Grabber for DepthSense devices (e.g. More...
#include <pcl/io/depth_sense_grabber.h>
Public Types |
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| enum | Mode { DepthSense_QVGA_30Hz = 0 } |
| enum | TemporalFilteringType { DepthSense_None = 0, DepthSense_Median = 1, DepthSense_Average = 2 } |
| using | Ptr = shared_ptr< DepthSenseGrabber > |
| using | ConstPtr = shared_ptr< const DepthSenseGrabber > |
| using | sig_cb_depth_sense_point_cloud = void(const pcl::PointCloud< pcl::PointXYZ >::ConstPtr &) |
| using | sig_cb_depth_sense_point_cloud_rgba = void(const pcl::PointCloud< pcl::PointXYZRGBA >::ConstPtr &) |
Public Member Functions |
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| DepthSenseGrabber (const std::string &device_id="") | |
| Create a grabber for a DepthSense device. More... |
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| virtual | ~DepthSenseGrabber () noexcept |
| virtual void | start () |
| For devices that are streaming, the streams are started by calling this method. More... |
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| virtual void | stop () |
| For devices that are streaming, the streams are stopped. More... |
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| virtual bool | isRunning () const |
| Indicates whether the grabber is streaming or not. More... |
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| virtual std::string | getName () const |
| returns the name of the concrete subclass. More... |
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| virtual float | getFramesPerSecond () const |
| returns fps. More... |
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| void | setConfidenceThreshold (int threshold) |
| Set the confidence threshold for depth data. More... |
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| void | enableTemporalFiltering (TemporalFilteringType type, std::size_t window_size=1) |
| Enable temporal filtering of the depth data received from the device. More... |
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| void | disableTemporalFiltering () |
| Disable temporal filtering. More... |
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| std::string | getDeviceSerialNumber () const |
| Get the serial number of device captured by the grabber. More... |
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 Public Member Functions inherited from pcl::Grabber |
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| Grabber ()=default | |
| Default ctor. More... |
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| Grabber (const Grabber &)=delete | |
| No copy ctor since Grabber can't be copied. More... |
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| Grabber & | operator= (const Grabber &)=delete |
| No copy assign operator since Grabber can't be copied. More... |
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| Grabber (Grabber &&)=default | |
| Move ctor. More... |
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| Grabber & | operator= (Grabber &&)=default |
| Move assign operator. More... |
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| virtual | ~Grabber () noexcept=default |
| virtual destructor. More... |
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| template<typename T > | |
| boost::signals2::connection | registerCallback (const std::function< T > &callback) |
| registers a callback function/method to a signal with the corresponding signature More... |
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| template<typename T > | |
| bool | providesCallback () const noexcept |
| indicates whether a signal with given parameter-type exists or not More... |
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| bool | toggle () |
| For devices that are streaming, stopped streams are started and running stream are stopped. More... |
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Friends |
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| struct | pcl::io::depth_sense::DepthSenseGrabberImpl |
Additional Inherited Members |
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| Protected Member Functions inherited from pcl::Grabber |
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| virtual void | signalsChanged () |
| template<typename T > | |
| boost::signals2::signal< T > * | find_signal () const noexcept |
| template<typename T > | |
| int | num_slots () const noexcept |
| template<typename T > | |
| void | disconnect_all_slots () |
| template<typename T > | |
| void | block_signal () |
| template<typename T > | |
| void | unblock_signal () |
| void | block_signals () |
| void | unblock_signals () |
| template<typename T > | |
| boost::signals2::signal< T > * | createSignal () |
| Protected Attributes inherited from pcl::Grabber |
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| std::map< std::string, std::unique_ptr< boost::signals2::signal_base > > | signals_ |
| std::map< std::string, std::vector< boost::signals2::connection > > | connections_ |
| std::map< std::string, std::vector< boost::signals2::shared_connection_block > > | shared_connections_ |
Detailed Description
Grabber for DepthSense devices (e.g.
Creative Senz3D, SoftKinetic DS325).
Requires SoftKinetic DepthSense SDK.
Definition at line 56 of file depth_sense_grabber.h.
