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249 bool& hardware_error);
284 const std::string& section)
override;
void enableGrabRGB(bool enable=true)
Enable/disable the grabbing of the RGB channel.
mrpt::gui::CDisplayWindow::Ptr m_win_range[NUM_SENSORS]
bool m_grab_rgb
Default: all true.
COpenNI2_RGBD360()
Default ctor.
void enableGrabDepth(bool enable=true)
Enable/disable the grabbing of the depth channel.
size_t m_preview_window_decimation
If preview is enabled, only show 1 out of N images.
mrpt::gui::CDisplayWindow::Ptr m_win_int[NUM_SENSORS]
Contains classes for various device interfaces.
An abstract class for accessing OpenNI2 compatible sensors.
size_t m_preview_decim_counter_rgb
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
A class for grabing RGBD images from several OpenNI2 sensors.
bool isGrabDepthEnabled() const
std::shared_ptr< CDisplayWindow > Ptr
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 isGrabRGBEnabled() const
bool m_preview_window
Show preview window while grabbing.
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
void getNextObservation(mrpt::obs::CObservationRGBD360 &out_obs, bool &there_is_obs, bool &hardware_error)
The main data retrieving function, to be called after calling loadConfig() and initialize().
double getMaxRange() const
Get the maximum range (meters) that can be read in the observation field "rangeImage".
void initialize() override
Initializes the 3D camera - should be invoked after calling loadConfig() or setting the different par...
Declares a class derived from "CObservation" that encapsules an omnidirectional RGBD measurement from...
void setPathForExternalImages(const std::string &directory) override
Set the path where to save off-rawlog image files (this class DOES take into account this path).
void enableGrab3DPoints(bool enable=true)
Enable/disable the grabbing of the 3D point clouds.
mrpt::poses::CPose3D m_sensorPoseOnRobot
~COpenNI2_RGBD360() override
Default ctor.
size_t m_preview_decim_counter_range
static const int NUM_SENSORS
void doProcess() override
To be called at a high rate (>XX Hz), this method populates the internal buffer of received observati...
double m_maxRange
Sensor max range (meters)
bool isGrab3DPointsEnabled() const
void loadConfig_sensorSpecific(const mrpt::config::CConfigFileBase &configSource, const std::string §ion) override
Loads specific configuration for the device from a given source of configuration parameters,...
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