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10 #ifndef CCameraSensor_H
11 #define CCameraSensor_H
263 mrpt::obs::CObservationPtr getNextFrame( );
264 void getNextFrame( std::vector<mrpt::utils::CSerializablePtr> & out_obs );
269 virtual void initialize();
278 void setSoftwareTriggerLevel(
bool level );
284 virtual void setPathForExternalImages(
const std::string &directory );
290 typedef void (*TPreSaveUserHook)(
const mrpt::obs::CObservationPtr &obs,
void* user_ptr);
295 void addPreSaveHook( TPreSaveUserHook user_function,
void *user_ptr ) { m_hook_pre_save=user_function; m_hook_pre_save_param=user_ptr; };
371 void loadConfig_sensorSpecific(
373 const std::string &iniSection );
406 void thread_save_images(
unsigned int my_working_thread_index);
426 const std::string &in_cfgfile_section_name,
436 const std::string &in_cfgfile_section_name,
mrpt::utils::CFileGZInputStream * m_cap_rawlog
The input file for rawlogs.
TPreSaveUserHook m_hook_pre_save
void HWDRIVERS_IMPEXP readConfigIntoVideoSourcePanel(void *panel, const std::string &in_cfgfile_section_name, const mrpt::utils::CConfigFileBase *in_cfgfile)
Parse the given section of the given configuration file and set accordingly the controls of the wxWid...
std::string m_rawlog_file
This base class provides a common printf-like method to send debug information to std::cout,...
bool m_kinect_video_rgb
Save RGB or IR channels (default:true)
bool m_kinect_save_intensity_img
Save the 2D intensity image (default: true)
CImageGrabber_FlyCapture2 * m_cap_flycap_stereo_r
The FlyCapture2 object for stereo pairs.
CCameraSensorPtr HWDRIVERS_IMPEXP prepareVideoSourceFromUserSelection()
Show to the user a list of possible camera drivers and creates and open the selected camera.
This "software driver" implements the communication protocol for interfacing a DUO3D Stereo Camera.
void HWDRIVERS_IMPEXP writeConfigFromVideoSourcePanel(void *panel, const std::string &in_cfgfile_section_name, mrpt::utils::CConfigFileBase *out_cfgfile)
Parse the user options in the wxWidgets "panel" and write the configuration into the given section of...
The central class for camera grabbers in MRPT, implementing the "generic sensor" interface.
CDUO3DCamera * m_cap_duo3d
The DUO3D capture object.
int m_bumblebee_dc1394_camera_unit
uint64_t m_bumblebee_dc1394_camera_guid
Options used when creating a camera capture object of type CImageGrabber_FlyCapture2.
Options used when creating a STOC Videre Design camera capture object.
TCaptureOptions_DUO3D m_duo3d_options
int m_camera_grab_decimator_counter
CImageGrabber_FlyCapture2 * m_cap_flycap
The FlyCapture2 object.
bool m_kinect_save_range_img
Save the 2D range image (default: true)
std::string m_rawlog_camera_sensor_label
This is the global namespace for all Mobile Robot Programming Toolkit (MRPT) libraries.
A class for grabing images from a IEEE1394 (Firewire) camera using the libdc1394-2 library.
#define DEFINE_GENERIC_SENSOR(class_name)
This declaration must be inserted in all CGenericSensor classes definition, within the class declarat...
Options used when creating a camera capture object of type CImageGrabber_FlyCapture2.
std::string m_grabber_type
Can be "opencv",...
mrpt::synch::CCriticalSection m_csToSaveList
The critical section for m_toSaveList.
double m_bumblebee_dc1394_framerate
std::string m_sr_ip_address
CFFMPEG_InputStream * m_cap_ffmpeg
The FFMPEG capture object.
void enableLaunchOwnThreadForSavingImages(bool enable=true)
This must be called before initialize()
TCaptureOptions_SVS m_svs_options
bool m_sr_save_confidence
Save the estimated confidence 2D image (default: false)
A class for grabing stereo images from a STOC camera of Videre Design NOTE:
std::string m_img_dir_left_format
A class for grabing "range images", intensity images (either RGB or IR) and other information from an...
This class provides simple critical sections functionality.
This class allows loading and storing values and vectors of different types from a configuration text...
COpenNI2Sensor * m_cap_openni2
OpenNI2 object.
CStereoGrabber_Bumblebee_libdc1394 * m_cap_bumblebee_dc1394
A class used to store a 3D pose (a 3D translation + a rotation in 3D).
mrpt::gui::CDisplayWindowPtr m_preview_win2
Normally we'll use only one window, but for stereo images we'll use two of them.
std::string * m_cap_image_dir
Read images from directory.
std::vector< TListObservations > m_toSaveList
The queues of objects to be returned by getObservations, one for each working thread.
CImageGrabber_dc1394 * m_cap_dc1394
The dc1394 capture object.
stlplus::smart_ptr< CCameraSensor > CCameraSensorPtr
A smart pointer to a CCameraSensor.
int m_img_dir_start_index
unsigned int m_external_image_saver_count
Number of working threads. Default:1, set to 2 in quad cores.
CImageGrabber_OpenCV * m_cap_cv
The OpenCV capture object.
A generic interface for a wide-variety of sensors designed to be used in the application RawLogGrabbe...
Options used when creating an dc1394 capture object All but the frame size, framerate,...
TCaptureCVOptions m_cv_options
A wrapper for Point Gray Research (PGR) FlyCapture2 API for capturing images from Firewire,...
std::string m_img_dir_right_format
Grabs from a "Bumblebee" or "Bumblebee2" stereo camera using raw access to the libdc1394 library.
CStereoGrabber_SVS * m_cap_svs
The svs capture object.
bool m_external_images_own_thread
Whether to launch independent thread.
A class for grabing images from a "OpenCV"-compatible camera, or from an AVI video file.
std::string m_cv_camera_type
TCaptureOptions_FlyCapture2 m_flycap_options
CCameraSensorPtr HWDRIVERS_IMPEXP prepareVideoSourceFromPanel(void *panel)
Used only from MRPT apps: Use with caution since "panel" MUST be a "mrpt::gui::CPanelCameraSelection ...
uint64_t m_dc1394_camera_guid
bool m_sr_save_range_img
Save the 2D range image (default: true)
Options used when creating an OpenCV capture object Some options apply to IEEE1394 cameras only.
void * m_hook_pre_save_param
bool m_sr_save_3d
Save the 3D point cloud (default: true)
A class for grabing "range images" from a MESA imaging SwissRanger 3D cameras (SR-2,...
bool m_threadImagesSaverShouldEnd
std::string m_img_dir_url
bool m_sr_save_intensity_img
Save the 2D intensity image (default: true)
std::vector< mrpt::system::TThreadHandle > m_threadImagesSaver
bool m_sr_open_from_usb
true: USB, false: ETH
bool m_kinect_save_3d
Save the 3D point cloud (default: true)
int m_camera_grab_decimator
std::string m_rawlog_detected_images_dir
CKinect * m_cap_kinect
Kinect camera object.
bool m_fcs_start_synch_capture
CSwissRanger3DCamera * m_cap_swissranger
SR 3D camera object.
A class for grabing "range images", intensity images (either RGB or IR) and other information from an...
TCaptureOptions_dc1394 m_dc1394_options
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