9 #ifndef CSwissRanger3DCamera_H 10 #define CSwissRanger3DCamera_H 95 virtual void initialize();
103 virtual void doProcess();
135 virtual void setPathForExternalImages(
const std::string &directory );
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(); }
178 bool getMesaLibVersion(std::string &out_version)
const;
183 virtual void loadConfig_sensorSpecific(
185 const std::string §ion );
187 void internal_resendParamsToCamera()
const;
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
bool isEnabledImageHistEqualization() const
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.
bool m_enable_denoise_anf
bool m_enable_mediancross_filter
void enableConvGray(bool enable)
mrpt::utils::TCamera m_cameraParams
size_t getColCount() const
Get the col count in the camera images, loaded automatically upon camera open().
A class for grabing "range images" from a MESA imaging SwissRanger 3D cameras (SR-2, SR-3000, SR-4k).
Declares a class derived from "CObservation" that encapsules a 3D range scan measurement, as from a time-of-flight range camera or any other RGBD sensor.
bool m_enable_img_hist_equal
void setSave3D(bool save)
mrpt::gui::CDisplayWindowPtr m_win_range
bool m_save_3d
Save the 3D point cloud (default: true)
bool m_save_confidence
Save the estimated confidence 2D image (default: false)
This class allows loading and storing values and vectors of different types from a configuration text...
void enableMedianCrossFilter(bool enable)
void enableDenoiseANF(bool enable)
mrpt::poses::CPose3D m_sensorPoseOnRobot
bool getOpenFromUSBMode() const
bool m_enable_median_filter
void enablePreviewWindow(bool enable=true)
bool m_save_intensity_img
Save the 2D intensity image (default: true)
bool m_open_from_usb
true: USB, false: ETH
double m_maxRange
Max range, as deducted from the camera frequency.
bool m_save_range_img
Save the 2D range image (default: true)
size_t getRowCount() const
Get the row count in the camera images, loaded automatically upon camera open().
void setSaveIntensityImage(bool save)
void setOpenIPAddress(const std::string &IP)
bool isEnabledDenoiseANF() const
bool m_preview_window
Show preview window while grabbing.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
bool isEnabledConvGray() const
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
unsigned int m_cam_serial_num
Serial number of the camera, set on open()
void enableMedianFilter(bool enable)
void setSaveConfidenceImage(bool save)
std::string getOpenIPAddress() const
unsigned int getCameraSerialNumber() const
Get the camera serial number, loaded automatically upon camera open().
bool isEnabledPreviewWindow() const
void * m_cam
opaque handler to SRCAM. NULL means it's not open yet.
void enableImageHistEqualization(bool enable)
void setSaveRangeImage(bool save)
Structure to hold the parameters of a pinhole camera model.
bool isEnabledMedianCrossFilter() const
bool isEnabledMedianFilter() const