Member Typedef Documentation
ConstPtr
| using pcl::DepthSenseGrabber::ConstPtr = shared_ptr<const DepthSenseGrabber> |
Definition at line 62 of file depth_sense_grabber.h.
Ptr
| using pcl::DepthSenseGrabber::Ptr = shared_ptr<DepthSenseGrabber> |
Definition at line 61 of file depth_sense_grabber.h.
sig_cb_depth_sense_point_cloud
| using pcl::DepthSenseGrabber::sig_cb_depth_sense_point_cloud = void(const pcl::PointCloud<pcl::PointXYZ>::ConstPtr&) |
Definition at line 64 of file depth_sense_grabber.h.
sig_cb_depth_sense_point_cloud_rgba
| using pcl::DepthSenseGrabber::sig_cb_depth_sense_point_cloud_rgba = void(const pcl::PointCloud<pcl::PointXYZRGBA>::ConstPtr&) |
Definition at line 65 of file depth_sense_grabber.h.
Member Enumeration Documentation
Mode
| Enumerator | |
|---|---|
| DepthSense_QVGA_30Hz | |
Definition at line 67 of file depth_sense_grabber.h.
TemporalFilteringType
| Enumerator | |
|---|---|
| DepthSense_None | |
| DepthSense_Median | |
| DepthSense_Average | |
Definition at line 72 of file depth_sense_grabber.h.
Constructor & Destructor Documentation
DepthSenseGrabber()
| pcl::DepthSenseGrabber::DepthSenseGrabber | ( | const std::string & | device_id = "" |
) |
Create a grabber for a DepthSense device.
The grabber "captures" the device, making it impossible for other grabbers to interact with it. The device is "released" when the grabber is destructed.
This will throw pcl::IOException if there are no free devices that match the supplied device_id.
- Parameters
-
[in] device_id device identifier, which might be a serial number, an index (with '#' prefix), or an empty string (to select the first available device)
~DepthSenseGrabber()
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virtualnoexcept |
Member Function Documentation
disableTemporalFiltering()
| void pcl::DepthSenseGrabber::disableTemporalFiltering | ( | ) |
Disable temporal filtering.
enableTemporalFiltering()
| void pcl::DepthSenseGrabber::enableTemporalFiltering | ( | TemporalFilteringType | type, |
| std::size_t | window_size = 1 |
||
| ) |
Enable temporal filtering of the depth data received from the device.
The window size parameter is not relevant for DepthSense_None filtering type.
getDeviceSerialNumber()
| std::string pcl::DepthSenseGrabber::getDeviceSerialNumber | ( | ) | const |
Get the serial number of device captured by the grabber.
getFramesPerSecond()
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virtual |
getName()
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inlinevirtual |
returns the name of the concrete subclass.
- Returns
- the name of the concrete driver.
Implements pcl::Grabber.
Definition at line 107 of file depth_sense_grabber.h.
isRunning()
|
virtual |
Indicates whether the grabber is streaming or not.
This value is not defined for triggered devices.
- Returns
- true if grabber is running / streaming. False otherwise.
Implements pcl::Grabber.
setConfidenceThreshold()
| void pcl::DepthSenseGrabber::setConfidenceThreshold | ( | int | threshold | ) |
Set the confidence threshold for depth data.
Each pixel in a depth image output by the device has an associated confidence value. The higher this value is, the more reliable the datum is.
The depth pixels (and their associated 3D points) are filtered based on the confidence value. Those that are below the threshold are discarded (i.e. their coordinates are set to NaN).
start()
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virtual |
For devices that are streaming, the streams are started by calling this method.
Trigger-based devices, just trigger the device once for each call of start.
Implements pcl::Grabber.
stop()
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virtual |
For devices that are streaming, the streams are stopped.
This method has no effect for triggered devices.
Implements pcl::Grabber.
Friends And Related Function Documentation
pcl::io::depth_sense::DepthSenseGrabberImpl
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friend |
Definition at line 145 of file depth_sense_grabber.h.
The documentation for this class was generated from the following file:
- pcl/io/depth_sense_grabber.h
© 2009–2012, Willow Garage, Inc.
© 2012–, Open Perception, Inc.
Licensed under the BSD License.
https://pointclouds.org/documentation/classpcl_1_1_depth_sense_grabber.html
