Grabber for davidSDK structured light compliant devices. More...

#include <pcl/io/davidsdk_grabber.h>

Inheritance diagram for pcl::DavidSDKGrabber:

Collaboration diagram for pcl::DavidSDKGrabber:

Public Member Functions
	DavidSDKGrabber ()
	Constructor. More...

virtual	~DavidSDKGrabber () noexcept
	Destructor inherited from the Grabber interface. More...

david::ServerInfo	connect (const std::string &address="127.0.0.1", std::uint16_t port=david::DAVID_SDK_DefaultPort)
	Connect client More...

void	disconnect (const bool stop_server)
	Disconnect client More...

void	start ()
	Start the point cloud and or image acquisition. More...

void	stop ()
	Stop the data acquisition. More...

bool	isRunning () const
	Check if the data acquisition is still running. More...

bool	isConnected () const
	Check if the client is connected. More...

std::string	getName () const
	Get class name. More...

std::string	getLocalPath ()
	Get local_path_ path directory. More...

std::string	getRemotePath ()
	Get remote_path_ path directory. More...

void	setFileFormatToOBJ ()
	Set file_format_ to "obj". More...

void	setFileFormatToPLY ()
	Set file_format_ to "ply". More...

void	setFileFormatToSTL ()
	Set file_format_ to "stl". More...

std::string	getFileFormat ()
	Get file_format_. More...

void	setLocalPath (std::string path)
	Set local_path_ path directory for scanning files. More...

void	setRemotePath (std::string path)
	Set remote_path_ path directory for scanning files. More...

void	setLocalAndRemotePaths (std::string local_path, std::string remote_path)
	Set local_path_ and remote_path_ directory paths. More...

bool	calibrate (double grid_size)
	Calibrate the scanner. More...

bool	grabSingleCloud (pcl::PointCloud< pcl::PointXYZ > &cloud)
	Capture a single point cloud and store it. More...

bool	grabSingleMesh (pcl::PolygonMesh &mesh)
	Capture a single mesh and store it. More...

float	getFramesPerSecond () const
	Obtain the number of frames per second (FPS) More...

Public Member Functions inherited from pcl::Grabber
	Grabber ()=default
	Default ctor. More...

	Grabber (const Grabber &)=delete
	No copy ctor since Grabber can't be copied. More...

Grabber &	operator= (const Grabber &)=delete
	No copy assign operator since Grabber can't be copied. More...

	Grabber (Grabber &&)=default
	Move ctor. More...

Grabber &	operator= (Grabber &&)=default
	Move assign operator. More...

virtual	~Grabber () noexcept=default
	virtual destructor. More...

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...

template<typename T >
bool	providesCallback () const noexcept
	indicates whether a signal with given parameter-type exists or not More...

bool	toggle ()
	For devices that are streaming, stopped streams are started and running stream are stopped. More...

Public Attributes
david::Client	david_
	davidSDK client More...

Protected Member Functions
void	processGrabbing ()
	Continuously asks for images and or point clouds/meshes data from the device and publishes them if available. More...

Protected Member Functions inherited from pcl::Grabber
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
std::thread	grabber_thread_
	Grabber thread. More...

boost::signals2::signal< sig_cb_davidsdk_point_cloud > *	point_cloud_signal_
	Boost point cloud signal. More...

boost::signals2::signal< sig_cb_davidsdk_mesh > *	mesh_signal_
	Boost mesh signal. More...

boost::signals2::signal< sig_cb_davidsdk_image > *	image_signal_
	Boost image signal. More...

boost::signals2::signal< sig_cb_davidsdk_point_cloud_image > *	point_cloud_image_signal_
	Boost image + point cloud signal. More...

boost::signals2::signal< sig_cb_davidsdk_mesh_image > *	mesh_image_signal_
	Boost mesh + image signal. More...

bool	client_connected_
	Whether the client is connected. More...

bool	running_
	Whether an davidSDK device is running or not. More...

std::string	local_path_
	Local path of directory where the scanning file will be located. More...

std::string	remote_path_
	Remote path of directory where the scanning file will be located. More...

std::string	file_format_
	Export file extension, available formats are STL, OBJ, PLY. More...

pcl::EventFrequency	frequency_
	processGrabbing capture/processing frequency More...

std::mutex	fps_mutex_
	Mutual exclusion for FPS computation. More...

Protected Attributes inherited from pcl::Grabber
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 davidSDK structured light compliant devices.

The davidSDK SDK allows to use a structured light scanner to fetch clouds/meshes.
The purpose of this grabber is NOT to provide all davidSDK functionalities but rather provide a PCL-unified interface to the sensor for basic operations.
Please consult the David-3d wiki for more information.

