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mrpt::hwdrivers::CSwissRanger3DCamera Class Reference


Detailed Description

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

NOTES:

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

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

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

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

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

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

    // Camera calibration parameters: See mrpt::utils::TCamera
    //  If not provided, a set of default parameters for a SR4000 camera will be loaded.
    resolution = [176 144]
    cx         = 87.99958
    cy         = 68.99957
    fx         = 262.9201
    fy         = 262.9218
    dist       = [-8.258543e-01 6.561022e-01 2.699818e-06 -3.263559e-05 0]

    // For externaly stored images, the format of image files (default=jpg)
    //external_images_format  = jpg
    // (Only when external_images_format=jpg): Optional parameter to set the JPEG compression quality:
    //external_images_jpeg_quality = 95    // [1-100]. Default: 95

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

Definition at line 102 of file CSwissRanger3DCamera.h.

#include <mrpt/hwdrivers/CSwissRanger3DCamera.h>

Inheritance diagram for mrpt::hwdrivers::CSwissRanger3DCamera:
Inheritance graph
[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.
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).
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 setOpenIPAddress (const std::string &IP)
std::string getOpenIPAddress () const
void setSave3D (bool save)
void setSaveRangeImage (bool save)
void setSaveIntensityImage (bool save)
void setSaveConfidenceImage (bool save)
void enableImageHistEqualization (bool enable)
bool isEnabledImageHistEqualization () const
void enableMedianFilter (bool enable)
bool isEnabledMedianFilter () const
void enableMedianCrossFilter (bool enable)
bool isEnabledMedianCrossFilter () const
void enableConvGray (bool enable)
bool isEnabledConvGray () const
void enableDenoiseANF (bool enable)
bool isEnabledDenoiseANF () const
void enablePreviewWindow (bool enable=true)
bool isEnabledPreviewWindow () const

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_win_range
mrpt::gui::CDisplayWindowPtr m_win_int
void * m_cam
 opaque handler to SRCAM. NULL means it's not open yet.
mrpt::utils::TCamera m_cameraParams

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 179 of file CSwissRanger3DCamera.h.

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

Definition at line 182 of file CSwissRanger3DCamera.h.

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

Definition at line 170 of file CSwissRanger3DCamera.h.

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

Definition at line 176 of file CSwissRanger3DCamera.h.

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

Definition at line 173 of file CSwissRanger3DCamera.h.

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

Definition at line 185 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 144 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 141 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 147 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 160 of file CSwissRanger3DCamera.h.

std::string mrpt::hwdrivers::CSwissRanger3DCamera::getOpenIPAddress (  )  const [inline]

Definition at line 163 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 139 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 180 of file CSwissRanger3DCamera.h.

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

Definition at line 183 of file CSwissRanger3DCamera.h.

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

Definition at line 171 of file CSwissRanger3DCamera.h.

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

Definition at line 177 of file CSwissRanger3DCamera.h.

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

Definition at line 174 of file CSwissRanger3DCamera.h.

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

Definition at line 186 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 159 of file CSwissRanger3DCamera.h.

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

Definition at line 162 of file CSwissRanger3DCamera.h.

virtual void mrpt::hwdrivers::CSwissRanger3DCamera::setPathForExternalImages ( const std::string &  directory  )  [virtual]

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

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

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

Reimplemented from mrpt::hwdrivers::CGenericSensor.

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

Definition at line 165 of file CSwissRanger3DCamera.h.

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

Definition at line 168 of file CSwissRanger3DCamera.h.

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

Definition at line 167 of file CSwissRanger3DCamera.h.

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

Definition at line 166 of file CSwissRanger3DCamera.h.


Member Data Documentation

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

Definition at line 234 of file CSwissRanger3DCamera.h.

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

Definition at line 228 of file CSwissRanger3DCamera.h.

Definition at line 236 of file CSwissRanger3DCamera.h.

Size of camera images, set on open().

Definition at line 227 of file CSwissRanger3DCamera.h.

Definition at line 219 of file CSwissRanger3DCamera.h.

Definition at line 220 of file CSwissRanger3DCamera.h.

Definition at line 216 of file CSwissRanger3DCamera.h.

Definition at line 217 of file CSwissRanger3DCamera.h.

Definition at line 218 of file CSwissRanger3DCamera.h.

Definition at line 225 of file CSwissRanger3DCamera.h.

Max range, as deducted from the camera frequency.

Definition at line 229 of file CSwissRanger3DCamera.h.

true: USB, false: ETH

Definition at line 223 of file CSwissRanger3DCamera.h.

Show preview window while grabbing.

Definition at line 231 of file CSwissRanger3DCamera.h.

Definition at line 227 of file CSwissRanger3DCamera.h.

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

Definition at line 211 of file CSwissRanger3DCamera.h.

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

Definition at line 214 of file CSwissRanger3DCamera.h.

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

Definition at line 213 of file CSwissRanger3DCamera.h.

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

Definition at line 212 of file CSwissRanger3DCamera.h.

Definition at line 209 of file CSwissRanger3DCamera.h.

Definition at line 224 of file CSwissRanger3DCamera.h.

Definition at line 232 of file CSwissRanger3DCamera.h.

Definition at line 232 of file CSwissRanger3DCamera.h.




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