mrpt::hwdrivers::CSwissRanger3DCamera Class Reference

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

#include <mrpt/hwdrivers/CSwissRanger3DCamera.h>

Inheritance diagram for mrpt::hwdrivers::CSwissRanger3DCamera:

[legend]

Collaboration diagram for mrpt::hwdrivers::CSwissRanger3DCamera:

[legend]

List of all members.

Public Member Functions

CSwissRanger3DCamera ()

Default ctor.

~CSwissRanger3DCamera ()

Default ctor.

virtual void initialize ()

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

Exceptions:

This

method must throw an exception with a descriptive message if some critical error is found.

virtual void doProcess ()

To be called at a high rate (>XX Hz), this method populates the internal buffer of received observations.

void getNextObservation (mrpt::slam::CObservation3DRangeScan &out_obs, bool &there_is_obs, bool &hardware_error)

The main data retrieving function, to be called after calling loadConfig() and initialize().

bool open ()

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

void close ()

bool isOpen () const

whether the camera is open and comms work ok. To be called after initialize()

size_t getRowCount () const

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

size_t getColCount () const

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

unsigned int getCameraSerialNumber () const

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

double getMaxRange () const

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

bool getMesaLibVersion (std::string &out_version) const

Get the version of the MESA library.

Capture configuration methods (apart from loadConfig)

void setOpenFromUSB (bool USB)

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

bool getOpenFromUSBMode () const

void setSave3D (bool save)

void setSaveRangeImage (bool save)

void setSaveIntensityImage (bool save)

void setSaveConfidenceImage (bool save)

void enableImageHistEqualization (bool enable)

bool isEnabledImageHistEqualization () const

void enableMedianFilter (bool enable)

bool isEnabledMedianFilter () const

void enableMedianCrossFilter (bool enable)

bool isEnabledMedianCrossFilter () const

void enableConvGray (bool enable)

bool isEnabledConvGray () const

void enableDenoiseANF (bool enable)

bool isEnabledDenoiseANF () const

void enablePreviewWindow (bool enable=true)

bool isEnabledPreviewWindow () const

Protected Member Functions

virtual void loadConfig_sensorSpecific (const mrpt::utils::CConfigFileBase &configSource, const std::string &section)

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

Exceptions:

This

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

void internal_resendParamsToCamera () const

Protected Attributes

mrpt::poses::CPose3D

m_sensorPoseOnRobot

bool m_save_3d

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

bool m_save_range_img

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

bool m_save_intensity_img

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

bool m_save_confidence

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

bool m_enable_img_hist_equal

bool m_enable_median_filter

bool m_enable_mediancross_filter

bool m_enable_conv_gray

bool m_enable_denoise_anf

bool m_open_from_usb

true: USB, false: ETH

size_t m_usb_serial

std::string m_ip_address

size_t m_rows

size_t m_cols

Size of camera images, set on open().

unsigned int m_cam_serial_num

Serial number of the camera, set on open().

double m_maxRange

Max range, as deducted from the camera frequency.

bool m_preview_window

Show preview window while grabbing.

mrpt::gui::CDisplayWindowPtr m_win2d

std::string m_sensorLabel

void * m_cam

opaque handler to SRCAM. NULL means it's not open yet.

Detailed Description

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

NOTES:

This class requires a vendor specific driver installed in the system in order to build MRPT with support for this sensor.

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

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

  PARAMETERS IN THE ".INI"-LIKE CONFIGURATION STRINGS:
 -------------------------------------------------------
   [supplied_section_name]
    sensorLabel  = CAM3D         // A text description
    preview_window  = true       // Show a window with a preview of the grabbed data in real-time

    open_USB     = true          // false means ethernet (default: true)
    USB_serial   = 0x4000002f    // only for open_USB=true. If not set, the first camera will be open. Serial is the last part of S/N (e.g.  for the camera SN: 00-00-40-00-00-2F).
    IP_address   = 192.168.2.14  // only for open_USB=false. The IP of the camera.

    // Options for the data to save in each CObservation3DRangeScan
    save_3d            = true                   // Save the 3D point cloud (default: true)
    save_range_img     = true                   // Save the 2D range image (default: true)
    save_intensity_img = true                   // Save the 2D intensity image (default: true)
    save_confidence    = true                   // Save the estimated confidence 2D image (default: false)

    enable_img_hist_equal = false               // Enable intensity image histogram equalization (default: false)
    enable_median_filter  = true                        // Enable median filter in range data (default: true)
    enable_mediancross_filter = false   // Enable median cross-filter (default: false)
    enable_conv_gray      = false               // Enable intensity image scale with range (default: false)
    enable_denoise_anf    = true                        // Enable this noise filter (default: true)

    pose_x=0.21 // Camera position in the robot (meters)
    pose_y=0
    pose_z=0.34
    pose_yaw=0  // Angles in degrees
    pose_pitch=0
    pose_roll=0

Definition at line 84 of file CSwissRanger3DCamera.h.