Author: Victor Lamoine (victo.nosp@m.r.la.nosp@m.moine.nosp@m.@gma.nosp@m.il.co.nosp@m.m)

Definition at line 66 of file davidsdk_grabber.h.

Constructor & Destructor Documentation

◆ DavidSDKGrabber()

pcl::DavidSDKGrabber::DavidSDKGrabber ( )

Constructor.

◆ ~DavidSDKGrabber()

virtual pcl::DavidSDKGrabber::~DavidSDKGrabber ( )

virtualnoexcept

Destructor inherited from the Grabber interface.

It never throws.

Member Function Documentation

◆ calibrate()

bool pcl::DavidSDKGrabber::calibrate ( double grid_size )

Calibrate the scanner.

Parameters

[in] grid_size Size of the calibration grid in millimeters

Returns: True if successful, false otherwise

More information here.
Also see ImportCalibration.
and ExportCalibration.

Warning: You MUST perform calibration each time you modify the camera/projector focus or move the camera relatively to the projector.

◆ connect()

david::ServerInfo pcl::DavidSDKGrabber::connect	(	const std::string &	address = `"127.0.0.1"`,
		std::uint16_t	port = `david::DAVID_SDK_DefaultPort`
	)

Connect client

Parameters

[in]	address
[in]	port

Returns: Server info

◆ disconnect()

void pcl::DavidSDKGrabber::disconnect ( const bool stop_server )

Disconnect client

Parameters

[in] stop_server

◆ getFileFormat()

std::string pcl::DavidSDKGrabber::getFileFormat ( )

Get file_format_.

Returns: the file format

◆ getFramesPerSecond()

float pcl::DavidSDKGrabber::getFramesPerSecond ( ) const

virtual

Obtain the number of frames per second (FPS)

Implements pcl::Grabber.

◆ getLocalPath()

std::string pcl::DavidSDKGrabber::getLocalPath ( )

Get local_path_ path directory.

Returns: the path

◆ getName()

std::string pcl::DavidSDKGrabber::getName ( ) const

virtual

Get class name.

Returns: A string containing the class name

Implements pcl::Grabber.

◆ getRemotePath()

std::string pcl::DavidSDKGrabber::getRemotePath ( )

Get remote_path_ path directory.

Returns: the path

◆ grabSingleCloud()

bool pcl::DavidSDKGrabber::grabSingleCloud ( pcl::PointCloud< pcl::PointXYZ > & cloud )

Capture a single point cloud and store it.

Parameters

[out] cloud The cloud to be filled

Returns: True if successful, false otherwise

Warning: Calls DeleteAllMeshes()

◆ grabSingleMesh()

bool pcl::DavidSDKGrabber::grabSingleMesh ( pcl::PolygonMesh & mesh )

Capture a single mesh and store it.

Parameters

[out] mesh The mesh to be filled

Returns: True if successful, false otherwise

Warning: Calls DeleteAllMeshes()

◆ isConnected()

bool pcl::DavidSDKGrabber::isConnected ( ) const

Check if the client is connected.

Returns: True if connected, false otherwise

◆ isRunning()

bool pcl::DavidSDKGrabber::isRunning ( ) const

virtual

Check if the data acquisition is still running.

Returns: True if running, false otherwise

Implements pcl::Grabber.

◆ processGrabbing()

void pcl::DavidSDKGrabber::processGrabbing ( )

protected

Continuously asks for images and or point clouds/meshes data from the device and publishes them if available.

◆ setFileFormatToOBJ()

void pcl::DavidSDKGrabber::setFileFormatToOBJ ( )

Set file_format_ to "obj".

◆ setFileFormatToPLY()

void pcl::DavidSDKGrabber::setFileFormatToPLY ( )

Set file_format_ to "ply".

Warning: This format is NOT available with trial versions of the davidSDK server!

◆ setFileFormatToSTL()

void pcl::DavidSDKGrabber::setFileFormatToSTL ( )

Set file_format_ to "stl".

◆ setLocalAndRemotePaths()

void pcl::DavidSDKGrabber::setLocalAndRemotePaths	(	std::string	local_path,
		std::string	remote_path
	)

Set local_path_ and remote_path_ directory paths.

Parameters

[in]	local_path
[in]	remote_path	If the path is empty, using default value ("C:/temp")

◆ setLocalPath()

void pcl::DavidSDKGrabber::setLocalPath ( std::string path )

Set local_path_ path directory for scanning files.

Parameters

[in] path The directory path

If the path is empty, using default value ("C:/temp")

◆ setRemotePath()

void pcl::DavidSDKGrabber::setRemotePath ( std::string path )

Set remote_path_ path directory for scanning files.

