Grabber for DepthSense devices (e.g. More...

#include <pcl/io/depth_sense_grabber.h>

Inheritance diagram for pcl::DepthSenseGrabber:

Collaboration diagram for pcl::DepthSenseGrabber:

Public Types
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
	DepthSenseGrabber (const std::string &device_id="")
	Create a grabber for a DepthSense device. More...

virtual	~DepthSenseGrabber () noexcept

virtual void	start ()
	For devices that are streaming, the streams are started by calling this method. More...

virtual void	stop ()
	For devices that are streaming, the streams are stopped. More...

virtual bool	isRunning () const
	Indicates whether the grabber is streaming or not. More...

virtual std::string	getName () const
	returns the name of the concrete subclass. More...

virtual float	getFramesPerSecond () const
	returns fps. More...

void	setConfidenceThreshold (int threshold)
	Set the confidence threshold for depth data. More...

void	enableTemporalFiltering (TemporalFilteringType type, std::size_t window_size=1)
	Enable temporal filtering of the depth data received from the device. More...

void	disableTemporalFiltering ()
	Disable temporal filtering. More...

std::string	getDeviceSerialNumber () const
	Get the serial number of device captured by the grabber. 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...

Friends
struct	pcl::io::depth_sense::DepthSenseGrabberImpl

Additional Inherited Members
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 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 DepthSense devices (e.g.

Creative Senz3D, SoftKinetic DS325).

Requires SoftKinetic DepthSense SDK.

Author: Sergey Alexandrov

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

enum pcl::DepthSenseGrabber::Mode

Enumerator
DepthSense_QVGA_30Hz

Definition at line 67 of file depth_sense_grabber.h.

◆ TemporalFilteringType

enum pcl::DepthSenseGrabber::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()

virtual pcl::DepthSenseGrabber::~DepthSenseGrabber ( )

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()

virtual float pcl::DepthSenseGrabber::getFramesPerSecond ( ) const

virtual

returns fps.

0 if trigger based.

Implements pcl::Grabber.

◆ getName()

virtual std::string pcl::DepthSenseGrabber::getName ( ) const

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 bool pcl::DepthSenseGrabber::isRunning ( ) const

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()

virtual void pcl::DepthSenseGrabber::start ( )

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()

virtual void pcl::DepthSenseGrabber::stop ( )

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

friend struct pcl::io::depth_sense::DepthSenseGrabberImpl

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

Public Types

Public Member Functions

Friends

Additional Inherited Members

Detailed Description

Member Typedef Documentation

◆ ConstPtr

◆ Ptr

◆ sig_cb_depth_sense_point_cloud

◆ sig_cb_depth_sense_point_cloud_rgba

Member Enumeration Documentation

◆ Mode

◆ TemporalFilteringType

Constructor & Destructor Documentation

◆ DepthSenseGrabber()

◆ ~DepthSenseGrabber()

Member Function Documentation

◆ disableTemporalFiltering()

◆ enableTemporalFiltering()

◆ getDeviceSerialNumber()

◆ getFramesPerSecond()

◆ getName()

◆ isRunning()

◆ setConfidenceThreshold()

◆ start()

◆ stop()

Friends And Related Function Documentation

◆ pcl::io::depth_sense::DepthSenseGrabberImpl