Constructor & Destructor Documentation

mrpt::hwdrivers::CSwissRanger3DCamera::CSwissRanger3DCamera ( )

Default ctor.

mrpt::hwdrivers::CSwissRanger3DCamera::~CSwissRanger3DCamera ( )

Default ctor.

Member Function Documentation

void mrpt::hwdrivers::CSwissRanger3DCamera::close ( )

virtual void mrpt::hwdrivers::CSwissRanger3DCamera::doProcess ( ) [virtual]

To be called at a high rate (>XX Hz), this method populates the internal buffer of received observations.

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

Implements mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CSwissRanger3DCamera::enableConvGray ( bool enable ) [inline]

Definition at line 153 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::enableDenoiseANF ( bool enable ) [inline]

Definition at line 156 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::enableImageHistEqualization ( bool enable ) [inline]

Definition at line 144 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::enableMedianCrossFilter ( bool enable ) [inline]

Definition at line 150 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::enableMedianFilter ( bool enable ) [inline]

Definition at line 147 of file CSwissRanger3DCamera.h.

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

Definition at line 159 of file CSwissRanger3DCamera.h.

unsigned int mrpt::hwdrivers::CSwissRanger3DCamera::getCameraSerialNumber ( ) const [inline]

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

Definition at line 126 of file CSwissRanger3DCamera.h.

size_t mrpt::hwdrivers::CSwissRanger3DCamera::getColCount ( ) const [inline]

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

Definition at line 123 of file CSwissRanger3DCamera.h.

double mrpt::hwdrivers::CSwissRanger3DCamera::getMaxRange ( ) const [inline]

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

Definition at line 129 of file CSwissRanger3DCamera.h.

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

Get the version of the MESA library.

Returns:: false on error

void mrpt::hwdrivers::CSwissRanger3DCamera::getNextObservation	(	mrpt::slam::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

bool mrpt::hwdrivers::CSwissRanger3DCamera::getOpenFromUSBMode ( ) const [inline]

Definition at line 137 of file CSwissRanger3DCamera.h.

size_t mrpt::hwdrivers::CSwissRanger3DCamera::getRowCount ( ) const [inline]

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

Definition at line 121 of file CSwissRanger3DCamera.h.

virtual void mrpt::hwdrivers::CSwissRanger3DCamera::initialize ( ) [virtual]

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

Exceptions:

This

method must throw an exception with a descriptive message if some critical error is found.

Reimplemented from mrpt::hwdrivers::CGenericSensor.

void mrpt::hwdrivers::CSwissRanger3DCamera::internal_resendParamsToCamera ( ) const [protected]

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledConvGray ( ) const [inline]

Definition at line 154 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledDenoiseANF ( ) const [inline]

Definition at line 157 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledImageHistEqualization ( ) const [inline]

Definition at line 145 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledMedianCrossFilter ( ) const [inline]

Definition at line 151 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledMedianFilter ( ) const [inline]

Definition at line 148 of file CSwissRanger3DCamera.h.

bool mrpt::hwdrivers::CSwissRanger3DCamera::isEnabledPreviewWindow ( ) const [inline]

Definition at line 160 of file CSwissRanger3DCamera.h.

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

whether the camera is open and comms work ok. To be called after initialize()

virtual void mrpt::hwdrivers::CSwissRanger3DCamera::loadConfig_sensorSpecific	(	const mrpt::utils::CConfigFileBase &	configSource,
		const std::string &	section
	)			`[protected, virtual]`

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

Exceptions:

This

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

Implements mrpt::hwdrivers::CGenericSensor.

bool mrpt::hwdrivers::CSwissRanger3DCamera::open ( )

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

void mrpt::hwdrivers::CSwissRanger3DCamera::setOpenFromUSB ( bool USB ) [inline]

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

Definition at line 136 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::setSave3D ( bool save ) [inline]

Definition at line 139 of file CSwissRanger3DCamera.h.

void mrpt::hwdrivers::CSwissRanger3DCamera::setSaveConfidenceImage ( bool save ) [inline]