Parameters

[in] path The directory path

If the string is empty, remote_path_ = local_path_

◆ start()

void pcl::DavidSDKGrabber::start ( )

virtual

Start the point cloud and or image acquisition.

Implements pcl::Grabber.

◆ stop()

void pcl::DavidSDKGrabber::stop ( )

virtual

Stop the data acquisition.

Implements pcl::Grabber.

Member Data Documentation

◆ client_connected_

bool pcl::DavidSDKGrabber::client_connected_

protected

Whether the client is connected.

Definition at line 234 of file davidsdk_grabber.h.

◆ david_

david::Client pcl::DavidSDKGrabber::david_

davidSDK client

Definition at line 212 of file davidsdk_grabber.h.

◆ file_format_

std::string pcl::DavidSDKGrabber::file_format_

protected

Export file extension, available formats are STL, OBJ, PLY.

Definition at line 249 of file davidsdk_grabber.h.

◆ fps_mutex_

std::mutex pcl::DavidSDKGrabber::fps_mutex_

mutableprotected

Mutual exclusion for FPS computation.

Definition at line 255 of file davidsdk_grabber.h.

◆ frequency_

pcl::EventFrequency pcl::DavidSDKGrabber::frequency_

protected

processGrabbing capture/processing frequency

Definition at line 252 of file davidsdk_grabber.h.

◆ grabber_thread_

std::thread pcl::DavidSDKGrabber::grabber_thread_

protected

Grabber thread.

Definition at line 216 of file davidsdk_grabber.h.

◆ image_signal_

boost::signals2::signal<sig_cb_davidsdk_image>* pcl::DavidSDKGrabber::image_signal_

protected

Boost image signal.

Definition at line 225 of file davidsdk_grabber.h.

◆ local_path_

std::string pcl::DavidSDKGrabber::local_path_

protected

Local path of directory where the scanning file will be located.

Note: Default value is C:/temp

Definition at line 241 of file davidsdk_grabber.h.

◆ mesh_image_signal_

boost::signals2::signal<sig_cb_davidsdk_mesh_image>* pcl::DavidSDKGrabber::mesh_image_signal_

protected

Boost mesh + image signal.

Definition at line 231 of file davidsdk_grabber.h.

◆ mesh_signal_

boost::signals2::signal<sig_cb_davidsdk_mesh>* pcl::DavidSDKGrabber::mesh_signal_

protected

Boost mesh signal.

Definition at line 222 of file davidsdk_grabber.h.

◆ point_cloud_image_signal_

boost::signals2::signal<sig_cb_davidsdk_point_cloud_image>* pcl::DavidSDKGrabber::point_cloud_image_signal_

protected

Boost image + point cloud signal.

Definition at line 228 of file davidsdk_grabber.h.

◆ point_cloud_signal_

boost::signals2::signal<sig_cb_davidsdk_point_cloud>* pcl::DavidSDKGrabber::point_cloud_signal_

protected

Boost point cloud signal.

Definition at line 219 of file davidsdk_grabber.h.

◆ remote_path_

std::string pcl::DavidSDKGrabber::remote_path_

protected

Remote path of directory where the scanning file will be located.

Note: If this is empty, the local_path_ will be used instead Default value is C:/temp

Definition at line 246 of file davidsdk_grabber.h.

◆ running_

bool pcl::DavidSDKGrabber::running_

protected

Whether an davidSDK device is running or not.

Definition at line 237 of file davidsdk_grabber.h.

The documentation for this class was generated from the following file:

pcl/io/davidsdk_grabber.h

Public Member Functions

Public Attributes

Protected Member Functions

Protected Attributes

Detailed Description

Constructor & Destructor Documentation

◆ DavidSDKGrabber()

◆ ~DavidSDKGrabber()

Member Function Documentation

◆ calibrate()

◆ connect()

◆ disconnect()

◆ getFileFormat()

◆ getFramesPerSecond()

◆ getLocalPath()

◆ getName()

◆ getRemotePath()

◆ grabSingleCloud()

◆ grabSingleMesh()

◆ isConnected()

◆ isRunning()

◆ processGrabbing()

◆ setFileFormatToOBJ()

◆ setFileFormatToPLY()

◆ setFileFormatToSTL()

◆ setLocalAndRemotePaths()

◆ setLocalPath()

◆ setRemotePath()

◆ start()

◆ stop()

Member Data Documentation

◆ client_connected_

◆ david_

◆ file_format_

◆ fps_mutex_

◆ frequency_

◆ grabber_thread_

◆ image_signal_

◆ local_path_

◆ mesh_image_signal_

◆ mesh_signal_

◆ point_cloud_image_signal_

◆ point_cloud_signal_

◆ remote_path_

◆ running_