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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;
bool isEnabledImageHistEqualization() const
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 isEnabledMedianFilter() const
bool m_enable_mediancross_filter
void enableConvGray(bool enable)
void enableMedianCrossFilter(bool enable)
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 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)
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
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 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,...
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()
bool m_enable_denoise_anf
std::string getOpenIPAddress() const
mrpt::utils::TCamera m_cameraParams
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