_cameraParams
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